Rice transplanting robot suitable for small rice field and control method of rice transplanting robot

Abstract

The invention provides a rice transplanting robot suitable for a small rice field and a control method thereof, and belongs to the technical field of agricultural machinery. Comprising a moving part and a rice transplanting assembly, the moving part comprises a machine body, a plurality of mechanical legs and driving assemblies corresponding to the mechanical legs, the mechanical legs are connected with the machine body through the corresponding driving assemblies, the rice transplanting assembly comprises a rice seedling storage box, a mechanical arm, a mechanical claw, an angle sensor and a finger pressure sensor, and the rice seedling storage box is arranged on the machine body; one end of the mechanical arm is rotationally connected with the machine body, the angle sensor is arranged on the mechanical arm, the mechanical claw is arranged at the other end of the mechanical arm, the finger pressure sensor is arranged on the mechanical claw, and the mechanical arm has multidirectional rotation freedom degrees. And the insertion depth of the seedlings is adjusted according to readings of the angle sensor and the finger pressure sensor. The technical problems that existing rice transplanting equipment is limited in use in small rice fields due to structural defects, and the survival rate of planted seedlings is low can be solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural machinery, and in particular relates to a rice transplanting robot suitable for small rice fields and a control method thereof. Background Art

[0002] Rice is one of the main food crops in my country and plays a vital role in my country's grain production. Rice has a long history of cultivation in my country and is also a fine tradition of intensive farming in my country.

[0003] In the related art, traditional rice transplanting work usually relies on manual or semi-automatic machinery. However, manual transplanting is labor-intensive and inefficient, especially in vast rice fields, requiring a lot of labor and time. With the advancement of agricultural technology, the application of rice transplanters has liberated labor to a certain extent. However, the existing rice transplanting equipment is mostly large-scale machinery, which often needs to rely on agricultural locomotives to drive. Due to its large body, it cannot adapt to irregular terrain or small rice fields, and is prone to collision or mechanical damage in complex rice field environments. In addition, the rice transplanting process is mostly carried out in large batches at the same time, and it is difficult to ensure that each seedling can be planted in the rice field with the correct posture and depth. The above-mentioned limitations will affect the survival rate of the seedlings planted in small rice fields and affect the yield. Summary of the Invention

[0004] The present invention provides a rice transplanting robot suitable for small rice fields and a control method thereof, which can solve the technical problems of existing rice transplanting equipment being limited in use in small rice fields due to structural defects and having a low survival rate of planted seedlings. The technical solution is as follows: In a first aspect, an embodiment of the present invention provides a rice transplanting robot suitable for small rice fields, comprising: Action department and transplanting components, The movement unit includes a body, a plurality of mechanical legs, and drive components corresponding to the plurality of mechanical legs, wherein the plurality of mechanical legs are connected to the body through the corresponding drive components, and the drive components are used to drive the corresponding mechanical legs to drive the body to move; The rice transplanting assembly includes a seedling storage box, a robotic arm, a robotic claw, an angle sensor and a finger pressure sensor. The seedling storage box is arranged on the fuselage, one end of the robotic arm is rotatably connected to the fuselage, the angle sensor is arranged on the robotic arm, the robotic claw is arranged at the other end of the robotic arm, and the finger pressure sensor is arranged on the robotic claw. The robotic arm is configured to have multi-directional rotational freedom so as to grasp the seedlings in the seedling storage box through the robotic claw and adjust the insertion depth of the seedlings according to the readings of the angle sensor and the finger pressure sensor.

[0005] Optionally, the finger pressure sensor is arranged on the inner side of the finger of the mechanical claw.

[0006] Optionally, there are four mechanical legs, and the mechanical legs are arranged in groups of two on the left and right sides of the fuselage, and the two groups of mechanical legs are arranged in a front-to-back manner.

[0007] Optionally, a control system is provided on the fuselage, and the control system includes a positioning module and a general control module. The positioning module is used to obtain the spatial position information of the action part, and the general control module is configured to output a control signal to the driving component according to the spatial position information and a preset motion trajectory.

[0008] Optionally, the control system further includes an ultrasonic sensor, which is disposed on the fuselage and located on the same side as the robotic arm, and the ultrasonic sensor is communicatively connected to the master control module.

[0009] Optionally, the control system further includes a video sensor, which is disposed on a side of the fuselage away from the ultrasonic sensor, and is communicatively connected to the master control module. Optionally, the seedling storage box is provided with a seedling outlet matching the mechanical claw, the seedling storage box is provided with a push rod arranged toward the seedling outlet, and the bottom of the seedling storage box is provided with a conveyor belt arranged toward the push rod. Optionally, a pressure sensor is provided at the seedling outlet, and the pressure sensor is communicatively connected to the mechanical arm, the push rod and the conveyor belt.

[0010] In a second aspect, an embodiment of the present invention further provides a control method, which is implemented based on the rice transplanting robot suitable for small rice fields described in the first aspect, comprising: obtaining spatial position information of the body, and outputting a control signal to the drive assembly based on the spatial position information and a preset motion trajectory, so as to drive the action portion to avoid obstacles or move along a planned path using the multiple mechanical legs; The robotic arm is used to grab the seedlings from the seedling storage box for transplanting. During the transplanting process, the angle sensor is used to detect the real-time angle of the robotic arm. At the same time, the finger pressure sensor is used to detect the insertion resistance fed back to the robotic claw during the transplanting process. If the insertion resistance is higher than the set upper limit of the resistance, the insertion angle of the robotic arm is adjusted to make the seedlings more horizontal to reduce the insertion depth; if the insertion resistance is lower than the set lower limit of the resistance, the insertion angle of the robotic arm is adjusted to make the seedlings more vertical to increase the insertion depth.

[0011] Optionally, the control method further includes: When the seedlings reach the set depth, the grip of the mechanical claw is released and the mechanical arm is controlled to maintain the insertion angle for lifting. The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least: The rice transplanting robot, suitable for small rice fields, provided by embodiments of the present invention, employs a multi-legged robot structure with multiple mechanical legs connected by multi-degree-of-freedom rotational joints. This allows for stable traversal in uneven and muddy rice fields, adapting to rice fields of varying sizes and terrains. This significantly improves traversal stability. Compared to conventional large-scale rice transplanters, the present invention offers greater flexibility and reliability, enabling stable operation in complex and small rice fields. During the transplanting process, a multi-degree-of-freedom robotic arm drives a terminal mechanical gripper to grasp seedlings from a seedling storage bin. The robot's real-time posture and seedling insertion depth are precisely and adaptively controlled using rotation angle feedback from an angle sensor on the arm and insertion resistance feedback from a finger pressure sensor on the gripper. This ensures that each seedling's insertion depth and height meet standards, minimizing crop growth variations caused by uneven transplanting. This results in high transplanting accuracy and, consequently, increased rice yields. This effectively addresses the technical issues of existing rice transplanting equipment, which, due to structural defects, are limited in use in small rice fields and suffer from low seedling survival rates. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0013] Figure 1 This is a schematic diagram of the three-dimensional structure of a rice transplanting robot suitable for small rice fields provided by an embodiment of the present invention; Figure 2 1 is a partial structural diagram of a rice transplanting assembly provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the working condition of the robotic arm using the mechanical claw to grab the seedlings in the seedling storage box when the rice transplanting component is working; Figure 4 This is a schematic diagram of the working condition of the transplanting assembly, in which the robotic arm uses the mechanical claw to pick up the seedlings and then leaves the seedling storage box; Figure 5 This is a schematic diagram of the working condition of the rice transplanting component, in which the robotic arm inserts the rice seedlings into the soil through the mechanical claws; Figure 6 This is a schematic diagram of the path planning of the rice transplanting robot provided by an embodiment of the present invention when working; Figure 7 is a flow chart of a control method provided by an embodiment of the present invention.

[0014] In the picture: 1-Action unit; 2-Transplanting component; 3-Control system; 11-Main body; 12-Mechanical legs; 13-Drive component; 21-Seedling storage box; 22-Mechanical arm; 23-Mechanical claw; 24-Angle sensor; 25-Finger pressure sensor; 31-Positioning module; 32-Master control module; 33-Ultrasonic sensor; 34-Video sensor; 131-Rotation joint; 211-Seedling outlet; 212-Push rod; 213-Conveyor belt; 214-Pressure sensor. DETAILED DESCRIPTION

[0015] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of a rice transplanting robot suitable for small rice fields provided by an embodiment of the present invention; Figure 2 1 is a partial structural diagram of a rice transplanting assembly provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the working condition of the robotic arm using the mechanical claw to grab the seedlings in the seedling storage box when the rice transplanting component is working; Figure 4 This is a schematic diagram of the working condition of the transplanting assembly, in which the robotic arm uses the mechanical claw to pick up the seedlings and then leaves the seedling storage box; Figure 5 This is a schematic diagram of the working condition of the rice transplanting component, in which the robotic arm inserts the rice seedlings into the soil through the mechanical claws; Figure 6 Schematic diagram of the path planning of the rice transplanting robot provided by the embodiment of the present invention. Figures 1 to 6 As shown, an embodiment of the present invention provides a rice transplanting robot suitable for small rice fields, comprising a moving part 1 and a rice transplanting component 2.

[0017] The movement unit 1 includes a body 11, a plurality of mechanical legs 12, and drive assemblies 13 corresponding to the plurality of mechanical legs 12. The plurality of mechanical legs 12 are connected to the body 11 via the corresponding drive assemblies 13, which are used to drive the corresponding mechanical legs 12 to drive the body 11 to move.

[0018] The rice transplanting assembly 2 includes a rice seedling storage box 21, a robotic arm 22, a mechanical gripper 23, an angle sensor 24, and a finger pressure sensor 25. The rice seedling storage box 21 is mounted on the machine body 11. One end of the robotic arm 22 is pivotally connected to the machine body 11. The angle sensor 24 is mounted on the robotic arm 22, and the mechanical gripper 23 is mounted on the other end of the robotic arm 22. The finger pressure sensor 25 is mounted on the mechanical gripper 23. The robotic arm 22 is configured with multiple degrees of rotational freedom, allowing the mechanical gripper 23 to grasp the rice seedlings in the rice seedling storage box 21 and adjust the seedling insertion depth based on the readings of the angle sensor 24 and the finger pressure sensor 25.

[0019] In an embodiment of the present invention, on the fuselage 11 serving as the main body, four mechanical legs 12 arranged in a rectangular array are arranged in groups of two on the left and right sides of the fuselage 11 to form a structural form of a quadruped robot that imitates a quadruped. Each mechanical leg 12 is connected to the fuselage 11 through a corresponding drive assembly 13. In an embodiment of the present invention, each mechanical leg 12 is a two-end rod structure. The two end rods and the mechanical leg 12 and the fuselage 11 are rotatably connected by an electrically controlled rotary joint 131 as a drive assembly 13. When working, the rotary joint 131 drives the mechanical leg 12 to rotate in two stages by executing a preset rotation instruction, thereby driving the entire rice transplanting robot to walk according to the set mode. In an embodiment of the present invention, the rice transplanting robot has a walking state and a positioning state. When in the walking state, the four robotic legs 12 move through the rice fields. After reaching the location where rice seedlings need to be planted, the robot switches to the positioning state and stops. The robotic arm 22 curls upward and raises, causing the mechanical claw 23 to move to the position of the seedling storage box 21. After clamping the seedlings in the seedling storage box 21, the robotic arm 22 is initialized according to the preset planting depth and soil resistance. By driving the robotic arm 22, the mechanical claw 23 is driven to insert the seedlings clamped in the mechanical claw 23 into the rice field soil at a preset insertion angle. During the transplanting process, the angle sensor 24 detects the real-time angle of the robotic arm 22, and the finger pressure sensor 25 detects the insertion resistance fed back to the mechanical claw 23 during the transplanting process. Based on the different insertion resistance feedback, the insertion status of the seedlings in the field soil is judged. If the insertion resistance exceeds the set resistance limit, it means that the current soil is high or relatively compact. At the preset insertion angle, the seedlings may be inserted too deep or difficult. If forced insertion is carried out, the roots of the seedlings may be damaged. At this time, the insertion angle of the robotic arm 22 is adjusted to make the seedlings more horizontal to reduce the insertion depth. If the insertion resistance is lower than the set resistance lower limit, it means that the current soil level is low or the soil is relatively loose. At the preset insertion angle, there is a problem that the seedlings are not inserted deep enough and are prone to tipping over after transplanting. In this case, the insertion angle of the robotic arm 22 is adjusted to make the seedlings more vertical to increase the insertion depth.

[0020] The rice transplanting robot, suitable for small rice fields, provided by an embodiment of the present invention, adopts a multi-legged robot structure. Multiple mechanical legs 12 are connected by multi-degree-of-freedom rotational joints. This allows for stable traversal in uneven and muddy rice fields, adapting to rice fields of varying sizes and terrains. This significantly improves traversal stability. Compared to conventional large-scale rice transplanters, the present invention offers flexible and reliable operation, enabling stable operation in complex and small rice fields. During the transplanting process, a multi-degree-of-freedom robotic arm 22 drives a terminal mechanical gripper 23 to grasp seedlings from a seedling storage box 21. During the transplanting process, the real-time posture of the robotic arm 22 and the mechanical gripper 23, as well as the insertion depth of the seedlings, are adaptively and precisely controlled using rotation angle feedback from an angle sensor 24 on the robotic arm 22 and insertion resistance feedback from a finger pressure sensor 25 on the mechanical gripper 23. This ensures that the insertion depth and height of each seedling meet standards, reducing crop growth variations caused by uneven transplanting, achieving high transplanting accuracy, and ultimately increasing rice yields. The invention effectively solves the technical problem that the existing rice transplanting equipment is limited in use in small rice fields due to structural defects and has a low survival rate of planted seedlings.

[0021] Optionally, the finger pressure sensor 25 is disposed inside the fingers of the mechanical gripper 23. For example, in the embodiment of the present invention, the finger pressure sensor 25 is disposed inside the fingers of the mechanical gripper 23, directly contacting the seedlings during the process of grasping and inserting the seedlings. A corresponding control module or device can detect the grasping and releasing force of the mechanical gripper 23 on the seedlings in real time, perform adaptive control, avoid damage to the seedlings, and further improve the survival rate.

[0022] It should be noted that in the embodiment of the present invention, the fingers of the robotic arm 22 and the robotic claw 23 are driven by built-in small motors to ensure the continuous operation of the robotic claw 23, so that the action process of taking and transplanting seedlings is cyclical, the transplanting efficiency is high, the operation complexity of the machine is low, and human intervention is less.

[0023] Optionally, a control system 3 is provided on the body 11. The control system 3 includes a positioning module 31 and a master control module 32. The positioning module 31 is used to obtain the spatial position information of the action unit 1, and the master control module 32 is configured to output a control signal to the drive assembly 13 based on the spatial position information and a preset motion trajectory. For example, in an embodiment of the present invention, the movement control of the rice transplanting robot is performed by the master control module 32 integrated into the body 11 to control signal transmission and reception. When traveling in a rice field, a preset rice transplanting path can be generated in the master control module 32 based on the spatial position information of the rice field through pre-input or external communication, completing the setting of the rice transplanting robot's travel trajectory. During the movement process, the corresponding positioning module 31 is used to obtain the real-time spatial position information of the body 11, that is, the three-dimensional coordinate information of the current position. By comparing this with the preset rice transplanting path coordinates, the movement of the robotic legs 12 is adjusted in real time to ensure the accuracy of the movement path.

[0024] Optionally, the control system 3 further includes an ultrasonic sensor 33, which is disposed on the body 11 and located on the same side as the robotic arm 22. The ultrasonic sensor 33 is communicatively connected to the master control module 32. For example, in an embodiment of the present invention, the ultrasonic sensor 33 is disposed at the front end of the body 11 together with the robotic arm 22. During the movement of the rice transplanting robot, obstacles on the travel path can be detected by the ultrasonic sensor 33. The detection signal of the ultrasonic sensor 33 is fed back to the master control module 32. The master control module 32 then performs path planning and motion adjustments based on a preset travel route and the location of obstacles, thereby achieving flexible obstacle avoidance and preventing collisions with obstacles in the rice field.

[0025] For example, during obstacle avoidance and dynamic adjustment, the ultrasonic sensor 33 detects the position and distance of the obstacle ahead in real time. When the obstacle distance falls below a set threshold (e.g., 0.5 meters), the robot triggers obstacle avoidance mode. Under the control of the master control module 32, the stride length of the robotic legs 12 decreases, first decelerating to a safe travel speed (e.g., 40% of the original speed). The master control module 32 then calculates the offset angle based on the obstacle position and adjusts the robot's direction (maximum deflection angle is 45°). After circumventing the obstacle, the master control module 32 returns to the original trajectory via a backtracking path or the shortest path, gradually returning to normal speed. The speed adjustment range is set between 0.1m / s and 0.5m / s, with a default constant speed of 0.3m / s.

[0026] Optionally, the control system 3 also includes a video sensor 34, which is located on a side of the body 11 away from the ultrasonic sensor 33 and is in communication with the master control module 32. For example, in an embodiment of the present invention, the video sensor 34 is located at the rear of the body 11. During the movement and transplanting of the rice transplanting robot, the video sensor 34 uses a camera to capture the status of the rice seedlings in the area behind the robot's direction of travel and provides feedback to the master control module 32 via a video signal. The auxiliary master control module 32 combines the detection information from the ultrasonic sensor 33 and the video sensor 34 to monitor obstacles and the distribution of rice seedlings in real time, dynamically adjusting the direction and speed of the rice transplanting robot to ensure precise movement along the set trajectory. During the process of steering and avoiding obstacles and dynamic adjustment, the stride length of the robotic legs 12 can also be dynamically adjusted by detecting information about the rice seedlings behind them, preventing the planted rice seedlings from being trampled during steering, further improving the survival rate.

[0027] It should be noted that the rice transplanting robot provided by the present invention not only supports fully automatic operation, but also can be equipped with a wireless remote control function, so that the user can control the movement and transplanting operation of the rice transplanting robot in real time through the remote control. The remote control function enables the robot to respond flexibly in different work scenarios. For example, when manual adjustment is required at the edge of the rice field or in a specific area, the user can complete the rice transplanting task by remotely operating the rice transplanting robot. In most cases, the present invention mainly performs fully automated operations through preset programs. The user can set parameters such as the size of the rice field, the working path, and the frequency of rice transplanting before the operation begins. The robot automatically completes the rice transplanting operation according to these preset parameters. This function is particularly suitable for large-scale rice field operations, greatly reducing the necessity of manual intervention and improving work efficiency.

[0028] Optionally, the seedling storage box 21 is provided with a seedling outlet 211 matching the mechanical claw 23, a push rod 212 is provided in the seedling storage box 21 and is arranged toward the seedling outlet 211, and a conveyor belt 213 is provided at the bottom of the seedling storage box 21 and is arranged toward the push rod 212. For example, in the embodiment of the present invention, referring to Figures 3 to 5 As shown, during the process of grabbing seedlings using the mechanical gripper 23, multiple seedlings are stored in the seedling storage box 21. After the conveyor belt 213 moves horizontally to the front of the retracted push rod 212, the push rod 212 is driven to extend, pushing at least one seedling to the seedling outlet 211 near the front end of the seedling storage box 21, allowing the mechanical gripper 23 to move to this position and accurately grab the seedlings. During the grabbing and transplanting process, the conveyor belt 213 and push rod 212 operate in a cycle to ensure that there are always seedlings in the grabbing position at the seedling outlet 211.

[0029] Optionally, a pressure sensor 214 is provided at the seedling outlet 211, and the pressure sensor 214 is in communication with the robotic arm 22, the push rod 212, and the conveyor belt 213. For example, in a further optimization of the aforementioned embodiment, a pressure sensor 214 is provided at the bottom of the seedling outlet 211 to detect the presence of seedlings above the seedling outlet 211. When the pressure sensor 214 senses that the seedlings have been removed by the robotic claw 23, it provides a signal feedback, directly or through indirect signal control from the master control module 32, driving the conveyor belt 213 and push rod 212 to carry out the seedling conveying operation, so that the seedlings can be replenished to the seedling outlet 211 in a timely manner to meet the working cycle of the rice transplanting robot.

[0030] Figure 7 This is a flow chart of the control method provided by an embodiment of the present invention. Figure 7 As shown, the embodiment of the present invention also provides a control method based on Figures 1 to 5 The ballast track maintenance test device shown is implemented, including: S1, obtain the spatial position information of the fuselage 11, and output a control signal to the driving component 13 based on the spatial position information and the preset motion trajectory, so as to use multiple mechanical legs 12 to drive the action part 1 to avoid obstacles or move according to the planned path.

[0031] Specifically, such as Figure 6 As shown, in this step, after the robot starts, the control system divides the field into grids based on its shape and size, setting the grid width equal to the working width of the robotic arm 22. Each grid is numbered according to a serpentine path. The field shown in the figure is a rectangular area, 20 meters long and 10 meters wide. The working width of the robotic arm 22, that is, the lateral working width achieved through free rotation, is 1 meter. Therefore, the field is divided into 10×20 grids, with grid numbering starting from the upper left corner. The working sequence is planned according to the serpentine path.

[0032] During the path planning process, the rice transplanting robot can use the ultrasonic sensor 33 to identify obstacles in real time, including obstacles appearing in the opposite ridges and rice fields, and re-plan the obstacle avoidance path; if there are no obstacles, the path planning optimization control algorithm is used to select the shortest obstacle-free path so that each grid is covered in sequence to complete the rice transplanting operation; if an obstacle is detected, an alternative path is first generated according to the position and size of the obstacle, and the alternative path is used to obtain updated path data, so that the operation is continuous and no grid is missed, and the updated path data is transmitted to the control module on the rice transplanting robot as a subsequent execution instruction.

[0033] S2, use the robotic arm 22 to grab the seedlings from the seedling storage box 21 for transplanting, use the angle sensor 24 to detect the real-time angle of the robotic arm 22 during the transplanting process, and use the finger pressure sensor 25 to detect the insertion resistance fed back to the robotic claw 23 during the transplanting process. If the insertion resistance is higher than the set upper limit of the resistance, adjust the insertion angle of the robotic arm 22 to make the seedlings more horizontal to reduce the insertion depth; if the insertion resistance is lower than the set lower limit of the resistance, adjust the insertion angle of the robotic arm 22 to make the seedlings more vertical to increase the insertion depth.

[0034] Specifically, in this step, the robotic arm 22 is curled upward and raised, causing the mechanical claw 23 to move to the position of the seedling storage box 21. After clamping the seedlings in the seedling storage box 21, the initialization angle of the robotic arm 22 is set according to the preset planting depth and soil resistance. By driving the robotic arm 22 to drive the mechanical claw 23, the seedlings clamped in the mechanical claw 23 are inserted into the paddy field soil at a preset insertion angle. During the transplanting process, the angle sensor 24 is used to detect the real-time angle of the robotic arm 22, and the finger pressure sensor 25 is used to detect the insertion resistance fed back to the mechanical claw 23 during the transplanting process. Based on the different insertion resistance feedback, the insertion status of the seedlings in the field soil is judged. If the insertion resistance is higher than the set resistance upper limit, it means that the current soil position is high or relatively compact. At the preset insertion angle, there is a problem of the seedling being inserted too deep or difficult to insert. If forced insertion is carried out, it may cause damage to the roots of the seedlings. At this time, the insertion angle of the robotic arm 22 is adjusted to make the seedlings more horizontal to reduce the insertion depth. If the insertion resistance is lower than the set resistance lower limit, it means that the current soil level is low or the soil is relatively loose. At the preset insertion angle, there is a problem that the seedlings are not inserted deep enough and are prone to tipping over after transplanting. In this case, the insertion angle of the robotic arm 22 is adjusted to make the seedlings more vertical to increase the insertion depth.

[0035] Furthermore, based on S2, when the seedlings reach the set depth, the grip of the mechanical claw 23 is released and the mechanical arm 22 is controlled to maintain the insertion angle and lift. After transplanting is completed, the angle of the mechanical arm 22 is adjusted to an appropriate horizontal or slightly raised position to ensure stable removal of the seedlings and avoid damage to the roots. In this way, the mechanical arm 22 can flexibly adjust the insertion angle according to operational requirements and environmental changes, thereby achieving high-precision and high-efficiency transplanting operations.

[0036] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning understood by persons of ordinary skill in the field to which the invention belongs. The words "first", "second" and similar terms used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "a" do not indicate a quantity limitation, but rather indicate the existence of at least one. Words such as "include" or "comprise" mean that the elements or objects appearing before "include" or "comprise" are extremely equivalent to the elements or objects listed after "include" or "comprise", and do not exclude other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0037] The above descriptions are merely optional embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A rice transplanting robot suitable for small rice fields, arranged on a traveling mechanism, characterized in that: include: Action unit (1) and transplanting unit (2), The action part (1) includes a body (11), a plurality of mechanical legs (12), and drive components (13) corresponding to the plurality of mechanical legs (12), wherein the plurality of mechanical legs (12) are connected to the body (11) via the corresponding drive components (13), and the drive components (13) are used to drive the corresponding mechanical legs (12) to drive the body (11) to move; The rice transplanting assembly (2) comprises a rice seedling storage box (21), a mechanical arm (22), a mechanical claw (23), an angle sensor (24) and a finger pressure sensor (25); the rice seedling storage box (21) is arranged on the machine body (11); one end of the mechanical arm (22) is rotatably connected to the machine body (11); the angle sensor (24) is arranged on the mechanical arm (22); the mechanical claw (23) is arranged on the other end of the mechanical arm (22); the finger pressure sensor (25) is arranged on the mechanical claw (23); the mechanical arm (22) is configured to have multi-directional rotational freedom, so as to grasp the rice seedlings in the rice seedling storage box (21) through the mechanical claw (23), and adjust the insertion depth of the rice seedlings according to the readings of the angle sensor (24) and the finger pressure sensor (25).

2. A rice transplanting robot suitable for small rice fields according to claim 1, characterized in that: The finger pressure sensor (25) is arranged on the inner side of the finger of the mechanical claw (23).

3. The rice transplanting robot suitable for small rice fields according to claim 1, characterized in that: Four mechanical legs (12) are provided, and are arranged in groups of two on the left and right sides of the fuselage (11), with the two groups of mechanical legs (12) being arranged at intervals in front and back.

4. The rice transplanting robot suitable for small rice fields according to claim 1, characterized in that: A control system (3) is provided on the body (11), and the control system (3) comprises a positioning module (31) and a master control module (32). The positioning module (31) is used to obtain spatial position information of the action part (1), and the master control module (32) is configured to output a control signal to the driving component (13) according to the spatial position information and a preset motion trajectory.

5. The rice transplanting robot suitable for small rice fields according to claim 4, characterized in that: The control system (3) further includes an ultrasonic sensor (33), which is arranged on the fuselage (11) and located on the same side as the mechanical arm (22), and the ultrasonic sensor (33) is communicatively connected to the master control module (32).

6. The rice transplanting robot suitable for small rice fields according to claim 5, characterized in that: The control system (3) further comprises a video sensor (34), wherein the video sensor (34) is arranged on a side of the fuselage (11) away from the ultrasonic sensor (33), and the video sensor (34) is communicatively connected to the master control module (32).

7. A rice transplanting robot suitable for small rice fields according to any one of claims 1 to 6, characterized in that: The seedling storage box (21) is provided with a seedling outlet (211) matching the mechanical claw (23), a push rod (212) arranged toward the seedling outlet (211) is provided in the seedling storage box (21), and a conveyor belt (213) arranged toward the push rod (212) is provided at the bottom of the seedling storage box (21).

8. The rice transplanting robot suitable for small rice fields according to claim 7, characterized in that: A pressure sensor (214) is provided at the seedling outlet (211), and the pressure sensor (214) is communicatively connected with the mechanical arm (22), the push rod (212), and the conveyor belt (213).

9. A control method based on the rice transplanting robot suitable for small rice fields according to any one of claims 1 to 8, characterized in that: include: Acquiring spatial position information of the body (11), and outputting a control signal to the driving component (13) based on the spatial position information and a preset motion trajectory, so as to drive the action part (1) to avoid obstacles or move along a planned path using the multiple mechanical legs (12); The mechanical arm (22) is used to grab the seedlings from the seedling storage box (21) for transplanting. During the transplanting process, the angle sensor (24) is used to detect the real-time angle of the mechanical arm (22). At the same time, the finger pressure sensor (25) is used to detect the insertion resistance fed back to the mechanical claw (23) during the transplanting process. If the insertion resistance is higher than a set resistance upper limit, the insertion angle of the mechanical arm (22) is adjusted to make the seedlings more horizontal to reduce the insertion depth; if the insertion resistance is lower than the set resistance lower limit, the insertion angle of the mechanical arm (22) is adjusted to make the seedlings more vertical to increase the insertion depth.

10. The control method according to claim 9, characterized in that: The control method further includes: When the seedlings reach the set depth, the gripping of the mechanical claw (23) is released and the mechanical arm (22) is controlled to lift the seedlings while maintaining the insertion angle.

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