WO2023045077A1 - 一种农业作物的作业系统 - Google Patents

一种农业作物的作业系统 Download PDF

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Publication number
WO2023045077A1
WO2023045077A1 PCT/CN2021/134905 CN2021134905W WO2023045077A1 WO 2023045077 A1 WO2023045077 A1 WO 2023045077A1 CN 2021134905 W CN2021134905 W CN 2021134905W WO 2023045077 A1 WO2023045077 A1 WO 2023045077A1
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WIPO (PCT)
Prior art keywords
module
frame
fertilizer
water
rack
Prior art date
Application number
PCT/CN2021/134905
Other languages
English (en)
French (fr)
Inventor
李国强
潘永华
Original Assignee
李国强
潘永华
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 李国强, 潘永华 filed Critical 李国强
Publication of WO2023045077A1 publication Critical patent/WO2023045077A1/zh

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F8/00—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying
    • F24F8/20—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying by sterilisation
    • F24F8/22—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying by sterilisation using UV light
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/30—Control or safety arrangements for purposes related to the operation of the system, e.g. for safety or monitoring
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/50—Control or safety arrangements characterised by user interfaces or communication
    • F24F11/56—Remote control
    • F24F11/58—Remote control using Internet communication
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F8/00—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying
    • F24F8/10—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying by separation, e.g. by filtering
    • F24F8/15—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying by separation, e.g. by filtering by chemical means
    • F24F8/167—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying by separation, e.g. by filtering by chemical means using catalytic reactions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F8/00—Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying
    • F24F8/80—Self-contained air purifiers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F2120/00—Control inputs relating to users or occupants
    • F24F2120/10—Occupancy
    • F24F2120/12—Position of occupants
    • 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
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/20—Air quality improvement or preservation, e.g. vehicle emission control or emission reduction by using catalytic converters

Definitions

  • the invention belongs to the field of agricultural machinery and relates to an operating system for agricultural crops.
  • robots are mostly used in agriculture in areas with flat terrain, modern greenhouses, and modern breeding grounds.
  • high-standard farmland and mountainous and hilly areas are also based on human and animal power to solve operational problems such as irrigation, fertilization, and transportation. Areas with imperfect water and circuit infrastructure , machinery cannot enter;
  • existing robots are mostly used for simple operations such as watering, spraying and fertilizing, and the degree of automation and intelligence is relatively low. The present invention effectively solves this problem.
  • the present invention provides an operation system for agricultural crops.
  • an operation system for agricultural crops characterized in that it includes a robot, a cable device, a drive device, a functional module and several base stations, the cable device connects two groups of base stations, and the cable
  • the device supports the robot, the driving device controls the robot to move along the cable device, the functional modules are detachably installed on the robot, and the functional modules include monitoring modules or/and loading modules or/and water and fertilizer modules or/and sterilization modules or/and power supply modules, robots It includes a rack and a host device, the host device includes a main chassis, the main chassis includes a control module, a power module and an inspection component, and the control module controls the operation of the power module, the inspection component, the driving device and the functional module.
  • the robot includes a supporting device, the host device and the supporting device are installed on the frame, the control module controls the operation of the power module, the inspection component and the robot, and the frame includes a rack cross bar and a rack straight bar,
  • rack cross bars There are two groups of rack cross bars, the two sets of rack cross bars are arranged in parallel, and are fixedly connected by the frame horizontal short bars, the rack straight bars and the rack cross bars are fixedly connected by the rack connecting plate, and both They are perpendicular to each other, and the length direction of the straight bars of the frame is consistent with the moving direction of the robot.
  • the straight bars of the frame and the cross bars of the frame are connected with a frame reinforcement plate.
  • the antenna assembly includes the antenna and the antenna mounting block, the antenna mounting block is fixed on the rack straight rod, the antenna is installed on the antenna mounting block, and the information is transmitted through the antenna transmission and interaction.
  • control module includes a communication interface, and the control module performs information interaction with the communication device through the wireless or wired communication module carried by the communication interface, and remotely controls the robot.
  • the main box is also equipped with a voice operation component, and through the voice operation The components perform voice control on the robot.
  • the communication equipment includes mobile phone APP or/and central control room or/and VR glasses.
  • the communication interface receives the control instructions of the communication equipment and the voice data recognized by the voice operation component.
  • the communication interface includes various Wired or wireless communication interface, the control module controls the robot to move back and forth along the track through the power module;
  • the inspection component includes a receiving module, a storage module and an operation module.
  • the receiving module receives the crop real-time data collected by the monitoring module, the monitoring module conducts hourly network video monitoring of the crop area, and the receiving module compares the real-time crop data with the crop data of the storage module for analysis Diagnosis processing, judging the real-time status of crops, and according to the judgment result, the operation module makes corresponding operations; the inspection mode of the robot is carried out through the inspection component.
  • the power supply module supplies power to the robot
  • the power supply module adopts a battery or a charging control module
  • the power supply module includes a photovoltaic panel and a photovoltaic installation board
  • the power supply module is installed on the side of the frame
  • the photovoltaic installation board is installed on the frame
  • the photovoltaic In the photovoltaic installation board the photovoltaic installation board includes a rack installation part installed on the rack and a photovoltaic installation part installed on the photovoltaic panel.
  • the rack installation part is arranged horizontally, and the photovoltaic installation part and the rack installation part are arranged obliquely.
  • the loading module is detachably installed on the frame, and the loading module is used for heavy-duty transportation.
  • the loading module includes two sets of loading racks, and loading components are fixed on the loading racks, and the loading components are used to mount functional accessories.
  • Accessories include film laying module or/and seeding module or/and punching module or/and feeding module or/and watering module or/and harvesting module.
  • the racks are symmetrically installed on the frame of the rack.
  • the distribution direction of the two sets of loading racks is perpendicular to the moving direction of the robot.
  • a loading fixing plate is fixed under the loading rack, and two sets of loading components are fixed at both ends of the loading fixing plate.
  • the cross-section of the loading member in the vertical direction is set to be C-shaped, and the opening direction of the C-shaped is horizontal and facing the frame.
  • the C-shaped design of the loading member is convenient for hanging or carrying functional accessories.
  • the water and fertilizer module is installed on the frame, the water and fertilizer module includes a water and fertilizer pipe and a water and fertilizer assembly, the host device controls the water and fertilizer module to spray water and fertilizer to the crop area, the water and fertilizer assembly includes a water and fertilizer telescopic assembly, a water and fertilizer frame and a water and fertilizer bucket, and the water and fertilizer telescopic assembly controls The location of the water and fertilizer bucket.
  • the water and fertilizer bucket is installed on the water and fertilizer rack.
  • the water and fertilizer tank is connected to the water and fertilizer pipe.
  • the water and fertilizer telescopic assembly includes a telescopic frame and a hydraulic rod. The hydraulic rod is fixedly connected to the telescopic frame along the vertical direction. In the expansion and contraction in the vertical direction, a water and fertilizer connection assembly is fixed above the water and fertilizer expansion assembly, and the water and fertilizer connection assembly is fixedly connected with the frame.
  • the sterilizing module includes a gas sterilizing device
  • the host device controls the operation of the gas sterilizing device
  • the gas sterilizing device includes a turbofan
  • the size of the inlet end of the turbofan is larger than the size of the outlet port, and the size of the turbofan gradually decreases along the air flow direction
  • the turbofan includes a volute and a volute frame.
  • the volute frame constitutes the overall frame of the vortex fan.
  • the volute is installed on the outer surface of the volute frame, wraps the volute frame and the equipment installed in the volute frame as a whole, and forms an air circulation channel;
  • the inside of the volute is provided with sound-proof cotton, and the outside is provided with high-strength thermal insulation and fire-proof cotton.
  • the turbofan is also equipped with a fan. The fan is installed at the inlet end of the turbofan, and the fan is used to form a negative pressure environment inside the turbofan.
  • the sterilizing module includes a liquid sterilizing device
  • the liquid sterilizing device includes a sterilizing liquid and a mist spray mechanism
  • the host device controls the operation of the liquid sterilizing device
  • the sterilizing liquid is formed by mixing the dilution liquid and the sterilizing stock solution in proportion
  • the mist spray mechanism includes a mist The spray pipe and the mist spray head
  • the sterilizing liquid is sterilized and sterilized by spraying the sterilizing liquid from the mist spray pipe or the mist spray head
  • the liquid sterilizing device also includes a sterilizing telescopic assembly, a sterilizing rack, a dilution bucket, a sterilizing bucket and a liquid outlet pipe
  • the liquid outlet is installed at the outlet end of the turbofan, and one end of the liquid outlet pipe is respectively connected with the dilution barrel and the sterilization barrel through the pipe.
  • a proportional pump is installed in the pipe, and the other end of the liquid outlet pipe is connected with the mist nozzle.
  • the barrel is filled with diluent, which dilutes the sterilizing stock solution.
  • the proportional pump adjusts the liquid delivery ratio of the dilution barrel and the sterilizing barrel.
  • the prepared sterilizing solution is mist sprayed outward through the mist nozzle or the mist pipe.
  • the base station includes at least two groups, the two groups of base stations are set as one unit, the two groups of base stations of one unit are distributed on both sides of the crop area, and the two groups of base stations located on both sides of the crop area correspond one-to-one, and one unit corresponds to one group
  • a unit is equipped with a set of steel cable devices;
  • a base station is installed between two groups of base stations in a unit.
  • the base station includes a base station column and a base station beam.
  • the base station column and the base station beam are composed of several pipes.
  • the base station beam and the base station column form a T-shaped structure
  • the base station suspension beam is set between the base station beam and the base station column
  • the base station column is fixed with a base station fixing seat
  • the base station fixing seat is installed on the base station base
  • the base station also includes a base station
  • the cable-stayed mechanism, the cable-stayed mechanism of the base station includes two groups of base station cable-stayed bases, each set of base station cable-stayed bases is fixed with a base station cable-stayed fixing seat, and the base station cable-stayed cable fixing seat and the base station beam are fixed with a base station cable-stayed seat.
  • the stay rope and the cable-stayed base of the base station are respectively located on both sides of the base station.
  • the base station and two sets of base station cable-stayed bases are distributed in a triangle, and the two sets of base stations in one unit are connected by a cable device.
  • the cable device includes a main cable, an auxiliary cable and a cable fixing mechanism, the main cable is located above the accessory cable, a cable support bracket is fixed on the base station, and a cable support bracket is fixed on the cable support bracket.
  • a main steel cable sleeve There is a main steel cable sleeve, the main steel cable sleeve is set in the main steel cable sleeve, the auxiliary steel cable sleeve is fixed on the base station, the auxiliary steel cable sleeve is installed in the auxiliary steel cable sleeve, the main steel cable and the auxiliary steel cable are fixed
  • the cable fixing mechanism includes a cable-stayed base, on which a cable-stayed cable fixing seat is fixed, and the main cable and the auxiliary cable are connected with the cable-stayed cable respectively.
  • the fixed seat is fixed, two sets of main steel cables are set, and two sets of auxiliary steel cables are set.
  • the distance between the two sets of main steel cables is less than the distance between the two sets of auxiliary steel cables, forming a trapezoidal structure, and the main steel cables and auxiliary steel cables are respectively Located on the four corners of the trapezoid, the supporting device is against the main steel cable.
  • the benefit of the present invention is that: the present invention comprehensively applies artificial intelligence technology, green agricultural technology, mechanical technology, and electrical technology to agricultural bases that require extremely high labor force through distributed base stations for ground-inserting operations, so as to liberate productivity and improve production
  • the present invention realizes the development of networked and intelligent agricultural technology, and realizes the whole process of recording and auxiliary guidance of the plant planting process. While improving the output value of agricultural products, it can realize the traceability of the plant planting process.
  • the disassembled articulated platform realizes the rapid conversion of various operating functions, thereby being applicable to various operating tasks in agricultural production, improving the utilization rate and cost performance of agricultural robots, and reducing operating costs;
  • the invention walks on the suspended track and can obtain Better inspection angle and more ample picking and spraying space, especially suitable for planting scenes such as open fields and closed greenhouses; and since the robot does not need to touch the ground, it can also avoid damage to the crops by the robot;
  • the invention has an automatic inspection function , you can execute the inspection mode before starting picking, spraying and other tasks. Specifically, based on machine vision technology, it can identify whether crop spraying and fruit picking are needed. It has a stronger level of automation and can greatly improve agricultural production efficiency.
  • the present invention can realize functions such as air purification, picking, formula fertilization (water and fertilizer), spraying medicine, and transportation.
  • Fig. 1 is a schematic diagram of an agricultural crop system for assembling a robot of the present invention.
  • FIG. 2 is an enlarged schematic view of A in FIG. 1 .
  • Fig. 3 is a bottom view of the robot of the present invention.
  • Fig. 4 is a schematic diagram of the chassis mounting frame of the present invention.
  • Fig. 5 is a schematic diagram of the frame of the present invention.
  • Fig. 6 is a schematic diagram of the photovoltaic installation board of the present invention.
  • Fig. 7 is a schematic diagram of a base station of the present invention.
  • Fig. 8 is a schematic diagram of an agricultural crop system assembled with a loading module of the present invention.
  • FIG. 9 is an enlarged schematic view of B in FIG. 8 .
  • Fig. 10 is a schematic diagram of an agricultural crop system equipped with a water and fertilizer module according to the present invention.
  • FIG. 11 is an enlarged schematic view of C in FIG. 10 .
  • Fig. 12 is a schematic diagram of the water and fertilizer module of the present invention.
  • Fig. 13 is a schematic diagram of an agricultural crop system equipped with a sterilization module of the present invention.
  • FIG. 14 is an enlarged schematic diagram of D in FIG. 13 .
  • Fig. 15 is a schematic diagram of the turbofan mounting frame of the present invention.
  • Fig. 16 is a schematic diagram of the internal structure of the turbofan of the present invention.
  • Fig. 17 is a schematic diagram of Embodiment 2 of the present invention.
  • Fig. 18 is a schematic diagram of Embodiment 3 of the present invention.
  • Fig. 19 is a schematic diagram of Embodiment 4 of the present invention.
  • Fig. 20 is a schematic diagram of a water and fertilizer installation frame in Embodiment 4 of the present invention.
  • All directional indications (such as up, down, left, right, front, back, horizontal, vertical?) in the embodiments of the present invention are only used to explain the relative positional relationship and movement situation between the various components in a certain posture etc., if the specific posture changes, the directional indication also changes accordingly.
  • an operation system for agricultural crops includes a robot 1, a cable device 3, a drive device 4, a functional module, and several base stations 2.
  • the cable device 3 connects two sets of base stations 2, and the cable device 3
  • the robot 1 is supported, the driving device 4 controls the robot 1 to move along the cable device 3 , and the functional modules are detachably installed on the robot 1 .
  • the functional modules include a monitoring module or/and a loading module 9 or/and a water and fertilizer module 5 or/and a sterilization module 6 or/and a power supply module 7 .
  • At least one of the functional modules is installed on the robot 1, and the functional modules and the robot 1 are installed in a detachable installation manner, so as to realize the rapid conversion of various operation functions, thus being applicable to various operation tasks of agricultural production , improve the utilization rate and cost performance of agricultural robots, and reduce operating costs.
  • the robot 1 includes a frame 11, a host device, and a supporting device 14.
  • the host device, the supporting device 14, and functional modules are installed on the frame 11, and the supporting device 14 is used for the frame 11,
  • the host device and functional modules, the functional modules include a monitoring module, a loading module 9, a water and fertilizer module 5, a sterilization module 6, and a power supply module 7, and at least one of the functional modules is installed on the rack 11.
  • Frame 11 comprises frame cross bar 111 and frame straight bar 112, and frame cross bar 111 is provided with two groups, and two groups of frame cross bars 111 are arranged in parallel, and are fixedly connected by frame horizontal short bar, and frame straight
  • the bar 112 is fixedly connected to the frame cross bar 111 through the frame connecting plate 116, and the two are in a mutually perpendicular state, and the length direction of the frame straight bar 112 is consistent with the moving direction of the robot 1. Further, in order to ensure that both The stability between the frame straight rods 112 and the frame cross bars 111 is connected with a frame reinforcement plate 113, and the frame reinforcement plate 113 ensures the stability of the two to prevent deformation of the two under the action of heavy objects.
  • the frame 11 adopts a hollow structure, and the shape adopts a square shape, but it is not limited to a square shape, and even an irregular shape can be used, as long as the requirements can be met;
  • Antenna assembly 12 is provided, and antenna assembly 12 is provided with two groups, and two groups of antenna assemblies 12 are installed on the two ends of frame straight bar 112, and antenna assembly 12 comprises antenna 121 and antenna installation block 122, and antenna installation block 122 is fixedly arranged on The antenna 121 is installed on the antenna installation block 122 on the straight pole 112 of the rack, and information transmission and interaction are realized through the antenna 121 .
  • the host device includes a main frame 13, the main frame 13 is the control center of the operation system and the operation of the robot 1, the main frame 13 includes a control module, a power module and an inspection assembly, the control module controls the operation of the power module and the inspection assembly, and the control module includes The communication interface, the control module carries out information interaction with the communication equipment through the wireless or wired communication module with the communication interface, and realizes the remote control of the robot.
  • the communication device in this embodiment includes mobile phone APP or/and central control room or/and VR glasses, preferably, this embodiment is equipped with VR glasses to realize virtual reality operations, or it can be called metaverse, and VR glasses intuitively represent crops
  • the growth state and growth environment of the plant can simulate the growth of the current crops under different ingredients.
  • the user can choose the ingredients recommended by the system, and can also adjust the proportion of the formula according to the needs.
  • artificial intelligence technology, green agricultural technology, mechanical technology and electrical technology are comprehensively applied to agricultural bases with extremely high labor requirements, so as to achieve the goal of liberating productivity and improving production efficiency.
  • the central control room can adopt the existing design, or directly through the voice, through the voice operation component to recognize the voice command to realize the monitoring module, loading module 9, driving device 4, water and fertilizer module 5, sterilization module 6, power supply module 7, through A variety of ways to realize the remote control of the robot, which expands the diversity, richness and convenience of the control mode, so that the robot can adapt to the requirements of different environments and the requirements of various tasks in agricultural production;
  • the communication interface receives the control of communication equipment Instructions and voice data recognized by the voice operation component, the communication interface includes various wired or wireless communication interfaces on the main box 13, such as network interface, USB interface, video interface, Bluetooth, WIFI, 4G ⁇ 5G, etc.;
  • the control module passes through the power module Control the robot to move back and forth along the track;
  • the inspection component includes a receiving module, a storage module and an operation module.
  • the storage module is equipped with information on various planted crops and breeding organisms.
  • the operation module inputs the set crop information and planting or breeding information and operation
  • the receiving module receives the real-time crop data collected by the monitoring module, and the monitoring module performs 24-hour network video monitoring on the crop area.
  • the receiving module compares the real-time crop data with the crop data of the storage module, performs analysis and diagnosis processing, and determines the real-time status of the crop, such as When planting crops, judge the growth stage of the crops and judge whether the crops are growing well at the current stage according to factors such as the color and shape of the leaves of the crops, and according to the results of the judgment, the operation module makes corresponding operations, that is, realizes robot automatic planting and breeding through machine vision technology function; this embodiment can realize the inspection mode of the robot 1 through the inspection component, and can execute the inspection mode before starting picking, spraying and other tasks, and identify whether spraying and fruit of crops are needed based on machine vision technology The picking has a stronger level of automation, which can greatly improve the efficiency of agricultural production.
  • This embodiment realizes the development of networked and intelligent agricultural technology through inspection components, and realizes the whole process of recording and auxiliary guidance of the plant planting process. While improving the output value of agricultural products, it can also realize the traceability of the plant planting process.
  • the monitoring module may include a camera or/and a thermal imager, a sound collector or/and a sound, the monitoring module uses a camera or/and a thermal imager to collect images or/and thermal image data of crops, and the monitoring module uses the sound
  • the collector collects the sound data of the crops, and the sound transmits the signal data.
  • control module can be set as a mobile terminal, such as a mobile phone, a notebook, or a fixed terminal.
  • the main chassis 13 is fixed on the frame 11 by the chassis mounting bracket 10.
  • the chassis mounting bracket 10 includes two sets of chassis fixing components 102 and a chassis connecting rod 101 connecting the two groups of chassis fixing components 102.
  • the two groups of chassis fixing components 102 are formed along the frame The length direction of the straight bar 112 is arranged symmetrically, and the cabinet connecting rod 101 is fixedly connected to two groups of cabinet fixing components 102.
  • the cabinet fixing component 102 includes two groups of frame clamps 1021, and the two groups of frame clamps 1021 are arranged symmetrically up and down.
  • the frame clamp connecting rod 1023 is connected, and the frame clamp 1021 is fixedly provided with a clamp notch 10211, and the clamp notch 10211 is formed by some notches similar to a stepped structure, and the clamps on the two groups of frame clamps 1021
  • the plate notches 10211 are positioned opposite to each other to form a piercing cavity.
  • the rack straight rod 112 passes through two groups of piercing cavities, and the two are fixedly connected by corresponding structures. In this embodiment, the rack straight rod 112 passes through several similar stepped structures.
  • Notches on the one hand, can prevent the rack straight rods 112 from shifting in position during installation, and on the other hand, different notches can be adapted to different sizes of rack straight rods 112, which improves the connection between the rack straight rods 112 and the chassis mounting frame 10.
  • Efficiency of installation the chassis mounting frame 10 is also fixed with a chassis mounting plate 1022 , and the main chassis 13 is installed on the chassis mounting frame 10 through the chassis mounting plate 1022 .
  • the power supply module 7 can be a storage battery or a charging control module, or an external power source, such as solar energy.
  • the robot 1 is powered by solar energy.
  • the power supply module 7 includes Photovoltaic board 71 and photovoltaic installation board 72, power supply module 7 is installed on the side of frame 11, specifically, the power supply installation board 115 that installs power supply module 7 is fixed on the rack bar 111, and photovoltaic installation board 72 is installed on the side of power supply The installation board 115 and the photovoltaic board 71 are installed on the photovoltaic installation board 72, so as to realize the installation of the power supply module 7 and the frame 11.
  • the power supply module 7 is provided with four groups, and a 30W photovoltaic board 71 is used.
  • the photovoltaic installation board 72 includes a rack installation part 721 installed with the power supply installation board 115 and a photovoltaic installation part 722 installed with the photovoltaic panel.
  • the inclination angle is preferably 45°, which can not only avoid the accumulation of ice and snow or dust, but also increase the solar energy received by the photovoltaic panel 71.
  • one set of power supply modules 7 can include multiple sets of photovoltaic installation panels 72, and multiple sets of photovoltaic installation panels 72 can be positioned to receive the sun in different directions to increase the amount of solar energy received by the photovoltaic panel 71.
  • the shape of the photovoltaic installation panel 72 can be set as an arc or other shapes, and the shape of the corresponding photovoltaic panel 71 matches the photovoltaic installation panel 72. It can be set according to actual needs.
  • Supporting device 14 comprises two groups of pulley assemblies and two groups of guide wheel assemblies, and one group of guide wheel assemblies comprises guide wheel fixing plate 141, and two groups of guide wheels 142 are fixedly arranged on guide wheel fixing plate 141, and two groups of guide wheels 142 are arranged along the machine.
  • the length direction distribution of frame cross bar 111, two sets of guide wheel assemblies are symmetrically fixed on the frame straight bar 112 and are positioned at the front and rear positions of the main chassis 13, and one group of pulley assemblies includes a pulley fixing plate 143, on which the pulley fixing plate 143 is fixed.
  • the robot 1 can be independently applied to existing equipment and operated by existing methods.
  • the base station 2 of this embodiment includes at least two groups, and the two groups of base stations 2 are set as one unit.
  • the two groups of base stations 2 of one unit are distributed on both sides of the crop area, and the two groups of base stations 2 on both sides of the crop area correspond one-to-one.
  • one unit is provided with a group of cable devices 3 and driving devices 4; preferably, a docking base station 26 can be arranged between two groups of base stations 2 in one unit, and the height of the docking base station 26 is consistent with that of the base station 2, and the docking base station 26 On the one hand, it can be used as a supply device for supplementing energy for the robot 1, and can also support the supporting device 14, so that the present invention and the robot can move over a long distance and adapt to a wide range of crop areas.
  • the base station 2 is provided with six sets of , in actual situations, the number of base stations 2 can be increased or decreased according to the size of the crop area.
  • base station 2 comprises base station column 22 and base station crossbeam 23, and base station column 22 and base station beam 23 are made up of several pipes, and the outline dimension of base station column 22 is set to 300x300x1200mm in the present embodiment, and the outline dimension of base station beam 23 is set It is 300x300x800mm, and several base station columns 22 are distributed and fixedly connected along the vertical direction.
  • the base station beam 23 is fixed on the base station column 22 located on the upper side. 22 is provided with base station suspension beam 24, realizes the fixed stability of base station crossbeam 23 by base station suspension beam 24, strengthens the strength of base station crossbeam 23, base station column 22 bottoms are fixed with base station holder 21, in the present embodiment, base station holder 21 Installed on base station base 20.
  • the base station 2 also includes a base station cable-stayed mechanism 25.
  • the base station cable-stayed mechanism 25 includes two groups of base station cable-stayed bases 251, and each group of base station cable-stayed bases 251 is fixedly equipped with a base station cable-stayed rope.
  • the base station cable-stayed rope fixing seat 252 and the base station beam 23 are fixed with a base station cable-stayed rope 253, and the base station cable-stayed bases 251 are respectively located on both sides of the base station 2, and the base station 2 and two groups of base station cable-stayed bases 251 form Triangular distribution, after the base station 2 is installed as a whole, the overall stability is guaranteed through the base station cable stay 253; in other embodiments, the base station fixing seat 21 can also be directly installed on the ground, and the base station cable stay rope fixing seat 252 can also be directly installed On the ground, as long as the stable installation of the base station 2 can be ensured, the stability of the base station 2 can be ensured.
  • the base station 2 can be individually applied to existing equipment and operated in an existing method.
  • the cable device 3 includes a main cable 30, an auxiliary cable 33 and a cable fixing mechanism, and the main cable 30 is located at Above the auxiliary steel cable 33, the base station 1 is fixed with a steel cable support bracket 32, and the steel cable support bracket 32 is fixed with a main steel cable sleeve 31, and the main steel cable 30 is set in the main steel cable sleeve 31.
  • the base station 1 is fixed with an auxiliary steel cable sleeve 34, the auxiliary steel cable 33 is set in the auxiliary steel cable sleeve 34, the main steel cable 30 and the auxiliary steel cable 33 are fixed in the cable fixing mechanism, specifically, the steel cable is fixed Mechanism comprises steel cable cable-stayed base 35, and steel cable cable-stayed base 35 is fixedly provided with steel cable cable-stayed fixed seat 36, and main steel cable 30 and secondary steel cable 33 are fixed with steel cable cable-stayed cable fixed seat 36 respectively.
  • the cable-stayed base 35 can also be installed directly on the ground, and the cable-stayed base 35 can also be installed directly , as long as the main steel cable 30 and the auxiliary steel cable 33 can be installed stably, so as to ensure the stability of the main steel cable 30 and the auxiliary steel cable 33.
  • Two groups of base stations 2 in one unit are connected by main steel cables 30 and auxiliary steel cables 33.
  • two groups of main steel cables 30 and two groups of auxiliary steel cables 33 are arranged, and the distance between the two groups of main steel cables 30 is less than And the distance between the two groups of auxiliary steel cables 33 forms a trapezoidal structure, and the main steel cables 30 and the auxiliary steel cables 33 are respectively located on the four corners of the trapezoid, and the two groups of pulley assemblies and the two groups of guide wheel assemblies of the supporting device 14 are respectively Offset against the main steel cable 30, the robot 1 moves along the main steel cable 30, and the robot 1 walks on the suspended main steel cable 30, which can obtain a better inspection angle and more abundant picking and spraying space, especially suitable for open air Fields, closed greenhouses and other planting scenarios; and since the robot does not need to touch the ground, it can also avoid damage to the crops by the robot.
  • the wire rope device 3 can be applied to existing equipment independently, and adopts existing methods to operate.
  • the driving device 4 includes a driving mounting frame 45, the driving mounting frame 45 is fixed on the base station beam 23 of the base station 2, the driving mounting frame 45 is fixed with a driving motor 44 and a driving frame 42, and the driving frame 42 is wound with a driving cable 41 , the driving cable 41 is connected with the cable cover 114 fixed on the frame straight rod 112, two groups of base stations 2 of one unit are respectively connected with the two ends of the robot 1 through the driving cable 41, and the driving motor 44 controls any driving cable 41 rotation, and then control the robot 1 to move back and forth along the main cable 30, the driving device 4 is generally started synchronously with the functional modules, and the robot 1 realizes functions such as inspection, monitoring, feeding, watering, fertilization, sterilization and fog spraying; the driving motor 44 Controlling the moving speed of the robot 1 can adapt to different needs of different crops.
  • the driving device 4 can be independently applied to existing equipment and operated by an existing method.
  • the loading module 9 includes two sets of loading racks 91 , and loading members 94 are fixed on the loading racks 91 , and the loading members 94 are used for mounting functional accessories.
  • the functional accessories include a film laying module or/and a seeding module or/and a punching module or/and a feeding module or/and a watering module or/and a harvesting module, and the functional accessories are carried under the robot 1 by the loading module 9, reducing the robot
  • the center of gravity of 1 improves the stability, and the cooperation between the loading module 9 and the main steel wire 30 and the auxiliary steel wire 33 of the cable device 3 can carry a weight of 200kg to realize the heavy-duty transportation of the operating system, thereby being applicable to many agricultural production.
  • the distributed base station 2, the loading module 9 and the cable device 3 constitute heavy-duty transportation for agricultural all-terrain.
  • Two groups of loading racks 91 are symmetrically installed on the frame crossbar 111 of the frame 11, the distribution direction of the two groups of loading racks 91 is perpendicular to the moving direction of the robot 1, and the distance between the two groups of loading racks 91 matches the distance between the auxiliary steel cables 33 , the loading fixing plate 92 is fixed under the loading frame 91, and two sets of loading members 94 are fixed on the two ends of the loading fixing plate 92. The two sets of loading members 94 are distributed along the length direction of the auxiliary steel cable 33. Equipped with functional accessories.
  • the cross-section of the loading member 94 in the vertical direction is set to a C-shape.
  • the opening direction of the C-shape is horizontal and faces the auxiliary steel cable 33.
  • the C-shaped design of the loading member 94 is conducive to hanging or carrying functional accessories.
  • the loading member 94 The upper and lower directions of the opening are fixed with a bearing wheel 951, and the bearing wheel 951 is offset against the auxiliary steel cable 33, and the loading module 9 is supported by the auxiliary steel cable 33.
  • the loading module 9 also includes a limiting device 96.
  • the limiting device 96 is provided with two groups and is installed on the opposite surfaces of the two groups of loading racks 91.
  • the limiting device 96 is fixed with a limiting wheel 961.
  • the limiting device 96 has a function of hanging or carrying. Accessories are limited.
  • the loading module 9 can be individually applied to existing equipment and operated by existing methods.
  • the water and fertilizer module 5 includes a water and fertilizer pipe 50 and a water and fertilizer assembly 51.
  • the water and fertilizer assembly 51 includes a water and fertilizer telescopic assembly 511, a water and fertilizer rack 512, and a water and fertilizer bucket 513.
  • the water and fertilizer telescopic assembly 511 controls the position of the water and fertilizer bucket 513, and the water and fertilizer bucket 513 is installed on the water and fertilizer frame 512, and the water and fertilizer bucket 513 is communicated with the water and fertilizer pipe 50, and the water and fertilizer pipe 50 sprays water and fertilizer to the crop area.
  • the water and fertilizer pipe 50 is located between two groups of base stations 2 of a unit, and is distributed along the length direction of the main steel wire 30.
  • the water and fertilizer pipe 50 is fixed with a number of evenly distributed water and fertilizer spray holes 501, and the water and fertilizer spray holes 501 face the crop area.
  • the water and fertilizer are sprayed to the crop area through the water and fertilizer spray hole 501; the water and fertilizer pipe 50 can be composed of several pipes, or can be set separately from a group of pipes.
  • the water fertilizer pipe 50 is positioned below the main steel wire 30 in the vertical direction, and is located in the middle of the two groups of main steel wires 30 in the horizontal direction. , two groups of main steel wires 30 and connecting rods 502 form a triangular state to ensure the stability of the installation of the water and fertilizer pipe 50; through the design of the water and fertilizer pipe 50, in some cases, the robot 1 can remain fixed after loading the water and fertilizer assembly 51, and the water and fertilizer Pipe 50 sprays water and fertilizer to the crop area.
  • the water and fertilizer assembly 51 includes a water and fertilizer telescopic assembly 511, a water and fertilizer frame 512, and a water and fertilizer bucket 513.
  • the water and fertilizer telescopic assembly 511 includes a telescopic frame 5111 and a hydraulic rod 5112.
  • the hydraulic rod 5112 is fixedly connected to the telescopic frame 5111 along the vertical direction. After the hydraulic rod 5112 expands and contracts, it controls the expansion and contraction of the telescopic frame 5111 in the vertical direction.
  • the top of the water and fertilizer expansion assembly 511 is fixedly provided with a water and fertilizer connection assembly 510, and the water and fertilizer connection assembly 510 is fixedly connected with the frame 11 of the robot 1 .
  • the water and fertilizer frame 512 is fixed on the lower end of the water and fertilizer telescopic assembly 511.
  • the water and fertilizer frame 512 includes a first box body 5121 and a second box body 5122.
  • the first box body 5121 is provided with two groups, and is fixed symmetrically on the second box body.
  • the water and fertilizer bucket 513 is installed in the second box body 5122, and the first box body 5121 can be equipped with a raw material bucket (not shown in the figure), and the raw material bucket is connected with the water and fertilizer bucket 513, and the raw materials are input in the water and fertilizer bucket 513 as required to realize The function of automatic batching; the water and fertilizer bucket 513 can adopt existing equipment, and the size of the water and fertilizer bucket 513 can be set as required.
  • a water and fertilizer support frame 514 is also fixed below the water and fertilizer rack 512.
  • the water and fertilizer support frame 514 can be in contact with the ground, and the water and fertilizer support frame 514 supports the water and fertilizer assembly 51 to reduce the loading burden of the robot 1.
  • the water and fertilizer expansion assembly 511 can control the lifting position of the water and fertilizer bucket 513, so as to adapt to the fertilization requirements of different crops.
  • the center of gravity of the water and fertilizer bucket 513 is reduced, which is beneficial to the stability of the robot 1.
  • the water and fertilizer module 5 can be independently applied to existing equipment and operated in an existing method.
  • the sterilizing module 6 includes a gas sterilizing device and a liquid sterilizing device
  • the gas sterilizing device includes an ultraviolet lamp 622 and a sterilizing net 623
  • the liquid sterilizing device includes a sterilizing liquid and a mist spray mechanism, an ultraviolet lamp 622 and a sterilizing net 623 It is used for gas sterilization, and the liquid sterilization device uses sterilizing liquid to sterilize.
  • the gas sterilizing device comprises a turbofan 62, and the turbofan 62 is installed above the frame 11 through a turbofan mounting bracket 66.
  • the size of the inlet end of the turbofan 62 is greater than the size of the outlet port, and the size of the turbofan 62 along the air flow direction The size is gradually reduced, which is conducive to compressing the air and increasing the flow speed of the air;
  • the gas sterilization device is provided with two groups, and the two groups are symmetrically installed on the frame 11, and the air flow direction of the turbofan 62 is consistent with the moving direction of the robot 1 ;
  • the turbofan mounting frame 66 is a frame structure, and the upper surface of the turbofan mounting frame 66 is provided with an arc-shaped surface 661. The end is fixedly connected with the upper surface of the turbofan mounting frame 66, so that the turbofan 62 is fixedly installed on the frame 11.
  • the turbofan 62 includes a volute 625 and a volute frame 620, the volute 620 constitutes the overall frame of the volute 62, the volute 625 is installed on the outer surface of the volute 620, and wraps the volute 620 and the equipment installed in the volute 620 as a whole. inside, and form an air circulation channel; the volute 625 is provided with sound insulation cotton inside, and high-strength thermal insulation and fireproof cotton outside, so as to reduce the interference to the external environment.
  • the turbofan 62 is also provided with a fan 621.
  • the fan 621 is installed at the inlet of the turbofan 62. When the fan 621 starts, a negative pressure environment is formed inside the turbofan 62, so that air continuously enters the turbofan 62 for purification.
  • Both the ultraviolet lamp 622 and the germicidal net 623 are installed in the turbofan 62.
  • the germicidal net 623 is obliquely installed in the turbofan 62 in order to obtain the maximum contact area between the air and the germicidal net 623.
  • the sterilizing nets 623 are distributed sequentially along the air circulation direction to realize multiple and multi-stage purification of the air and obtain the maximum air purification effect.
  • Sterilizing net 623 is made up of photocatalytic net, and photocatalytic net is made up of photocatalyst, preferably adopts titanium dioxide, and ultraviolet lamp 622 is installed in turbofan 62 inside, and ultraviolet lamp 622 starts and emits the ultraviolet light of certain band, preferably band is set to 365nm, and ultraviolet light emits
  • the photocatalyst is activated, and the photocatalyst produces strong oxidizing substances.
  • the air circulates it can effectively degrade the toxic and harmful gases in the air, and at the same time effectively kill a variety of bacteria, and can release the bacteria or fungi. Toxin decomposition and harmless treatment to achieve the purpose of efficient air purification.
  • This embodiment adopts photocatalyst to kill, can quickly kill bacteria, germs, viruses floating in the air and attached to the aerosol, including H1N1, SARS, influenza virus, coronavirus, etc., and the sterilization rate is as high as 99% or more;
  • H1N1, SARS, influenza virus, coronavirus, etc. the sterilization rate is as high as 99% or more;
  • 114 kinds of toxic pollutant gases and odors in nine categories announced by the U.S. Environmental Agency can be quickly removed and eventually degraded into carbon dioxide and water, with an average effective removal rate of over 99.9%; any side effects.
  • the sterilizing liquid is formed by mixing the diluent and the sterilizing stock solution in a certain proportion
  • the mist spray mechanism includes a mist spray pipe 63 and a mist spray head 60, and the sterilizing liquid is sprayed outward by the mist spray pipe 63 or the mist spray head 60. Kill and sterilize.
  • the liquid sterilizing device also includes a sterilizing telescopic assembly 611 , a sterilizing frame 61 , a dilution bucket 65 and a sterilizing bucket 64 , the sterilizing telescopic assembly 611 controls the position of the dilution bucket 65 , and the dilution bucket 65 is installed on the sterilizing frame 61 .
  • the liquid sterilizing device includes a liquid outlet pipe 624 installed at the outlet end of the turbofan 62, and one end of the liquid outlet pipe 624 communicates with the dilution barrel 65 and the sterilization barrel 64 through a pipeline, and a proportional pump (not shown) is arranged in the pipeline, and the liquid outlet pipe
  • the other end of 624 is communicated with mist nozzle 60, and mist nozzle 60 can adopt existing equipment, and sterilizing stock solution is housed in sterilizing bucket 64, as photocatalytic stock solution or sodium hypochlorite, diluent is housed in diluting barrel 65, dilutes sterilizing stock solution,
  • the diluent can be water, and the proportional pump adjusts the liquid delivery ratio of the dilution tank 65 and the sterilization tank 64, and the dilution liquid of the dilution tank 65 and the sterilizing stock solution of the sterilization tank 64 pass the set ratio It is directly transported to the liquid outlet pipe 624, and the sterilizing
  • the mist spray pipe 63 communicates with the liquid outlet pipe 624, and the mist spray pipe 63 is fixed with a mist spray hole (not marked), that is, the dilution bucket 65, the sterilization bucket 64, the liquid outlet pipe 624 and the mist spray pipe 63 form the second mist Spray channels, preferably, the mist spray pipes 63 of adjacent units communicate with each other to form a large area of mist spray areas, the spray area of the second mist spray channels is determined by the spray area of the mist spray pipes 63, and the crop area or kills When the bacterium area area is bigger, preferably adopt mist spray pipe 63 to carry out mist spray.
  • the crop area or sterilization area is sterilized, which can be adapted to different crop areas or sterilization areas.
  • the driving device 4 drives the robot 1 to move back and forth along the cable device 3, so that the robot 1 loads the sterilization module 6 and moves back and forth in the crop area or the sterilization area for sterilization.
  • the sterilizing telescopic assembly 611 includes a sterilizing telescopic frame 6111 and a sterilizing hydraulic rod 6112.
  • the sterilizing hydraulic rod 6112 is fixedly connected to the sterilizing telescopic frame 6111 along the vertical direction.
  • Straight direction telescopic, sterilizing connecting assembly 610 is fixed above the sterilizing telescopic assembly 611, the sterilizing connecting assembly 610 is fixedly connected with the frame 11 of the robot 1, and the liquid sterilizing device is provided with two groups, symmetrically fixed on the frame 11 On both sides, the distribution direction of the two groups of liquid sterilization devices is perpendicular to the moving direction of the robot 1 .
  • the sterilization frame 61 is fixed at the lower end of the sterilization telescopic assembly 611.
  • the sterilization frame 61 includes a sterilization first box body 6121 and a sterilization second box body 6122. Both ends of the second box body 6122, the dilution barrel 65 is installed in the second box body 6122 for sterilization, the sterilization barrel 64 can also be installed in the first box body 6121 for sterilization, or the sterilization barrel 64 is installed in the second box body 6122, two groups of dilution Barrels 65 are respectively installed in the first box body 6121, and the sterilization barrel 64 and the dilution barrel 65 are respectively connected with the liquid outlet pipe 624 through a proportional pump, and the dilution liquid and the sterilizing stock solution are mixed into a sterilizing liquid in proportion to realize the function of automatic batching; the dilution barrel 65 can adopt existing equipment.
  • a sterilizing support frame 614 is fixed below the sterilizing frame 61 .
  • the sterilizing support frame 614 can be in contact with the ground.
  • the sterilizing support frame 614 supports the liquid sterilizing device to reduce the loading burden of the robot 1 .
  • the sterilization telescopic assembly 611 can control the lifting position of the dilution bucket 65 so as to meet the sterilization requirements of different environments.
  • the center of gravity of the dilution bucket 65 is lowered, which is beneficial to the stability of the robot 1 .
  • the sterilization module 6 can be applied to crops, to sterilize and kill the environment of the crops and the crops themselves, to ensure the survival rate of the crops, and to take pollution control and sterilization work on the public environment and the family environment.
  • the sterilization method is safe and has no strong pungent smell; it is effective and thorough, with a sterilization rate of over 99% and no side effects.
  • the sterilizing module 6 can be applied to existing equipment alone, and can be operated by using an existing method.
  • the main material of each structure adopts aviation aluminum material national standard 6061-T6, which has the characteristics of environmental protection and light weight.
  • control experiment is carried out to photocatalyst to the bactericidal control effect of crop:
  • the control object of the test cucumber downy mildew
  • Test agent 1% TIO 2 ;
  • Control agent 1. 80% mancozeb WP; 2. Tmax additive;
  • the difference between this embodiment and the first embodiment is that in the first embodiment, the power supply module 7 is installed on the side of the frame 11, and the photovoltaic panel 71 is installed obliquely, while in this embodiment, the power supply module 7 is installed on the The top of rack 11.
  • the power supply module 7 includes a photovoltaic panel 71 and a photovoltaic installation panel 72. There are four sets of photovoltaic installation panels 72, which are connected to the photovoltaic panel 71 and the frame reinforcement panel 113 in a rectangular distribution. The photovoltaic panel 71 is located above the main chassis 13.
  • Embodiment 1 As shown in Figure 18, the difference between this embodiment and Embodiment 1 is that in Embodiment 1, there are two sets of main steel wires 30, the main steel wires 30 support the supporting device 14, the loading module 9 is fixed below the frame 11, and the auxiliary steel wires 33 and the supporting loading module 9, the loading module 9 is used to carry functional accessories, and in this embodiment, the main steel wire 30 is set as a group, the main steel wire 30 supports the supporting device 14, and the support module 16 is fixed under the frame 11. Steel wires 33 are used to support the support module 16 .
  • the main steel wire 30 forms a triangular structure with two sets of auxiliary steel wires.
  • the difference between this embodiment and the first embodiment is that the water and fertilizer assembly 51 in the first embodiment includes a water and fertilizer telescopic assembly 511, a water and fertilizer rack 512, and a water and fertilizer bucket 513, and the water and fertilizer bucket 513 is installed on the water and fertilizer rack 512.
  • the frame 512 is connected with the frame 11 through the water and fertilizer expansion assembly 511.
  • the water and fertilizer assembly 51 has a telescopic function
  • the water and fertilizer bucket 513 is installed on the frame 11 through the water and fertilizer installation frame 61.
  • the water and fertilizer installation frame 61 does not possess telescopic function.
  • the water and fertilizer mounting frame 61 comprises a water and fertilizer frame fixer 611, a water and fertilizer frame plate 613 and a water and fertilizer frame bar 614, and the water and fertilizer frame plate 613 and the water and fertilizer frame bar 614 are connected to each other to form a hollow square structure, and the water and fertilizer frame fixer 611 is fixed on the water and fertilizer frame plate 613 Above, the frame 11 is fixedly provided with a water and fertilizer connecting rod 615, and the water and fertilizer rack fixer 611 is detachably installed on the water and fertilizer connecting rod 615. It is a unit, two groups of one unit are symmetrically installed on both sides of the frame 11, and are distributed along the moving direction of the robot, and the water and fertilizer buckets 513 are installed on two groups of water and fertilizer mounting frames 61 of one unit.
  • the robot is also provided with an anti-collision radar (not shown), an anti-collision plate (not shown) and an emergency braking device (not shown), the anti-collision radar is used for collision prevention, and the anti-collision plate is used For mechanical anti-collision where the anti-collision radar fails or an uncontrollable situation occurs, the emergency braking device is used for emergency automatic braking in the event of a collision.

Abstract

本发明公开了一种农业作物的作业系统,包括机器人、钢索装置、驱动装置、功能模块以及若干基站，钢索装置连接两组基站，钢索装置承托机器人，驱动装置控制机器人沿钢索装置移动，功能模块可拆卸安装在机器人，功能模块包括监测模块或/和装载模块或/和水肥模块或/和杀菌模块或/和供电模块，机器人包括机架和主机装置，主机装置包括主机箱，主机箱包括控制模块、动力模块和巡检组件，控制模块控制动力模块、巡检组件、驱动装置和功能模块的运行，本发明通过分布式插地作业基站，将人工智能技术、绿色农业技术、机械技术、电器技术综合应用在对劳动力要求极高的农业基地，达到解放生产力，提升生产效益的目标。

Description

一种农业作物的作业系统 技术领域
本发明属于农业机械领域，涉及一种农业作物的作业系统。
背景技术
农业目前多在地势平坦、现代大棚、现代养殖场地势平坦区域应用机器人，但高标准农田、山区丘陵地区还基于于人畜力解决灌溉、施肥、搬运等作业问题，水电路基建设施不完善的地区，机械无法进入；另外现有的机器人多用于浇水、喷药以及施肥等简单的操作，自动化和智能化程度较低，本发明有效地解决了这种问题。
发明内容
本发明为了克服现有技术的不足，提供一种农业作物的作业系统。
为了实现上述目的，本发明采用以下技术方案：一种农业作物的作业系统,其特征在于：包括机器人、钢索装置、驱动装置、功能模块以及若干基站，钢索装置连接两组基站，钢索装置承托机器人，驱动装置控制机器人沿钢索装置移动，功能模块可拆卸安装在机器人，功能模块包括监测模块或/和装载模块或/和水肥模块或/和杀菌模块或/和供电模块，机器人包括机架和主机装置，主机装置包括主机箱，主机箱包括控制模块、动力模块和巡检组件，控制模块控制动力模块、巡检组件、驱动装置和功能模块的运行。
进一步的；所述机器人包括承托装置，主机装置和承托装置安装在机架上，控制模块控制动力模块、巡检组件以及机器人的运行，机架包括机架横杆和机架直杆，机架横杆设置有两组，两组机架横杆平行设置，且通过机架横短杆固设连接，机架直杆与机架横杆通过机架连接板固设连接，且两者呈相互垂直状态，且机架直杆的长度方向与机器人的移动方向一致，机架直杆与机架横杆连 接有机架加强板，机架上固设有天线组件，天线组件设置有两组，且两组天线组件安装在机架直杆的两端，天线组件包括天线和天线安装块，天线安装块固设在机架直杆上，天线安装在天线安装块上，通过天线进行信息传输和交互。
进一步的；所述控制模块包括通信接口，控制模块通过通信接口带有的无线或有线通讯模块，与通信设备进行信息交互，对机器人进行远程操控，主机箱还搭载有语音作业组件，通过语音作业组件对机器人进行语音操控，通信设备包括手机APP或/和中央控制室或/和VR眼镜，通信接口接收通信设备的控制指令和语音作业组件识别的语音数据，通信接口包括主机箱上的各种有线或无线通信接口，控制模块通过动力模块控制机器人沿轨道来回运动；巡检组件包括接收模块、存储模块和操作模块，存储模块内配置有多种种植作物以及养殖生物的信息，操作模块输入设定的作物信息及种植或养殖信息和操作，接收模块接收监测模块采集的作物实时数据，监测模块对作物区进行小时网络视频监控，接收模块将作物实时数据与存储模块的作物数据对比，进行分析诊断处理，判定作物的实时状态，根据判断的结果，操作模块作出相应的作业；通过巡检组件进行机器人的巡检模式。
进一步的；所述供电模块对机器人供电，供电模块采用蓄电池或充电控制模块，供电模块包括光伏板和光伏安装板，供电模块安装在机架的侧面，光伏安装板安装在机架，光伏板安装在光伏安装板，光伏安装板包括与机架安装的机架安装部以及与光伏板安装的光伏安装部，机架安装部水平设置，光伏安装部与机架安装部呈倾斜设置。
进一步的；所述装载模块可拆卸安装在机架上，装载模块用于重载运输，装载模块包括两组装载架,装载架上固设有装载构件，装载构件用于挂载功能配件，功能配件包括铺膜模块或/和播种模块或/和打孔模块或/和投料模块或/和 浇水模块或/和收割模块，功能配件通过装载模块搭载在机架的下方，两组所述装载架对称安装在机架的机架上，两组装载架的分布方向与机器人的移动方向垂直，装载架的下方固设有装载固定板，两组装载构件固设在装载固定板的两端，装载构件在竖直方向的横截面设置为C型，C型的开口方向水平且朝向机架，装载构件的C型设计便于对功能配件进行挂设或搭载。
进一步的；所述水肥模块安装在机架，水肥模块包括水肥管和水肥组件，主机装置控制水肥模块向作物区喷淋水肥，水肥组件包括水肥伸缩组件、水肥架和水肥桶，水肥伸缩组件控制水肥桶的位置，水肥桶安装在水肥架上，水肥桶与水肥管连通，水肥伸缩组件包括伸缩架和液压杆，液压杆沿竖直方向与伸缩架固设连接，液压杆伸缩后控制伸缩架在竖直方向的伸缩，水肥伸缩组件的上方固设有水肥连接组件，水肥连接组件与机架固设连接。
进一步的；所述杀菌模块包括气体杀菌装置，主机装置控制气体杀菌装置运行，气体杀菌装置包括涡扇，涡扇的进口端尺寸大于出口出口端尺寸，沿空气流动方向涡扇的尺寸逐渐减少，涡扇包括涡壳和涡架，涡架构成涡扇的整体框架，涡壳安装在涡架的外表面，将涡架以及涡架内安装的设备整体包裹在内部，并形成空气的流通通道；涡壳内部设置有隔音棉，外部设置有高强度保温隔热防火棉，涡扇内还设置有风机，风机安装在涡扇的进口端，风机用于涡扇内部形成负压环境。
进一步的；所述杀菌模块包括液体杀菌装置，液体杀菌装置包括杀菌液和雾喷机构，主机装置控制液体杀菌装置运行，杀菌液由稀释液和杀菌原液按比例混合而成，雾喷机构包括雾喷管和雾喷头，杀菌液由雾喷管或雾喷头向外雾喷杀菌液消杀灭菌，液体杀菌装置还包括杀菌伸缩组件、杀菌架、稀释桶、杀菌桶和出液管,出液管安装在涡扇的出口端，出液管一端通过管道分别与稀释桶 和杀菌桶连通，管道内设置有比例泵，出液管的另一端与雾喷头连通，杀菌桶内装有杀菌原液，稀释桶内装有稀释液，稀释对杀菌原液进行稀释，比例泵调节稀释桶以及杀菌桶的液体输送比例，稀释桶的稀释液以及杀菌桶的杀菌原液通过设定的比例直接输送至出液管，并通过雾喷头或雾喷管向外雾喷调配后的杀菌液。
进一步的；所述基站至少包括两组，两组基站设置为一个单元，一个单元的两组基站分布在作物区的两边，且位于作物区两边的两组基站一一对应，一个单元与一组机器人对应，一个单元设置一组钢索装置；一个单元的两组基站之间设置停靠基站，基站包括基站立柱和基站横梁，基站立柱和基站横梁由若干管道构成，基站横梁固设在位于上侧的基站立柱上，基站横梁和基站立柱形成T字型结构，基站横梁与基站立柱之间设置有基站悬梁，基站立柱底部固设有基站固定座，基站固定座安装在基站底座，基站还包括基站斜拉机构，基站斜拉机构包括两组基站斜拉基座，每组基站斜拉基座上固设有基站斜拉绳固定座，基站斜拉绳固定座与基站横梁间固设有基站斜拉绳，基站斜拉基座分别位于基站的两侧，基站以及两组基站斜拉基座呈三角分布，一个单元内的两组基站通过钢索装置连接。
进一步的；所述钢索装置包括主钢索、副钢索和钢索固定机构，主钢索位于副钢索的上方，基站上固设有钢索承托架，钢索承托架上固设有主钢索套,主钢索套设在主钢索套内，基站上固设有副钢索套，副钢索套设在副钢索套内，主钢索和副钢索固设在钢索固定机构，钢索固定机构包括钢索斜拉基座，钢索斜拉基座上固设有钢索斜拉绳固定座，主钢索和副钢索分别与钢索斜拉绳固定座固设，主钢索设置两组，副钢索设置两组，两组主钢索的间距小于以及两组 副钢索的间距，形成类梯形结构，且主钢索以及副钢索分别位于梯形的四个角上，承托装置与主钢索相抵。
综上所述，本发明的有益之处在于：
本发明的有益之处在于：本发明通过分布式插地作业基站，将人工智能技术、绿色农业技术、机械技术、电器技术综合应用在对劳动力要求极高的农业基地，达到解放生产力，提升生产效益的目标；本发明实现网络化、智能化的农业技术发展，实现了植物种植过程的全程记录和全程辅助指导，在可以提高农产品产值的同时，可以实现植物种植流程的可追溯，可以通过可拆卸的挂接平台实现多种作业功能的快速转换，从而适用了农业生产的多种作业任务，提高了农业机器人的利用率与性价比，降低了作业成本；本发明行走于悬空轨道上，能够获得更好的巡检视角及更充裕的采摘、喷药空间，特别适应于露天大田、封闭大棚等种植场景；而且由于机器人无需着地，还可以避免机器人对作物的损坏；本发明具备自动巡检功能，可以在启动采摘、喷药等作业任务之前先执行巡检模式，具体基于机器视觉技术识别出是否需要作物的喷药及果实的采摘，具备更强的自动化水平，可极大提高农业生产效率；本发明可实现空气净化、采摘、配方施肥(水肥)、喷药、运输等功能。
附图说明
图1为本发明装配机器人的农业作物系统示意图。
图2为图1中A的放大示意图。
图3为本发明的机器人仰视图。
图4为本发明的机箱安装架示意图。
图5为本发明的机架示意图。
图6为本发明的光伏安装板示意图。
图7为本发明的基站示意图。
图8为本发明的装配装载模块的农业作物系统示意图。
图9为图8中B的放大示意图。
图10为本发明的装配水肥模块的农业作物系统示意图。
图11为图10中C的放大示意图。
图12为本发明的水肥模块示意图。
图13为本发明的装配杀菌模块的农业作物系统示意图。
图14为图13中D的放大示意图。
图15为本发明的涡扇安装架示意图。
图16为本发明的涡扇内部结构示意图。
图17为本发明的实施例二的示意图。
图18为本发明的实施例三的示意图。
图19为本发明的实施例四的示意图。
图20为本发明的实施例四中水肥安装架的示意图。
具体实施方式
以下通过特定的具体实例说明本发明的实施方式，本领域技术人员可由本说明书所揭露的内容轻易地了解本发明的其他优点与功效。本发明还可以通过另外不同的具体实施方式加以实施或应用，本说明书中的各项细节也可以基于不同观点与应用，在没有背离本发明的精神下进行各种修饰或改变。需说明的是，在不冲突的情况下，以下实施例及实施例中的特征可以相互组合。
需要说明的是，以下实施例中所提供的图示仅以示意方式说明本发明的基本构想，遂图式中仅显示与本发明中有关的组件而非按照实际实施时的组件数 目、形状及尺寸绘制，其实际实施时各组件的型态、数量及比例可为一种随意的改变，且其组件布局型态也可能更为复杂。
本发明实施例中所有方向性指示(诸如上、下、左、右、前、后、横向、纵向……)仅用于解释在某一特定姿态下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
实施例一：
如图1-16所示，一种农业作物的作业系统，包括机器人1、钢索装置3、驱动装置4、功能模块以及若干基站2，钢索装置3连接两组基站2，钢索装置3承托机器人1，驱动装置4控制机器人1沿钢索装置3移动，功能模块可拆卸安装在机器人1。
功能模块包括监测模块或/和装载模块9或/和水肥模块5或/和杀菌模块6或/和供电模块7。
本实施例中，机器人1上至少安装功能模块中至少一种模块，功能模块与机器人1采用可拆卸安装方式进行安装，实现多种作业功能的快速转换，从而适用了农业生产的多种作业任务，提高了农业机器人的利用率与性价比，降低了作业成本。
如图1-6所示，机器人1包括机架11、主机装置、承托装置14，主机装置、承托装置14和功能模块安装在机架11上，承托装置14用于机架11、主机装置和功能模块，功能模块包括监测模块、装载模块9、水肥模块5、杀菌模块6、供电模块7，机架11至少安装功能模块中至少一种模块。
机架11包括机架横杆111和机架直杆112，机架横杆111设置有两组，两组机架横杆111平行设置，且通过机架横短杆固设连接，机架直杆112与机架横杆111通过机架连接板116固设连接，且两者呈相互垂直状态，且机架直杆 112的长度方向与机器人1的移动方向一致，进一步的，为保证两者间的稳定性，机架直杆112与机架横杆111连接有机架加强板113，通过机架加强板113保证两者的固定的稳定性，防止在重物作用下两者发生形变，为减轻机器人1整体的重量，本实施例中，机架11采用空心结构，外形采用方型，但不限于方型，甚至可采用不规则形状，只要可满足要求即可；机架11上固设有天线组件12，天线组件12设置有两组，且两组天线组件12安装在机架直杆112的两端，天线组件12包括天线121和天线安装块122，天线安装块122固设在机架直杆112上，天线121安装在天线安装块122上，通过天线121实现信息传输和交互。
主机装置包括主机箱13，主机箱13是作业系统以及机器人1作业的控制中心，主机箱13包括控制模块、动力模块和巡检组件，控制模块控制动力模块和巡检组件的运行，控制模块包括通信接口，控制模块通过通信接口带有的无线或有线通讯模块，与通信设备进行信息交互，实现对机器人的远程操控，主机箱13还搭载有语音作业组件，通过语音作业组件实现对机器人的语音操控，本实施例通信设备包括手机APP或/和中央控制室或/和VR眼镜，优选的，本实施例搭载VR眼镜，实现虚拟现实作业，或可称呼为元宇宙，VR眼镜直观地表现作物的生长状态以及生长环境，并可模拟不同配料下当前作物的生长，使用者可选择系统推荐的配料，也可根据需要调整配方比例，使用者在元宇宙虚拟操作实现对机器人的远程操控，本实施例将人工智能技术与绿色农业技术和机械技术以及电器技术综合应用在对劳动力要求极高的农业基地，达到解放生产力，提升生产效益的目标。
中央控制室可采用现有设计，也可直接通过语音，通过语音作业组件对语音指令进行识别实现对监测模块、装载模块9、驱动装置4、水肥模块5、杀菌模块6、供电模块7，通过多种方式实现对机器人进行远程操控，扩大了操控方 式的多样性、丰富性以及便捷性，从而使机器人可适应不同环境的要求以及农业生产的多种作业任务要求；通信接口接收通信设备的控制指令和语音作业组件识别的语音数据，通信接口包括主机箱13上的各种有线或无线通信接口，如网络接口、USB接口、视频接口、蓝牙、WIFI、4G\5G等；控制模块通过动力模块控制机器人沿轨道来回运动；巡检组件包括接收模块、存储模块和操作模块，存储模块内配置有多种种植作物以及养殖生物的信息，操作模块输入设定的作物信息及种植或养殖信息和操作，接收模块接收监测模块采集的作物实时数据，监测模块对作物区进行24小时网络视频监控，接收模块将作物实时数据与存储模块的作物数据对比，进行分析诊断处理，判定作物的实时状态，比如种植作物时，判断作物的生长阶段以及根据作物叶片颜色、形状等因素判断现阶段作物是否生长良好，并根据判断的结果，操作模块作出相应的作业，即通过机器视觉技术实现机器人自动种植以及养殖的功能；本实施例通过巡检组件可实现机器人1的巡检模式，在启动采摘、喷药等作业任务之前可先执行巡检模式，基于机器视觉技术识别出是否需要作物的喷药及果实的采摘，具备更强的自动化水平，可极大提高农业生产效率。
本实施例通过巡检组件实现网络化、智能化的农业技术发展，实现了植物种植过程的全程记录和全程辅助指导，在可以提高农产品产值的同时，可以实现植物种植流程的可追溯。
本实施例中，监测模块可包括摄像机或/和热像仪、声音采集器或/和音响，监测模块采用摄像机或/和热像仪采集作物的图像或/和热像数据，监测模块通过声音采集器采集作物的声音数据，音响将信号数据进行传输。
本实施例中，控制模块可设置为移动终端，如手机、笔记本等或固定终端。
主机箱13通过机箱安装架10固定在机架11上，机箱安装架10包括两组机箱固定组件102和连接两组机箱固定组件102的机箱连接杆101构成，两组机箱固定组件102沿机架直杆112的长度方向对称设置，机箱连接杆101将两组机箱固定组件102固定连接，机箱固定组件102包括两组机架卡板1021，两组机架卡板1021上下对称设置，两组通过机架卡板连接杆1023连接，机架卡板1021上固设有卡板凹口10211，卡板凹口10211由若干类似台阶型结构的槽口构成，两组机架卡板1021上的卡板凹口10211位置相对，形成穿腔，机架直杆112穿过两组穿腔，并通过相应的结构将两者固定连接，本实施例机架直杆112穿过若干类似台阶型结构的槽口，一方面可避免机架直杆112在安装过程中发生位置偏移，另一方面不同槽口可适应不同尺寸的机架直杆112，提高了机架直杆112与机箱安装架10安装的效率；机箱安装架10上还固设有机箱安装板1022，通过机箱安装板1022将主机箱13安装在机箱安装架10上。
供电模块7可采用蓄电池或充电控制模块，也可采用外部电源，如太阳能，本实施例中，如图2所示，机器人1采用太阳能供电，具体来说，本实施例中，供电模块7包括光伏板71和光伏安装板72，供电模块7安装在机架11的侧面，具体来说，机架横杆111上固设有安装供电模块7的供电安装板115，光伏安装板72安装在供电安装板115，光伏板71安装在光伏安装板72，从而实现供电模块7与机架11的安装，本实施例中，供电模块7设置有四组，且采用30W的光伏板71，进一步的，光伏安装板72包括与供电安装板115安装的机架安装部721以及与光伏板安装的光伏安装部722，机架安装部721水平设置，光伏安装部722与机架安装部721呈倾斜设置，且倾斜角度优选为45°，不仅可避免冰雪或灰尘的堆积，也可增加光伏板71的太阳能接收量，进一步的，一组供电模块7可包括多组光伏安装板72，多组光伏安装板72可位于接收不同方向太阳的 位置，增加光伏板71的太阳能接收量，进一步的，光伏安装板72的形状可设置为弧形或其他形状，相应的光伏板71形状与光伏安装板72相配，可根据实际需要进行设定。
承托装置14包括两组滑轮组件和两组导轮组件，一组导轮组件包括导轮固定板141，导轮固定板141上固设有两组导轮142，两组导轮142沿机架横杆111的长度方向分布，两组导轮组件对称固设在机架直杆112上且位于主机箱13的前后位置，一组滑轮组件包括滑轮固定板143，滑轮固定板143上固设有两组滑轮144，两组滑轮144沿机架直杆112的长度方向分布，如图3所示，同侧的两组导轮142以及两组滑轮144共线或近似共线，机器人1通过两组滑轮组件和两组导轮组件与钢索装置3配合，保证了机器人1传输的稳定性。
机器人1可单独应用于现有设备，采用现有方法运行。
本实施例基站2至少包括两组，两组基站2设置为一个单元，一个单元的两组基站2分布在作物区的两边，且位于作物区两边的两组基站2一一对应，一个单元与一组机器人1对应，一个单元设置一组钢索装置3和驱动装置4；优选的，一个单元的两组基站2之间可设置停靠基站26，停靠基站26高度与基站2一致，停靠基站26一方面可作为机器人1补充能源的供应设备，也可对承托装置14进行支撑，使本发明以及机器人实现远距离移动，适应大范围的作物区，本实施例中，基站2设置有六组，在实际情况下，可根据作物区的大小，可增加或减少基站2数量。
如图7所示，基站2包括基站立柱22和基站横梁23，基站立柱22和基站横梁23由若干管道构成，本实施例中基站立柱22的外形尺寸设置为300x300x1200mm,基站横梁23的外形尺寸设置为300x300x800mm，若干基站立柱22沿竖直方向分布固设连接，基站横梁23固设在位于上侧的基站立柱22上， 基站横梁23和基站立柱22形成T字型结构，基站横梁23与基站立柱22之间设置有基站悬梁24，通过基站悬梁24实现基站横梁23固定的稳定性，加强基站横梁23的强度，基站立柱22底部固设有基站固定座21，本实施例中，基站固定座21安装在基站底座20。
为保证基站2的稳定性，基站2还包括基站斜拉机构25，基站斜拉机构25包括两组基站斜拉基座251，每组基站斜拉基座251上固设有基站斜拉绳固定座252，基站斜拉绳固定座252与基站横梁23间固设有基站斜拉绳253，基站斜拉基座251分别位于基站2的两侧，基站2以及两组基站斜拉基座251呈三角分布，基站2整体安装后，通过基站斜拉绳253，保证整体的稳定性；在其他实施例中，基站固定座21也可直接安装在地面，基站斜拉绳固定座252也可直接安装在地面，只要能保证基站2稳定安装即可，从而保证基站2的稳定性。
基站2可单独应用于现有设备，采用现有方法运行。
本实施例中，一个单元的两组基站2之间通过钢索装置3连接，具体来说，钢索装置3包括主钢索30、副钢索33和钢索固定机构，主钢索30位于副钢索33的上方，基站1上固设有钢索承托架32，钢索承托架32上固设有主钢索套31,主钢索30套设在主钢索套31内，基站1上固设有副钢索套34，副钢索33套设在副钢索套34内，主钢索30和副钢索33固设在钢索固定机构，具体来说，钢索固定机构包括钢索斜拉基座35，钢索斜拉基座35上固设有钢索斜拉绳固定座36，主钢索30和副钢索33分别与钢索斜拉绳固定座36固设，从而保证主钢索30和副钢索33的稳定性；在其他实施例中，钢索斜拉基座35也可直接安装在地面，钢索斜拉基座35也可直接安装在地面，只要能保证主钢索30和副钢索33稳定安装即可，从而保证主钢索30和副钢索33的稳定性。
一个单元内的两组基站2通过主钢索30和副钢索33连接，本实施例中，主钢索30设置两组，副钢索33设置两组，两组主钢索30的间距小于以及两组副钢索33的间距，形成类梯形结构，且主钢索30以及副钢索33分别位于梯形的四个角上，承托装置14的两组滑轮组件和两组导轮组件分别与主钢索30相抵，机器人1沿主钢索30移动，机器人1在悬空的主钢索30上行走，可获得更好的巡检视角及更充裕的采摘、喷药空间，特别适应于露天大田、封闭大棚等种植场景；而且由于机器人无需着地，还可以避免机器人对作物的损坏。
钢索装置3可单独应用于现有设备，采用现有方法运行。
驱动装置4包括驱动安装架45，驱动安装架45固设在基站2的基站横梁23，驱动安装架45上固设有驱动电机44和驱动架42，驱动架42上绕设有驱动拉索41，驱动拉索41与固设在机架直杆112的拉索套114连接，一个单元的两组基站2分别通过驱动拉索41与机器人1的两端连接，驱动电机44控制任意驱动拉索41转动，进而控制机器人1沿主钢索30来回移动，驱动装置4一般与功能模块同步启动，机器人1实现巡检、监测、投料、浇水、施肥、杀菌以及雾喷等功能；驱动电机44控制机器人1的移动速度，可适应不同作物的不同需求。
驱动装置4可单独应用于现有设备，采用现有方法运行。
如图8-9所示，装载模块9包括两组装载架91,装载架91上固设有装载构件94，装载构件94用于挂载功能配件。
功能配件包括铺膜模块或/和播种模块或/和打孔模块或/和投料模块或/和浇水模块或/和收割模块，功能配件通过装载模块9搭载在机器人1的下方，降低了机器人1的重心，提高了稳定性，装载模块9与钢索装置3的主钢丝30以及辅钢丝33的配合，可装载200kg的重物，实现作业系统的重载运输，从而适 用了农业生产的多种作业任务，分布式的基站2、装载模块9以及钢索装置3构成农业全地形的重载运输。
两组装载架91对称安装在机架11的机架横杆111上，两组装载架91的分布方向与机器人1的移动方向垂直，两组装载架91的间距与副钢索33的间距相配，装载架91的下方固设有装载固定板92，两组装载构件94固设在装载固定板92的两端，两组装载构件94沿副钢索33的长度方向分布，装载构件94用于搭载功能配件。
装载构件94在竖直方向的横截面设置为C型，C型的开口方向水平且朝向副钢索33，装载构件94的C型设计有利于对功能配件进行挂设或搭载，装载构件94的开口的上下方向固设有承载轮951，承载轮951与副钢索33相抵，通过副钢索33对装载模块9进行承托。
装载模块9还包括限制装置96，限制装置96设置有两组且安装在两组装载架91的相对面上，限制装置96上固设有限制轮961，限制装置96对挂设或搭载的功能配件进行限制。
装载模块9可单独应用于现有设备，采用现有方法运行。
如图10-12所示，水肥模块5包括水肥管50和水肥组件51，水肥组件51包括水肥伸缩组件511、水肥架512和水肥桶513，水肥伸缩组件511控制水肥桶513的位置，水肥桶513安装在水肥架512上，水肥桶513与水肥管50连通，水肥管50向作物区喷淋水肥。
水肥管50位于一个单元的两组基站2之间，且沿主钢丝30的长度方向分布，水肥管50上固设有若干均匀分布的水肥喷淋孔501，水肥喷淋孔501朝向作物区，水肥通过水肥喷淋孔501向作物区喷淋；水肥管50可由若干管道组合构成，也可由一组管道单独设置。
水肥管50在竖直方向上位于主钢丝30的下方，在水平方向上位于两组主钢丝30的中间位置，水肥管50与两组主钢丝30之间分别通过连接杆502连接，水肥管50、两组主钢丝30以及连接杆502形成三角状态，保证水肥管50安装的稳定性；通过水肥管50的设计，在某些情况下，机器人1装载水肥组件51后可保持固定不动，水肥管50向作物区喷淋水肥。
水肥组件51包括水肥伸缩组件511、水肥架512和水肥桶513，水肥伸缩组件511包括伸缩架5111和液压杆5112，本实施例中，液压杆5112沿竖直方向与伸缩架5111固设连接，液压杆5112伸缩后控制伸缩架5111在竖直方向的伸缩，水肥伸缩组件511的上方固设有水肥连接组件510，水肥连接组件510与机器人1的机架11固设连接。
水肥架512固设在水肥伸缩组件511的下端，水肥架512包括第一箱体5121和第二箱体5122，第一箱体5121设置有两组，且对称固设固设在第二箱体5122的两端，水肥桶513安装在第二箱体5122，第一箱体5121可安装原料桶(图未显示)，原料桶与水肥桶513连通，将原料按需输入水肥桶513内，实现自动配料的功能；水肥桶513可采用现有的设备，水肥桶513的尺寸可按需设置。
水肥架512下方还固设有水肥支撑架514，水肥支撑架514可与地面接触，水肥支撑架514对水肥组件51进行支撑，降低机器人1的装载负担。
水肥伸缩组件511可控制水肥桶513的升降位置，以便适应不同作物的施肥要求，本实施例中，根据水肥组件51的设计，降低了水肥桶513的重心，有利于机器人1的稳定性。
水肥模块5可单独应用于现有设备，采用现有方法运行。
如图13-16所示，杀菌模块6包括气体杀菌装置和液体杀菌装置，气体杀菌装置包括紫外线灯622和杀菌网623，液体杀菌装置包括杀菌液和雾喷机构，紫外线灯622和杀菌网623用于气体杀菌，液体杀菌装置采用杀菌液杀菌。
气体杀菌装置包括涡扇62，涡扇62通过涡扇安装架66安装在机架11上方，本实施例中，涡扇62的进口端尺寸大于出口出口端尺寸，沿空气流动方向涡扇62的尺寸逐渐减少，有利于对空气进行压缩，增强空气的流动速度；气体杀菌装置设置有两组，两组对称安装在机架11上，且涡扇62的空气流动方向与机器人1的移动方向一致；本实施例中，涡扇安装架66为框架结构，涡扇安装架66的上表面设置弧形面661，弧形面661的弧度与涡扇62进口端的外表面弧度相配，涡扇62进口端与涡扇安装架66的上表面固设连接，从而将涡扇62固定安装在机架11上。
涡扇62包括涡壳625和涡架620，涡架620构成涡扇62的整体框架，涡壳625安装在涡架620的外表面，将涡架620以及涡架620内安装的设备整体包裹在内部，并形成空气的流通通道；涡壳625内部设置有隔音棉，外部设置有高强度保温隔热防火棉，从而降低对外部环境的干扰。
涡扇62内还设置有风机621，风机621安装在涡扇62的进口端，风机621启动，将涡扇62内部形成负压环境，从而使空气不断进入涡扇62进行净化工作。
紫外线灯622和杀菌网623均安装在涡扇62内，具体来说，如图15所示，杀菌网623倾斜安装在涡扇62内，以便获得空气与杀菌网623的最大的接触面积，若干杀菌网623沿空气的流通方向依次分布，实现对空气多次以及多级的净化处理，获得最大的空气净化效果。
杀菌网623由光催化网组成，光催化网由光触媒组成，优选采用二氧化钛，紫外线灯622安装在涡扇62内部，紫外线灯622启动发射一定波段的紫外光线，优选波段设置为365nm，紫外光线发射至杀菌网623，即对光触媒进行激活，光触媒产生强氧化性物质，此时空气流通时，可有效降解空气中有毒有害气体，同时有效杀灭多种细菌，并能将细菌或真菌释放出的毒素分解及无害化处理，实现高效净化空气的目的。
本实施例采用光触媒消杀，能迅速杀灭漂浮在空气中及附着在气溶胶上的细菌、病菌、病毒，包括H1N1、SARS、流感病毒、冠状病毒等等，灭菌率高达99％以上；同时对美国环境公署公布的九大类114种有毒污染气体和臭气，均能快速去除，并最终降解成二氧化碳和水，有效去除率平均高达99.9％以上；光触媒消杀无强腐蚀性、无任何的毒副作用。
本实施例中，杀菌液由稀释液和杀菌原液按一定比例混合而成，雾喷机构包括雾喷管63和雾喷头60，杀菌液由雾喷管63或雾喷头60向外雾喷杀菌液消杀灭菌。
液体杀菌装置还包括杀菌伸缩组件611、杀菌架61、稀释桶65和杀菌桶64，杀菌伸缩组件611控制稀释桶65的位置，稀释桶65安装在杀菌架61上。
液体杀菌装置包括安装在涡扇62的出口端的出液管624,出液管624一端通过管道分别与稀释桶65和杀菌桶64连通，管道内设置有比例泵(图未显示)，出液管624的另一端与雾喷头60连通，雾喷头60可采用现有的设备，杀菌桶64内装有杀菌原液，如光催化原液或次氯酸钠，稀释桶65内装有稀释液，稀释对杀菌原液进行稀释，以达到不同环境以及不同杀菌效果的要求，稀释液可采用水，比例泵调节稀释桶65以及杀菌桶64的液体输送比例，稀释桶65的稀释液以及杀菌桶64的杀菌原液通过设定的比例直接输送至出液管624，并通过雾 喷头60向外雾喷调配后的杀菌液，即稀释桶65、杀菌桶64、出液管624以及雾喷头60形成第一雾喷通道，第一雾喷通道的雾喷面积由雾喷头60的喷射面积决定，作物区或消杀灭菌区域面积较小时，优先采用雾喷头60进行雾喷。
雾喷管63与出液管624连通，雾喷管63上固设有雾喷孔(图未标识)，即稀释桶65、杀菌桶64、出液管624以及雾喷管63形成第二雾喷通道，优选的，相邻单元的雾喷管63相互连通，构成大面积的雾喷区域，第二雾喷通道的雾喷面积由雾喷管63的喷射面积决定，作物区或消杀灭菌区域面积较大时，优先采用雾喷管63进行雾喷。
通过比例泵调节稀释桶65以及杀菌桶64的液体输送比例配比杀菌液，无需事先对杀菌液进行调配，减少工序，提高杀菌效率，以及自动化程度，并且通过雾喷头60或雾喷管63对作物区或消杀灭菌区域进行消杀灭菌，可适应不同的作物区或消杀灭菌区域。
驱动装置4驱动机器人1沿钢索装置3来回移动，使机器人1装载杀菌模块6在作物区或消杀灭菌区域来回移动进行消杀灭菌。
杀菌伸缩组件611包括杀菌伸缩架6111和杀菌液压杆6112，本实施例中，杀菌液压杆6112沿竖直方向与杀菌伸缩架6111固设连接，杀菌液压杆6112伸缩后控制杀菌伸缩架6111在竖直方向的伸缩，杀菌伸缩组件611的上方固设有杀菌连接组件610，杀菌连接组件610与机器人1的机架11固设连接，液体杀菌装置设置有两组，对称固设在机架11的两侧，两组液体杀菌装置的分布方向与机器人1的移动方向垂直。
杀菌架61固设在杀菌伸缩组件611的下端，杀菌架61包括杀菌第一箱体6121和杀菌第二箱体6122，杀菌第一箱体6121设置有两组，且对称固设固设在杀菌第二箱体6122的两端，稀释桶65安装在杀菌第二箱体6122，杀菌桶64 也可安装在杀菌第一箱体6121，或杀菌桶64安装在第二箱体6122，两组稀释桶65分别安装在第一箱体6121，杀菌桶64与稀释桶65分别通过比例泵与出液管624连通，将稀释液以及杀菌原液按比例混合成杀菌液，实现自动配料的功能；稀释桶65可采用现有的设备。
杀菌架61下方还固设有杀菌支撑架614，杀菌支撑架614可与地面接触，杀菌支撑架614对液体杀菌装置进行支撑，降低机器人1的装载负担。
杀菌伸缩组件611可控制稀释桶65的升降位置，以便适应不同环境的杀菌要求，本实施例中，根据液体杀菌装置的设计，降低了稀释桶65的重心，有利于机器人1的稳定性。
本实施例中，杀菌模块6可应用于作物，对作物所属环境以及作物本身进行灭菌消杀，保证作物的存活率，以及对公共环境和家庭环境采取污染治理以及灭菌消杀工作，灭菌消杀方式安全无强烈刺鼻味；有效且彻底，灭菌率高达99％以上以及没有毒副作用。
杀菌模块6可单独应用于现有设备，采用现有方法运行。
本实施例中，各结构的主要材料采用航空铝材国标6061-T6，具有环保、轻型的特性。
本实施例中，对光触媒对作物的杀菌防治效果进行对照实验：
试验作物：黄瓜，品种为“金胚99”杂交一代；
试验的防治对象：黄瓜霜霉病；
试验药剂：1％TIO 2；
对照药剂：1、80％代森锰锌WP；2、Tmax助剂；
试验结果见表1：
表1
Figure PCTCN2021134905-appb-000001
由表1可知，1％TIO 2对黄瓜霜霉病有较好的防治效果。
实施例二：
如图17所示，本实施例与实施例一的区别在于，实施例一中供电模块7安装在机架11的侧面，且光伏板71倾斜设置，而本实施例中，供电模块7安装在机架11的上方。
供电模块7包括光伏板71和光伏安装板72，光伏安装板72设置有四组，呈矩形分布连接光伏板71和机架加强板113，光伏板71位于主机箱13的上方。
实施例三：
如图18所示，本实施例与实施例一的区别在于，实施例一中主钢丝30设置有两组，主钢丝30支撑承托装置14，机架11下方固设装载模块9，辅钢丝33与支撑装载模块9，装载模块9用于搭载功能配件，而本实施例中，主钢丝30设置为一组，主钢丝30支撑承托装置14，机架11下方固设支撑模块16，辅钢丝33用于支撑支撑模块16。
主钢丝30与两组辅钢丝形成三角结构。
实施例四：
如图19-20所示，本实施例与实施例一的区别在于，实施例一中水肥组件51包括水肥伸缩组件511、水肥架512和水肥桶513，水肥桶513安装在水肥架 512，水肥架512通过水肥伸缩组件511与机架11连接，实施例一中，水肥组件51具备伸缩功能，而本实施例中，水肥桶513通过水肥安装架61安装在机架11上，本实施例中水肥安装架61不具备伸缩功能。
水肥安装架61包括水肥架固定器611、水肥架板613和水肥架杆614，水肥架板613和水肥架杆614相互连接，形成中空的方形结构，水肥架固定器611固定在水肥架板613上方，机架11上固设有水肥连接杆615，水肥架固定器611可拆卸安装在水肥连接杆615上，本实施例中，水肥安装架61设置有四组，两组水肥安装架61设置为一个单元，一个单元的两组对称安装在机架11的两侧，且沿机器人的移动方向分布，水肥桶513安装在一个单元的两组水肥安装架61上。
上述实施例中，机器人上还设置有防撞雷达(图未显示)、防撞板(图未显示)以及紧急制动装置(图未显示)，防撞雷达用于预防碰撞，防撞板用于防撞雷达失效或发生不可控情况的机械防撞，紧急制动装置用于发生碰撞时的紧急自动制动。
显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。

Claims (59)

  1. 一种农业作物的作业系统,其特征在于：包括机器人、钢索装置、驱动装置、功能模块以及若干基站，钢索装置连接两组基站，钢索装置承托机器人，驱动装置控制机器人沿钢索装置移动，功能模块可拆卸安装在机器人，功能模块包括监测模块或/和装载模块或/和水肥模块或/和杀菌模块或/和供电模块，机器人包括机架和主机装置，主机装置包括主机箱，主机箱包括控制模块、动力模块和巡检组件，控制模块控制动力模块、巡检组件、驱动装置和功能模块的运行。
  2. 根据权利要求1所述的一种农业作物的作业系统，其特征在于：所述机器人包括承托装置，主机装置和承托装置安装在机架上，控制模块控制动力模块、巡检组件以及机器人的运行，机架包括机架横杆和机架直杆，机架横杆设置有两组，两组机架横杆平行设置，且通过机架横短杆固设连接，机架直杆与机架横杆通过机架连接板固设连接，且两者呈相互垂直状态，且机架直杆的长度方向与机器人的移动方向一致，机架直杆与机架横杆连接有机架加强板，机架上固设有天线组件，天线组件设置有两组，且两组天线组件安装在机架直杆的两端，天线组件包括天线和天线安装块，天线安装块固设在机架直杆上，天线安装在天线安装块上，通过天线进行信息传输和交互。
  3. 根据权利要求1所述的一种农业作物的作业系统，其特征在于：所述控制模块包括通信接口，控制模块通过通信接口带有的无线或有线通讯模块，与通信设备进行信息交互，对机器人进行远程操控，主机箱还搭载有语音作业组件，通过语音作业组件对机器人进行语音操控，通信设备包括手机APP或/和中央控制室或/和VR眼镜，通信接口接收通信设备的控制指令和语音作业组件识别的语音数据，通信接口包括主机箱上的各种有线或无 线通信接口，控制模块通过动力模块控制机器人沿轨道来回运动；巡检组件包括接收模块、存储模块和操作模块，存储模块内配置有多种种植作物以及养殖生物的信息，操作模块输入设定的作物信息及种植或养殖信息和操作，接收模块接收监测模块采集的作物实时数据，监测模块对作物区进行小时网络视频监控，接收模块将作物实时数据与存储模块的作物数据对比，进行分析诊断处理，判定作物的实时状态，根据判断的结果，操作模块作出相应的作业；通过巡检组件进行机器人的巡检模式。
  4. 根据权利要求1所述的一种农业作物的作业系统，其特征在于：所述供电模块对机器人供电，供电模块采用蓄电池或充电控制模块，供电模块包括光伏板和光伏安装板，供电模块安装在机架的侧面，光伏安装板安装在机架，光伏板安装在光伏安装板，光伏安装板包括与机架安装的机架安装部以及与光伏板安装的光伏安装部，机架安装部水平设置，光伏安装部与机架安装部呈倾斜设置。
  5. 根据权利要求1所述的一种农业作物的作业系统，其特征在于：所述装载模块可拆卸安装在机架上，装载模块用于重载运输，装载模块包括两组装载架,装载架上固设有装载构件，装载构件用于挂载功能配件，功能配件包括铺膜模块或/和播种模块或/和打孔模块或/和投料模块或/和浇水模块或/和收割模块，功能配件通过装载模块搭载在机架的下方，两组所述装载架对称安装在机架的机架上，两组装载架的分布方向与机器人的移动方向垂直，装载架的下方固设有装载固定板，两组装载构件固设在装载固定板的两端，装载构件在竖直方向的横截面设置为C型，C型的开口方向水平且朝向机架，装载构件的C型设计便于对功能配件进行挂设或搭载。
  6. 根据权利要求1所述的一种农业作物的作业系统，其特征在于：所述水肥 模块安装在机架，水肥模块包括水肥管和水肥组件，主机装置控制水肥模块向作物区喷淋水肥，水肥组件包括水肥伸缩组件、水肥架和水肥桶，水肥伸缩组件控制水肥桶的位置，水肥桶安装在水肥架上，水肥桶与水肥管连通，水肥伸缩组件包括伸缩架和液压杆，液压杆沿竖直方向与伸缩架固设连接，液压杆伸缩后控制伸缩架在竖直方向的伸缩，水肥伸缩组件的上方固设有水肥连接组件，水肥连接组件与机架固设连接。
  7. 根据权利要求1所述的一种农业作物的作业系统，其特征在于：所述杀菌模块包括气体杀菌装置，主机装置控制气体杀菌装置运行，气体杀菌装置包括涡扇，涡扇的进口端尺寸大于出口出口端尺寸，沿空气流动方向涡扇的尺寸逐渐减少，涡扇包括涡壳和涡架，涡架构成涡扇的整体框架，涡壳安装在涡架的外表面，将涡架以及涡架内安装的设备整体包裹在内部，并形成空气的流通通道；涡壳内部设置有隔音棉，外部设置有高强度保温隔热防火棉，涡扇内还设置有风机，风机安装在涡扇的进口端，风机用于涡扇内部形成负压环境。
  8. 根据权利要求1所述的一种农业作物的作业系统，其特征在于：所述杀菌模块包括液体杀菌装置，液体杀菌装置包括杀菌液和雾喷机构，主机装置控制液体杀菌装置运行，杀菌液由稀释液和杀菌原液按比例混合而成，雾喷机构包括雾喷管和雾喷头，杀菌液由雾喷管或雾喷头向外雾喷杀菌液消杀灭菌，液体杀菌装置还包括杀菌伸缩组件、杀菌架、稀释桶、杀菌桶和出液管,出液管安装在涡扇的出口端，出液管一端通过管道分别与稀释桶和杀菌桶连通，管道内设置有比例泵，出液管的另一端与雾喷头连通，杀菌桶内装有杀菌原液，稀释桶内装有稀释液，稀释对杀菌原液进行稀释，比例泵调节稀释桶以及杀菌桶的液体输送比例，稀释桶的稀释液以及杀菌 桶的杀菌原液通过设定的比例直接输送至出液管，并通过雾喷头或雾喷管向外雾喷调配后的杀菌液。
  9. 根据权利要求1所述的一种农业作物的作业系统，其特征在于：所述基站至少包括两组，两组基站设置为一个单元，一个单元的两组基站分布在作物区的两边，且位于作物区两边的两组基站一一对应，一个单元与一组机器人对应，一个单元设置一组钢索装置；一个单元的两组基站之间设置停靠基站，基站包括基站立柱和基站横梁，基站立柱和基站横梁由若干管道构成，基站横梁固设在位于上侧的基站立柱上，基站横梁和基站立柱形成T字型结构，基站横梁与基站立柱之间设置有基站悬梁，基站立柱底部固设有基站固定座，基站固定座安装在基站底座，基站还包括基站斜拉机构，基站斜拉机构包括两组基站斜拉基座，每组基站斜拉基座上固设有基站斜拉绳固定座，基站斜拉绳固定座与基站横梁间固设有基站斜拉绳，基站斜拉基座分别位于基站的两侧，基站以及两组基站斜拉基座呈三角分布，一个单元内的两组基站通过钢索装置连接。
  10. 根据权利要求1所述的一种农业作物的作业系统，其特征在于：所述钢索装置包括主钢索、副钢索和钢索固定机构，主钢索位于副钢索的上方，基站上固设有钢索承托架，钢索承托架上固设有主钢索套,主钢索套设在主钢索套内，基站上固设有副钢索套，副钢索套设在副钢索套内，主钢索和副钢索固设在钢索固定机构，钢索固定机构包括钢索斜拉基座，钢索斜拉基座上固设有钢索斜拉绳固定座，主钢索和副钢索分别与钢索斜拉绳固定座固设，主钢索设置两组，副钢索设置两组，两组主钢索的间距小于以及两组副钢索的间距，形成类梯形结构，且主钢索以及副钢索分别位于梯形的四个角上，承托装置与主钢索相抵。
  11. 一种多功能机器人,其特征在于：包括机架、主机装置、承托装置和功能模块，主机装置、承托装置和功能模块安装在机架上，主机装置包括主机箱，主机箱包括控制模块、动力模块和巡检组件，控制模块控制动力模块、巡检组件以及机器人的运行。
  12. 根据权利要求1所述的一种多功能机器人，其特征在于：所述机架包括机架横杆和机架直杆，机架横杆设置有两组，两组机架横杆平行设置，且通过机架横短杆固设连接，机架直杆与机架横杆通过机架连接板固设连接，且两者呈相互垂直状态，且机架直杆的长度方向与机器人的移动方向一致，机架直杆与机架横杆连接有机架加强板，机架上固设有天线组件，天线组件设置有两组，且两组天线组件安装在机架直杆的两端，天线组件包括天线和天线安装块，天线安装块固设在机架直杆上，天线安装在天线安装块上，通过天线进行信息传输和交互。
  13. 根据权利要求1所述的一种多功能机器人，其特征在于：所述控制模块包括通信接口，控制模块通过通信接口带有的无线或有线通讯模块，与通信设备进行信息交互，对机器人进行远程操控，主机箱还搭载有语音作业组件，通过语音作业组件对机器人进行语音操控，通信设备包括手机APP或/和中央控制室或/和VR眼镜，通信接口接收通信设备的控制指令和语音作业组件识别的语音数据，通信接口包括主机箱上的各种有线或无线通信接口，控制模块通过动力模块控制机器人沿轨道来回运动；巡检组件包括接收模块、存储模块和操作模块，存储模块内配置有多种种植作物以及养殖生物的信息，操作模块输入设定的作物信息及种植或养殖信息和操作，接收模块接收监测模块采集的作物实时数据，功能模块包括监测模块，监测模块对作物区进行小时网络视频监控，接收模块将作物实时数据 与存储模块的作物数据对比，进行分析诊断处理，判定作物的实时状态，根据判断的结果，操作模块作出相应的作业；通过巡检组件进行机器人的巡检模式。
  14. 根据权利要求1所述的一种多功能机器人，其特征在于：还包括供电模块，供电模块对机器人供电，供电模块采用蓄电池或充电控制模块，供电模块包括光伏板和光伏安装板，供电模块安装在机架的侧面，光伏安装板安装在机架，光伏板安装在光伏安装板，光伏安装板包括与机架安装的机架安装部以及与光伏板安装的光伏安装部，机架安装部水平设置，光伏安装部与机架安装部呈倾斜设置。
  15. 根据权利要求2所述的一种多功能机器人，其特征在于：所述承托装置包括两组滑轮组件和两组导轮组件，一组导轮组件包括导轮固定板，导轮固定板上固设有两组导轮，两组导轮沿机架横杆的长度方向分布，两组导轮组件对称固设在机架直杆上且位于主机箱的前后位置，一组滑轮组件包括滑轮固定板，滑轮固定板上固设有两组滑轮，两组滑轮沿机架直杆的长度方向分布，同侧的两组导轮以及两组滑轮共线或近似共线，机器人通过两组滑轮组件和两组导轮组件与钢索装置配合。
  16. 根据权利要求1所述的一种多功能机器人，其特征在于：所述功能模块包括装载模块，装载模块可拆卸安装在机架上，装载模块用于重载运输，装载模块包括两组装载架,装载架上固设有装载构件，装载构件用于挂载功能配件，功能配件包括铺膜模块或/和播种模块或/和打孔模块或/和投料模块或/和浇水模块或/和收割模块，功能配件通过装载模块搭载在机架的下方，两组所述装载架对称安装在机架的机架上，两组装载架的分布方向与机器人的移动方向垂直，装载架的下方固设有装载固定板，两组装载 构件固设在装载固定板的两端，装载构件在竖直方向的横截面设置为C型，C型的开口方向水平且朝向机架，装载构件的C型设计便于对功能配件进行挂设或搭载。
  17. 根据权利要求1所述的一种多功能机器人，其特征在于：所述功能模块包括水肥模块，水肥模块安装在机架，水肥模块包括水肥管和水肥组件，主机装置控制水肥模块向作物区喷淋水肥，水肥组件包括水肥伸缩组件、水肥架和水肥桶，水肥伸缩组件控制水肥桶的位置，水肥桶安装在水肥架上，水肥桶与水肥管连通，水肥伸缩组件包括伸缩架和液压杆，液压杆沿竖直方向与伸缩架固设连接，液压杆伸缩后控制伸缩架在竖直方向的伸缩，水肥伸缩组件的上方固设有水肥连接组件，水肥连接组件与机架固设连接。
  18. 根据权利要求1所述的一种多功能机器人，其特征在于：所述功能模块包括杀菌模块，杀菌模块包括气体杀菌装置和液体杀菌装置，气体杀菌装置包括紫外线灯和杀菌网，液体杀菌装置包括杀菌液和雾喷机构，主机装置控制气体杀菌装置或/和液体杀菌装置运行，气体杀菌装置包括涡扇，涡扇的进口端尺寸大于出口出口端尺寸，沿空气流动方向涡扇的尺寸逐渐减少，涡扇包括涡壳和涡架，涡架构成涡扇的整体框架，涡壳安装在涡架的外表面，将涡架以及涡架内安装的设备整体包裹在内部，并形成空气的流通通道；涡壳内部设置有隔音棉，外部设置有高强度保温隔热防火棉，涡扇内还设置有风机，风机安装在涡扇的进口端，风机用于涡扇内部形成负压环境，紫外线灯和杀菌网安装在涡扇内，杀菌网倾斜安装在涡扇内，若干杀菌网沿空气的流通方向依次分布，对空气进行多次以及多级的净化处理。
  19. 根据权利要求8所述的一种多功能机器人，其特征在于：所述杀菌液 由稀释液和杀菌原液按比例混合而成，雾喷机构包括雾喷管和雾喷头，杀菌液由雾喷管或雾喷头向外雾喷杀菌液消杀灭菌，液体杀菌装置还包括杀菌伸缩组件、杀菌架、稀释桶、杀菌桶和出液管,出液管安装在涡扇的出口端，出液管一端通过管道分别与稀释桶和杀菌桶连通，管道内设置有比例泵，出液管的另一端与雾喷头连通，杀菌桶内装有杀菌原液，稀释桶内装有稀释液，稀释对杀菌原液进行稀释，比例泵调节稀释桶以及杀菌桶的液体输送比例，稀释桶的稀释液以及杀菌桶的杀菌原液通过设定的比例直接输送至出液管，并通过雾喷头或雾喷管向外雾喷调配后的杀菌液。
  20. 根据权利要求2所述的一种多功能机器人，其特征在于：所述主机箱通过机箱安装架固定在机架上，机箱安装架包括两组机箱固定组件和连接两组机箱固定组件的机箱连接杆构成，两组机箱固定组件沿机架直杆的长度方向对称设置，机箱连接杆将两组机箱固定组件固定连接，机箱固定组件包括两组机架卡板，两组机架卡板上下对称设置，两组通过机架卡板连接杆连接，机架卡板上固设有卡板凹口，卡板凹口由若干类似台阶型结构的槽口构成，两组机架卡板上的卡板凹口位置相对，形成穿腔，机架直杆穿过两组穿腔，并通过相应的结构将两者固定连接，本实施例机架直杆穿过若干类似台阶型结构的槽口，一方面可避免机架直杆在安装过程中发生位置偏移，另一方面不同槽口可适应不同尺寸的机架直杆，提高了机架直杆与机箱安装架安装的效率；机箱安装架上还固设有机箱安装板，通过机箱安装板将主机箱安装在机箱安装架上。
  21. 一种用于农业的控制装置,其特征在于：包括主机箱，主机箱包括控制模块、动力模块和巡检组件，控制模块控制动力模块、巡检组件以及功能模块的运行，巡检组件包括接收模块、存储模块和操作模块。
  22. 根据权利要求1所述的一种用于农业的控制装置，其特征在于：所述控制模块包括通信接口，控制模块通过通信接口带有的无线或有线通讯模块，与通信设备进行信息交互，对机器人进行远程操控。
  23. 根据权利要求1所述的一种用于农业的控制装置，其特征在于：所述主机箱还搭载有语音作业组件，通过语音作业组件对语音指令进行识别对功能模块进行语音操控。
  24. 根据权利要求2所述的一种用于农业的控制装置，其特征在于：所述通信接口接收通信设备的控制指令和语音作业组件识别的语音数据，通信接口包括主机箱上的各种有线或无线通信接口，控制模块通过动力模块控制功能模块的移动。
  25. 根据权利要求1所述的一种用于农业的控制装置，其特征在于：所述巡检组件包括接收模块、存储模块和操作模块，存储模块内配置有多种种植作物以及养殖生物的信息，操作模块输入设定的作物信息及种植或养殖信息和操作，功能模块包括监测模块，接收模块接收监测模块采集的作物实时数据，监测模块对作物区进行24小时网络视频监控，接收模块将作物实时数据与存储模块的作物数据对比，进行分析诊断处理，判定作物的实时状态，并根据判断的结果，操作模块作出相应的作业。
  26. 根据权利要求1所述的一种用于农业的控制装置，其特征在于：所述功能模块包括供电模块，供电模块为主机箱供电，供电模块采用蓄电池或充电控制模块，供电模块包括光伏板和光伏安装板，光伏板倾斜设置。
  27. 根据权利要求1所述的一种用于农业的控制装置，其特征在于：所述功能模块包括监测模块或/和装载模块或/和水肥模块或/和杀菌模块或/和供电模块，控制模块控制监测模块或/和装载模块或/和水肥模块或/和 杀菌模块或/和供电模块的运行。
  28. 根据权利要求5所述的一种用于农业的控制装置，其特征在于：所述监测模块包括摄像机或/和热像仪、声音采集器或/和音响，监测模块采用摄像机或/和热像仪采集作物的图像或/和热像数据，监测模块通过声音采集器采集作物的声音数据，音响将信号数据进行传输。
  29. 根据权利要求2所述的一种用于农业的控制装置，其特征在于：所述通信设备包括手机APP或/和中央控制室或/和VR眼镜。
  30. 一种用于农业的杀菌装置,其特征在于：包括气体杀菌装置、液体杀菌装置和主机装置，气体杀菌装置包括紫外线灯和杀菌网，液体杀菌装置包括杀菌液和雾喷机构，主机装置控制气体杀菌装置或/和液体杀菌装置运行。
  31. 根据权利要求1所述的一种用于农业的杀菌装置，其特征在于：所述主机装置包括主机箱，主机箱包括控制模块、动力模块和巡检组件，控制模块控制动力模块和巡检组件的运行，控制模块包括通信接口，控制模块通过通信接口带有的无线或有线通讯模块，与通信设备进行信息交互，对杀菌装置的远程操控，主机箱还搭载有语音作业组件，通过语音作业组件对语音指令进行识别对气体杀菌装置和液体杀菌装置进行控制，通信设备包括手机APP或/和中央控制室或/和VR眼镜，通信接口接收通信设备的控制指令以及语音作业组件识别的语音数据，通信接口包括主机箱上的各种有线或无线通信接口，控制模块通过动力模块控制杀菌装置移动；巡检组件包括接收模块、存储模块和操作模块，存储模块内配置有多种种植作物以及养殖生物的信息，操作模块输入设定的作物信息及种植或养殖信息和操作，接收模块接收监测模块采集的作物实时数据，监测模块并对作物 区进行小时网络视频监控，接收模块将作物实时数据与存储模块的作物数据对比，进行分析诊断处理，判定作物的实时状态。
  32. 根据权利要求1所述的一种用于农业的杀菌装置，其特征在于：所述气体杀菌装置包括涡扇，涡扇的进口端尺寸大于出口出口端尺寸，沿空气流动方向涡扇的尺寸逐渐减少，涡扇包括涡壳和涡架，涡架构成涡扇的整体框架，涡壳安装在涡架的外表面，将涡架以及涡架内安装的设备整体包裹在内部，并形成空气的流通通道；涡壳内部设置有隔音棉，外部设置有高强度保温隔热防火棉，涡扇内还设置有风机，风机安装在涡扇的进口端，风机用于涡扇内部形成负压环境。
  33. 根据权利要求3所述的一种用于农业的杀菌装置，其特征在于：所述紫外线灯和杀菌网安装在涡扇内，杀菌网倾斜安装在涡扇内，若干杀菌网沿空气的流通方向依次分布，对空气进行多次以及多级的净化处理。
  34. 根据权利要求3所述的一种用于农业的杀菌装置，其特征在于：所述杀菌网由光催化网组成，光催化网由光触媒组成，紫外线灯安装在涡扇内部，紫外线灯将紫外光线发射至杀菌网并激活杀菌网，杀菌网对空气消杀灭菌。
  35. 根据权利要求3所述的一种用于农业的杀菌装置，其特征在于：所述杀菌液由稀释液和杀菌原液按比例混合而成，雾喷机构包括雾喷管和雾喷头，杀菌液由雾喷管或雾喷头向外雾喷杀菌液消杀灭菌，液体杀菌装置还包括杀菌伸缩组件、杀菌架、稀释桶、杀菌桶和出液管,出液管安装在涡扇的出口端，出液管一端通过管道分别与稀释桶和杀菌桶连通，管道内设置有比例泵，出液管的另一端与雾喷头连通，杀菌桶内装有杀菌原液，稀释桶内装有稀释液，稀释对杀菌原液进行稀释，比例泵调节稀释桶以及杀 菌桶的液体输送比例，稀释桶的稀释液以及杀菌桶的杀菌原液通过设定的比例直接输送至出液管，并通过雾喷头或雾喷管向外雾喷调配后的杀菌液。
  36. 根据权利要求6所述的一种用于农业的杀菌装置，其特征在于：所述杀菌伸缩组件包括杀菌伸缩架和杀菌液压杆，杀菌液压杆沿竖直方向与杀菌伸缩架固设连接，杀菌液压杆伸缩控制杀菌伸缩架在竖直方向的伸缩，杀菌伸缩组件的上方固设有杀菌连接组件，杀菌架固设在杀菌伸缩组件的下端，杀菌架包括杀菌第一箱体和杀菌第二箱体，杀菌第一箱体设置有两组，且对称固设固设在杀菌第二箱体的两端，稀释桶安装在杀菌第二箱体，或杀菌桶安装在杀菌第一箱体，或杀菌桶安装在第二箱体，两组稀释桶分别安装在第一箱体，杀菌桶与稀释桶分别通过比例泵与出液管连通，将稀释液以及杀菌原液按比例混合成杀菌液。
  37. 根据权利要求1所述的一种用于农业的杀菌装置，其特征在于：还包括供电模块，供电模块采用蓄电池或充电控制模块，供电模块包括光伏板。
  38. 根据权利要求5所述的一种用于农业的杀菌装置，其特征在于：所述紫外光线激活杀菌网的波段设置为365nm。
  39. 一种基于杀菌装置的机器人，其特征在于：包括权利要求1-9任一项所述的用于农业的杀菌装置和支撑装置，杀菌装置安装在支撑装置上，支撑装置还包括供电模块。
  40. 一种用于农业的水肥装置,其特征在于：包括机器人和水肥模块，水肥模块安装在机器人，机器人包括机架和主机装置，水肥模块安装在机架，水肥模块包括水肥管和水肥组件，主机装置控制水肥模块向作物区喷淋水肥。
  41. 根据权利要求1所述的一种用于农业的水肥装置，其特征在于：所述 机架包括机架横杆和机架直杆，机架横杆设置有两组，两组机架横杆平行设置，且通过机架横短杆固设连接，机架直杆与机架横杆通过机架连接板固设连接，且两者呈相互垂直状态，且机架直杆的长度方向与机器人的移动方向一致，机架直杆与机架横杆连接有机架加强板，机架上固设有天线组件，天线组件设置有两组，且两组天线组件安装在机架直杆的两端，天线组件包括天线和天线安装块，天线安装块固设在机架直杆上，天线安装在天线安装块上，通过天线将信息传输和交互。
  42. 根据权利要求1所述的一种用于农业的水肥装置，其特征在于：所述主机装置包括主机箱，主机箱包括控制模块、动力模块和巡检组件，控制模块控制动力模块和巡检组件的运行，控制模块包括通信接口，控制模块通过通信接口带有的无线或有线通讯模块，与通信设备进行信息交互，进行远程操控，主机箱还搭载有语音作业组件，通过语音作业组件对语音指令进行识别对水肥模块进行远程操作，通信设备包括手机APP或/和中央控制室或/和VR眼镜，通信接口接收通信设备的控制指令和语音作业组件识别的语音数据，通信接口包括主机箱上的各种有线或无线通信接口，控制模块通过动力模块控制机器人来回运动；巡检组件包括接收模块、存储模块和操作模块，存储模块内配置有多种种植作物以及养殖生物的信息，操作模块输入设定的作物信息及种植或养殖信息和操作，接收模块接收监测模块采集的作物实时数据，监测模块并对作物区进行小时网络视频监控，接收模块将作物实时数据与存储模块的作物数据对比，进行分析诊断处理，判定作物的实时状态，并根据判断的结果，操作模块作出相应的作业。
  43. 根据权利要求2所述的一种用于农业的水肥装置，其特征在于：还包括供电模块，供电模块采用蓄电池或充电控制模块，供电模块包括光伏板 和光伏安装板，供电模块安装在机架的侧面，机架横杆上固设有安装供电模块的供电安装板，光伏安装板安装在供电安装板，光伏板安装在光伏安装板，光伏安装板包括与供电安装板安装的机架安装部以及与光伏板安装的光伏安装部，机架安装部水平设置，光伏安装部与机架安装部呈倾斜设置。
  44. 根据权利要求2所述的一种用于农业的水肥装置，其特征在于：所述机器人搭载水肥模块沿钢索装置移动，机器人包括承托装置，承托装置与钢索装置配合，承托装置包括两组滑轮组件和两组导轮组件，一组导轮组件包括导轮固定板，导轮固定板上固设有两组导轮，两组导轮沿机架横杆的长度方向分布，两组导轮组件对称固设在机架直杆上且位于主机箱的前后位置，一组滑轮组件包括滑轮固定板，滑轮固定板上固设有两组滑轮，两组滑轮沿机架直杆的长度方向分布，同侧的两组导轮以及两组滑轮共线或近似共线，机器人通过两组滑轮组件和两组导轮组件与钢索装置配合。
  45. 根据权利要求5所述的一种用于农业的水肥装置，其特征在于：所述钢索装置包括主钢索、副钢索和钢索固定机构，主钢索位于副钢索的上方，钢索固定机构包括钢索斜拉基座，钢索斜拉基座上固设有钢索斜拉绳固定座，主钢索和副钢索分别与钢索斜拉绳固定座固设，主钢索设置两组，副钢索设置两组，两组主钢索的间距小于以及两组副钢索的间距，形成类梯形结构，且主钢索以及副钢索分别位于梯形的四个角上，承托装置的两组滑轮组件和两组导轮组件分别与主钢索相抵，机器人沿主钢索移动。
  46. 根据权利要求6所述的一种用于农业的水肥装置，其特征在于：所述水肥组件包括水肥伸缩组件、水肥架和水肥桶，水肥伸缩组件控制水肥桶的位置，水肥桶安装在水肥架上，水肥桶与水肥管连通，水肥管在竖直方 向上位于主钢丝的下方，在水平方向上位于两组主钢丝的中间位置，水肥管与两组主钢丝之间分别通过连接杆连接，水肥管、两组主钢丝以及连接杆形成三角状态，水肥管向作物区喷淋水肥。
  47. 根据权利要求7所述的一种用于农业的水肥装置，其特征在于：所述水肥伸缩组件包括伸缩架和液压杆，液压杆沿竖直方向与伸缩架固设连接，液压杆伸缩后控制伸缩架在竖直方向的伸缩，水肥伸缩组件的上方固设有水肥连接组件，水肥连接组件与机器人的机架固设连接。
  48. 根据权利要求7所述的一种用于农业的水肥装置，其特征在于：所述水肥架固设在水肥伸缩组件的下端，水肥架包括第一箱体和第二箱体，第一箱体设置有两组，且对称固设固设在第二箱体的两端，水肥桶安装在第二箱体，第一箱体或安装原料桶，原料桶与水肥桶连通，将原料按比例输入水肥桶内进行自动配料，水肥架下方还固设有水肥支撑架，水肥支撑架对水肥组件进行支撑。
  49. 根据权利要求2所述的一种用于农业的水肥装置，其特征在于：所述主机箱通过机箱安装架固定在机架上，机箱安装架包括两组机箱固定组件和连接两组机箱固定组件的机箱连接杆构成，两组机箱固定组件沿机架直杆的长度方向对称设置，机箱连接杆将两组机箱固定组件固定连接，机箱固定组件包括两组机架卡板，两组机架卡板上下对称设置，两组通过机架卡板连接杆连接，机架卡板上固设有卡板凹口，卡板凹口由若干类似台阶型结构的槽口构成，两组机架卡板上的卡板凹口位置相对，形成穿腔，机架直杆穿过两组穿腔，并通过相应的结构将两者固定连接，机架直杆穿过若干类似台阶型结构的槽口，机箱安装架上还固设有机箱安装板，通过机箱安装板将主机箱安装在机箱安装架上。
  50. 一种重载运输装置,其特征在于：包括机器人、钢索装置、装载模块和若干基站，装载模块可拆卸安装在机器人，钢索装置包括两组主钢丝和两组辅钢丝，机器人沿钢索装置运行，装载模块用于重载运输。
  51. 根据权利要求1所述的一种重载运输装置，其特征在于：所述机器人包括机架、主机装置、承托装置，主机装置、承托装置安装在机架上，机架包括机架横杆和机架直杆，机架横杆设置有两组，两组机架横杆平行设置，且通过机架横短杆固设连接，机架直杆与机架横杆通过机架连接板固设连接，且两者呈相互垂直状态，且机架直杆的长度方向与机器人的移动方向一致，机架直杆与机架横杆连接有机架加强板，机架上固设有天线组件，天线组件设置有两组，且两组天线组件安装在机架直杆的两端，天线组件包括天线和天线安装块，天线安装块固设在机架直杆上，天线安装在天线安装块上，通过天线进行信息传输和交互。
  52. 根据权利要求2所述的一种重载运输装置，其特征在于：所述主机装置包括主机箱，主机箱包括控制模块、动力模块和巡检组件，控制模块控制动力模块和巡检组件的运行，控制模块包括通信接口，控制模块通过通信接口带有的无线或有线通讯模块，与通信设备进行信息交互，实现对机器人的远程操控，主机箱还搭载有语音作业组件，通过语音作业组件对机器人进行语音操控，通信设备包括手机APP或/和中央控制室或/和VR眼镜，通信接口接收通信设备的控制指令和语音作业组件识别的语音数据，通信接口包括主机箱上的各种有线或无线通信接口，控制模块通过动力模块控制机器人沿钢索装置来回运动；巡检组件包括接收模块、存储模块和操作模块，存储模块内配置有多种种植作物以及养殖生物的信息，操作模块输入设定的作物信息及种植或养殖信息和操作，接收模块接收监测模块 采集的作物实时数据，监测模块对作物区进行小时网络视频监控，接收模块将作物实时数据与存储模块的作物数据对比，进行分析诊断处理，判定作物的实时状态，并根据判断的结果，操作模块作出相应的作业，通过巡检组件进行机器人的巡检模式。
  53. 根据权利要求2所述的一种重载运输装置，其特征在于：还包括供电模块，供电模块对机器人供电，供电模块采用蓄电池或充电控制模块，供电模块包括光伏板和光伏安装板，供电模块安装在机架的侧面，光伏安装板安装在机架，光伏板安装在光伏安装板，光伏安装板包括与机架安装的机架安装部以及与光伏板安装的光伏安装部，机架安装部水平设置，光伏安装部与机架安装部呈倾斜设置。
  54. 根据权利要求2所述的一种重载运输装置，其特征在于：所述承托装置包括两组滑轮组件和两组导轮组件，一组导轮组件包括导轮固定板，导轮固定板上固设有两组导轮，两组导轮沿机架横杆的长度方向分布，两组导轮组件对称固设在机架直杆上且位于主机箱的前后位置，一组滑轮组件包括滑轮固定板，滑轮固定板上固设有两组滑轮，两组滑轮沿机架直杆的长度方向分布，如图所示，同侧的两组导轮以及两组滑轮共线或近似共线，机器人通过两组滑轮组件和两组导轮组件与钢索装置配合。
  55. 根据权利要求1所述的一种重载运输装置，其特征在于：所述基站至少包括两组，两组基站设置为一个单元，一个单元的两组基站分布在作物区的两边，且位于作物区两边的两组基站一一对应，一个单元与一组机器人对应，一个单元设置一组钢索装置；一个单元的两组基站之间设置停靠基站，基站还包括基站斜拉机构，基站斜拉机构包括两组基站斜拉基座，每组基站斜拉基座上固设有基站斜拉绳固定座，基站斜拉绳固定座与基站 横梁间固设有基站斜拉绳，基站斜拉基座分别位于基站的两侧，基站以及两组基站斜拉基座呈三角分布，一个单元内的两组基站通过主钢索和副钢索连接。
  56. 根据权利要求1所述的一种重载运输装置，其特征在于：两组所述主钢索的间距小于以及两组副钢索的间距，形成类梯形结构，且主钢索以及副钢索分别位于梯形的四个角上，承托装置的两组滑轮组件和两组导轮组件分别与主钢索相抵，机器人沿主钢索移动。
  57. 根据权利要求2所述的一种重载运输装置，其特征在于：所述装载模块包括两组装载架,装载架上固设有装载构件，装载构件用于挂载功能配件，功能配件包括铺膜模块或/和播种模块或/和打孔模块或/和投料模块或/和浇水模块或/和收割模块，功能配件通过装载模块搭载在机器人的下方，分布式的基站、装载模块以及钢索装置构成农业全地形的重载运输。
  58. 根据权利要求8所述的一种重载运输装置，其特征在于：两组所述装载架对称安装在机架的机架横杆上，两组装载架的分布方向与机器人的移动方向垂直，两组装载架的间距与副钢索的间距相配，装载架的下方固设有装载固定板，两组装载构件固设在装载固定板的两端，两组装载构件沿副钢索的长度方向分布，装载构件在竖直方向的横截面设置为C型，C型的开口方向水平且朝向副钢索，装载构件的C型设计便于对功能配件进行挂设或搭载，装载构件的开口的上下方向固设有承载轮，承载轮与副钢索相抵，通过副钢索对装载模块进行承托。
  59. 根据权利要求2所述的一种重载运输装置，其特征在于：所述主机箱通过机箱安装架固定在机架上，机箱安装架包括两组机箱固定组件和连接两组机箱固定组件的机箱连接杆构成，两组机箱固定组件沿机架直杆的长 度方向对称设置，机箱连接杆将两组机箱固定组件固定连接，机箱固定组件包括两组机架卡板，两组机架卡板上下对称设置，两组通过机架卡板连接杆连接，机架卡板上固设有卡板凹口，卡板凹口由若干类似台阶型结构的槽口构成，两组机架卡板上的卡板凹口位置相对，形成穿腔，机架直杆穿过两组穿腔，并通过相应的结构将两者固定连接，机架直杆穿过若干类似台阶型结构的槽口，机箱安装架上还固设有机箱安装板，通过机箱安装板将主机箱安装在机箱安装架上。
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