【IoT Graduation Project】Gizwits IoT Platform + Arduino Nano Control Board + Fully Automatic and Efficient Intelligent Tree Planting Car
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Abstract: Aiming at the problem of low efficiency of artificial tree planting, a fully self-service, efficient and intelligent tree-planting vehicle is designed. The structural composition of the device is introduced, and the movement mechanism of the device is analyzed. The structure of the transmission components is designed by SolidWorks 3D software. The Bluetooth module is used to realize the information transmission and command sending of the planting process, and the IoT smart cloud module can report the planting data to the cloud platform in real time. A prototype of the device model was made, and the test results show that it takes about 8.45 seconds for the device to complete the planting of a tree, and about 73.85 seconds to complete the planting of an area of 10m×10m. The device fully realizes the functions of automatic tree transportation, pit digging, tree removal, pit filling, watering, etc., laying a foundation for research in the field of automatic tree planting.
Traditional tree planting machines can only focus on one link of tree planting and cannot truly realize fully automated tree planting. For example, the intelligent tree planting vehicle around the lake based on the 51 single-chip microcomputer studied by Hao Chaoyang et al. [12] uses a mechanical arm to plant trees, which is relatively expensive. With the development of the Internet of Things, digital technology and 5G+ technology, the level of tree planting has been further improved. Fully automated tree planting can not only make tree planting more convenient, but also ensure the efficiency of tree planting. Therefore, fully automated tree planting is an inevitable trend to solve land desertification. At the same time, combined with 5G technology and the Internet of Things, the concept of the Internet of Everything can be achieved. Users can use their mobile phones to know the status of the tree planting vehicle in the tree planting area anytime and anywhere, and can also understand the situation through the screen display on the vehicle, which is convenient for timely response and greatly improves work efficiency.
1. Working principle of the device
Figure 1 shows the overall structure of the tree planting vehicle. When the tree planting area is determined, multiple tree planting vehicles can work in the area at the same time. Before work, the IoT Gizwits Cloud platform is used to send the planting area of each vehicle. At this time, the tree planting vehicle moves forward to the predetermined area, and the drill bit uses the GPS positioning module to determine the tree planting location. The drill bit starts to move up and down along the optical axis, and controls the depth of digging according to the type of tree to be planted, and digs the tree pit. At the same time, the planetary gear tower drives the tree clamp to start rotating, and stops rotating when it reaches the top of the tree pit.
The vehicle continues to move forward, ensuring that the tree clamped by the tree clamp is just above the dug hole according to the pre-set tree distance.
The electric push rod for pushing the tree moves horizontally, pushing the sapling to peel off the tree clamp, and under the restriction of the limit device, using the gravity of the tree and the bottom of the tree itself, it falls vertically into the pit. When the tree falls, it will block the infrared light emitted by the laser transmitter. The receiver does not receive the infrared light and transmits the information to the bulldozer mechanism via Bluetooth. The electric push rod starts to move horizontally, and when the soil dug out by the drill bit is gathered back into the pit, the vertical electric push rod moves downward at the angle adjusted by the wedge block to realize the function of compacting the soil. After the compaction is completed, the water pump is started to realize the watering function to ensure the survival of the sapling.
Figure 1 Overall structure of the tree planting vehicle
During the process of transporting trees, lowering trees, compacting soil, and watering at the rear of the vehicle, the GPS positioning module has located and dug the next hole at the drill bit position at the front of the vehicle, and the tree-planting vehicle moves forward to repeat the tree-planting process. This simultaneous work greatly improves work efficiency. After each tree is planted, the IoT Gizwits Cloud module will return the remaining seedling information and the remaining water to the cloud platform. When the remaining seedlings and water are insufficient, an alarm signal will be issued and the tree-planting supply station will be returned for replenishment. When the remaining seedlings are insufficient and return to the supply station, the corresponding tree clamp moves to the opposite side of the tree-planting mechanical arm, the servo and solenoid valve receive the return signal, the solenoid valve is powered off, and the servo drives the crank connecting rod to move, opening the front limit device to facilitate the mechanical arm to climb the tree.
An image recognition camera is installed above the drill bit. The video can be uploaded to the Internet of Things. By using opencv to analyze the video and instantaneous pictures, information about the planting of saplings can be obtained, mainly including whether they are planted vertically and whether the soil is flattened. In order to accurately locate the hole dug by the drill bit, the GPS Beidou positioning module is used. The drill bit moves up and down to the pre-set position to dig a hole. The positioning of the sapling can return the location of the sapling planting in real time and return to the cloud platform. The planted areas and unplanted areas are marked on the tree planting map of the cloud platform, and the planting situation of the entire area can be clearly seen. At the same time, it is combined with 5G technology and the Internet of Things to achieve the concept of interconnection of all things. The overall monitoring and information transmission use Bluetooth modules and IoT Gizwits Cloud modules. The IoT part can exchange information with the mobile app in real time and report planting data to the cloud platform.
2. Device structure design
2.1 Planetary gear mechanism
The upper planetary gear drives the outer ring to rotate the tree clamp. In order to solve the problem of entanglement of the wiring of the electronic control part during the rotation of the gear, a single-chip microcomputer is designed above the lower planetary gear to control the movement of the battery valve and the servo. The two layers are connected by the two shafts of the motor to achieve synchronous rotation in the same direction. The sun gear is driven by the motor to rotate, and the sun gear drives the three planetary gears to rotate, and then drives the gear rack to rotate. Through this process, the circular motion of the tree clamp is realized, and the storage and transportation of seedlings are realized. The planetary gear is shown in Figure 2.
Figure 2 Schematic diagram of planetary gear rotation mechanism
2.2 Openable and closable electromagnetic limit rubber tree clamp
The rubber hook is used as a tree clamp, and the rubber wheel and rubber pad are used to fix the tree to achieve the function of stably clamping the tree. The three-sided limit device is designed to include a left-side limit device, a right-side limit device and a front limit device. During the falling process of the tree, the rebound collision with the limit device can effectively control the falling range of the tree. The left-side limit device is equipped with a door-opening servo, and the right-side limit device is equipped with an electromagnetic opening and closing device. The front limit device and the left-side limit device are connected to the door-opening servo by a crank connecting rod. The cooperation of the door-opening servo and the crank connecting rod realizes the opening of the front limit device. After opening, the robot arm can climb the tree. After the climbing process is completed, the front limit device is closed, and the electromagnetic opening and closing device absorbs the front limit device to realize the limiting function, as shown in Figure 3.
Figure 3 Openable and closable electromagnetic limit rubber tree clamp
2.3 Mutually perpendicular electric push rod bulldozer structure
At the appropriate height of the rear of the vehicle body, a group of electric push rods are set on the left and right to form a bulldozer device to ensure that the electric push rod can achieve the purpose of tamping when it is fully extended. Each group consists of two electric push rods connected vertically. A bulldozer device fixing block with an inclination angle of 30° is fixed under the horizontal electric push rod to ensure that the horizontal electric push rod can gather the soil dug around the tree. The top of the electric push rod perpendicular to the horizontal direction is connected to the tamping plate, which can self-adjust the angle of soil compaction according to the flatness of the soil, and move left and right, front and back at the same time to achieve the functions of soil gathering and compaction, as shown in Figure 4.
Figure 4 Mutually perpendicular electric push rod bulldozer structure
3. Design of electronic control scheme
The main control board uses the ArduinoNano control board, which is connected to peripherals such as the motor drive module, image recognition camera, GPS Beidou positioning module, electric push rod, spiral drill head, Gizwits IoT module, etc., and then collects information through sensors such as laser transmitters and receivers and water level detection modules to control the progress of each tree planting process.
The main control board determines the specific location of tree planting through the information collected by the GPS Beidou positioning module, so as to realize regional planting, which is convenient for multiple tree planting vehicles to work at the same time without interfering with each other. The video taken by the main control board through the image recognition camera can be uploaded to the Internet of Things. By using opencv to analyze the video and instantaneous pictures, information on the planting of seedlings can be obtained, mainly including whether it is planted vertically and whether the soil is flattened. The main control board determines whether the seedlings are planted through the information returned by the laser transmitter and receiver, and decides the subsequent soil compaction operation.
The electronic control design of the tree planting car is mainly divided into two parts: one part is the Bluetooth module to realize the information transmission of the planting process, send commands, etc.; the other part can report the planting data to the cloud platform in real time through the IoT smart cloud module. Figure 5 is the control block diagram of the tree planting car.
Figure 5 Control block diagram of the tree planting car
The project in this article adds the Internet of Things control function, as shown in Figure 6. Using esp8266 as the medium, the node-red online tool is used to build an Internet of Things platform. The PC side serves as the main console to receive data fed back by various sensors to monitor the various indicators of the tree planting robot and ensure the normal operation of the robot. Figure 6 IoT control block diagram
4 Experimental Test
Traditional tree planting machines can only focus on one link of tree planting and cannot truly achieve fully automated tree planting. Compared with large tree planting equipment, this tree planting vehicle has a reasonable design and achieves the goal of minimizing the size while ensuring complete functions. The combination of the Internet of Things and machine vision opencv ensures the complete reporting of tree planting process information, which facilitates timely adjustments when special circumstances occur.
Through analysis, a fully automatic, efficient and intelligent tree planting vehicle physical model was produced as shown in Figure 7, with a size of 500mm×300mm×315mm. The physical model was tested and the data is shown in Table 1. It takes an average of about 8.41s to complete the planting of a tree, and an average of about 73.85s to complete the planting of a 10m×10m area of land. During the test, the planting process was smooth.
Figure 7 Physical model
Table 1 Test data
5 Conclusion
The device can combine planting, automatic tree transport, automatic pit digging, automatic tree removal, automatic pit filling and automatic watering, truly freeing hands and automating tree planting. After the previous series of work is completed, the water tank sprays water to ensure the survival of the seedlings. The reasonable structural arrangement greatly improves the space utilization rate, and the front and back work at the same time, which improves the work efficiency and is suitable for mass production.
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提升卡
变色卡
千斤顶
