Multifunctional modular robot suitable for low crop maintenance

Abstract

The invention discloses a multifunctional modular robot suitable for low crop maintenance, and relates to the technical field of agricultural machinery. In the prior art, low crop planting is largely dependent on manual operation such as irrigation, fertilization and pest control, efficiency is low, and it is limited by continuous rising of labor cost; a traditional pest control method depends on chemical pesticides, the planting cost is increased, and potential threats are caused to the ecological environment. The system comprises a mobile robot and an end effector; the mobile robot comprises a mobile chassis and a mechanical arm, the mechanical arm is mounted on the mobile chassis, various end actuators are arranged at the tail end of the mechanical arm, and each end actuator comprises a spraying unit, a probe unit and a pruning and picking unit; the spraying unit is used for spraying fertilizer and pesticide, the probe unit is used for monitoring soil parameters, and the pruning and picking unit is used for pruning branches and leaves and picking crops. The method is used for low crop maintenance.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to a multifunctional modular robot suitable for maintaining low crops. Background Art

[0002] As a major producer and consumer of low-growing crops such as blueberries, strawberries and cherry tomatoes, my country's planting area and output are rising year by year. However, despite the broad market prospects, the industry still faces many challenges. Some planting companies at home and abroad have begun to try to introduce automated equipment and Internet of Things technology, but the overall technology penetration rate is still low, and they are mostly concentrated in basic levels such as environmental monitoring, lacking systematic and intelligent solutions. Compared with some advanced foreign countries, my country still has a large gap in the level of intelligence and automation in the planting of low-growing crops, especially in the areas of precision fertilization and intelligent prevention and control of pests and diseases. There is a lack of mature technology, making it difficult to achieve full-cycle and all-round intelligent management.

[0003] In the process of planting low-growing crops, technical difficulties are mainly concentrated in the following aspects: (1) Complexity of the growth environment: Low-growing crops have extremely stringent requirements for the growth environment, including light, temperature, soil pH and humidity. How to provide the best growth conditions for blueberries at different growth stages has become a technical challenge; (2) Dependence on manual operation: Currently, the planting of low-growing crops still relies heavily on manual operations, such as irrigation, fertilization and pest control. This is not only inefficient, but also subject to the continuous rise in labor costs. Especially in the context of labor shortage in rural areas, how to achieve efficient automated management is particularly important; (3) Traditional methods of pest control: Traditional pest control methods rely too much on chemical pesticides, which not only increases the cost of planting, but also poses a potential threat to the ecological environment. How to achieve green control, reduce the use of chemical pesticides, and ensure the safety and environmental protection of blueberries is another major challenge facing the industry; (4) The market's pursuit of high quality: Consumers' pursuit of crop quality is increasing. How to ensure the high quality of crops while large-scale production has become an urgent problem to be solved in the industry. Traditional planting models make it difficult to meet the market demand for high-quality crops while ensuring yields.

[0004] In this context, the research and development of unmanned planting base systems for low-growing crops is particularly urgent and important. By integrating Internet of Things technology, automated equipment and intelligent robots, the system can achieve comprehensive intelligent management of low-growing crop planting, promote the process of agricultural modernization, improve the quality and market competitiveness of blueberries, and promote the green and sustainable development of agriculture. Summary of the invention

[0005] The purpose of the present invention is to solve the problems in the prior art that the planting of low-growing crops relies heavily on manual operations, such as irrigation, fertilization and pest control, which are inefficient and subject to rising labor costs; traditional pest control methods rely too much on chemical pesticides, increase planting costs, and pose a potential threat to the ecological environment, and thus provide a multifunctional modular robot suitable for the maintenance of low-growing crops.

[0006] The technical solution adopted by the present invention to solve the above-mentioned problems is: a multifunctional modular robot suitable for the maintenance of low crops, including a mobile robot and an end effector; the mobile robot includes a mobile chassis and a mechanical arm, the mobile chassis is equipped with a mechanical arm, and the end of the mechanical arm is provided with a variety of end effectors, and the end effectors include a spraying unit, a probe unit and a pruning and picking unit; the spraying unit is used for spraying fertilizers and pesticides, the probe unit is used for monitoring soil parameters, and the pruning and picking unit is used for pruning branches and leaves and picking crops.

[0007] Furthermore, the mobile chassis includes Mecanum wheels, track wheels and a drive motor arranged on a frame; four Mecanum wheels are installed at the front end and the middle part of the frame, and two track wheels are installed at the rear end, and the Mecanum wheels and the track wheels are driven by the drive motor.

[0008] Furthermore, the spraying unit includes a fertilizer box, a pipeline, a nozzle, a spraying unit sensor and a spraying unit shell; the fertilizer box is installed on a vehicle frame, the spraying unit shell is connected to a robotic arm, the nozzle and the spraying unit sensor are installed on the spraying unit shell, the spraying unit sensor and the nozzle are arranged correspondingly, and the nozzle and the fertilizer box are connected through a pipeline.

[0009] Furthermore, the probe unit includes a probe, a probe unit sensor and a probe unit housing; the probe unit housing is connected to the robot arm, the probe and the probe unit sensor are mounted on the probe unit housing, and the probe extends out of the probe unit housing.

[0010] Furthermore, the pruning and picking unit includes a pruning and picking unit sensor, a scissor swing arm, pruning shears, a vertical servo, an active picking claw, a linked picking claw, a camera, a horizontal servo and a vertical servo frame arranged on a pruning and picking unit shell; the pruning and picking unit shell is connected to the mechanical arm, a pruning and picking unit sensor is installed on the top of the pruning and picking unit shell, a scissor swing arm and a horizontal servo are respectively arranged at the front end of the pruning and picking unit shell from top to bottom, a pruning shears is installed at the front end of the scissor swing arm, a vertical servo frame is rotatably connected to the swing arm of the horizontal servo, a vertical servo and a camera are arranged at the front end of the vertical servo frame, an active picking claw is rotatably connected to the swing arm of the vertical servo, the active picking claw and the linked picking claw are gear-engaged, and the linked picking claw is rotatably connected to the vertical servo frame.

[0011] Furthermore, the robotic arm is a multi-degree-of-freedom robotic arm.

[0012] Furthermore, the robot includes a perception system for collecting crop planting field data, and the perception system includes a visual recognition system and a navigation and obstacle avoidance sensor.

[0013] Furthermore, the visual recognition system uses a deep binocular camera located in the control system acquisition layer to perceive the surrounding environment information of the agricultural robot.

[0014] Furthermore, the navigation and obstacle avoidance sensor includes an integrated laser radar and a high-definition camera; the front end of the frame is provided with an integrated laser radar, and the front end and rear end of the frame are each provided with a high-definition camera.

[0015] Furthermore, the robot also includes a control system, which includes a controller, and the spraying unit sensor, the probe unit sensor, the pruning and picking unit sensor, the camera, the integrated laser radar and the high-definition camera are all electrically connected to the controller.

[0016] The present invention has the following beneficial technical effects:

[0017] The mobile robot of the present invention is equipped with a variety of operation modules such as a probe unit, a spraying unit, and a pruning and picking unit. The spraying unit controls the mechanical arm and the end effector to perform precise watering and fertilization operations according to the environmental sensor data and the growth requirements of crops. The pruning and picking unit uses end effectors such as weeding tools and pruning shears to remove weeds around crop plants and perform necessary pruning operations on the plants. In the crop maturity season, the position of mature fruits is accurately identified through a visual recognition system, and the mechanical arm and picking claws are controlled to perform non-destructive picking operations. The present invention can achieve precise sowing, fertilization and application of pesticides, reduce resource waste, improve crop yield and quality, and accurately spread according to the needs of crops.

[0018] The present invention realizes the visualization and traceability of agricultural production processes through a digital management system, improves the quality control of low-growing crops, and helps accelerate the upgrading of the agricultural industry chain. The present invention obtains information on farmland soil, crops, pests and diseases in real time through sensors installed on mobile robots, and performs data analysis and decision-making through intelligent algorithms to guide agricultural production. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the present invention;

[0020] Figure 2 yes Figure 1 axonometric drawing;

[0021] Figure 3 is a structural schematic diagram of another embodiment of the present invention;

[0022] Figure 4 yes Figure 3 axonometric drawing;

[0023] Figure 5 is a schematic structural diagram of a third embodiment of the present invention;

[0024] Figure 6 yes Figure 5 axonometric drawing;

[0025] Figure 7 is a schematic diagram of the structure of the probe unit;

[0026] Figure 8 is a schematic diagram of the structure of the spraying unit;

[0027] Fig. 9 It is a structural schematic diagram of a pruning and picking unit;

[0028] Fig.10 It is a schematic diagram of the structure of the mobile robot;

[0029] Fig.11 yes Fig.10 axonometric drawing;

[0030] Fig.12 It is a structural schematic diagram of a mobile chassis;

[0031] Fig.13 It is a schematic diagram of the bottom structure of the mobile chassis;

[0032] Fig.14 It is a schematic diagram of the structure of the robotic arm;

[0033] Fig.15 This is a schematic diagram of the internal structure of the robotic arm. Figure 1 ;

[0034] Fig.16 This is a schematic diagram of the internal structure of the robotic arm. Figure 2 ;

[0035] Fig.17 is a schematic diagram of the structure of wrist central axis component 1;

[0036] Fig.18 is a schematic diagram of the structure of wrist central axis component 2;

[0037] Fig.19 is a schematic diagram of the structure of wrist center axis component three;

[0038] Fig. 20 It is the control principle diagram of the present invention.

[0039] In the figure, 1, mobile robot; 2, mobile chassis; 201, frame; 202, Mecanum wheel; 203, track wheel; 204, drive motor;

[0040] 3. Mechanical arm; 301. Box base; 302. Chassis rotating motor; 303. Worm; 304. Turbine; 305. Chassis;

[0041] 306, large arm; 307, connecting rod; 308, connecting rod transmission rod; 309, large arm servo motor; 310, connecting rod servo motor;

[0042] 311, small arm seat; 312, wrist motor gear box; 313, wrist center axis 1; 314, front claw flange; 315, rotating arm motor 1; 316, first driving spur gear; 317, first driven spur gear;

[0043] 318, wrist center axis 2; 319, rotating arm motor 2; 320, second driving spur gear; 321, second driven spur gear; 322, wrist front end rotating flange; 323, second driving bevel gear; 324, second driven bevel gear;

[0044] 325. Wrist center axis three; 326. Rotating arm motor three; 327. Third driving spur gear; 328. Third driven spur gear; 329. Front flange of small wrist; 330. Third driving bevel gear; 331. Third driven bevel gear; 332. Fourth driving spur gear; 333. Fourth driven spur gear; 334. Fourth driving bevel gear; 335. Fourth driven bevel gear;

[0045] 4. Spraying unit; 401. Fertilizer box; 402. Pipeline; 403. Spraying head; 404. Spraying unit sensor; 405. Spraying unit housing; 5. Probe unit; 501. Probe; 502. Probe unit sensor; 503. Probe unit housing; 6. Pruning and picking unit; 601. Pruning and picking unit sensor; 602. Scissor swing arm; 603. Pruning scissors; 604. Vertical servo; 605. Active picking claw; 606. Linked picking claw; 607. Picking camera; 608. Horizontal servo; 609. Vertical servo frame; 610. Pruning and picking unit housing; 7. Integrated laser radar; 8. High-definition camera. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. The specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0047] Specific implementation method 1: Combination Figures 1 to 20 To illustrate this implementation mode, compared with some advanced foreign countries, my country still has a large gap in the level of intelligence and automation in the cultivation of low-lying crops. For example, the field management of low-lying crops such as blueberries, strawberries and cherry tomatoes, especially in the aspects of precise fertilization and intelligent prevention and control of pests and diseases, lacks mature technology and it is difficult to achieve full-cycle and all-round intelligent management.

[0048] For example, in the process of blueberry cultivation, technical difficulties are mainly concentrated in the following aspects:

[0049] 1) Complexity of the growing environment: Blueberries have extremely demanding requirements for the growing environment, including light, temperature, soil pH and humidity. How to provide the best growing conditions for blueberries at different growth stages has become a technical challenge. 2) Dependence on manual operations: At present, blueberry cultivation still relies heavily on manual operations, such as irrigation, fertilization and pest control, which is not only inefficient, but also subject to rising labor costs. Especially in the context of labor shortage in rural areas, how to achieve efficient automated management is particularly important. 3) Traditional methods of pest control: Traditional pest control methods rely too much on chemical pesticides, which not only increases the cost of planting, but also poses a potential threat to the ecological environment. How to achieve green control, reduce the use of chemical pesticides, and ensure the safety and environmental protection of blueberries is another major challenge facing the industry. 4) The market's pursuit of high quality: Consumers' pursuit of blueberry quality is increasing. How to ensure the high quality of blueberries while large-scale production has become an urgent problem for the industry. The traditional planting model is difficult to meet the market demand for high-quality blueberries while ensuring output.

[0050] In this context, the research and development of unmanned planting base systems for low-growing crops is particularly urgent and important. This application provides a system that integrates Internet of Things technology, automation equipment and intelligent robots to achieve comprehensive intelligent management of the planting of low-growing crops such as blueberries, promote the process of agricultural modernization, improve the quality and market competitiveness of crops, and promote green and sustainable development of agriculture.

[0051] In this embodiment, a modular robot suitable for maintaining low crops includes a mobile robot 1 and an end effector; the mobile robot 1 includes a mobile chassis 2 and a robotic arm 3, the mobile chassis 2 is equipped with the robotic arm 3, and the end of the robotic arm 3 is provided with a variety of end effectors, and the end effectors include a spraying unit 4, a probe unit 5 and a pruning and picking unit 6; the spraying unit 4 is used for spraying fertilizers and pesticides, the probe unit 5 is used for monitoring soil parameters, and the pruning and picking unit 6 is used for pruning branches and leaves and picking crops.

[0052] In a preferred embodiment, the mobile chassis 2 includes Mecanum wheels 202, track wheels 203 and a drive motor 204 arranged on a frame 201; four Mecanum wheels 202 are installed at the front end and the middle part of the frame 201, and two track wheels 203 are installed at the rear end, and the Mecanum wheels 202 and the track wheels 203 are both driven by a drive motor 204.

[0053] In a preferred embodiment, the spraying unit 4 includes a fertilizer box 401, a pipeline 402, a nozzle 403, a spraying unit sensor 404 and a spraying unit shell 405; the fertilizer box 401 is installed on the frame 201, the spraying unit shell 405 is connected to the robotic arm 3, the nozzle 403 and the spraying unit sensor 404 are installed on the spraying unit shell 405, the spraying unit sensor 404 and the nozzle 403 are arranged correspondingly, and the nozzle 403 and the fertilizer box 401 are connected through the pipeline 402.

[0054] In a preferred embodiment, the probe unit 5 includes a probe 501, a probe unit sensor 502 and a probe unit shell 503; the probe unit shell 503 is connected to the robotic arm 3, the probe 501 and the probe unit sensor 502 are installed on the probe unit shell 503, and the probe 501 extends to the outside of the probe unit shell 503.

[0055] In a preferred embodiment, the pruning and picking unit 6 includes a pruning and picking unit sensor 601, a scissor swing arm 602, a pruning scissors 603, a vertical servo 604, an active picking claw 605, a linkage picking claw 606, a picking camera 607, a horizontal servo 608 and a vertical servo frame 609 arranged on a pruning and picking unit housing 610;

[0056] The pruning and picking unit shell 610 is connected to the mechanical arm 3, and a pruning and picking unit sensor 601 is installed on the top of the pruning and picking unit shell 610. The front end of the pruning and picking unit shell 610 is respectively provided with a scissor swing arm 602 and a horizontal servo 608 from top to bottom. The front end of the scissor swing arm 602 is installed with a pruning scissors 603. The swing arm of the horizontal servo 608 is rotatably connected to a vertical servo frame 609. The front end of the vertical servo frame 609 is provided with a vertical servo 604 and a picking camera 607. The swing arm of the vertical servo 604 is rotatably connected to an active picking claw 605. The active picking claw 605 and the linked picking claw 606 are gear-engaged, and the linked picking claw 606 is rotatably connected to the vertical servo frame 609.

[0057] In a preferred embodiment, the scissor swing arm 602 is arranged on the pruning and picking unit housing 610, and the pruning scissors 603 are installed at the front end of the scissor swing arm 602. The scissor swing arm 602 is internally installed with a battery and a driver, which can drive the pruning scissors 603 to rotate around the scissor swing arm 602 and drive the pruning scissors 603 to perform pruning operations. The horizontal servo 608 drives the vertical servo frame 609 to rotate, and the vertical servo 604 drives the active picking claw 605 to rotate. The active picking claw 605 and the linkage picking claw 606 are linked by gear meshing to pick crops.

[0058] In a preferred embodiment, the robot arm 3 is a multi-degree-of-freedom robot arm. The robot arm 3 and the end effector are designed with a multi-degree-of-freedom robot arm and are equipped with various end effectors, such as a watering nozzle, a fertilizing device, a weeding tool, pruning shears, a picking claw, etc., to achieve different operation requirements.

[0059] In a preferred embodiment, the robot includes a perception system for collecting crop planting field data, and the perception system includes a visual recognition system and a navigation and obstacle avoidance sensor.

[0060] In a preferred embodiment, the visual recognition system uses a deep binocular camera located in the control system acquisition layer to perceive the surrounding environment information of the agricultural robot.

[0061] In a preferred embodiment, the navigation and obstacle avoidance sensor includes an integrated laser radar 7 and a high-definition camera 8; the front end of the frame 201 is provided with an integrated laser radar 7, and the front end and rear end of the frame 201 are each provided with a high-definition camera 8.

[0062] In a preferred embodiment, the robot also includes a control system, which includes a controller, and the spraying unit sensor 404, the probe unit sensor 502, the pruning and picking unit sensor 601, the picking camera 607, the integrated laser radar 7 and the high-definition camera 8 are all electrically connected to the controller.

[0063] In a preferred embodiment, the spraying unit sensor 404 is an integrated sensor including a visual sensor and an ultrasonic sensor, or an ultrasonic ranging module is used to accurately locate and measure distance during spraying; the probe unit sensor 502 is an integrated sensor including a humidity sensor and a pH sensor, the probe is inserted into the soil, and the humidity sensor and the pH sensor feed back soil information; the pruning and picking unit sensor 601 is an integrated sensor including a visual sensor and an ultrasonic sensor.

[0064] The present invention obtains real-time information on farmland soil, crops, pests and diseases, etc. through sensors installed on agricultural machinery, and performs data analysis and decision-making through intelligent algorithms to guide agricultural production.

[0065] The present invention designs all sensors and the installation of irrigation systems at the early stage of greenhouse construction to create an intelligent system that is independent of manual labor. During the growth of blueberries, the computer system is responsible for monitoring environmental conditions. Soil monitoring, pruning, fertilization, and pesticide spraying during the blueberry cultivation process are all completed by robots, saving the labor costs of growers.

[0066] The present invention uses intelligent agricultural machinery and equipment to achieve precise sowing, fertilization and pesticide application, reduce resource waste, improve crop yield and quality, and accurately apply according to crop needs. The present invention uses a digital management system to achieve visualization and traceability of agricultural production processes, improve the quality control of blueberries, and help accelerate the upgrading of the agricultural industry chain.

[0067] Specific implementation method 2: Combination Figures 1 to 20 This embodiment is described. In this embodiment, the mechanical structure of the modular robot for low crop maintenance is as follows: the mobile chassis 2 includes Mecanum wheels 202, track wheels 203 and drive motors 204 arranged on a frame 201; four Mecanum wheels 202 are installed at the front and middle of the frame 201, and two track wheels 203 are installed at the rear, and both the Mecanum wheels 202 and the track wheels 203 are driven by the drive motor 204. The wheeled chassis with two track wheels 203 covering the track and four Mecanum wheels 202 for coordinated movement has large traction and is not easy to slip. It is suitable for complex ground environments to adapt to the complex terrain in the greenhouse for planting low crops, ensuring that the robot can move stably under various ground conditions.

[0068] 1) Four-wheel differential control mobile chassis: The chassis of the current mainstream mobile robots can be divided into three types: differential rotation, omnidirectional wheels and Ackerman rotation. At the same time, the differential chassis is widely used in various R&D platforms because of its easy implementation and simple structure, while the Ackerman rotation chassis is mostly used in manual driving occasions. In order to better adapt to the complex greenhouse environment, the mobile robot of this application adopts four-wheel differential control to improve the handling performance and stability.

[0069] The steering center of the four-wheel differential chassis is at the geometric center of the mobile platform, and the distance from the geometric center to the four Mecanum wheels is equal. Usually we simplify the four-wheel differential model into a left and right wheel model, so that the speeds of the left and right wheels are equal. When turning, the four-wheel differential model relies on the slippage of the tires to achieve steering. The speeds of the left and right wheels of the mobile platform are V l and V r , the front and rear wheelbase is 2l, the overall rotation speed of the mobile platform is V, the angular rotation speed is W, and the rotation radius is R. The following conclusions can be drawn:

[0070] V=W×R(2.1)

[0071] Linear speed of left and right wheels of mobile platform:

[0072] V l =W×(Rl) (2.2)

[0073] V r =W×(R+l) (2.3)

[0074] From formula (2.1)(2.2)(2.3), we get:

[0075]

[0076] From formula (2.4) (2.5) we get:

[0077]

[0078] 2) Robotic arm 3 and end effector The multi-degree-of-freedom robotic arm design is equipped with various end effectors, such as watering nozzles, fertilizing devices, weeding tools, pruning shears, picking claws, etc., to meet different operation requirements.

[0079] In a preferred embodiment, the mechanical arm 3 includes a box base 301, the box base 301 is connected to the frame 201, a worm 303 and a turbine 304 are arranged inside the box base 301, the worm 303 and the turbine 304 are meshed, the turbine 304 is rotatably connected to the box base 301, the worm 303 is driven by a chassis rotating motor 302, the chassis rotating motor 302 is installed outside the box base 301, and the rotating shaft of the turbine 304 is fixedly connected to the chassis 305;

[0080] A large arm 306 is installed on the chassis 305. The left and right sides of the large arm 306 are rotatably connected to the chassis 305 through a rotating shaft. The large arm servo motor 309 drives the large arm 306. One end of the connecting rod transmission rod 308 is rotatably connected to the chassis 305, and the other end is rotatably connected to the connecting rod 307. The connecting rod servo motor 310 drives the connecting rod transmission rod 308. The motor shaft of the connecting rod servo motor 310 passes through one of the rotating shafts of the large arm 306 and is connected to the connecting rod transmission rod 308. The large arm servo motor 309 and the connecting rod servo motor 310 are installed on the chassis 305.

[0081] The small arm seat 311 is rotatably connected to the large arm 306, one end of the connecting rod 307 is rotatably connected to the connecting rod transmission rod 308, and the other end is rotatably connected to the small arm seat 311, a wrist motor gear box 312 is installed on the upper part of the small arm seat 311, and a gear transmission group is arranged inside the wrist motor gear box 312, a rotating arm motor 1 315, a rotating arm motor 2 319 and a rotating arm motor 3 326 are all installed on the outside of the wrist motor gear box 312, one end of the wrist center axis 1 313 is rotatably connected to the wrist motor gear box 312, and the other end is fixedly connected with the front claw flange 314, a first driven spur gear 317 is installed on one end of the wrist center axis 1 313 close to the wrist motor gear box 312, the first driving spur gear 316 is meshed with the first driven spur gear 317, and the rotating arm motor 1 315 drives the first driving spur gear 316;

[0082] The wrist center axis 2 318 is arranged inside the wrist center axis 1 313, one end of the wrist center axis 2 318 is rotatably connected to the wrist center axis 1 313, and the other end is rotatably connected to the front claw flange 314, the second driven spur gear 321 is installed on one end of the wrist center axis 2 318 close to the wrist motor gear box 312, the second driving bevel gear 323 is installed on one end of the wrist center axis 2 318 close to the front claw flange 314, the second driving spur gear 320 is meshed with the second driven spur gear 321, the rotating arm motor 2 319 drives the second driving spur gear 320, the second driving bevel gear 323 is meshed with the second driven bevel gear 324, and the second driving bevel gear 323 and the second driven bevel gear 324 are arranged inside the front claw flange 314;

[0083] The wrist center axis 325 is arranged inside the wrist center axis 2 318, and both ends of the wrist center axis 325 are rotatably connected to the wrist center axis 2 318. The wrist front end rotating flange 322 is rotatably connected to the front claw flange 314. The third driven spur gear 328 is installed on one end of the wrist center axis 325 close to the wrist motor gear box 312. The third driving bevel gear 330 is installed on one end of the wrist center axis 325 close to the front claw flange 314. The third driving spur gear 327 is meshed with the third driven spur gear 328. The rotating arm motor 326 drives the third driving spur gear 327. The third driving bevel gear 330 is meshed with the third driven bevel gear 331. The third driving bevel gear 330 and the third driven bevel gear 331 are arranged inside the front claw flange 314.

[0084] The front end flange 329 of the small wrist is rotationally connected to the front end rotating flange 322 of the wrist, the fourth driving spur gear 332, the fourth driven spur gear 333, the fourth driving bevel gear 334 and the fourth driven bevel gear 335 are arranged inside the front end rotating flange 322 of the wrist, the third driven bevel gear 331 and the fourth driving spur gear 332 are fixedly connected to the same shaft, the fourth driven spur gear 333 and the fourth driving bevel gear 334 are fixedly connected to the same shaft, the fourth driven bevel gear 335 is connected to the front end flange 329 of the wrist, the fourth driving spur gear 332 and the fourth driven spur gear 333 are meshed, the fourth driving bevel gear 334 and the fourth driven bevel gear 335 are meshed, and the spraying unit housing 405, the probe unit housing 503 or the pruning and picking unit housing 610 are installed at the front end of the front end flange 329 of the small wrist.

[0085] Other components and connection relationships are the same as those in the first specific implementation mode.

[0086] Specific implementation method three: Combination Figures 1 to 20 To illustrate this embodiment, in this embodiment, the control system of the modular robot for low crop care is as follows:

[0087] The control system includes: 1) Central processing unit: responsible for receiving sensor data, performing real-time analysis and processing, and controlling the actions of actuators such as the robotic arm and end effector. 2) Intelligent algorithm: built-in multiple intelligent algorithms, such as path planning algorithm, image recognition algorithm, environmental control algorithm, etc., to support the efficient and precise operation of the robot. 3) Control system The robot's control system uses STM32 main control circuit, four-way DC Hall motor drive circuit and voltage regulator module. The drive system uses a high-power DC Hall motor and is powered by a 12V DC voltage battery.

[0088] Energy Systems:

[0089] Batteries are usually used as energy supply to ensure that the robot has sufficient power support during operation. At the same time, a charging system is equipped to charge it in time when the power is low.

[0090] Equipment in the greenhouse:

[0091] 1) Sensor selection: The temperature and humidity sensor can be SHT20 or DHT22. The former has a measurement range of -40 to 125°C, humidity 0 to 100% RH, accuracy of ±0.3°C, ±2% RH, response time of 8s, and I2C digital output [1]. The latter has a measurement range of 0 to 50°C, humidity 20 to 90% RH, accuracy of ±0.5°C, ±2% RH, response time of 2s, and digital signal output. The light sensor can be BH1750, with a measurement range of 1 to 65535 lux, accuracy of ±10 lux, I2C interface, and is compatible with MCUs such as Arduino. The CO2 sensor can be MH-Z14 or SCD30. The former uses non-dispersive infrared (NDIR) technology, with a range of 0 to 5 000 ppm, accuracy of ±50 ppm, and UART digital output. The latter also uses the NDIR principle, with a range of 400 to 5000 ppm, accuracy of ±30 ppm or ±3%, and I2C digital output.

[0092] In addition, since temperature and humidity are very important for plant growth, two sensors are used for redundant monitoring to improve system reliability. The data collection frequency is generally set to collect once every 1 to 10 minutes, and it can be adjusted appropriately according to the crop type and growth stage. The frequency of light intensity and CO2 concentration collection can be lower, for example, once every hour. All sensor outputs should be connected to the MCU for A / D conversion, data calibration and filtering, and then sent to the industrial computer in the monitoring center via wireless networks such as ZigBee and stored in real time in the MySQL database.

[0093] 2) Data acquisition and transmission module: The data acquisition and transmission link of the greenhouse environment monitoring system adopts modular design. The data acquisition module uses the STM32 series 32-bit ARMCortex-M0 core MCU, built-in 12-bit AD converter, and the maximum sampling rate reaches 1Msps, which can meet the acquisition needs of multiple sensor signals.

[0094] Other components and connection relationships are the same as those in the first specific implementation mode.

[0095] Specific implementation method four: Combination Figures 1 to 20 To illustrate this embodiment, the operation process of the modular robot for low crop maintenance in this embodiment is as follows:

[0096] 1. Task Receiving and Planning

[0097] After receiving the cultivation task, the robot will plan the task according to the preset task list and current environmental information, and determine the operation sequence and path.

[0098] 2. Autonomous Navigation and Positioning

[0099] By using navigation and obstacle avoidance sensors and visual recognition systems, the robot can achieve autonomous navigation and precise positioning in the greenhouse, ensuring that the robot can accurately reach the working position.

[0100] 3. Precision Operation

[0101] 1) Watering and fertilizing: According to the environmental sensor data and the growth needs of blueberries, the robot arm and end effector are controlled to perform precise watering and fertilizing operations. 2) Weeding and pruning: Use end effectors such as weeding tools and pruning shears to remove weeds around blueberry plants and perform necessary pruning operations on the plants. 3) Picking: In the blueberry ripening season, the position of ripe fruits is accurately identified through the visual recognition system, and the robot arm and picking claws are controlled to perform non-destructive picking operations. 4) Health monitoring and early warning: During the operation, the growth status and pest and disease conditions of blueberry plants are continuously monitored. Once an abnormality is found, an early warning message is immediately issued so that timely measures can be taken. 5) Data recording and feedback: Various data during the operation process (such as watering amount, fertilization amount, weeding area, pruning conditions, etc.) are recorded and fed back to the control system or remote monitoring platform for subsequent analysis and optimization.

[0102] Other components and connection relationships are the same as those in the first specific implementation mode.

[0103] Specific implementation method five: Combination Figures 1 to 20 To illustrate this embodiment, the working principle of the modular robot suitable for low crop maintenance in this embodiment is as follows:

[0104] 1. Working principle of probe module:

[0105] As a vital part of the unmanned blueberry planting base system, the design and operation of the probe module follows the principles of high precision and flexibility. The module is carried by a robotic arm and uses advanced soil parameter detection technology to penetrate into the soil at different depths and measure multiple key indicators including pH and humidity in real time. The movable nut design of the robotic arm ensures the rapid replacement and precise positioning of the probe module, allowing the robot to move freely in the greenhouse and randomly select soil samples for testing. The test data is quickly sent to the central computer system through a wireless transmission system, and after analysis and processing, it provides a scientific basis for subsequent irrigation, fertilization and other decisions. At different growth stages, the probe module can be flexibly adjusted to meet the dynamic needs of blueberry growth for the soil environment.

[0106] The introduction of the probe module has greatly improved the intelligence and precision of blueberry planting. Its high-precision detection capability can capture subtle changes in the soil environment and ensure the optimization of the blueberry growth environment. The rapid replacement of modules and the flexible operation of the robotic arm not only improve the detection efficiency and reduce interference with the soil environment, but also significantly reduce the frequency and cost of manual detection, and improve the automation of the overall planting system. By working in coordination with the irrigation and fertilization modules, the probe module effectively guides the precise application of water resources and fertilizers, avoids potential damage to the environment from excessive use, and achieves efficient use of resources and optimization of blueberry growth. At the same time, the flexibility of the modular design ensures the scalability and adaptability of the system, leaving room for future technology upgrades and functional expansions.

[0107] 2. Working principle of pruning module:

[0108] In the unmanned blueberry planting base system, the pruning module plays an important role in improving the growth quality and yield of blueberry plants. Through seamless connection with the robot body, the module uses the precise positioning capability and intelligent recognition technology of the robotic arm to identify and locate the branches and leaves that need to be pruned. The gear clamp and shearing tool design on the robotic arm ensure the accuracy and efficiency of the pruning action. Once aging, diseased or overcrowded branches and leaves are detected, the system will automatically plan the optimal path and guide the robot to the target position for precise pruning. The pruned branches and leaves will be automatically collected by the collection box to avoid secondary pollution and keep the planting environment clean. The entire process is monitored in real time by the computer system and data analyzed to ensure the scientificity and rationality of the pruning decision.

[0109] The intelligent operation of the pruning module achieves high precision and efficiency in pruning. Through precise identification and cutting, ineffective branches and leaves that consume nutrients are effectively removed, which promotes the optimization of photosynthesis efficiency and nutrient distribution of blueberry plants, and provides a strong guarantee for the healthy growth of blueberries. Compared with traditional manual pruning, the modularly designed pruning robot avoids the uncertainty of subjective judgment, ensures the standardization and consistency of pruning work, improves pruning quality and efficiency, and reduces labor costs. At the same time, intelligent pruning decisions reduce mechanical damage to blueberry plants, improve the quality and yield of blueberries, and achieve rational use of resources and friendly protection of the environment. By working in collaboration with the probe and fertilization modules, the pruning module jointly builds an intelligent management closed loop for blueberry growth, realizing full-cycle intelligence from soil detection to plant management.

[0110] 3. Working principle of fertilization and spraying module:

[0111] The fertilization and spraying module is the key to ensuring crop nutrition supply and pest control in the unmanned blueberry planting base system. This module combines advanced sensor technology and automation equipment, and realizes precise fertilization and intelligent spraying of blueberry plants through the precise operation of the robotic arm. Based on the soil nutrient data fed back by the probe module, the fertilization module can accurately calculate the amount and location of fertilizer, and apply the fertilizer evenly and accurately into the soil to ensure that the blueberries get enough nutrients. The spraying module uses intelligent recognition technology to accurately locate the pest and disease area, and uses movable hinges and nozzles to implement local and quantitative pesticide spraying, which not only protects blueberries from pests and diseases, but also minimizes the use of pesticides.

[0112] The introduction of the fertilization and spraying module has significantly improved the intelligence and efficiency of blueberry planting. Through precise fertilization, it not only meets the nutrient needs of blueberries at different growth stages and avoids the potential pollution of the environment caused by excessive fertilization, but also improves the utilization rate of fertilizers, reduces planting costs, and provides a solid guarantee for the healthy growth of blueberries. The application of intelligent spraying technology has achieved early detection and early prevention of pests and diseases, reduced the impact on the quality of blueberries, reduced pesticide residues, and improved the food safety of products. Compared with traditional manual fertilization and spraying, the modularly designed fertilization and spraying robot significantly improves work efficiency, reduces manpower requirements, reduces labor intensity, and realizes precise application of resources and environmentally friendly protection.

[0113] The fertilization and spraying module, with its precise control capabilities, intelligent decision-making system and high execution efficiency, provides important support for the intelligent management of the unmanned blueberry planting base system. It not only optimizes resource utilization and improves production efficiency, but also contributes scientific and technological strength to the realization of green and sustainable agricultural development. It is an important innovative achievement in the field of smart agriculture.

[0114] Other components and connection relationships are the same as those in the first specific implementation mode.

[0115] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multifunctional modular robot suitable for the maintenance of low-growing crops, characterized in that: The robot comprises a mobile robot (1) and an end effector; The mobile robot (1) comprises a mobile chassis (2) and a mechanical arm (3), wherein the mobile chassis (2) is mounted with the mechanical arm (3), and a plurality of end effectors are arranged at the end of the mechanical arm (3). The end effector comprises a spraying unit (4), a probe unit (5) and a pruning and picking unit (6); the spraying unit (4) is used for spraying fertilizers and pesticides, the probe unit (5) is used for monitoring soil parameters, and the pruning and picking unit (6) is used for pruning branches and leaves and picking crops.

2. The multifunctional modular robot suitable for low-growing crops maintenance according to claim 1, characterized in that: The mobile chassis (2) comprises Mecanum wheels (202), track wheels (203) and a drive motor (204) arranged on a vehicle frame (201); Four Mecanum wheels (202) are installed at the front end and the middle part of the vehicle frame (201), and two track wheels (203) are installed at the rear end. Both the Mecanum wheels (202) and the track wheels (203) are driven by a driving motor (204).

3. The multifunctional modular robot suitable for low-growing crops maintenance according to claim 1, characterized in that: The spraying unit (4) comprises a fertilizer box (401), a pipeline (402), a spray head (403), a spraying unit sensor (404) and a spraying unit housing (405); The fertilizer box (401) is installed on the vehicle frame (201), and the spray unit housing (405) is connected to the mechanical arm (3). The spray head (403) and the spray unit sensor (404) are installed on the spray unit housing (405), the spray unit sensor (404) and the spray head (403) are arranged correspondingly, and the spray head (403) and the fertilizer box (401) are connected through a pipeline (402).

4. The multifunctional modular robot suitable for low-growing crops maintenance according to claim 1, characterized in that: The probe unit (5) comprises a probe (501), a probe unit sensor (502) and a probe unit housing (503); The probe unit housing (503) is connected to the robot arm (3), the probe (501) and the probe unit sensor (502) are installed on the probe unit housing (503), and the probe (501) extends out of the probe unit housing (503).

5. The multifunctional modular robot suitable for low-growing crops maintenance according to claim 1, characterized in that: The pruning and picking unit (6) comprises a pruning and picking unit sensor (601) arranged on a pruning and picking unit housing (610), a scissor swing arm (602), pruning scissors (603), a vertical steering gear (604), an active picking claw (605), a linked picking claw (606), a picking camera (607), a horizontal steering gear (608) and a vertical steering gear frame (609); The pruning and picking unit housing (610) is connected to the mechanical arm (3), and a pruning and picking unit sensor (601) is installed on the top of the pruning and picking unit housing (610). The front end of the pruning and picking unit housing (610) is provided with a scissor swing arm (602) and a horizontal steering gear (608) from top to bottom. The front end of the scissor swing arm (602) is equipped with a pruning scissors (603), the swing arm of the horizontal steering gear (608) is rotatably connected to a vertical steering gear frame (609), and the front end of the vertical steering gear frame (609) is provided with a vertical steering gear (604) and a picking camera (607). An active picking claw (605) is rotatably connected to the swing arm of the vertical steering gear (604), the active picking claw (605) and the linkage picking claw (606) are gear-engaged, and the linkage picking claw (606) is rotatably connected to the vertical steering gear frame (609).

6. The multifunctional modular robot suitable for low-lying crop maintenance according to claim 1, characterized in that: The mechanical arm (3) is a multi-degree-of-freedom mechanical arm.

7. The multifunctional modular robot suitable for low-growing crops maintenance according to claim 1, characterized in that: The robot includes a perception system for collecting crop planting field data, and the perception system includes a visual recognition system and a navigation and obstacle avoidance sensor.

8. The multifunctional modular robot suitable for maintaining low-lying crops according to claim 7, characterized in that: The visual recognition system uses a deep binocular camera located in the control system acquisition layer to perceive the surrounding environment information of the agricultural robot.

9. The multifunctional modular robot suitable for low-growing crops maintenance according to claim 7, characterized in that: The navigation and obstacle avoidance sensor comprises an integrated laser radar (7) and a high-definition camera (8); An integrated laser radar (7) is arranged at the front end of the vehicle frame (201), and a high-definition camera (8) is respectively arranged at the front end and the rear end of the vehicle frame (201).

10. The multifunctional modular robot suitable for low-growing crops maintenance according to claim 1, characterized in that: The robot also includes a control system, which includes a controller, and the spraying unit sensor (404), the probe unit sensor (502), the pruning and picking unit sensor (601), the picking camera (607), the integrated laser radar (7) and the high-definition camera (8) are all electrically connected to the controller.

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