Plant protection robot

Abstract

The present application relates to a kind of plant protection robots, belong to agricultural facilities technical field.The plant protection robot includes frame, walking mechanism and functional mechanism, walking mechanism is set to the bottom of frame, functional mechanism includes camera and manipulator, camera and manipulator are all set on frame;Manipulator includes mechanical arm, mechanical gripper and telescopic scissors, telescopic scissors are telescopically set in mechanical arm and adjacent to mechanical gripper setting, telescopic scissors have the part article of extending to the side of mechanical gripper and being used to cut the shearing state of the article that mechanical gripper grabs, and retract to the hidden state behind mechanical gripper.The plant protection robot provided in the present application, frame is used to support functional mechanism etc., walking mechanism is used to drive frame to walk, functional mechanism is used to complete corresponding function, when mechanical gripper grabs article, if there is the case of mis-grabbing to vine etc., telescopic scissors can extend and cut it, mechanical gripper does not need to put down the article that grabs, simple and convenient operation.

Description

Technical Field

[0001] This invention belongs to the field of agricultural facility technology, specifically relating to a plant protection robot. Background Technology

[0002] An agricultural robot is a type of robot used in rural fields to perform tasks such as weeding, spraying pesticides, and harvesting. Generally, an agricultural robot consists of a frame, a walking mechanism, and functional mechanisms. The walking mechanism is located below the frame and is used to move the frame. The functional mechanisms are mounted on the frame, and their types are not limited, depending on the specific function being performed. In some agricultural robots, the functional mechanisms include mechanical grippers, which are used for weeding, pest control, or harvesting.

[0003] When using a robotic gripper, it may accidentally grab crop branches, leaves, or weeds while grasping a specific object. In particular, if it accidentally grabs vines, the robotic arm will have difficulty detaching. If the robotic arm is released, the corresponding object will fall off. Summary of the Invention

[0004] Therefore, the purpose of this invention is to provide an agricultural robot that, when the mechanical claw grabs an object, if it accidentally grabs a plant such as a vine, the telescopic shears can extend and cut it, without the mechanical claw needing to put down the object, making the operation simple and convenient.

[0005] The technical solution of the present invention is as follows:

[0006] This invention provides an agricultural robot, including a frame, a walking mechanism, and a functional mechanism. The walking mechanism is located at the bottom of the frame, and the functional mechanism includes a camera and a robotic arm, both of which are mounted on the frame. The robotic arm includes a robotic arm, a robotic claw, and telescopic scissors. The telescopic scissors are telescopically mounted on the robotic arm and adjacent to the robotic claw. The telescopic scissors have a cutting state that extends to one side of the robotic claw and is used to cut a portion of the object grasped by the robotic claw, and a hidden state that retracts behind the robotic claw.

[0007] As an optional embodiment of the above technical solution, the plant protection robot includes four walking mechanisms and four anti-sinking mechanisms; the four walking mechanisms are rectangularly distributed at the bottom of the frame; the four anti-sinking mechanisms correspond one-to-one with the four walking mechanisms, and the anti-sinking mechanisms are disposed on the outside of the walking mechanisms. The anti-sinking mechanisms are rotatably disposed on the walking mechanisms, so that the plant protection robot has a first state in which the anti-sinking mechanisms are flipped upward and the walking mechanisms are used to walk in contact with the ground, and a second state in which the anti-sinking mechanisms are flipped downward and in contact with the ground.

[0008] As an optional solution to the above technical solution, each of the walking mechanisms includes a walking leg, a walking wheel, a walking motor, and a walking servo motor. The walking leg includes a first leg and a second leg. The first leg is disposed on the frame, and the second leg is rotatably disposed below the first leg. The walking wheel is rotatably disposed at the bottom of the second leg and driven by the walking motor. The walking servo motor is disposed on the first leg and is used to control the steering of the second leg. The anti-sinking mechanism is disposed on the second leg.

[0009] As an optional embodiment of the above technical solution, the anti-sinking mechanism includes an anti-sinking bracket, an anti-sinking motor, and an anti-sinking support plate. The first end of the anti-sinking bracket is rotatably engaged with the second leg, and the second end of the anti-sinking bracket is rotatably engaged with the anti-sinking support plate via a pivot shaft. The anti-sinking bracket is driven to rotate by the anti-sinking motor. When the anti-sinking bracket drives the anti-sinking support plate to rotate to the top, the anti-sinking support plate is folded and retracted. When the anti-sinking bracket drives the anti-sinking support plate to rotate to the bottom, the anti-sinking support plate is opened and can contact the ground.

[0010] As an optional solution to the above technical solution, the anti-sinking mechanism further includes an anti-sinking support rod; the first end of the anti-sinking support rod is rotatably engaged with the second leg, the anti-sinking support plate is provided with an anti-sinking groove, an anti-sinking slider is slidably disposed in the anti-sinking groove, the second end of the anti-sinking support rod and the anti-sinking slider are rotatably engaged through a ball joint structure, so that the second end of the anti-sinking support rod can swing conically relative to the anti-sinking support plate, the first end of the anti-sinking support rod is lower than the first end of the anti-sinking bracket, and the rotation center line of the first end of the anti-sinking support rod is parallel to the rotation center line of the anti-sinking bracket; the second leg, the anti-sinking bracket, the anti-sinking support rod and the anti-sinking support plate form a spatial four-bar linkage mechanism, wherein the second leg located between the first end of the anti-sinking bracket and the first end of the anti-sinking support rod is the first link, the anti-sinking bracket is the second link, the anti-sinking support plate located between the second end of the anti-sinking bracket and the second end of the anti-sinking support rod is the third link, the anti-sinking support rod is the fourth link, and the first link, the second link, and the second link are all connected in a spatial four-bar linkage mechanism. The third and fourth links are connected in a ring, and the length of the second link is less than the length of the first link. During the movement of the spatial four-bar linkage, it has a retracted state, an extended state, and a changing state. When the spatial four-bar linkage is in the retracted state, the second end of the anti-sinking bracket is above the first end of the anti-sinking bracket, the second end of the anti-sinking support rod is above the first end of the anti-sinking support rod, the third link is tilted downwards, and the anti-sinking support plate is tilted downwards; the spatial four-bar linkage is located in the same plane. When the spatial four-bar linkage is in the extended state, the second end of the anti-sinking bracket is below the first end of the anti-sinking bracket, the second end of the anti-sinking support rod is below the first end of the anti-sinking support rod, the third link is arranged laterally, and the anti-sinking support plate is extended; the spatial four-bar linkage is located in the same plane. When the spatial four-bar linkage is in the changing state, the fourth link and the second link are on opposite planes, and the anti-sinking support plate gradually extends or retracts.

[0011] As an optional solution to the above technical solution, a U-shaped frame is provided on the second leg, with the opening of the U-shaped frame facing forward. The second connecting rod and the fourth connecting rod are located inside the U-shaped frame, and the spatial four-bar linkage can only swing in the direction of the opening of the U-shaped frame.

[0012] As an optional solution to the above technical solution, the anti-sinking mechanism further includes a pneumatic telescopic rod, one end of which is hinged to the anti-sinking bracket and the other end of which is hinged to the anti-sinking support plate. When the pneumatic telescopic rod extends, it can drive the anti-sinking support plate to open, and when the pneumatic telescopic rod retracts, it can drive the anti-sinking support plate to close.

[0013] As an optional solution to the above technical solution, the plant protection robot also includes a gyroscope and four lead screw and nut mechanisms. The gyroscope is mounted on the frame and is used to detect whether the frame is level. Each walking leg is raised and lowered on the frame through the lead screw and nut mechanisms. Based on the level information detected by the gyroscope, the height of different walking legs is controlled to keep the frame level at all times.

[0014] As an optional solution to the above technical solution, the plant protection robot further includes a visual recognition system. The visual recognition system is used to identify crops and control the corresponding servo motors through the control system so that the corresponding walking wheels are located in empty ridges. The frame is provided with two telescopic sleeve assemblies, which are respectively located at the front and rear ends of the frame. Each telescopic sleeve assembly includes at least two telescopic sleeves that extend along the width direction of the plant protection robot. The walking legs are provided with at least two telescopic rods that are slidably inserted into the telescopic sleeves and have two stop points. The telescopic rods can move between the two stop points so that the width between the walking wheels can be adjusted.

[0015] As an optional solution to the above technical solution, the functional mechanism further includes an infrared laser component, which is used to detect the object to be grasped and control the mechanical gripper to grasp it.

[0016] The beneficial effects of this invention are:

[0017] The plant protection robot provided by this invention has a frame for supporting functional mechanisms, a walking mechanism for driving the frame to move, and functional mechanisms for performing corresponding functions. When the mechanical claw grabs an object, if it accidentally grabs a plant such as a vine, the telescopic scissors can extend and cut it, without the mechanical claw needing to put down the object. The operation is simple and convenient. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. The above and other objects, features, and advantages of the present invention will become clearer through the accompanying drawings. The same reference numerals indicate the same parts in all the drawings. The drawings are not intentionally drawn to scale to actual dimensions; the focus is on illustrating the main points of the invention.

[0019] Figure 1 This is a schematic diagram of the structure of the plant protection robot provided in the first embodiment of the present invention;

[0020] Figure 2 for Figure 1 A magnified view of a portion of the image;

[0021] Figure 3 for Figure 2 Another state diagram;

[0022] Figure 4 This is a schematic diagram of the structure of the plant protection robot provided in the second embodiment of the present invention. Figure 1 ;

[0023] Figure 5 This is a schematic diagram of the structure of the plant protection robot provided in the second embodiment of the present invention. Figure 2 ;

[0024] Figure 6 This is a schematic diagram of the structure of the plant protection robot provided in the second embodiment of the present invention. Figure 3 ;

[0025] Figure 7 for Figure 5 A partially enlarged schematic diagram (including the U-shaped frame);

[0026] Figure 8 for Figure 7 A structural diagram from another perspective (showing the internal structure of the U-shaped frame).

[0027] Figure 9 for Figure 4 A simplified diagram of the A-direction structure (excluding the U-shaped frame);

[0028] Figure 10 for Figure 5 A simplified diagram of the B-direction structure (including the U-shaped frame);

[0029] Figure 11 for Figure 6 A simplified diagram of the C-axis structure (excluding the U-shaped frame);

[0030] Figure 12 This is a front view of the plant protection robot provided in the third embodiment of the present invention (partial structure omitted);

[0031] Figure 13 for Figure 12 A simplified structural diagram of an agricultural robot adjusting the wheel spacing.

[0032] Icons: 10-Plant protection robot; 11-Frame; 12-Walking mechanism; 13-Functional mechanism; 14-Anti-sinking mechanism; 110-Screw and nut mechanism; 120-Walking leg; 121-Walking wheel; 122-Walking servo motor; 123-First leg; 124-Second leg; 130-Camera; 131-Mechanical arm; 132-Mechanical arm; 133-Mechanical claw; 134-Telescopic shears; 140-Anti-sinking bracket; 141-Anti-sinking support plate; 142-Anti-sinking support rod; 143-Anti-sinking slider; 144-Spherical hinge structure; 145-U-shaped frame; 151-Telescopic sleeve; 152-Telescopic insertion rod. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0035] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0036] Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0037] First Embodiment

[0038] Please refer to Figures 1-3 As shown, the first embodiment of the present invention provides a plant protection robot 10, which is used in orchards, fields, etc., to perform corresponding operations on crops, such as harvesting, weeding, pest control, and spraying pesticides. The plant protection robot 10 can be operated remotely and needs to be used in conjunction with a mobile terminal. The operation method can refer to the remote operation robot in the prior art.

[0039] The plant protection robot 10 includes a frame 11, a walking mechanism 12, and a functional mechanism 13. The walking mechanism 12 is located at the bottom of the frame 11, and the functional mechanism 13 is located on the frame 11.

[0040] The shape and structure of the frame 11 are not limited. For example, the frame 11 can adopt a plate structure, a frame structure, etc. The main function of the frame 11 is to support the functional mechanism 13, etc.

[0041] The walking mechanism 12 is used to drive the frame 11 to move. The type of walking mechanism 12 is not limited, such as tracked type, roller type, etc. In this embodiment, the walking mechanism 12 can adopt a tracked structure, and the speed information of the walking mechanism 12 can be obtained through the encoder motor.

[0042] The functional mechanism 13 is used to realize the main operational functions of the plant protection robot 10. The type of functional mechanism 13 needs to be selected according to actual needs. For example, if the harvesting function is to be realized, the functional mechanism 13 may include components such as a robotic arm 131. If the pesticide spraying function is to be realized, the functional mechanism 13 may include components such as a pesticide tank, a spray head, and a water pump. In this embodiment, the functional mechanism 13 includes a camera 130 and a robotic arm 131, both of which are mounted on the frame 11.

[0043] The structure of the camera 130 can refer to the existing technology. The camera 130 is generally located above the front end of the frame 11 and is used to identify the environment, crops, etc. so that users can operate it remotely. The information transmission method between the camera 130 and the mobile terminal can refer to the existing technology.

[0044] Users can remotely control the movements of the robotic arm 131 based on the screen displayed on the mobile terminal. The specific structure of the robotic arm 131 is as follows: the robotic arm 131 includes a robotic arm 132, a robotic claw 133, and a telescopic scissors 134.

[0045] One end of the robotic arm 132 is connected to the frame 11. The structure of the robotic arm 132 can refer to the existing technology. Generally speaking, the robotic arm 132 has multiple degrees of freedom and is driven by several first motors.

[0046] A mechanical gripper 133 is located at the end of the robotic arm 132 away from the frame 11, and the robotic arm 132 can change the position of the mechanical gripper 133. The structure of the mechanical gripper 133 is not limited and can refer to existing technology. The mechanical gripper 133 can open or close to grasp or release objects. The mechanical gripper 133 is driven by a second motor. A storage cavity can be provided on the frame 11, and the mechanical gripper 133 can place the grasped object into the storage cavity. In some embodiments, the mechanical gripper 133 can adopt a three-finger structure, with adjacent fingers capable of rotation for a more stable grasp. A rubber pad or similar material can be provided on the inner side of the mechanical gripper 133 to allow for flexible contact between the mechanical gripper 133 and the grasped object.

[0047] Telescopic scissors 134 are mounted on the robotic arm 132, adjacent to the robotic gripper 133. There can be one or two telescopic scissors 134, located on one or both sides of the robotic arm 132. The telescopic scissors 134 are retractable, and the retraction method is not limited. For example, the telescopic scissors 134 includes a telescopic cylinder and scissors. The scissors are connected to the robotic arm 132 via the telescopic cylinder. The scissors can perform the cutting function through a structure such as a motor or cylinder. During retraction, the telescopic scissors 134 can extend forward or backward, allowing them to approach or move backward and disengage from the part to be cut. The telescopic scissors 134 have a cutting state and a hidden state: please refer to [reference needed]. Figure 3 As shown, when the telescopic scissors 134 are extended to their foremost position, they are located on one side of the mechanical gripper 133 and are used to cut the portion of the object grasped by the mechanical gripper 133. The cutting action of the telescopic scissors 134 can be achieved by a motor or cylinder, etc.; please refer to... Figure 2 As shown, when the telescopic scissors 134 extend to their final position, they are located on one side of the robotic arm 132. The telescopic scissors 134 then separate from one side of the robotic gripper 133 and retract behind it. At this point, the telescopic scissors 134 do not interfere with the normal operation of the robotic gripper 133. Of course, in other embodiments, a predetermined program can be set to enable the robotic arm 131 to perform actions according to the predetermined program. For example, if the camera 130 or other detection device detects an item that the robotic arm 131 needs to grasp, the robotic arm 131 will automatically grasp it.

[0048] In addition, in some embodiments, the functional mechanism 13 may also include an infrared laser component, which is used to detect environmental information and identify the object to be grasped. The infrared laser component can transmit environmental information to a mobile terminal, allowing the operator to manually or automatically control the mechanical gripper 133 to grasp the object. In other embodiments, the infrared laser component may be replaced by other components, such as a visual recognition system.

[0049] The working method of the plant protection robot 10 provided in this embodiment is as follows:

[0050] The traveling mechanism 12 drives the frame 11 and the functional mechanism 13 forward;

[0051] The object to be grasped is identified by a camera 130, an infrared laser assembly, or other components.

[0052] The robotic arm 132 moves the robotic claw 133 close to the object and picks it up;

[0053] If the machine mistakenly grabs vines, weeds, or crops, the telescopic shears 134 will move forward to the point where the object was grabbed. Please refer to [the instructions]. Figure 3 As shown, cut it;

[0054] Telescopic scissors 134 retract to Figure 2 As shown;

[0055] The mechanical gripper 133 transports the grasped object to the collection chamber and places it inside the collection chamber.

[0056] Second Embodiment

[0057] Please refer to Figures 4-6 As shown, the second embodiment of the present invention provides an agricultural robot 10, which is a further improvement on the first embodiment.

[0058] In orchards and similar settings, a tracked walking mechanism 12 can be used. However, in farmland, crops are generally distributed along multiple parallel straight lines to form ridges, creating blank ridges between adjacent ridges. To prevent the walking mechanism 12 from damaging the crops, it is generally necessary for the walking mechanism 12 to move within the ridges. Since the ridges are relatively narrow, narrower rollers are typically used in the prior art. For example, please refer to the utility model patent with patent number "CN201621394138.5" and invention title "A Plant Protection Robot 10". In this embodiment, the walking mechanism 12 adopts a roller structure.

[0059] Specifically, the plant protection robot 10 includes four walking mechanisms 12, which are arranged in a rectangular shape at the bottom of the frame 11. The structure of the walking mechanisms 12 can adopt, but is not limited to, the following schemes: Please refer to... Figure 7 , Figure 8 As shown, each walking mechanism 12 includes a walking leg 120, a walking wheel 121, a walking motor, and a walking servo motor 122. The walking leg 120 includes a first leg 123 and a second leg 124. The first leg 123 is vertically mounted on the frame 11, and the second leg 124 is rotatably mounted below the first leg 123. The rotation direction of the second leg 124 relative to the first leg 123 can be vertically aligned. The walking wheel 121 is rotatably mounted at the bottom of the second leg 124 and is driven to rotate by the walking motor. The walking wheel 121 is a narrow wheel, similar to a bicycle wheel. The walking servo motor 122 is mounted on the first leg 123 and is used to control the steering of the second leg 124. Under the action of different servos, each walking wheel 121 can change direction independently. Of course, in other embodiments, the two front walking wheels 121 can also be synchronously controlled to steer, while the two rear walking wheels 121 are passively steered. The structure can refer to the four-wheel structure of a tractor.

[0060] The structure of the walking mechanism 12 and its connection with the frame 11, etc., are existing technologies. For parts not described, please refer to the existing technologies.

[0061] Because the walking wheels 121 are narrow and the environment in the field is complex, if the walking wheels 121 sink into the ground, they must be pushed out manually. In this embodiment, the following improvement is provided: the plant protection robot 10 includes four anti-sinking mechanisms 14, which correspond one-to-one with the four walking mechanisms 12. The anti-sinking mechanisms 14 are located on the outside of the walking mechanisms 12. In this embodiment, the anti-sinking mechanisms 14 are located on the second leg 124.

[0062] The anti-sinking mechanism 14 is rotatably mounted on the walking mechanism 12 so that the plant protection robot 10 has a first state and a second state: when the plant protection robot 10 is in the first state, the anti-sinking mechanism 14 flips to the top, and the walking mechanism 12 is used to walk in contact with the ground; when the plant protection robot 10 is in the second state, the anti-sinking mechanism 14 flips to the bottom. At this time, the anti-sinking mechanism 14 is in contact with the ground. As the anti-sinking mechanism 14 continues to rotate, it can lift the walking wheel 121 upward so that the walking wheel 121 is removed from the wheel trapping area and the walking wheel 121 can walk normally in contact with the ground.

[0063] The anti-sinking mechanism 14 only works when the walking wheel 121 is stuck. During the normal walking process of the walking wheel 121, the anti-sinking mechanism 14 is always off the ground and does not work.

[0064] The structure of the anti-sinking mechanism 14 can refer to, but is not limited to, the following scheme: The anti-sinking mechanism 14 includes an anti-sinking bracket 140, an anti-sinking motor, and an anti-sinking support plate 141. The anti-sinking bracket 140 can adopt a plate-like structure or a rod-like structure, etc. In this embodiment, the anti-sinking bracket 140 adopts a rod-like structure, and the anti-sinking bracket 140 has a first end and a second end. The first end of the anti-sinking bracket 140 is rotatably engaged with the second leg 124, and the relative rotation axis of the two extends along the width direction of the plant protection robot 10 of the frame 11, that is, perpendicular to the traveling direction of the plant protection robot 10. It should be noted that the direction mentioned here refers to the direction when the plant protection robot 10 is moving forward normally. When the walking wheel 121 turns, the rotation axis of the first end of the anti-sinking bracket 140 relative to the second leg 124 changes direction with the rotation of the second leg 124. The second end of the anti-sinking bracket 140 is rotatably connected to the anti-sinking support plate 141 via a pivot shaft. The two can be pivotally connected via the pivot shaft, and their relative rotation axis is perpendicular to the rotation axis of the first end of the anti-sinking bracket 140 or the rotation axis of the traveling wheel 121.

[0065] The anti-sinking bracket 140 is driven to rotate by an anti-sinking motor. The output shaft of the anti-sinking motor is directly connected to the first end of the anti-sinking bracket 140 or connected via a gear mechanism. When the anti-sinking bracket 140 drives the anti-sinking support plate 141 to the top, the anti-sinking support plate 141 is folded and retracted. When the anti-sinking bracket 140 drives the anti-sinking support plate 141 to the bottom, the anti-sinking support plate 141 is opened and can contact the ground.

[0066] The anti-sinking support plate 141 can be folded and retracted in any way. For example, in this embodiment, the following technical solution can be adopted: the anti-sinking mechanism 14 also includes an anti-sinking support rod 142; the first end of the anti-sinking support rod 142 is rotatably engaged with the second leg 124; the anti-sinking support plate 141 is provided with an anti-sinking groove; an anti-sinking slider 143 is slidably disposed in the anti-sinking groove; the second end of the anti-sinking support rod 142 and the anti-sinking slider 143 are rotatably engaged through a ball joint structure 144, so that the second end of the anti-sinking support rod 142 can swing conically relative to the anti-sinking support plate 141; the first end of the anti-sinking support rod 142 is lower than the first end of the anti-sinking bracket 140; and the rotation center line of the first end of the anti-sinking support rod 142 is parallel to the rotation center line of the anti-sinking bracket 140.

[0067] Please refer to Figures 9-11 As shown, the second leg 124, the anti-sinking bracket 140, the anti-sinking strut 142, and the anti-sinking support plate 141 form a spatial four-bar linkage. The second leg 124, located between the first end of the anti-sinking bracket 140 and the first end of the anti-sinking strut 142, is the first link; the anti-sinking bracket 140 is the second link; the anti-sinking support plate 141, located between the second end of the anti-sinking bracket 140 and the second end of the anti-sinking strut 142, is the third link; and the anti-sinking strut 142 is the fourth link. The first, second, third, and fourth links are connected in sequence to form a ring, and the length of the second link is less than the length of the first link.

[0068] During the movement of the spatial four-bar linkage, it has three states: retracted, extended, and changing. When the agricultural robot 10 is in the first state, please refer to... Figure 9 As shown, the spatial four-bar linkage is in the retracted state. The second end of the anti-sinking bracket 140 is above the first end of the anti-sinking bracket 140, the second end of the anti-sinking support rod 142 is above the first end of the anti-sinking support rod 142, the third link is tilted downwards, and the anti-sinking support plate 141 is also tilted downwards. The spatial four-bar linkage is located in the same plane. When the plant protection robot 10 is in the second state, please refer to... Figure 11 As shown, the spatial four-bar linkage is in the extended state. The second end of the anti-sinking bracket 140 is located below the first end of the anti-sinking bracket 140, and the second end of the anti-sinking support rod 142 is located below the first end of the anti-sinking support rod 142. The third link is arranged laterally, and the anti-sinking support plate 141 is unfolded. The spatial four-bar linkage is located in the same plane. When the plant protection robot 10 changes from the first state to the second state or from the second state to the first state, please refer to... Figure 10 As shown, the spatial four-bar linkage is in a changing state. The fourth link and the second link are not on the same plane. Since the fourth link and the third link are connected by a ball joint, the fourth link and the third link can rotate relative to each other, and the anti-sinking plate 141 gradually expands or gradually retracts.

[0069] In some embodiments, the second and fourth links can be located on both sides of the second leg 124. In this embodiment, both the second and fourth links are located on the outer side of the second leg 124, allowing the spatial four-bar linkage to swing only within a certain angle range. For example, based on the position of the anti-sinking support plate 141, the anti-sinking support plate 141 can be located above, in front of, below, or below the rear of the anti-sinking bracket 140. The anti-sinking bracket 140 can drive the anti-sinking support plate 141 to swing forward from above, and then swing downward to below or to the lower right. When it is necessary to change the anti-sinking mechanism 14 from the second state to the first state, the plant protection robot 10 needs to be moved to a flat surface, and then the anti-sinking bracket 140 can be rotated in the opposite direction. In this embodiment, a U-shaped frame 145 is provided on the second leg 124, with the opening of the U-shaped frame 145 facing forward. The second and fourth links are located on the inner side of the U-shaped frame 145, and the spatial four-bar linkage can only swing in the direction of the opening of the U-shaped frame 145. In other embodiments, the pivot of the fourth link can be made relatively long, extending all the way to the second leg 124. However, this arrangement will affect the rotation angle of the anti-sinking mechanism 14 to some extent. Therefore, the pivot needs to be positioned appropriately, which can be adjusted according to the experimental structure. Figures 4-6 The U-shaped bracket 145 is not drawn because if it were drawn, it would obscure the second and fourth connecting rods. Figures 4-6 The U-shaped frame 145 is omitted; its structure can be seen in other accompanying drawings, such as... Figure 7 , Figure 8 , Figure 10 observe.

[0070] Of course, in other embodiments, the flipping function of the anti-sinking mechanism 14 can also be achieved through other connection structures.

[0071] In other embodiments, the anti-sinking support plate 141 can also be folded and retracted by the following structure: the anti-sinking mechanism 14 further includes a pneumatic telescopic rod, one end of which is hinged to the anti-sinking bracket 140 and the other end of which is hinged to the anti-sinking support plate 141. When the pneumatic telescopic rod extends, it can drive the anti-sinking support plate 141 to open; when the pneumatic telescopic rod retracts, it can drive the anti-sinking support plate 141 to retract.

[0072] Third Embodiment

[0073] Please refer to Figure 12 As shown, the third embodiment of the present invention provides an agricultural robot 10, which is a further improvement on the first or second embodiment.

[0074] In some plant protection robots 10, the functional components are relatively heavy. For example, if the function of spraying pesticides is to be realized, the functional components include a pesticide tank and a telescopic frame. The pesticide tank filled with pesticides is heavy. When climbing slopes or encountering uneven roads, if the plant protection robot 10 tilts significantly, it will affect its stability. Therefore, in this embodiment, the following improvement solution is provided: The plant protection robot 10 also includes a gyroscope and four lead screw and nut mechanisms 110. The gyroscope is set on the frame 11 and is used to detect whether the frame 11 is horizontal. Each walking leg 120 is raised and lowered on the frame 11 through the lead screw and nut mechanism 110. According to the horizontal information detected by the gyroscope, the height of different walking legs 120 is controlled to keep the frame 11 in a horizontal state at all times. The above structure can achieve a horizontal frame 11 and also freely adjust the height of the frame 11 to automatically adapt to the height of the crops. When the plant protection robot 10 is working, the frame 11 can be adjusted to a higher position to avoid the bottom of the frame 11 from contacting the crops. When the plant protection robot 10 is not in use, the frame 11 can be adjusted to a lower position to enhance its stability.

[0075] Furthermore, in the prior art, the two front wheels are generally used to turn at the same time. However, in this method, the distance between the two walking wheels 121 is fixed, which is difficult to adapt to field ridges of different widths. This may cause the walking wheel 121 on one side to crush the seedlings and damage the crops. Therefore, in this embodiment, the following improvement solution is provided: the plant protection robot 10 also includes a visual recognition system. The visual recognition system is used to identify crops and control the corresponding servo motors through the control system so that the corresponding walking wheel 121 is located in the empty field ridge.

[0076] Two sets of telescopic sleeves 151 are provided on the frame 11. The two sets of telescopic sleeves 151 are respectively located at the front end and the rear end of the frame 11. Each set of telescopic sleeves 151 includes two telescopic sleeves 151. The telescopic sleeves 151 extend along the width direction of the plant protection robot 10. The two walking mechanisms 12 located at the front correspond to the telescopic sleeves 151 set at the front end of the frame 11, and the two walking mechanisms 12 located at the rear correspond to the telescopic sleeves 151 set at the rear end of the frame 11. The walking leg 120 is equipped with two telescopic rods 152. The telescopic rods 152 are slidably inserted into the telescopic sleeve 151 and have two stop points. After reaching the stop point, the telescopic rod 152 is limited and cannot continue to move, but can move in the opposite direction. The structure by which the telescopic rod 152 is limited by the stop points is not limited. For example, a slider can be provided on the telescopic rod 152, and a groove can be provided inside the telescopic sleeve 151. The groove extends axially along the telescopic sleeve 151, and the slider can slide along the groove. When the slider reaches the end of the groove, it is limited. The telescopic rod 152 can move between the two stop points, allowing the width between the walking wheels 121 to be adjusted.

[0077] Each walking wheel 121 can turn independently and change the distance between the left and right walking wheels 121 to adapt to field ridges of different widths. Furthermore, this structure allows the walking wheels 121 to turn slowly. Some existing technologies can change the distance between the left and right walking wheels 121 by forcibly pushing the walking mechanism 12 outwards using a telescopic cylinder or similar structure. In this case, the walking wheels 121 push the soil to both sides and accumulate it. Compared to some existing technologies that forcibly change the distance between the walking wheels 121, the technical solution in this embodiment allows for smoother turning and does not push the soil to the sides.

[0078] Taking the example where the two walking wheels 121 on the left are located in an empty field ridge, and the two walking wheels 121 on the right are located on a crop ridge: Please refer to... Figure 13 As shown, at this time, the two walking wheels 121 on the left are kept in the front-back direction, and the two walking wheels 121 on the right turn to the right or left; when all four walking wheels 121 rotate simultaneously, the two walking wheels 121 on the left move straight forward, and the two walking wheels 121 on the right move to the right front or left front. At this time, the telescopic rods 152 of the two walking mechanisms 12 on the right move to the right or left relative to the telescopic sleeves 151; after the two walking wheels 121 on the right reach the adjacent blank field ridge, these two walking wheels 121 turn in the opposite direction and extend in the front-back direction; the four walking wheels 121 move forward synchronously.

[0079] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A plant protection robot, characterized in that, The device includes a frame, a walking mechanism, and a functional mechanism. The walking mechanism is located at the bottom of the frame. The functional mechanism includes a camera and a robotic arm, both of which are mounted on the frame. The robotic arm includes a robotic arm, a robotic gripper, and telescopic scissors. The telescopic scissors are telescopically mounted on the robotic arm and adjacent to the robotic gripper. The telescopic scissors have a cutting state where they extend to one side of the robotic gripper and are used to cut a portion of the object grasped by the robotic gripper, and a hidden state where they retract behind the robotic gripper. The plant protection robot includes four walking mechanisms and four anti-sinking mechanisms; the four walking mechanisms are arranged in a rectangular pattern at the bottom of the frame; The four anti-sinking mechanisms correspond one-to-one with the four walking mechanisms. The anti-sinking mechanisms are located on the outside of the walking mechanisms and are rotatably mounted on the walking mechanisms, so that the plant protection robot has a first state in which the anti-sinking mechanisms are flipped upward and the walking mechanisms are used to walk in contact with the ground, and a second state in which the anti-sinking mechanisms are flipped downward and in contact with the ground. Each of the aforementioned walking mechanisms includes a walking leg, a walking wheel, a walking motor, and a walking servo motor. The walking leg includes a first leg and a second leg. The first leg is mounted on the frame, and the second leg is rotatably mounted below the first leg. The walking wheel is rotatably mounted on the bottom of the second leg and driven by the walking motor. The walking servo motor is mounted on the first leg and is used to control the steering of the second leg. The anti-sinking mechanism is mounted on the second leg. The anti-sinking mechanism includes an anti-sinking bracket, an anti-sinking motor, and an anti-sinking support plate. The first end of the anti-sinking bracket is rotatably engaged with the second leg, and the second end of the anti-sinking bracket is rotatably engaged with the anti-sinking support plate via a pivot shaft. The anti-sinking bracket is driven to rotate by the anti-sinking motor. When the anti-sinking bracket drives the anti-sinking support plate to rotate to the top, the anti-sinking support plate is folded and retracted. When the anti-sinking bracket drives the anti-sinking support plate to rotate to the bottom, the anti-sinking support plate is opened and can contact the ground. The anti-sinking mechanism further includes an anti-sinking support rod; the first end of the anti-sinking support rod is rotatably engaged with the second leg, the anti-sinking support plate is provided with an anti-sinking groove, an anti-sinking slider is slidably disposed in the anti-sinking groove, the second end of the anti-sinking support rod is rotatably engaged with the anti-sinking slider through a ball joint structure, so that the second end of the anti-sinking support rod can swing conically relative to the anti-sinking support plate, the first end of the anti-sinking support rod is lower than the first end of the anti-sinking bracket, and the rotation center line of the first end of the anti-sinking support rod is parallel to the rotation center line of the anti-sinking bracket; The second leg, the anti-sinking bracket, the anti-sinking strut, and the anti-sinking strut plate form a spatial four-bar linkage. The second leg, located between the first end of the anti-sinking bracket and the first end of the anti-sinking strut, is the first link. The anti-sinking bracket is the second link. The anti-sinking strut plate, located between the second end of the anti-sinking bracket and the second end of the anti-sinking strut, is the third link. The anti-sinking strut is the fourth link. The first link, the second link, the third link, and the fourth link are connected in sequence to form a ring. The length of the second link is less than the length of the first link.

2. The plant protection robot according to claim 1, characterized in that, During the movement of the spatial four-bar linkage, it has a retracted state, an extended state, and a changing state. When the spatial four-bar linkage is in the retracted state, the second end of the anti-sinking bracket is above the first end of the anti-sinking bracket, the second end of the anti-sinking support rod is above the first end of the anti-sinking support rod, the third link is inclined downwards, and the anti-sinking support plate is inclined downwards; the spatial four-bar linkage is located in the same plane. When the spatial four-bar linkage is in the extended state, the second end of the anti-sinking bracket is below the first end of the anti-sinking bracket, the second end of the anti-sinking support rod is below the first end of the anti-sinking support rod, the third link is arranged laterally, and the anti-sinking support plate is extended; the spatial four-bar linkage is located in the same plane. When the spatial four-bar linkage is in the changing state, the fourth link is not on the same plane as the second link, and the anti-sinking support plate gradually extends or retracts.

3. The plant protection robot according to claim 2, characterized in that, The second leg is provided with a U-shaped frame with the opening of the U-shaped frame facing forward. The second link and the fourth link are located inside the U-shaped frame. The spatial four-bar linkage can only swing in the direction of the opening of the U-shaped frame.

4. The plant protection robot according to claim 1, characterized in that, The anti-sinking mechanism also includes a pneumatic telescopic rod, one end of which is hinged to the anti-sinking bracket and the other end of which is hinged to the anti-sinking support plate. When the pneumatic telescopic rod extends, it can drive the anti-sinking support plate to open, and when the pneumatic telescopic rod retracts, it can drive the anti-sinking support plate to close.

5. The plant protection robot according to claim 1, characterized in that, The plant protection robot also includes a gyroscope and four lead screw and nut mechanisms. The gyroscope is mounted on the frame and is used to detect whether the frame is level. Each walking leg is raised and lowered on the frame through the lead screw and nut mechanisms. Based on the level information detected by the gyroscope, the height of different walking legs is controlled to keep the frame level at all times.

6. The plant protection robot according to claim 1, characterized in that, The plant protection robot also includes a visual recognition system, which is used to identify crops and control the corresponding servo motors through the control system so that the corresponding walking wheels are located in empty ridges. The frame is provided with two telescopic sleeve assemblies, which are respectively located at the front and rear ends of the frame. Each telescopic sleeve assembly includes at least two telescopic sleeves that extend along the width direction of the plant protection robot. The walking legs are provided with at least two telescopic rods that are slidably inserted into the telescopic sleeves and have two stop points. The telescopic rods can move between the two stop points so that the width between the walking wheels can be adjusted.

7. The plant protection robot according to claim 1, characterized in that, The functional mechanism also includes an infrared laser component, which is used to detect the object to be grasped and control the mechanical gripper to grasp it.

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