Desert planting robot based on deformation wheel leg structure and control method thereof

Abstract

The invention discloses a desert planting robot based on a deformation wheel leg structure and a control method of the desert planting robot. Deformation wheel legs; a seedling conveying mechanism; a water storage module; a supply module; and a detection control module. According to the method, the planting environment terrain is analyzed through a depth camera, deformable wheel legs are used for rolling and climbing to planting points, then tough wheel legs are used for being inserted into sand land, saplings are input and planted into the land, and water injection pipes on wheels are used for conducting root protection water irrigation maintenance on the planted saplings. The system comprises a control module, a detection module, a main water conveying module of the robot and a seedling conveying mechanism. According to the deformable wheel-legged robot method and system, the mobility and planting efficiency of the desert planting robot moving in sand and the survival rate of saplings can be improved.

Description

Technical Field

[0001] This invention relates to the field of automated equipment for desert vegetation planting, and in particular to a desert planting robot integrating deformable wheel legs and multiple functional modules. Background Technology

[0002] Desertification is one of the major environmental problems facing the world. Desert areas have harsh ecological environments and sparse vegetation, which not only affects the local ecological balance but can also trigger a series of environmental disasters such as sandstorms, posing a serious threat to the ecology and lives of residents in surrounding cities and regions. Vegetation planting is an effective way to improve this desert environment.

[0003] Traditional manual planting methods have many shortcomings in desert regions. Not only are they inefficient and difficult to implement on a large scale in vast desert areas, but the harsh desert environment, with its frequent extreme weather events such as high temperatures, drought, and sandstorms, poses significant safety risks to planters. Furthermore, the lack of precise control over water and seedling resources during manual planting easily leads to resource waste.

[0004] Currently, although some desert planting robots have emerged, these robots have poor adaptability to the varied terrain of sandy areas. The surface of sandy land is soft and may contain complex terrain such as dunes and gullies, making it difficult for existing robots to maneuver flexibly. This limits their operating range in the desert and affects planting efficiency. Therefore, designing a desert planting robot capable of adapting to varying wheel and leg configurations and varying sandy terrain is of significant practical importance. Summary of the Invention

[0005] This invention aims to solve the problems of low efficiency, high risk, and waste of resources in existing desert vegetation planting methods, as well as the poor adaptability of existing desert planting robots to the variable terrain of sandy areas, and provides a desert planting robot based on a deformable wheel-leg structure.

[0006] The technical solution provided by this invention is:

[0007] I. A desert planting robot based on a deformable wheel-leg structure:

[0008] The desert planting robot includes the main body, the overall support for the planting robot, and the storage of materials.

[0009] The desert planting robot includes two deformable wheeled legs symmetrically mounted on both sides of the main body, which are used for the efficient movement of the planting robot in uneven sandy areas, as well as for insertion planting and irrigation.

[0010] The desert planting robot includes a seedling delivery mechanism and a water storage module. The seedling delivery mechanism is symmetrically installed within the main body and is connected to the deformable wheel legs. The water storage module is installed on the lower side inside the main body and is used to store externally injected irrigation water and to transport internal water to the deformable wheel legs during robot operation.

[0011] The desert planting robot includes a supply module located on the main body, specifically on the lower back of the main body. When the robot's water and power are insufficient, water is replenished to the machine through this module.

[0012] The desert planting robot includes a detection and control module, which is installed on the main body. The detection and control module is connected to the deformable wheel legs, the seedling conveying mechanism, and the water storage module. Specifically, it is installed on the top of the main body and is used for detecting the external sandy environment and controlling the deformable wheel legs, the seedling conveying mechanism, and the water storage module.

[0013] The main body includes a solid glass shell mounted at the front, symmetrically mounted searchlights on the lower front, and a rear cover located above the rear of the robot. The rear cover includes a central axis and a cover plate, which can rotate around the central axis to open and close. The detection and control module includes a first battery, a vision recognition module, a control board, two drive motor adapters, and a first signal transceiver. The first battery is electrically connected to the vision recognition module, the two drive motor adapters, and the control board. The control board is electrically connected to the vision recognition module, the seedling conveying mechanism, the water storage module, the supply module, and the two drive motor adapters. The two drive motor adapters are each connected to a drive motor within their respective deformable wheel legs. The control board is wirelessly connected to the two deformable wheel legs, the seedling conveying mechanism, the water storage module, and the supply module via the first signal transceiver.

[0014] The seedling conveying mechanism includes a servo motor, a protective plate, a fixing component, and a transmission structure. The fixing component includes a metal central shaft and a fixing block. The transmission structure includes a U-shaped guide rail, several conveyor belts, several seedling storage boxes, and several buckles. The several belts in the transmission structure are installed between the upper and lower protective plates via the guide rail. The seedling storage boxes are fixed to the conveyor belts via buckles. Seedlings are replenished by opening the rear cover of the machine and taking out the seedling storage boxes to fill them with seedlings.

[0015] The water storage module includes two symmetrically installed water inlet structures on the lower side, a water storage tank, and symmetrically installed water outlet structures on both sides. The water inlet structure includes an inlet pipe, several flange couplings, and an inlet. The inlet pipe is connected to the curved water injection pipes extending from both sides of the supply module to transmit irrigation water and supply it to the water storage tank. The water outlet structure includes an outlet, a water pump, several flange couplings, and an outlet pipe. The water pump is installed on the outlets on the left and right sides of the water storage tank through several flanges and fixing components. The outer outlet of the water pump is connected to the outlet pipe to transmit irrigation water in the water storage tank to the deformable wheels on the left and right sides of the machine body for subsequent desert plant care.

[0016] The replenishment module includes a flip-up base plate, base plate connectors symmetrically installed on both sides, water injection pipes, and several flange couplings. The flip-up base plate includes two symmetrical water injection ports and an energy charging tank. When the machine is recharged, the flip-up base plate rotates 180° around the central axis of the base plate connectors on both sides, exposing the water injection ports and energy charging tanks to the machine body for replenishment of irrigation water and electricity.

[0017] The deformable wheel leg includes a rim, a drive mechanism, an in-wheel infusion mechanism, an in-wheel seedling delivery mechanism, a first unfolding mechanism, and a second unfolding mechanism. The in-wheel infusion mechanism and the in-wheel seedling delivery mechanism are both connected to the rotor shaft of the drive mechanism. The first and second unfolding mechanisms are mounted on the rim. More preferably, the deformable wheel leg includes a rim, a drive mechanism, an in-wheel infusion mechanism, an in-wheel seedling delivery mechanism, one first unfolding mechanism, and three second unfolding mechanisms. The drive mechanism includes a drive motor, a connecting disc, and bolts. The central axes of the drive motor and the connecting disc are on the same straight line. The connecting disc is located inside the machine on the left and right sides of the main body. From inside the machine to outside, the components are the connecting disc, the side wall of the machine body, and the drive motor, all connected by bolts. The drive motor includes a stator and a rotor shaft, with the center of the entire deformable wheel leg located on the axis of the rotor shaft. The first and second unfolding mechanisms are mounted on the rim. The first unfolding mechanism is used for climbing, planting, and irrigation, while the second unfolding mechanism is used for climbing.

[0018] The in-wheel infusion mechanism includes: a liquid slip ring, an in-wheel water tank, an in-wheel water pipe, and a water pipe nozzle; the liquid slip ring includes a fixed end and a rotating end, the fixed end is connected to the water outlet pipe in the water storage module via a pipe, and the rotating end is connected to the rotor shaft of the drive mechanism; the rotating end is provided with a pipe, the inner ring of the in-wheel water tank is connected to the pipe of the rotating end, the in-wheel water tank is connected to the in-wheel water pipe, the in-wheel water pipe is partially embedded in the first deployment mechanism, the water pipe nozzle is located at the end of the first deployment mechanism, and the in-wheel water pipe communicates with the water pipe nozzle. In a further preferred embodiment, the in-wheel fluid delivery mechanism includes a liquid slip ring, an in-wheel water tank, an in-wheel water pipe, and two water pipe nozzles. The liquid slip ring includes a fixed end and a rotating end. The fixed end is connected to the water outlet pipe in the water storage module via a flexible hose and will not rotate or move. The rotating end is connected to the rotor shaft and rotates with it. The inner ring of the in-wheel water tank is connected to a rigid pipe extending from the rotating end, and the outer ring is connected to the in-wheel water pipe. The in-wheel water pipe is partially embedded in the first deployment mechanism, and the water pipe nozzles extend to the end of the first deployment mechanism.

[0019] The in-wheel seedling conveying mechanism includes: a seedling tray, a seedling pipe, a seedling nozzle, and an air pump. The seedling tray has a notch, which is located on the same vertical line as the seedling storage box of the seedling conveying mechanism, and the notch is directly below the seedling storage box. One end of the seedling pipe is connected to the seedling tray, and the other end of the seedling pipe is connected to the seedling nozzle located in the first unfolding mechanism. The air pump includes an air inlet and an air outlet, both of which are connected to the middle of the seedling pipe. More preferably, the in-wheel seedling conveying mechanism includes a seedling tray, a seedling pipe, a seedling nozzle, and a bidirectional air pump. The notch in the seedling tray is located on the same vertical line as the outermost seedling storage box within the seedling conveying mechanism, and the notch is directly below the seedling storage box. One end of the seedling pipe is connected to the seedling tray, and the other end is connected to the seedling nozzle located in the first unfolding mechanism. The bidirectional air pump is located on the recessed side of the surface of the in-wheel water tank and includes an air inlet and an air outlet, both of which are connected to the middle of the seedling pipe.

[0020] The first and second deployment mechanisms have identical components. The first deployment mechanism includes a drive bay, a flexible wheel leg, a spring, and a drive cable conduit. The drive bay includes a drive servo and a cable reel, wherein the cable reel is mounted on the drive servo, and a drive cable is wound on the reel, with one end of the drive cable fixed inside the flexible wheel leg. One end of the spring is fixed to the flexible wheel leg, and the other end of the spring is fixed to the wheel rim. One end of the drive cable conduit is fixed to the inside of the flexible wheel leg, and the other end of the drive cable conduit is connected to the drive bay, with the drive cable located inside the drive cable conduit. The drive bay also includes a second battery and a second signal transceiver, wherein the second battery is electrically connected to the drive servo, and the second signal transceiver is used to receive information from the first signal transceiver within the main fuselage. Further preferably, the deployment mechanism includes a drive bay, a resilient rubber wheel leg, a spring, and a cable conduit. The drive bay includes an industrial-grade drive servo and a cable reel, wherein the cable reel is mounted on the industrial-grade drive servo and wound with a drive nylon cable. One end of the drive nylon cable is fixed inside the resilient wheel leg, one end of the spring is fixed to the bottom side of the resilient rubber wheel leg, and one end is fixed to the wheel rim. The cable conduit is embedded inside the resilient rubber wheel leg, one end is fixed to the inside of the wheel leg, and the other end is connected to the drive bay. The drive nylon cable passes through the cable conduit. The drive bay also includes a second battery and a second signal transceiver, wherein the second battery is electrically connected to the industrial-grade servo, and the second signal transceiver is used to receive information from the first signal transceiver inside the main body.

[0021] The main body includes a frame and a cover plate that rotates and engages with the frame. A solid glass shell and a searchlight are mounted on the frame. The detection and control module includes a first battery, a vision recognition module, a control board, a drive motor adapter, and a first signal transceiver. The first battery is electrically connected to the vision recognition module, the drive motor adapter, and the control board. The first signal transceiver is connected to the deformable wheel legs, the seedling conveying mechanism, the water storage module, and the supply module. The control board is electrically connected to the vision recognition module, the seedling conveying mechanism, the water storage module, the supply module, and the drive motor adapter. The vision recognition module includes a depth camera and an infrared camera, which are mounted on the main body. More preferably, the main body further includes a vision recognition module, which includes a depth camera and an infrared camera. The depth camera and infrared camera are mounted in a recessed groove on the upper part of the main body. The depth camera and infrared camera are wirelessly connected to the control board within the detection and control module to transmit collected information about the external sandy environment, serving as a basis for judging the robot's subsequent operation.

[0022] II. A control method for a desert planting robot based on a deformable wheel-leg structure is as follows:

[0023] During the movement of the desert robot, the two deformable wheel legs are in a closed state under normal conditions. In daily planting operations, the planting robot first uses the depth camera and infrared camera of the vision recognition module to take pictures of the planting environment and transmits them to the control board in the control system for environmental analysis, to determine the terrain and lock the planting area. After information processing, the control board sends the control signal through the drive motor adapter and the first signal transceiver to the two drive motors, the water storage module and the seedling conveying mechanism.

[0024] When the planting robot starts working, the drive motors on the two deformable legs on the left and right sides rotate and open the unfolding mechanism. The drive servo motors in the drive compartment of the deformable legs rotate the servo disk, retracting the drive cable. The drive cable is tensioned, and the springs on the bottom of the flexible legs extend until it reaches the fully unfolded state. When moving, any flexible leg is inserted into the sand as a fulcrum with the ground. The drive motor rotates, driving the robot to move forward and upward, completing the movement on the uneven sand.

[0025] During operation, when the first unfolding mechanism is inserted into the sand, the seedling delivery mechanism drops the seedlings into the delivery tube in the deformable wheel leg. The air pump inside the wheel is driven, the air inlet opens for the first air intake process, and the seedlings are transferred to the middle of the delivery tube. The air inlet closes, and the air outlet opens for the second air intake process, which pushes the seedlings out of the first unfolding mechanism into the sand. After the air intake is completed, the water pump is driven to draw irrigation water from the water storage tank. The irrigation water is then injected into the seedlings through the infusion mechanism inside the wheel, completing the root water protection process. The planting robot continues to drive the motor to carry out planting while moving.

[0026] In addition, when the planting robot is not in a planting state and is moving on flat ground, the unfolding mechanism of the deformable wheel legs is in a closed state. The two drive motors rotate synchronously, causing the deformable wheel legs to roll in a straight line. The two drive motors rotate at different speeds, causing the deformable wheel legs to roll in a turning position.

[0027] The beneficial effects of this invention are:

[0028] Compared to traditional desert planting robots, this invention uses a deformable wheel-leg structure as a driving device. It uses an environmental perception-based intelligent control deployment mechanism to adapt to complex sandy terrain. The first deployment mechanism in the deformable wheel-leg integrates seedling and water delivery functions, enabling efficient planting of seedlings and precise watering of roots simultaneously while moving. This significantly improves the survival rate of desert plants and minimizes resource consumption. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of a desert planting robot based on a deformable wheel-leg structure according to the present invention;

[0030] Figure 2 This is a schematic diagram of a half-section of the main fuselage in this invention;

[0031] Figure 3 This is a schematic diagram of the seedling delivery mechanism in this invention;

[0032] Figure 4 This is a schematic diagram of the water storage module in this invention;

[0033] Figure 5 This is a schematic diagram of the supply module in this invention;

[0034] Figure 6 This is a schematic diagram of the deformable wheel leg in this invention;

[0035] Figure 7 This is a schematic diagram of the unfolding mechanism in this invention;

[0036] In the diagram: 1. Main body; 11. Solid glass shell; 12. Searchlight; 13. Rear cover; 131. Rear cover central shaft; 132. Cover plate; 14. Depth camera; 15. Infrared camera; 2. Deformable wheel legs; 21. Drive mechanism; 211. Drive motor; 2111. Stator assembly; 2112. Rotor shaft; 212. Connecting disc; 213. Bolt; 22. In-wheel infusion mechanism; 221 2211 Liquid slip ring, 2212 Fixed end, 2212 Rotating end, 222 In-wheel water tank, 223 In-wheel water pipe, 224 Water pipe nozzle, 23 In-wheel seedling conveying mechanism, 231 Seedling tray, 232 Seedling conveying pipe, 233 Seedling conveying nozzle, 234 Air pump, 2341 Air inlet, 2342 Air inlet, 241 First deployment mechanism, 241 Drive chamber, 2411 Drive rudder 2412. Machine, 242. Resilient wheel leg, 243. Spring, 244. Cable tube, 25. Second unfolding mechanism, 3. Seedling conveying mechanism, 31. Motor, 32. Protective plate, 33. Fixing component, 331. Metal central shaft, 332. Fixing block, 34. Transmission structure; 341. Guide rail, 342. Conveyor belt, 343. Seedling storage box, 344. Buckle, 4. Water storage module, 41. Water inlet. Structure, 411, water inlet pipe, 412, flange coupling, 413, water inlet, 42, water storage tank, 43, water outlet structure, 431, water outlet pipe, 432, water pump, 433, flange coupling, 434, water outlet pipe, 5, replenishment module, 51, flip-over base plate, 511, water injection port, 512, charging tank, 52, base plate connector, 53, water injection pipe, 54, flange coupling. Detailed Implementation

[0037] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification, claims and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product or device.

[0039] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to be constructed and operated in a specific orientation. Furthermore, some of the above terms may be used to indicate other meanings besides orientation or positional relationship; for example, the term "upper" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances.

[0040] Furthermore, the terms "installed," "equipped with," "connected," and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0041] like Figure 2As shown, the desert planting robot based on the deformable wheel-leg structure of the present invention includes a main body 1, two deformable wheel-legs 2, a seedling conveying mechanism 3, a water storage module 4, a supply module 5, and a detection and control module. The main body 1 is used for the overall support of the planting robot and for material storage. The two deformable wheel-legs 2 are symmetrically installed on both sides of the main body for efficient movement of the planting robot in uneven sandy areas, and for insertion planting and irrigation. The two seedling conveying mechanisms 3 are symmetrically installed on the upper side inside the main body 1. The water storage module 4 is installed on the lower side inside the main body 1 for storing externally injected irrigation water and for conveying internal water to the deformable wheel-legs 2 during robot operation. The supply module 5 is located on the lower back of the main body 1 and replenishes the robot with water when the robot's water storage and power are insufficient. The detection and control module is installed on the top of the main body 1 and is used for detecting the external sandy environment and controlling the deformable wheel-legs 2, the seedling conveying mechanism 3, and the water storage module 4.

[0042] The detection and control module includes a first battery, a vision recognition module, a control board, two drive motor adapters, and a first signal transceiver. The first battery is electrically connected to the vision recognition module, the two drive motor adapters, and the control board. The control board is electrically connected to the vision recognition module, the seedling conveying mechanism 3, the water storage module 4, the supply module 5, and the two drive motor adapters. The two drive motor adapters are each connected to a drive motor within their respective deformable wheel legs 2. The control board is wirelessly connected to the two deformable wheel legs 2, the seedling conveying mechanism 3, the water storage module 4, and the supply module 5 via the first signal transceiver.

[0043] like Figure 1 As shown, the main body 1 includes a solid glass shell 11 mounted at the front, searchlights 12 symmetrically mounted on the lower front, and a rear cover 13 located above the rear of the robot. The solid glass shell 11 is a 7mm thick laminated glass shell. The searchlights 12 are 50-watt LED lights used for environmental lighting in desert environments with low visibility. The rear cover 13 includes a rear cover central axis 131 and a cover plate 132. The cover plate 132 is a 9mm thick aluminum alloy plate and can rotate around the rear cover central axis 131 to open and close. Closed; the main body 1 also includes a visual recognition module, which includes a depth camera 14 and an infrared camera 15. The depth camera 14 and the infrared camera 15 are installed in a recessed groove on the upper part of the main body 1. The depth camera 14 is used to acquire terrain and obstacle information in the desert, and the infrared camera 15 is used to acquire environmental information in low visibility conditions such as sandstorms or heavy dust. The depth camera 14 and the infrared camera 15 are wirelessly connected to the control board in the detection and control module to transmit the collected external environmental information.

[0044] like Figure 3As shown, the seedling conveying mechanism 3 includes a servo motor 31, a guard plate 32, a fixing component 33, and a transmission structure 34. The guard plate 32 is a 9mm thick stainless steel plate. The fixing component 33 includes a metal central shaft 331 and a fixing block 332. The metal central shaft 331 is 500mm long and passes through the upper and lower stainless steel guard plates 32 to fix the entire seedling conveying mechanism 3. The transmission structure 34 includes a U-shaped guide rail 341, several stainless steel conveyor belts 342, several seedling storage boxes 343, and several buckles 344. The stainless steel belts 342 are installed between the upper and lower guard plates 32 via the U-shaped guide rail 341, and the seedling storage boxes 343 are fixed by the buckles 344. Mounted on a stainless steel conveyor belt 342, the seedling storage box 343 is used to store seedlings for subsequent planting. Each seedling storage box 343 is equipped with an electronic valve at the bottom. When the robot performs planting operations, the servo motor 31 runs, driving the seedling storage box 343 on the stainless steel conveyor belt to move along the U-shaped guide rail 341. When the first unfolding mechanism of the machine is inserted into the sand to start conveying seedlings, the electronic valve below the outermost seedling storage box 343 on the side closest to the servo motor 31 opens, allowing the seedling to fall into the notch of the seedling delivery tray 231 directly below it. When there are not enough seedlings in the machine, the seedling storage box 343 can be taken out and the seedlings can be filled by opening the rear cover 13 of the machine.

[0045] like Figure 4 As shown, the water storage module 4 includes two symmetrically installed water inlet structures 41 on the lower side, a water storage tank 42, and symmetrically installed water outlet structures 43 on both sides. The water storage tank 42 is a 200-liter PE (Polyethylene) square water tank. The water inlet structure 41 includes an inlet pipe 411, several flange couplings 412, and a water inlet 413. The inlet pipe is directly and securely connected to the curved water injection pipes 53 extending from both sides of the supply module 5 to transmit irrigation water and supply it to the water storage tank 42. The water outlet structure 43 includes... The system includes an outlet 431, a water pump 432, several flange couplings 433, and an outlet pipe 434. The water pump 432 is installed on the outlets 431 on the left and right sides of the water storage tank 42 through several flanges and fixing components. The pump hose extends inward to ensure that the irrigation water in the water storage tank 42 can be drawn out in time. The outer outlet of the water pump 432 is connected to the outlet pipe 431 to transmit the irrigation water in the water storage tank 42 to the first unfolding mechanism in the deformable wheels 2 on the left and right sides of the machine body for subsequent planting by the planting robot and watering of the roots of the seedlings.

[0046] like Figure 5As shown, the replenishment module 5 includes a flip-up base plate 51, base plate connectors 52 symmetrically installed on both sides, a water injection pipe 53, and several flange couplings 54. The flip-up base plate 51 includes two symmetrical water injection ports 511 and a charging tank 512. The charging tank 512 has exposed copper guide plates. When the machine is recharged, the flip-up base plate 51 rotates 180° around the central axis of the base plate connectors 52 on both sides, so that the water injection ports 511 and the charging tank 512 are exposed on the machine body. The water injection ports 511 are connected to an external water supply pipe for water replenishment. Finally, the irrigation water is injected into a 200-liter square PE water tank inside the machine through the water injection pipe 51 for storage. When the planting robot's power is insufficient, an external power supply is connected to the charging tank 512, which is wired to the first and second batteries inside the machine for power replenishment.

[0047] like Figure 6 As shown, the deformable wheel leg 2 includes a drive mechanism 21, an in-wheel infusion mechanism 22, an in-wheel seedling delivery mechanism 23, a first unfolding mechanism 24, and three second unfolding mechanisms 25. The drive mechanism 21 includes a drive motor 211, a connecting disc 212, and bolts 213. The drive motor 211 is an axial flux motor, whose flat design is suitable for integration. Its internal short magnetic circuit design reduces iron loss and improves planting efficiency. The connecting disc 212 is a 5mm thick aluminum alloy disc. The central axes of the drive motor 211 and the connecting disc 212 coincide. The disc 212 is located inside the main body 1 on the left and right sides. From the inside to the outside, it connects the disc 212, the side wall of the body, and the drive motor 211. The three are tightly connected by 10mm bolts 213 and nuts. The drive motor 211 includes a stator component 2111 and a rotor shaft 2112, wherein the center of the entire deformable wheel leg 2 is located on the axis of the rotor shaft 2112. The first deployment mechanism 24 is mainly used for planting and irrigation to ensure the efficient planting of the planting robot in the sand. The second deployment mechanism 25 is mainly used for climbing to ensure the mobility of the planting robot in the sand.

[0048] like Figure 6As shown, the in-wheel seedling conveying mechanism 23 includes a seedling tray 231, a seedling conveying pipe 232, a seedling conveying nozzle 233, and a bidirectional air pump 234. The notch of the seedling tray 231 is on the same vertical line as the outermost seedling storage box 343 near the servo motor 31 in the seedling conveying mechanism 3. The notch is located directly below the electronic valve at the bottom of the seedling storage box 343. One end of the seedling conveying pipe 232 is connected to the seedling tray 231, and the other end is connected to the seedling conveying nozzle 233 located in the first unfolding mechanism 24. The bidirectional air pump 234 is located on the surface of the in-wheel water tank 222. The concave side of the surface includes an air inlet 2341 and an air intake 2342, which are respectively connected to the middle of the seedling delivery pipe 232. The air intake 2342 is used to introduce seedlings when it is in operation, and the air inlet 2341 is used to expel seedlings when it is in operation. When one of the two inlets is open, the other inlet is closed. When the robot is planting, the bidirectional air pump 234 is started, and the seedlings are transported along the path of the seedling storage box 343, the seedling delivery tray 231, the seedling delivery pipe 232, and the seedling delivery nozzle 233, and finally pneumatically blown into the sand, achieving efficient planting.

[0049] like Figure 6 As shown, the in-wheel fluid delivery mechanism 22 includes a liquid slip ring 221, an in-wheel water tank 222, an in-wheel water pipe 223, and two water nozzles 224. The liquid slip ring 221 includes a fixed end 2211 and a rotating end 2212. The liquid slip ring 221 prevents the water delivery hose from being directly connected into the deformable wheel leg 2, thus preventing the hose from becoming tangled or knotted when the wheel leg rotates. The fixed end 2211 is connected to the water outlet pipe 434 in the water storage module 3 via a hose, and the two will not rotate or move relative to each other. The rotating end 2212 is connected to the rotor shaft 211. 2 are connected and rotate together; the inner ring of the water tank 22 inside the wheel is connected to the rigid pipe extending from the rotating end 2212, and the outer ring is connected to the water pipe 223 inside the wheel. The water pipe 223 inside the wheel is partially embedded in the first unfolding mechanism 2 and extends to the water pipe nozzle 224 at the end of the first unfolding mechanism. When the robot is planting, the water pump 432 inside the machine is started, and the irrigation water is transported along the path of the water storage tank 42, the liquid slip ring 221, the water tank 22 inside the wheel, and the water pipe nozzle 224, and finally injected next to the planted seedling to achieve precise root watering.

[0050] like Figure 7As shown, the deployment mechanism includes a drive chamber 241, a flexible wheel leg 242, a spring 243, and a drive cable conduit 244. The flexible wheel leg 242 is made of polystyrene-butadiene rubber (PSB) to ensure its wear resistance when used for wheeled movement, while also possessing a certain degree of flexibility to accommodate deployment deformation during planting. The spring 243 is a non-linear bow spring, mainly used for bending deformation and recovery. The drive chamber 241 includes an industrial-grade drive servo motor 2411 and a cable reel 2412. The cable reel 2412 is mounted on the drive servo motor 2411 and wound with a nylon drive cable. The nylon drive cable consists of three strands to ensure strength during daily pulling, while also possessing corrosion resistance and high fatigue resistance. One end of the spring 243 is fixed in a groove on the bottom side of the flexible wheel leg 242, and the other end is fixed to the wheel rim. The cable conduit 244 is embedded in the flexible wheel leg 242 and is made of PVC (polyvinyl chloride). The material (chloride) has a certain degree of toughness. One end is fixed to the inside of the wheel leg, which can work together with the tough wheel leg 242 to complete the bending deformation during operation. The other end is connected to the drive compartment 241. The nylon drive line is passed through the drive cable tube 244. The drive compartment 241 also includes a second battery and a second signal transceiver. The second battery is electrically connected to the servo motor. The second signal transceiver is used to receive information from the first signal transceiver in the main body 1. When the planting robot enters uneven sandy land for planting, it first receives the main body signal, opens the unfolding mechanism, and then performs the subsequent seedling delivery and irrigation tasks.

[0051] The control method of the desert planting robot based on the deformable wheel-leg structure of the present invention is as follows:

[0052] Under normal conditions, the deployment mechanism of the two deformable wheel legs 2 is in a closed state. In daily planting operations, the planting robot first uses the depth camera 14 and infrared camera 15 of the vision recognition module to capture images of the planting environment and transmits them to the control board in the control system for environmental analysis, to determine the terrain and lock the planting area. After information processing, the control board sends control signals through the drive motor adapter and the first signal transceiver to the two drive motors 211, the water storage module 4, and the seedling conveying mechanism 3. When the planting robot starts working, it drives the drive motors 211 on the left and right deformable wheel legs 2 to rotate and open the deployment mechanism. The drive servo motor 2411 in the drive compartment 241 of the deformable wheel leg 2 rotates the servo disk, retracts the drive line, tensions the drive line, and extends the spring 243 on the bottom side of the flexible wheel leg 242 until it reaches the fully deployed state. When moving, any flexible wheel leg 242 is inserted into the sand as a fulcrum with the ground. The drive motor 211 rotates, driving the robot to move forward and upward, completing the movement on the uneven sand.

[0053] During operation, when the first unfolding mechanism 24 is inserted into the sand, the seedling delivery mechanism drops the seedlings into the seedling delivery tube 232 in the deformable wheel leg 2, drives the air pump 234 inside the wheel, opens the air inlet 2342 for the first air intake process, and transfers the seedlings to the middle of the seedling delivery tube 232. Then, the air inlet 2341 closes and the air outlet opens for the second air intake process, pushing the seedlings out of the first unfolding mechanism into the sand. After the air intake is completed, the water pump 432 is driven to draw irrigation water from the water storage tank 42. The irrigation water is then injected into the seedlings through the infusion mechanism inside the wheel, completing the root water protection process. The planting robot continues to drive the motor to carry out planting while moving.

[0054] In addition, when the planting robot is in a non-planting state and moving on flat ground, the unfolding mechanism of the deformable wheel leg 2 is in a closed state, the two drive motors 211 rotate synchronously, driving the deformable wheel leg 2 to roll in a straight line, and the two drive motors 211 rotate at different speeds, driving the deformable wheel leg 2 to roll in a turning position.

[0055] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A desert planting robot based on a deformable wheel-leg structure, characterized in that, include: The main body (1) serves as the overall support for the planting robot and for material storage; Deformable wheel legs (2) are symmetrically installed on both sides of the main body; The seedling conveying mechanism (3) is symmetrically installed in the main body (1), and the seedling conveying mechanism (3) is connected to the deformable wheel leg (2); A water storage module (4) is installed inside the main body (1), and the water storage module (4) is connected to the deformable wheel leg (2); The supply module (5) is located on the main fuselage (1); The detection and control module is installed on the main body (1) and is connected to the deformable wheel leg (2), the seedling conveying mechanism (3), and the water storage module (4).

2. The desert planting robot based on a deformable wheel-leg structure according to claim 1, characterized in that, The deformable wheel leg (2) includes a wheel rim, a drive mechanism (21), an in-wheel infusion mechanism (22), an in-wheel seedling infusion mechanism (23), a first deployment mechanism (24), and a second deployment mechanism (25); The in-wheel infusion mechanism (22) and the in-wheel seedling delivery mechanism (23) are both connected to the rotor shaft (2112) of the drive mechanism (21); The first deployment mechanism (24) and the second deployment mechanism (25) are mounted on the wheel rim.

3. The desert planting robot based on a deformable wheel-leg structure according to claim 1, characterized in that, The in-wheel infusion mechanism (22) includes: a liquid slip ring (221), an in-wheel water tank (222), an in-wheel water pipe (223), and a water pipe nozzle (224); The liquid slip ring (221) includes a fixed end (2211) and a rotating end (2212). The fixed end (2211) is connected to the water outlet pipe (434) in the water storage module (3) through a pipe, and the rotating end (2212) is connected to the rotor shaft (2112) of the drive mechanism (21). The rotating end (2212) is provided with a pipe. The inner ring of the water tank (222) inside the wheel is connected to the pipe of the rotating end (2212). The water tank (222) inside the wheel is connected to the water pipe (223) inside the wheel. The water pipe (223) inside the wheel is partially embedded in the first unfolding mechanism (24). The water nozzle (224) is located at the end of the first unfolding mechanism (24). The water pipe (223) inside the wheel is connected to the water nozzle (224).

4. The desert planting robot based on a deformable wheel-leg structure according to claim 1, characterized in that, The in-wheel seedling conveying mechanism (23) includes: a seedling tray (231), a seedling conveying pipe (232), a seedling conveying nozzle (233), and an air pump (234); The seedling tray (231) is provided with a notch. The notch of the seedling tray (231) and the seedling storage box (343) of the seedling conveying mechanism (3) are located on the same vertical line. The notch is located directly below the seedling storage box (343). One end of the seedling conveying pipe (232) is connected to the seedling tray (231), and the other end of the seedling conveying pipe (232) is connected to the seedling conveying nozzle (233) located in the first unfolding mechanism (24). The air pump (234) includes an air inlet (2341) and an air intake (2342), both of which are connected to the middle of the seedling delivery tube (232).

5. The desert planting robot based on a deformable wheel-leg structure according to claim 1, characterized in that, The first deployment mechanism (24) and the second deployment mechanism (25) have the same components. The first deployment mechanism (24) includes a drive chamber (241), a resilient wheel leg (242), a spring (243), and a drive cable tube (244). The drive bay (241) includes a drive servo (2411) and a cable reel (2412), wherein the cable reel (2412) is mounted on the drive servo (2411), the cable reel (2412) is wound with a drive line, and one end of the drive line is fixed inside the flexible wheel leg (242); One end of the spring (243) is fixed to the flexible wheel leg (242), and the other end of the spring (243) is fixed to the rim. One end of the drive cable tube (244) is fixed to the inside of the flexible wheel leg (242), and the other end of the drive cable tube (244) is connected to the drive housing (241). The drive cable is located inside the drive cable tube (244).

6. The desert planting robot based on a deformable wheel-leg structure according to claim 5, characterized in that, The drive bay (241) also includes a second battery and a second signal transceiver. The second battery is electrically connected to the drive servo (2411), and the second signal transceiver is used to receive information from the first signal transceiver in the main body (1).

7. The desert planting robot based on a deformable wheel-leg structure according to claim 1, characterized in that, The main body (1) includes: a frame and a cover plate (132) that is rotatably fitted on the frame. The frame is equipped with a solid glass shell (11) and a searchlight (12).

8. The desert planting robot based on a deformable wheel-leg structure according to claim 1, characterized in that, The detection and control module includes: a first battery, a visual recognition module, a control board, a drive motor adapter, and a first signal transceiver. The first battery is electrically connected to the visual recognition module, the drive motor adapter, and the control board. The first signal transceiver is connected to the deformable wheel leg (2), the seedling conveying mechanism (3), the water storage module (4), and the supply module (5). The control board is electrically connected to the vision recognition module, seedling conveying mechanism (3), water storage module (4), supply module (5) and drive motor adapter.

9. The desert planting robot based on a deformable wheel-leg structure according to claim 9, characterized in that, The visual recognition module includes a depth camera (14) and an infrared camera (15), which are mounted on the main body (1).

10. The control method for a desert planting robot based on a deformable wheel-leg structure according to any one of claims 1-9, characterized in that, Includes the following steps: In the desert planting robot based on the deformable wheel leg structure, the two deformable wheel legs (2) are in a closed state under normal conditions during the movement. In the desert planting operation, the desert planting robot first takes pictures of the planting environment through the depth camera (14) and infrared camera (15) and transmits them to the control board in the detection and control module for environmental analysis, to determine the terrain and lock the planting area. After information processing, the control board sends the control signal to the drive motor (211), water storage module (4) and seedling conveying mechanism (3) through the drive motor adapter and the first signal transceiver. When the desert planting robot starts working, the drive motor (211) on the deformable wheel leg (2) rotates, and the first deployment mechanism (24) and the second deployment mechanism (25) are opened. The drive servo motor (2411) in the drive compartment (241) of the deformable wheel leg (2) rotates the servo disk, retracts the drive line, tightens the drive line, and the spring (243) on the bottom side of the flexible wheel leg (242) extends until it reaches the fully deployed state. When moving, the flexible wheel leg (242) is inserted into the sand as a fulcrum with the ground. The drive motor (211) rotates, driving the robot to move forward and upward, completing the movement on the uneven sand. During operation, when the first unfolding mechanism (24) is inserted into the sand, the seedling delivery mechanism (3) drops the seedling into the seedling delivery tube (232) in the deformable wheel leg (2), drives the air pump (234) inside the wheel, opens the air inlet (2342) to perform the first air intake process, and transfers the seedling to the middle of the seedling delivery tube (232). The air inlet (2341) closes, the air outlet opens to perform the second air blowing process, and blows the seedling out of the first unfolding mechanism into the sand. After the air blowing ends, the water pump (432) is driven to draw irrigation water from the water storage tank (42). The irrigation water is injected into the seedling through the infusion mechanism inside the wheel and finally injected around the seedling to complete the root water protection process. The planting robot continues to drive the motor to carry out planting while moving. When the planting robot is in a non-planting state and moving on flat ground, the unfolding mechanism of the deformable wheel leg (2) is in a closed state, the drive motor (211) rotates synchronously, causing the deformable wheel leg (2) to roll in a straight line, and the drive motor (211) rotates at a differential speed, causing the deformable wheel leg (2) to turn and roll.

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