Agricultural robot and seeding method thereof

Abstract

The application relates to the technical field of robots, and provides an agricultural robot, which comprises a robot body, a moving mechanism and a seeding mechanism arranged at the bottom of the robot body, the seeding mechanism comprises a mounting frame, a lifting frame, an electric push rod, a feeding assembly and a seeding assembly, the seeding assembly comprises a plurality of seeding pieces arranged on the lifting frame, the seeding piece comprises a movable rod, an outer pressing ring, a first reset spring, a seeding pipe and a driving piece, and the application further discloses a seeding method of the agricultural robot; through the arrangement of the agricultural robot and the seeding method, the distance between the seeds after seeding and the soil surface is always the same, and the influence of the uneven soil surface on the seed germination and soil breaking time is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to an agricultural robot and a sowing method thereof. BACKGROUND

[0002] With the continuous improvement of agricultural mechanization level in China, it is increasingly important to strengthen the improvement of agricultural production efficiency, establish and perfect agricultural mechanized production, fertilization and harvest. With the development of modern agriculture, the traditional sowing method has been unable to meet the demand of modern agriculture for precision, efficiency and speed.

[0003] CN111165126B discloses an automatic soybean sowing robot, which comprises a mobile vehicle body, a controller is arranged at one end of the top of the mobile vehicle body, a camera is arranged at the other end of the mobile vehicle body, a hollow frame is arranged at the top of the mobile vehicle body, a plurality of rotary tillage assemblies are arranged in the hollow frame, a rotary tillage driving assembly is further arranged in the hollow frame, a first support and a second support are arranged on the two sides of the hollow support, a soil filling assembly and a soybean filling assembly corresponding to each rotary tillage assembly are arranged in the first support and the second support respectively, a first lifting adjusting assembly is arranged between the hollow support and the first support, a second lifting adjusting assembly is arranged on the side of the first support away from the hollow support, and a soil filling auxiliary assembly is arranged at the output end of the second lifting adjusting assembly.

[0004] CN111165128B discloses an automatic sowing and fertilizing agricultural robot, which comprises a robot body, a rotating shaft is arranged at the bottom of the robot body, one end of the rotating shaft is fixedly connected with a driving power device of the robot body, two rotating shafts are both fixedly connected with moving wheels, a drilling cavity, a fertilizing cavity and a sowing cavity are respectively arranged in the robot body, an automatic opening device is arranged in the drilling cavity, the automatic opening device comprises a first motor mounting plate, and the surfaces of the first motor mounting plate are fixedly connected with the inner top wall of the drilling cavity; a fertilizing device is arranged in the fertilizing cavity, the fertilizing device comprises a second motor mounting plate, and the surface of the second motor mounting plate is fixedly connected with the lower surface of the robot body.

[0005] The existing sowing robot usually inserts the sowing pipe into the soil, then adds the seeds from the upper end of the sowing pipe, so that the seeds directly enter the inside of the soil to complete the sowing work, and the sowing depth of the seeds is controlled by controlling the insertion depth of the sowing pipe; but in actual sowing work, the soil surface is usually uneven due to the need for soil turning and other work in the planting area, and in the sowing work, the descending depth of each sowing pipe is consistent, but the distance between the seeds and the soil surface is actually different, so that the soil breaking time of the seeds after germination is different, the soil breaking time of the seeds far from the soil surface is prolonged, which affects the growth of crops and is not conducive to the overall monitoring of crops. SUMMARY

[0006] In the prior art, the current seeding robot usually inserts a seeding tube into the soil when seeding, and then adds seeds from the upper end of the seeding tube, so that the seeds directly enter the inside of the soil to complete the seeding work, and the seeding depth of the seeds is controlled by controlling the insertion depth of the seeding tube; but in actual seeding work, the surface of the soil is usually uneven due to the need for soil turning and other work in the planting area, and in the seeding work, the descent depth of each seeding tube is consistent, but the distance of the seeds from the surface of the soil is actually different, thereby causing the breaking time of the seeds after germination to be different, and the breaking time of the seeds far from the surface of the soil is prolonged, affecting the growth of crops, and being not conducive to the overall monitoring of crops.

[0007] Therefore, the present application aims to provide an agricultural robot, in which the agricultural robot comprises a robot body and a moving mechanism for driving the robot body to move, and further comprises a seeding mechanism arranged at the bottom of the robot body, wherein the seeding mechanism comprises a mounting frame, a lifting frame, an electric push rod, a feeding assembly and a seeding assembly.

[0008] The mounting frame is fixed at the bottom of the robot body, and a feeding cavity is formed in the mounting frame, wherein the feeding cavity is provided with the feeding assembly, the feeding assembly provides seeds to the seeding assembly in the feeding cavity, the lifting frame is slidingly arranged on the mounting frame, a guide hole is formed in the lifting frame, the electric push rod is installed on the mounting frame and connected with the lifting frame, the electric push rod drives the lifting frame to move up and down, and the seeding assembly is arranged on the lifting frame and slidingly connected with the lifting frame.

[0009] The seeding assembly comprises a plurality of seeding pieces uniformly arranged on the lifting frame, and each seeding piece comprises a movable rod, an outer pressure ring, a first return spring, a seeding tube and a driving piece.

[0010] The movable rod passes through the guide hole and is slidingly connected with the lifting frame, the outer pressure ring is fixed outside the movable rod, the first return spring is sleeved on the movable rod and located at the upper end of the outer pressure ring, the two ends of the first return spring are fixedly connected with the outer pressure ring and the lifting frame respectively, the seeding tube is slidingly arranged inside the movable rod, the seeding tube is communicated with the feeding assembly, and the driving piece is arranged in the movable rod to control the lifting movement of the seeding tube.

[0011] Further, the driving piece comprises an inner pressure ring, a piston, a second return spring, a pressure relief valve and a gas pump.

[0012] The inner pressure ring is fixed on the inner wall of the movable rod, the piston is fixed on the top of the seeding tube, the pressure relief valve is arranged on the piston, the pressure relief valve is arranged as a valve group structure with remotely adjustable pressure relief pressure, the second reset spring is sleeved outside the seeding tube, and two ends of the second reset spring are fixedly connected with the inner pressure ring and the piston respectively.

[0013] The piston cooperates with the inner wall of the movable rod to form a transition cavity, the transition cavity is communicated with the feeding cavity through a feeding pipe, the transition cavity is communicated with the seeding tube, the air pump is installed on the mounting frame, the air pump is communicated with the feeding cavity through a gas supply pipe, and a valve is arranged on the gas supply pipe.

[0014] Further, the bottom of the seeding tube is provided with a soil sensor, and the soil sensor is fixed to the outside bottom of the seeding tube.

[0015] Further, the robot body is also provided with an intelligent control module, and the intelligent control module comprises an information acquisition module, a remote transmission module, a total control system and an execution module.

[0016] The information acquisition module is used for collecting the temperature, humidity and looseness of the soil and converting them into digital information, and the information acquisition module comprises a soil sensor.

[0017] The remote transmission module is used for realizing information interaction among the information acquisition module, the execution module and the total control system.

[0018] The execution module acts according to the signal received by the remote transmission module, and the execution module is connected with the pressure relief valve.

[0019] The total control system has a data acquisition module capable of inputting seeding depth data and a processing module used for calculation.

[0020] The processing module forms an image according to the inputted seeding depth data and the digital information of the temperature, humidity and looseness of the soil, performs statistics and calculates the pressure relief pressure data of the pressure relief valve.

[0021] Further, the feeding assembly comprises a feeding slide rod, a closing block, a storage cavity and a feeding hopper.

[0022] The feeding slide rod is arranged in the feeding cavity and can enter and exit the feeding cavity, the closing block is fixed at one end of the feeding slide rod and is in sealing connection with the feeding cavity, a sealing ring is arranged outside the closing block, and a handle is fixed to the closing block.

[0023] The storage cavity is arranged in multiple and uniformly arranged on the feeding slide rod, the feeding hopper is fixed at the bottom of the feeding slide rod, the feeding hopper is communicated with the storage cavity, the feeding hopper is provided with a feeding valve, and the feeding hopper is located on the upper end of the feeding pipe.

[0024] The upper end of the feeding slide rod is provided with a sliding block, and the inner top wall of the feeding cavity is provided with a sliding track matched with the sliding block.

[0025] Further, the bottom of the seeding pipe is provided with a baffle, one end of the baffle is rotationally arranged with the bottom of the seeding pipe through a rotating shaft, and a torsional spring is installed on the rotating shaft.

[0026] Further, the mounting frame is further provided with an irrigation mechanism, the irrigation mechanism comprises a water tank fixed on the robot body, a water pump installed on the mounting frame and a water supply pipe communicated with the output end of the water pump and the feeding cavity, the water tank is communicated with the water pump, and the water supply pipe is provided with a valve.

[0027] Further, the robot body is composed of a plurality of hollow pipes, and the robot body is provided with a solar component at the top.

[0028] The application also discloses a seeding method for the agricultural robot.

[0029] S1: the total control system issues a start seeding command, the feeding slide rod is taken out first, the seeds to be seeded are added in the storage cavity of the feeding slide rod, then the feeding slide rod with the seeds placed is installed into the feeding cavity, and the robot body is driven to move to the position to be seeded by the moving mechanism;

[0030] S2: the electric push rod is started to drive the lifting frame to descend, each movable rod is driven to descend and abut against the surface of the soil at the position to be seeded, then the air pump is started to drive the gas to continuously enter the feeding cavity and the transition cavity, the seeding pipe in the movable rod is slowly pushed to descend and insert into the soil, and the soil sensor on the seeding pipe detects the temperature, humidity and looseness of the soil;

[0031] S3: the remote transmission module transmits the detected soil temperature, humidity and looseness information to the total control system, the data acquisition module inputs the seeding depth data of the seeds to be seeded, the processing module calculates the pressure relief pressure data of the pressure relief valve according to the seeding depth data and the temperature, humidity and looseness information of the soil, the remote transmission module transmits the pressure relief pressure data to the execution module, and the execution module adjusts the actual pressure relief pressure of the pressure relief valve according to the received pressure relief pressure data.

[0032] S4: open the feeding valve on the feeding hopper, the seeds in the storage cavity enter the transition cavity through the feeding pipe, under the continuous input of the gas, the air pressure in the transition cavity continuously increases to the relief pressure of the relief valve, at this time the relief valve opens, the seeding pipe stops descending and moves upward under the action of the second reset spring, at the same time the gas flow carries the seeds in the transition cavity into the seeding pipe, the seeds enter the soil from the bottom of the seeding pipe, the seeding work is completed, the seeding pipe moves upward into the movable rod, the air pressure in the transition cavity decreases, the relief valve is closed, and the gas delivery of the air pump is stopped;

[0033] S5: start the electric push rod to drive the lifting frame to rise, the movable rod is reset under the action of the first reset spring, and the moving mechanism drives the robot body to move to another seeding position for seeding work, and the cycle is repeated.

[0034] Further, the steps S4 and S5 further comprise a seed watering step, and the seed watering step comprises:

[0035] D1: close the valve on the air supply pipe, open the valve on the water supply pipe, and adjust the relief pressure of the relief valve;

[0036] D2: start the water pump, the water pump drives the water flow into the transition cavity, the water pressure in the transition cavity increases, the seeding pipe in the movable rod is pushed to descend and insert into the soil, the water pressure in the transition cavity continuously increases to the relief pressure of the relief valve, at this time the relief valve opens, the water flow flows into the soil through the seeding pipe, and the watering work of the seeds is completed.

[0037] The agricultural robot disclosed by the application is provided with a seeding mechanism, before seeding, the movable rods are tightly pressed against the soil surface by controlling the movement of the lifting frame, and then the seeding pipes in the movable tubes are uniformly inserted into the soil to perform the seeding work, so that the distance between the seeds after seeding in the region and the soil surface is always the same, the soil breaking time after the seeds germinate is the same under the condition that other factors are the same, the soil breaking time of the seeds is not inconsistent due to the distance between the seeds and the soil surface, the overall monitoring of crops is facilitated, and the growth quality of the crops is ensured.

[0038] Through synchronous control of the plurality of seeding pipes in the seeding mechanism, synchronous multi-seeding operation is realized, and the seeding efficiency is improved; the insertion depth of the seeding pipe is controlled by controlling the relief pressure of the relief valve, the control is convenient, the relief pressure is calculated by collecting the looseness of the soil, and then the insertion of the seeding pipe is controlled, compared with the prior art, the insertion depth of the seeding pipe is not inconsistent due to the looseness of the soil, and the stability is high.

[0039] Other features and advantages of the application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0040] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0041] Figure 1 This is a schematic diagram of one embodiment of the present invention;

[0042] Figure 2 This is a side view of one embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of another side view of one embodiment of the present invention;

[0044] Figure 4 This is a schematic diagram of the structure of the seeding component in one embodiment of the present invention;

[0045] Figure 5 for Figure 4 A side perspective view;

[0046] Figure 6 for Figure 5 Enlarged view of point A in the middle;

[0047] Figure 7 for Figure 5 Enlarged view of point B in the middle;

[0048] Figure 8 This is a schematic diagram of the structure of the feeding assembly in one embodiment of the present invention;

[0049] Figure 9 This is a schematic flowchart of a sowing method in one embodiment of the present invention.

[0050] Explanation of reference numerals in the attached figures:

[0051] 1. Robot body; 2. Moving mechanism; 3. Mounting frame; 31. Feeding chamber; 4. Lifting frame; 41. Guide hole; 5. Electric push rod; 6. Feeding assembly; 61. Feeding slide bar; 62. Closing block; 63. Storage chamber; 64. Feeding hopper; 65. Sealing ring; 66. Handle; 7. Seeding assembly; 71. Movable rod; 72. Outer pressure ring; 73. First return spring; 74. Seeding tube; 741. Soil sensor; 742. Baffle; 75. Drive component; 751. Inner pressure ring; 752. Piston; 753. Second return spring; 754. Pressure relief valve; 755. Transition chamber; 756. Air supply pipe; 8. Solar panel. Detailed Implementation

[0052] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0053] In order to better understand the technical scheme of the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the scope of protection of the present application.

[0054] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices; "fixed" or "fixedly connected" generally refers to common mechanical connection methods, such as threaded connection, welding or bonding, etc.

[0055] In the prior art, the seeding robot usually inserts the seeding tube into the soil when seeding, and then adds the seeds from the upper end of the seeding tube, so that the seeds directly enter the inside of the soil to complete the seeding work, and the seeding depth is controlled by controlling the insertion depth of the seeding tube; but in actual seeding work, the soil surface is usually uneven due to the frequent plowing work in the planting area, so that the distance between the seeds and the soil surface is different when the seeding work is carried out, thereby causing the breaking time of the seeds after germination to be different, and the breaking time of the seeds far away from the soil surface is prolonged, which affects the growth of crops and is not conducive to the overall monitoring of crops.

[0056] The present application provides an agricultural robot, such as Figures 1-3 As shown in the figure, in the present embodiment, the agricultural robot comprises a robot body 1 and a moving mechanism 2 for driving the robot body 1 to move, and further comprises a seeding mechanism arranged at the bottom of the robot body 1.

[0057] The moving mechanism drives the robot to move, and at least comprises a walking wheel and a driving member for controlling the rotation of the walking wheel. In order to avoid the large shaking of the seeding mechanism during the movement, a damping device is further arranged, which is a spring damper.

[0058] The sowing mechanism includes a mounting frame 3, a lifting frame 4, an electric push rod 5, a feeding assembly 6, and a sowing assembly 7. The mounting frame 3 is fixed to the bottom of the robot body 1. A feeding chamber 31 is provided inside the mounting frame 3. The feeding assembly 6 is provided inside the feeding chamber 31 and provides seeds to the sowing assembly 7. The lifting frame 4 is slidably mounted on the mounting frame 3 and has a guide hole 41. The electric push rod 5 is mounted on the mounting frame 3 and connected to the lifting frame 4. The electric push rod 5 drives the lifting frame 4 to move up and down. The sowing assembly 7 is mounted on the lifting frame 4 and slidably connected to the lifting frame 4. The electric push rod drives the lifting frame to descend closer to the ground to work.

[0059] like Figures 4-7 As shown, the sowing assembly 7 includes several sowing elements evenly spaced on the lifting frame 4. Each sowing element includes a movable rod 71, an outer pressure ring 72, a first return spring 73, a sowing tube 74, and a driving component 75. The movable rod 71 passes through the guide hole 41 and is slidably connected to the lifting frame 4. The outer pressure ring 72 is fixed outside the movable rod 71. The first return spring 73 is sleeved on the movable rod 71 and located at the upper end of the outer pressure ring 72. The two ends of the first return spring 73 are fixedly connected to the outer pressure ring 72 and the lifting frame 4, respectively. The sowing tube 74 is slidably disposed inside the movable rod 71 and is connected to the feeding assembly 6. The driving component 75 is disposed inside the movable rod 71 to control the sowing tube 74 to move up and down.

[0060] The electric push rod is activated to lower the lifting frame, which in turn lowers each movable rod. Since the movable rods move on the lifting frame, under the action of the first return spring, each movable rod contacts and presses against the soil surface when the lifting frame descends. Then, the seeding tube is inserted into the soil to sow seeds, ensuring that the distance between the seeds and the soil surface in this area is always the same. This guarantees that, all other things being equal, the seeds will germinate and emerge from the soil at the same time, and the distance between the seeds and the soil surface will not cause inconsistent germination times, facilitating overall crop monitoring.

[0061] In this embodiment, the driving component 75 includes an inner pressure ring 751, a piston 752, a second return spring 753, a pressure relief valve 754, and an air pump. The inner pressure ring 751 is fixed on the inner wall of the movable rod 71, the piston 752 is fixed on the top of the seeding tube 74, the pressure relief valve 754 is provided on the piston 752, the pressure relief valve 754 is configured as a valve group structure with remotely adjustable pressure relief, the second return spring 753 is sleeved on the outside of the seeding tube 74, and the two ends of the second return spring 753 are fixedly connected to the inner pressure ring 751 and the piston 752 respectively.

[0062] The driving member is arranged as a gas driving mechanism, which is stable in insertion into the soil, moves the seeding tube with the piston and is not easy to cause hard damage to the seeding tube; meanwhile, since the structure of the pressure relief valve and the adjustment mode and structure of the pressure relief pressure adjustment of the pressure relief valve are relatively mature prior art, the present application only needs to have the function and does not limit the specific structure, thus the structure is not described in detail.

[0063] In order to make the falling distances of the multiple seeding tubes same, the piston 752 cooperates with the inner wall of the movable rod 71 to form a transition cavity 755, the transition cavity 755 is communicated with the feeding cavity 31 through a feeding pipe, the transition cavity 755 is communicated with the seeding tube 74, the air pump is installed on the mounting frame 3, the air pump is communicated with the feeding cavity 31 through a gas supply pipe 756, and a valve is arranged on the gas supply pipe 756; since each transition cavity is communicated with the feeding cavity, the air pressure in each transition cavity is same when air is inhaled, so that the falling distances of the seeding tubes in each movable rod are same, thereby ensuring that the distances between the seeds and the surface of the soil are same.

[0064] In order to fully collect the data of the soil, the bottom of the seeding tube 74 is provided with a soil sensor 741, the soil sensor 741 is fixed to the outside bottom of the seeding tube 74, and the specific collected soil data includes but is not limited to humidity, temperature and looseness.

[0065] The robot body 1 is further provided with an intelligent control module, the intelligent control module includes an information collection module, a remote transmission module, a total control system and an execution module, wherein the information collection module is used for collecting the temperature, humidity and looseness of the soil and converting them into digital information, the information collection module includes the soil sensor 741; the remote transmission module is used for realizing information interaction between the information collection module, the execution module and the total control system; the execution module moves according to the signal received by the remote transmission module, the execution module is connected with the pressure relief valve 754; the total control system has a data collection module capable of inputting the seeding depth data and a processing module used for calculation; the processing module forms an image according to the input seeding depth data and the digital information of the temperature, humidity and looseness of the soil, performs statistics and calculates the pressure relief pressure data of the pressure relief valve 754.

[0066] The intelligent control module calculates the automatic seeding operation according to the collected data, only needs to control the action path of the robot to select the seeding point and input the planting depth required by the seeds of the kind, and the control is convenient and the seeding efficiency is greatly improved.

[0067] As Figure 8As shown, in the embodiment, the feeding assembly 6 comprises a feeding slide rod 61, a closing block 62, a storage cavity 63 and a feeding hopper 64; the feeding slide rod 61 is arranged in the feeding cavity 31 and can go in and out of the feeding cavity 31, the closing block 62 is fixed at one end of the feeding slide rod 61 and is in sealing connection with the feeding cavity 31, a sealing ring 65 is arranged outside the closing block 62, and a handle 66 is fixed on the closing block 62.

[0068] In order to meet the feeding of multiple seeds at the same time and meet the feeding of each seeding tube, the storage cavity 63 is arranged in multiple and uniformly arranged on the feeding slide rod 61, the feeding hopper 64 is fixed at the bottom of the feeding slide rod 61, the feeding hopper 64 is in communication with the storage cavity 63, a feeding valve is arranged on the feeding hopper 64, and the feeding hopper 64 is located at the upper end of the feeding pipe; a sliding block is arranged at the upper end of the feeding slide rod 61, and a sliding track that cooperates with the sliding block is arranged on the top wall in the feeding cavity 31; the cooperation of the sliding block and the sliding track facilitates the installation and disassembly of the feeding slide rod, ensures the accuracy of the installation and positioning, and the arrangement of the feeding assembly can meet the feeding operation of multiple seeding points and is convenient to use.

[0069] In the embodiment, in order to meet the watering demand of seeds at the same time of seeding, an irrigation mechanism is further arranged on the mounting frame 3, the irrigation mechanism comprises a water tank fixed on the robot body 1, a water pump installed on the mounting frame 3 and a water supply pipe in communication with the output end of the water pump and the feeding cavity 31, the water tank is in communication with the water pump, and a valve is arranged on the water supply pipe; the water tank and the water pump are used for conveying water, and the water is used for seeding.

[0070] Since the water pump, the water tank and the water supply pipe are common structures, the irrigation device is not shown in the figure, the irrigation mechanism can be used for watering seeds after seeding, and can also be used for irrigation alone; the arrangement of the above structure can directly supply water through the seeding pipe after completing the seeding work, and can water the seeds after seeding, so that the watering structure is combined with the seeding structure, the switching is quick, the use is convenient, a separate watering structure is not needed, and the overall seeding work efficiency is improved.

[0071] In order to ensure that the seeding pipe can be smoothly inserted into the soil, a baffle 742 is arranged at the bottom of the seeding pipe 74, one end of the baffle 742 is rotatably arranged at the bottom of the seeding pipe 74 through a rotating shaft, a torsional spring is installed on the rotating shaft, and the torsional spring is used to drive the baffle to move in a direction tending to close the seeding pipe.

[0072] The setting of the baffle can avoid the soil from entering the seeding tube when the seeding tube is inserted into the soil, and through the instantaneous discharge of the high-pressure gas, the baffle is opened together with the seed, so that the seed enters the soil from the seeding tube; in other embodiments, in order to ensure that the baffle can be stably opened and closed, a small motor or other opening and closing structure for controlling the rotation of the rotating shaft is arranged.

[0073] In order to facilitate control operation, the execution module is also connected with the electric push rod, the air pump, the water pump and the like, so as to realize the automation of the whole device.

[0074] In the embodiment, the robot body 1 is composed of a plurality of hollow pipes, the power line is arranged in the hollow pipe, so that the corrosion and damage of the exposed line in the seeding work are avoided; the robot body 1 is provided with a solar assembly 8 at the top, the solar assembly is used for electric energy conversion to meet the power demand of the robot body, and energy is saved.

[0075] As shown in Figure 9 The application further discloses a seeding method of the agricultural robot, which is suitable for the agricultural robot and comprises the following steps.

[0076] S1: the total control system issues a start-seeding command, holds the handle to take out the feeding slide rod, adds seeds to be seeded in the feeding slide rod, then installs the feeding slide rod with the seeds into the feeding cavity, and drives the robot body to move to a position to be seeded through the moving mechanism;

[0077] S2: after the robot body is driven to the seeding position, the electric push rod is started to drive the lifting frame to descend, drives each movable rod to descend and abut against the surface of the soil at the position to be seeded, then the air pump is started to drive the gas to continuously enter the feeding cavity and the transition cavity, the air pressure in the transition cavity gradually increases, slowly pushes the seeding tube in the movable rod to descend and insert into the soil, and the soil sensor on the seeding tube detects the temperature, humidity and looseness of the soil;

[0078] S3: the remote transmission module transmits the detected soil temperature, humidity and looseness information to the total control system, the data acquisition module inputs the seeding depth data of the seeds to be seeded, the processing module calculates the pressure relief pressure data of the pressure relief valve according to the seeding depth data and the soil temperature, humidity and looseness information, transmits the pressure relief pressure data to the execution module through the remote transmission module, and adjusts the actual pressure relief pressure of the pressure relief valve according to the received pressure relief pressure data through the execution module;

[0079] S4: open the feed valve on the feed hopper 64, the seeds in the storage chamber under the action of gravity through the feed pipe into the transition chamber, under the continuous input of gas, the gas pressure in the transition chamber continues to increase to the relief pressure of the relief valve, at this time the relief valve opens, the seeding pipe stops descending and moves upward under the action of the second return spring, at the same time the gas flow carries the seeds in the transition chamber into the seeding pipe, the seeds enter the soil from the bottom of the seeding pipe, complete the seeding work, the seeding pipe moves upward into the movable rod, the gas pressure in the transition chamber decreases and the relief valve closes, stopping the gas delivery of the air pump;

[0080] S5: start the electric push rod to drive the lifting frame to rise, the movable rod is reset under the action of the first return spring, start the moving mechanism to drive the robot body to move to another seeding position for seeding work, and the cycle is repeated.

[0081] When the staff controls the seeding work, only the action path of the robot needs to be controlled to select the seeding point, and the planting depth required by the seeds of this type is inputted, and the intelligent control module can automatically seed according to the collected data, and the control is convenient.

[0082] In this embodiment, the step S4 and the step S5 further include a seed watering step, and the seed watering step includes:

[0083] D1: close the valve on the gas supply pipe, open the valve on the water supply pipe, and adjust the relief pressure of the relief valve;

[0084] D2: start the water pump, the water pump drives the water flow into the transition chamber, the water pressure in the transition chamber increases, the seeding pipe in the movable rod is pushed down to insert into the soil, the water pressure in the transition chamber continues to increase to the relief pressure of the relief valve, at this time the relief valve opens, the water flow flows into the soil through the seeding pipe, and the watering work of the seeds is completed.

[0085] In this embodiment, the seed watering step is based on the humidity of the soil to determine whether it is necessary to proceed, and the unnecessary procedure can be set to a humidity threshold, when the humidity signal value of the soil sensor is lower than the threshold, the watering step is started.

[0086] The pressure of the relief valve is reduced so that the seeding pipe is always located above the seeds after descending and no longer contacts the seeds, and the glue work is performed on the upper end of the seeds.

[0087] The sowing principle of the application is as follows: before sowing, the feeding slide rod is taken out to add the seeds to be sowed in the storage cavity, the feeding slide rod is reinstalled into the feeding cavity after the seeds are placed, the moving mechanism is controlled to drive the robot body to move to the position to be sowed, then the electric push rod is started to drive the lifting frame to descend, and each movable rod is driven to descend, since the movable rod is movable on the lifting frame, under the action of the first reset spring, each movable rod is in contact with the surface of the soil and is tightly pressed when the lifting frame descends.

[0088] Then the air pump is started to continuously drive the gas into the feeding cavity, the gas enters the transition cavity from the feeding cavity, the air pressure in the transition cavity gradually increases with the continuous input of the gas, the sowing pipe in the movable rod is pushed to descend and penetrates the movable rod to insert into the soil (the soil sensor on the sowing pipe is inserted into the soil to detect the soil condition), then the feeding valve on the feeding hopper 64 is opened, the seeds in the storage cavity enter the transition cavity through the feeding pipe under the action of gravity.

[0089] When the air pressure reaches the pressure relief pressure of the pressure relief valve, the pressure relief valve is opened, the seeds are inserted into the sowing pipe together with the airflow, and continuously move downward to push away the baffle at the bottom of the sowing pipe, so that the seeds enter the soil, at the same time, the air pump is closed to stop the air input, since the air pressure in the transition cavity decreases, the pressure relief valve is closed, and the sowing pipe is driven to move upward to reset under the action of the second reset spring until it enters the movable rod.

[0090] When the humidity in the soil is low and cannot meet the normal demand of the seeds, the valve on the air supply pipe is closed, the valve on the water supply pipe is opened, and the water pump is started to drive the water flow into the transition cavity, the water pressure in the transition cavity increases, the sowing pipe in the movable rod is pushed to descend and insert into the soil, the water pressure in the transition cavity continuously increases to the pressure relief pressure of the pressure relief valve, the pressure relief valve is opened, the water flow flows into the soil through the sowing pipe to perform watering work on the seeds, and thus the sowing work is completed.

[0091] The seeds in the storage cavity can be placed at one time for multiple sowing, the opening time of the feeding valve is controlled each time, the number of seeds sowed each time is controlled, so that the seeds in the storage cavity do not need to be frequently added, and the feeding valve on the feeding hopper 64 is a flexible valve to avoid damaging the seeds when closed.

[0092] The application is provided with the sowing mechanism, before sowing, the movement of the lifting frame is controlled to tightly press each movable rod on the surface of the soil, and then the sowing pipe in the movable pipe is controlled to be uniformly inserted into the soil to perform the sowing work, so that the distance between the sowed seeds and the surface of the soil in the region is always the same, the soil breaking time of the seeds after germination is the same under the condition that other factors are the same, the soil breaking time of the seeds is not inconsistent due to the distance between the seeds and the surface of the soil, the overall monitoring of the crops is facilitated, and the growth quality of the crops is ensured.

[0093] Through synchronous control of multiple seeding pipes in the seeding mechanism, synchronous multi-seeding operation is realized, and seeding efficiency is improved; and the insertion depth of the seeding pipe is controlled by controlling the pressure relief pressure of the pressure relief valve, control is convenient, and the insertion depth of the seeding pipe is controlled by calculating the pressure relief pressure in the way of collecting soil looseness, compared with the prior art, the insertion depth of the seeding pipe will not be affected by the looseness of the soil (the existing method of controlling the insertion of the seeding pipe into the soil by the electric push rod is easy to be affected by the looseness of the soil, and the actual insertion effect is affected), and the stability is high.

[0094] Through the setting of the feeding mechanism, the feeding operation of multiple seeding points can be met, and use is convenient.

[0095] Through the setting of the irrigation mechanism, after seeding, water can be directly supplied through the seeding pipe, and watering work is performed on the seeds after seeding, the structure of watering and seeding is combined, switching is quick, use is convenient, a separate watering structure does not need to be set, and the overall seeding work efficiency is improved.

[0096] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An agricultural robot comprising a robot body (1) and a movement mechanism (2) that drives the robot body (1) to move, characterized by, The agricultural robot further comprises a seeding mechanism arranged at the bottom of the robot body (1), the seeding mechanism comprising a mounting frame (3), a lifting frame (4), an electric push rod (5), a feeding assembly (6) and a seeding assembly (7); The mounting frame (3) is fixed at the bottom of the robot body (1), a feeding cavity (31) is formed in the mounting frame (3), the feeding assembly (6) is arranged in the feeding cavity (31), the feeding assembly (6) provides seeds to the seeding assembly (7) in the feeding cavity (31), the lifting frame (4) is slidingly arranged on the mounting frame (3), a guide hole (41) is formed in the lifting frame (4), the electric push rod (5) is mounted on the mounting frame (3) and connected with the lifting frame (4), and the seeding assembly (7) is arranged on the lifting frame (4) and slidingly connected with the lifting frame (4); The seeding assembly (7) comprises a plurality of seeding members uniformly arranged on the lifting frame (4), the seeding member comprising a movable rod (71), an outer compression ring (72), a first reset spring (73), a seeding pipe (74) and a driving member (75); The movable rod (71) passes through the guide hole (41) and is slidingly connected with the lifting frame (4), the outer compression ring (72) is fixed outside the movable rod (71), the first reset spring (73) is sleeved on the movable rod (71) and located at the upper end of the outer compression ring (72), the two ends of the first reset spring (73) are fixedly connected with the outer compression ring (72) and the lifting frame (4) respectively, the seeding pipe (74) is slidingly arranged inside the movable rod (71), the seeding pipe (74) is communicated with the feeding assembly (6), and the driving member (75) is arranged in the movable rod (71) to control the lifting movement of the seeding pipe (74).

2. The agricultural robot of claim 1, wherein, The driving member (75) comprises an inner compression ring (751), a piston (752), a second reset spring (753), a pressure relief valve (754) and a gas pump; The inner compression ring (751) is fixed on the inner wall of the movable rod (71), the piston (752) is fixed at the top of the seeding pipe (74), the pressure relief valve (754) is arranged on the piston (752), the pressure relief valve (754) is arranged as a valve group structure with remotely adjustable pressure relief pressure, the second reset spring (753) is sleeved outside the seeding pipe (74), and the two ends of the second reset spring (753) are fixedly connected with the inner compression ring (751) and the piston (752) respectively; The piston (752) cooperates with the inner wall of the movable rod (71) to form a transition cavity (755), the transition cavity (755) is communicated with the feeding cavity (31) through a feeding pipe, the transition cavity (755) is communicated with the seeding pipe (74), the gas pump is mounted on the mounting frame (3), the gas pump is communicated with the feeding cavity (31) through a gas supply pipe (756), and a valve is arranged on the gas supply pipe (756).

3. The agricultural robot of claim 2, wherein, The bottom of the seeding pipe (74) is provided with a soil sensor (741) fixed outside the bottom of the seeding pipe (74).

4. The agricultural robot of claim 3, wherein, The robot body (1) is also provided with an intelligent control module, which comprises an information acquisition module, a remote transmission module, a total control system and an execution module, The information acquisition module is used for collecting the temperature, humidity and looseness of the soil and converting them into digital information, and the information acquisition module comprises a soil sensor (741); The remote transmission module is used for realizing information interaction among the information acquisition module, the execution module and the total control system; The execution module acts according to the signal received by the remote transmission module, and the execution module is connected with the pressure relief valve (754); The total control system has a data acquisition module capable of inputting seeding depth data and a processing module for calculation; The processing module forms an image according to the inputted seeding depth data and the digital information of the temperature, humidity and looseness of the soil, and calculates the pressure relief pressure data of the pressure relief valve (754).

5. The agricultural robot of claim 4, wherein, The feeding assembly (6) comprises a feeding slide rod (61), a closing block (62), a storage cavity (63) and a feeding hopper (64). The feeding slide rod (61) is arranged in the feeding cavity (31) and can enter and exit the feeding cavity (31), the closing block (62) is fixed at one end of the feeding slide rod (61) and is in sealing connection with the feeding cavity (31), a sealing ring (65) is arranged outside the closing block (62), and a handle (66) is fixed to the closing block (62); The storage cavities (63) are arranged uniformly on the feeding slide rod (61), the feeding hopper (64) is fixed to the bottom of the feeding slide rod (61), the feeding hopper (64) is in communication with the storage cavities (63), a feeding valve is arranged on the feeding hopper (64), and the feeding hopper (64) is located on the upper end of the feeding pipe; A sliding block is arranged on the upper end of the feeding slide rod (61), and a sliding track matched with the sliding block is arranged on the top wall in the feeding cavity (31).

6. The agricultural robot according to any one of claims 1-5, characterized in that, The bottom of the seeding pipe (74) is provided with a baffle (742), one end of the baffle (742) is rotatably arranged on the bottom of the seeding pipe (74) through a rotating shaft, and a torsional spring is installed on the rotating shaft.

7. The agricultural robot of claim 5, wherein, The mounting frame (3) is also provided with an irrigation mechanism, the irrigation mechanism comprises a water tank fixed on the robot body (1), a water pump installed on the mounting frame (3) and a water supply pipe in communication with the output end of the water pump and the feeding cavity (31), the water tank is in communication with the water pump, and a valve is arranged on the water supply pipe.

8. The agricultural robot according to any one of claims 1-5, wherein, The robot body (1) is composed of a plurality of hollow pipes, and a solar energy assembly (8) is arranged on the top of the robot body (1).

9. A method for sowing with the agricultural robot as claimed in claim 7, characterized in that, Comprise: S1: the total control system issues a start sowing command, takes out the feeding slide rod, adds seeds to be sowed in the storage cavity of the feeding slide rod, then installs the feeding slide rod with the seeds into the feeding cavity, and the execution module controls the moving mechanism to drive the robot body to move to a position to be sowed; S2: after reaching the sowing position, the execution module starts the electric push rod to drive the lifting frame to descend, drives each movable rod to descend and abut against the surface of the soil at the sowing position, then starts the air pump to continuously drive air into the feeding cavity and the transition cavity, slowly pushes the sowing pipe in the movable rod to descend and insert into the soil, and the soil sensor on the sowing pipe detects the temperature, humidity and looseness of the soil; S3: the remote transmission module transmits the detected soil temperature, humidity and looseness information to the total control system, the data acquisition module inputs the sowing depth data of the seeds to be sowed, the processing module calculates the pressure relief pressure data of the pressure relief valve according to the sowing depth data and the soil temperature, humidity and looseness information, and transmits the pressure relief pressure data to the execution module through the remote transmission module, so that the execution module adjusts the actual pressure relief pressure of the pressure relief valve according to the received pressure relief pressure data; S4: open the feeding valve on the feeding hopper (64), the seeds in the storage cavity enter the transition cavity through the feeding pipe, the air pressure in the transition cavity continuously increases to the pressure relief pressure of the pressure relief valve under the continuous input of the air, at this time the pressure relief valve is opened, the sowing pipe stops descending and moves upward under the action of the second return spring, at the same time the air flow carries the seeds in the transition cavity into the sowing pipe, the seeds enter the soil from the bottom of the sowing pipe, the sowing work is completed, the sowing pipe moves upward into the movable rod, the air pressure in the transition cavity decreases, the pressure relief valve is closed, and the air pump is stopped to deliver air; S5: start the electric push rod to drive the lifting frame to ascend, the movable rod is reset under the action of the first return spring, start the moving mechanism to drive the robot body to move to another sowing position for sowing work, and the cycle is repeated.

10. The method of sowing according to claim 9, characterized in that, The seed watering step is further included between the step S4 and the step S5, and the seed watering step includes: D1: close the valve on the air supply pipe, open the valve on the water supply pipe, and adjust the pressure relief pressure of the pressure relief valve to be reduced; D2: start the water pump, the water pump drives the water flow to enter the transition cavity, the water pressure in the transition cavity increases, the sowing pipe in the movable rod is pushed to descend and insert into the soil, and the water pressure in the transition cavity continuously increases to the pressure relief pressure of the pressure relief valve, at this time the pressure relief valve is opened, the water flow flows into the soil through the sowing pipe, and the watering work of the seeds is completed.

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