Universal rail type carrying device for operation robot and control method

Abstract

The invention provides a general rail type carrying device for an operation robot and a control method. A plurality of carrying mechanisms are arranged on the guide rail, and each carrying mechanism comprises an ultrasonic module, a driving wheel, a driven wheel, an outer shell, a supporting wheel set, a reader-writer, a driving motor, a central processing unit, an ultrasonic controller, a stepping motor driver, a control panel, a wireless network card and an operation robot connecting plate; according to the general rail type carrying device for the operation robot, the space above a culture pond is fully utilized, a plurality of carrying mechanisms can be installed on the guide rail, one rail can share one rail, the carrying mechanisms can carry different types of operation robots, one machine can achieve multiple purposes, the efficiency of a culture factory is improved, and the cost is saved; and in addition, emergency scheduling and operation of different types of operation robots can be completed according to the difference of different requirements on priorities on the upper computer when emergency situations occur in the production process.

Description

Technical Field

[0001] The present invention belongs to the technical field of aquaculture and robot autonomous operation, and in particular relates to a universal track-type carrying device and a control method for an operating robot. Background Art

[0003] At present, the production in the intelligent breeding factory scene is highly intensive, the breeding environment is complex, and the ground pipelines are complicated, which to a certain extent limits the working space of the operating robots. In addition, there are many key links in the production of intelligent breeding factories, mainly including feeding, inspection, cleaning, transportation, etc. The multi-link autonomous operation production requirements make the collaborative scheduling strategy of division of labor and cooperation between different robots complicated, and the handling robot can only carry materials. The above problems seriously restrict the further development of intelligent aquaculture factories. Summary of the invention

[0004] In view of the above technical problems, the present invention provides a universal rail-type carrying device and a control method for a working robot. By adopting the universal rail-type carrying device for the working robot, the space above the breeding pond can be fully utilized, and multiple carrying mechanisms can be installed on the guide rail, which is conducive to realizing "one track for sharing", and the carrying mechanism can carry different types of working robots, which is conducive to realizing "one machine for multiple uses", improving the efficiency of the breeding factory, saving costs, and helping to complete the emergency dispatch and operation of different types of working robots according to the differences in priority of different demands on the host computer when solving emergencies in the production process.

[0005] Note that the description of these objectives does not prevent the existence of other objectives. One embodiment of the present invention does not need to achieve all of the above objectives. Objectives other than the above objectives can be extracted from the description of the specification, drawings, and claims.

[0006] The present invention achieves the above technical objectives through the following technical means.

[0007] A universal rail-type carrying device for a working robot comprises a guide rail; a plurality of carrying mechanisms are arranged on the guide rail, each of which comprises an ultrasonic module, a driving wheel, a driven wheel, an outer shell, a supporting wheel set, a reader / writer, a driving motor, a central processing unit, an ultrasonic controller, a stepping motor driver, a control board, a wireless network card and a working robot connection board;

[0008] The front and rear ends of the outer shell are respectively provided with ultrasonic modules, and the ultrasonic controller is respectively connected to the ultrasonic module and the control board;

[0009] The guide rail is located above the outer shell, and the driving wheel and the driven wheel are symmetrically arranged on both sides of the guide rail; the driving wheel and the driven wheel are respectively mounted on the support frame of the outer shell, and the support wheel groups are symmetrically arranged on both sides of the support frame; each support wheel group includes two support wheels, and the two support wheels are symmetrically arranged on both sides of the guide rail;

[0010] The drive motor is installed in the outer shell, the output shaft of the drive motor is connected to the drive wheel through a transmission mechanism, and the drive motor drives the drive wheel to move along the guide rail; the stepper motor driver is connected to the drive motor and the control board respectively;

[0011] The central processor is connected to the reader and the control board respectively, and the central processor is connected to the host computer through a wireless network card. The reader is used to read the location information and transmit it to the central processor, and the central processor transmits the location information to the host computer through the wireless network card;

[0012] Working robot connecting plates are respectively provided on both sides of the outer shell, and the working robot connecting plates are used to be connected to the working robot.

[0013] In the above solution, the support wheel is installed on the outer shell through a support wheel shaft seat.

[0014] Furthermore, it also includes guide wheels; the guide wheels are symmetrically arranged on both sides of the driving wheel.

[0015] Furthermore, the guide wheel is detachably mounted on the supporting wheel axle seat via an auxiliary connecting plate.

[0016] In the above solution, the reader is an RF310R reader; the central processor is a Jetson Nano series.

[0017] The above scheme also includes an electromagnet; the electromagnet is installed on the outer shell; the electromagnet is connected to the control board, and when the driving wheel stops, the control board controls the electromagnet to be adsorbed on the bottom of the guide rail.

[0018] In the above scheme, the transmission mechanism is a gear transmission mechanism; the gear transmission mechanism includes a first bevel gear, a second bevel gear and a helical gear; the first bevel gear is connected to the output shaft of the drive motor, the first bevel gear is meshed with the second bevel gear, the second bevel gear transmits power to the helical gear through the gear shaft, and the helical gear drives the drive wheel to rotate.

[0019] The above scheme also includes a battery box and a battery;

[0020] The battery box is installed at the front end of the outer shell, and the battery is installed in the battery box; the battery is respectively connected with the ultrasonic module, the electromagnet, the reader / writer, the drive motor, the central processing unit, the ultrasonic controller, the stepper motor driver, the control board and the wireless network card.

[0021] In the above scheme, the working robots include inspection robots, transport robots and feeding robots.

[0022] Further, the handling robot includes a mounting plate, a control box, a handling robot central processor, a winch lifting mechanism, a handling robot electromagnet, a material hook, a lifting motor, a handling robot battery, a lifting motor driver and a circuit control board;

[0023] The mounting plate is connected to the operating robot connecting plate and is carried under the carrying mechanism. The control box is connected to the mounting plate. The handling robot central processor, the handling robot battery, the lifting motor driver and the circuit control board are arranged in the control box. One end of the winch lifting mechanism is connected to the mounting plate through the first connecting frame, and the lower end is connected to the second connecting frame; the handling robot electromagnet is located on the second connecting frame; the material hook is arranged at the bottom of the second connecting frame; the lifting motor is installed at the bottom of the mounting plate and connected to the winch lifting mechanism to drive the winch lifting mechanism to lift and lower. The winch lifting mechanism is connected to the lifting motor driver, the lifting motor driver is connected to the circuit control board, the circuit control board is connected to the handling robot central processor, and the handling robot central processor is connected to the host computer; the handling robot battery is respectively connected to the handling robot central processor, the handling robot electromagnet, the lifting motor driver and the circuit control board.

[0024] A control method according to the universal rail-type carrying device of the working robot comprises the following steps:

[0025] A guide rail is arranged above the breeding pond, and a plurality of carrying mechanisms are arranged on the guide rail, and the working robot is carried on the carrying mechanism through the working robot connecting plate; the control board controls the driving motor through the stepping motor driver to drive the driving wheel to move along the guide rail;

[0026] The control board controls the ultrasonic modules at the front and rear ends of the outer shell through the ultrasonic controller to detect obstacle signals in the moving direction, and transmits the obstacle signals to the control board. If there is an obstacle, the control board controls the drive motor to stop working through the stepper motor driver;

[0027] The reader reads the location information and transmits it to the central processor, which transmits the location information to the host computer through the wireless network card;

[0028] When the carrying mechanism reaches the preset position, the control board controls the driving motor to stop working through the stepper motor driver, and controls the electromagnet to be adsorbed on the bottom of the guide rail.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. The present invention adopts the universal rail-type carrying device of the operating robot to make full use of the space above the breeding pond. Multiple carrying mechanisms can be installed on the guide rail, which is conducive to realizing "one track for sharing". The carrying mechanism can carry different types of operating robots, which is conducive to realizing "one machine for multiple uses", improving the efficiency of the breeding factory, saving costs, and helping to complete the emergency dispatch and operation of different types of operating robots according to the differences in priority of different demands on the host computer when solving emergencies in the production process.

[0031] 2. The handling robot can adsorb the cleaning robot through the handling robot electromagnet, or hook the materials through the material hook. It can be used to carry the cleaning robot and the materials, which expands the applicability of the handling robot.

[0032] Note that the description of these effects does not prevent the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic structural diagram of a universal rail-type carrying device for a working robot according to one embodiment of the present invention.

[0034] Figure 2 It is a schematic diagram of the axial structure of the mounting mechanism according to one embodiment of the present invention.

[0035] Figure 3 It is a schematic diagram of the top structure of the mounting mechanism according to one embodiment of the present invention.

[0036] Figure 4 It is a schematic side structural diagram of a carrying mechanism according to one embodiment of the present invention.

[0037] Figure 5 yes Figure 4 Schematic cross-sectional view of AA.

[0038] Figure 6 It is a schematic structural diagram of a carrying robot carried by a carrying mechanism according to one embodiment of the present invention.

[0039] Figure 7 It is a schematic diagram of the front structural view of a transport robot according to one embodiment of the present invention.

[0040] Figure 8 It is a schematic side structural diagram of a transport robot according to one embodiment of the present invention.

[0041] In the figure, 1. ultrasonic module, 2. battery box, 3. electromagnet, 4. guide wheel, 401, auxiliary connecting plate, 5. driving wheel, 6. outer shell, 7. supporting wheel, 701, supporting wheel axle seat, 8. guide rail, 9. reader / writer, 10. operating robot connecting plate, 11. driving motor, 12. central processing unit, 13. ultrasonic controller, 14. stepper motor driver, 15. control board, 16. wireless network card, 17. battery, 18. driven wheel, 19. support frame, 20. mounting plate, 21. control box, 22. handling robot central processing unit, 23. winch lifting mechanism, 24. handling robot electromagnet, 25. material hook, 26. lifting motor, 27. handling robot battery, 28. servo drive motor, 29. circuit control board. DETAILED DESCRIPTION

[0042] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0043] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0044] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Figure 1-5 The figure shows a preferred embodiment of the universal rail-type carrying device of the working robot, which includes a guide rail 8; a plurality of carrying mechanisms are arranged on the guide rail 8, each of which includes an ultrasonic module 1, a battery box 2, a driving wheel 5, a driven wheel 18, an outer shell 6, a supporting wheel group, a reader 9, a driving motor 11, a central processing unit 12, an ultrasonic controller 13, a stepper motor driver 14, a control board 15, a wireless network card 16, a battery 17 and a working robot connecting board 10;

[0046] The front and rear ends of the outer shell 6 are respectively provided with ultrasonic modules 1, and the ultrasonic controller 13 is respectively connected to the ultrasonic module 1 and the control board 15;

[0047] The guide rail 8 is located above the outer shell 6, and the driving wheel 5 and the driven wheel 18 are symmetrically arranged on both sides of the guide rail 8; the driving wheel 5 and the driven wheel 18 are respectively mounted on the support frame 19 of the outer shell 6, and the support wheel groups are symmetrically arranged on both sides of the support frame 19; each support wheel group includes two support wheels 7, and the two support wheels 7 are symmetrically arranged on both sides of the guide rail 8;

[0048] The drive motor 11 is installed in the outer shell 6, and the output shaft of the drive motor 11 is connected to the drive wheel 5 through a transmission mechanism, and the drive motor 11 drives the drive wheel 5 to move along the guide rail 8; the stepper motor driver 14 is respectively connected to the drive motor 11 and the control board 15;

[0049] The central processor 12 is connected to the reader 9 and the control board 15 respectively, and the central processor 12 is connected to the host computer through the wireless network card 16. The reader 9 is used to read the position information and transmit it to the central processor 12, and the central processor 12 transmits the position information to the host computer through the wireless network card 16;

[0050] The two sides of the outer shell 6 are respectively provided with working robot connecting plates 10, and the working robot connecting plates 10 are used to connect with the working robot;

[0051] The battery box 2 is installed at the front end of the outer shell 6, and the battery 17 is installed in the battery box 2; the battery 17 is respectively connected to the ultrasonic module 1, the electromagnet 3, the reader 9, the drive motor 11, the central processing unit 12, the ultrasonic controller 13, the stepper motor driver 14, the control board 15 and the wireless network card 16.

[0052] According to this embodiment, preferably, the support wheel 7 is installed on the outer shell 6 via a support wheel shaft seat 701 .

[0053] Preferably, guide wheels 4 are further included; the guide wheels 4 are symmetrically arranged on both sides of the driving wheel 5 .

[0054] Preferably, the guide wheel 4 is detachably mounted on the supporting wheel shaft seat 701 via an auxiliary connecting plate 401 .

[0055] Preferably, the reader / writer 9 is an RF310R reader / writer.

[0056] Preferably, the central processing unit 12 is a Jetson Nano series.

[0057] The supporting wheel 7, driven wheel 18, driving wheel 5 and guide wheel 4 are mounted on the special track 8 arranged above the breeding pond to complete the axial movement of the carrying mechanism on the track 8. The ultrasonic module 1 is used to detect obstacle signals in the moving direction and detect the distance between the front and rear working robots to ensure a safe distance. The RF310R reader 9 is used to locate the position of the carrying mechanism in real time.

[0058] Preferably, it also includes an electromagnet 3; the electromagnet 3 is installed on the outer shell 6; the electromagnet 3 is connected to the control board 15, and when the driving wheel 5 stops, the control board 15 controls the electromagnet 3 to be adsorbed on the bottom of the guide rail 8, so that the carrying mechanism is more stable and safer when it stops moving.

[0059] The transmission mechanism is a gear transmission mechanism; the gear transmission mechanism includes a first bevel gear, a second bevel gear and a helical gear; the first bevel gear is connected to the output shaft of the drive motor 11, the first bevel gear is meshed with the second bevel gear, the second bevel gear transmits power to the helical gear through the gear shaft, and the helical gear drives the drive wheel 5 to rotate.

[0060] Preferably, the operating robots include an inspection robot, a transport robot and a feeding robot.

[0061] A control method according to the universal rail-type carrying device of the working robot comprises the following steps:

[0062] A guide rail 8 is arranged above the culture pond, and a plurality of carrying mechanisms are arranged on the guide rail 8, and the working robot is carried on the carrying mechanism through the working robot connecting plate 10; the control board 15 controls the driving motor 11 through the stepping motor driver 14 to drive the driving wheel 5 to move along the guide rail 8;

[0063] The control board 15 controls the ultrasonic modules 1 at the front and rear ends of the outer shell 6 through the ultrasonic controller 13 to detect obstacle signals in the moving direction, and transmits the obstacle signals to the control board 15. If there is an obstacle, the control board 15 controls the drive motor 11 to stop working through the stepper motor driver 14;

[0064] The reader / writer 9 reads the location information and transmits it to the central processor 12, and the central processor 12 transmits the location information to the host computer through the wireless network card 16;

[0065] When the carrying mechanism reaches the preset position, the control board 15 controls the driving motor 11 to stop working through the stepping motor driver 14, and controls the electromagnet 3 to be adsorbed on the bottom of the guide rail 8, so as to realize safe, efficient and low-energy walking operation.

[0066] Figure 6-8 As shown, in a specific embodiment of the present invention, the carrying mechanism carries a handling robot; the handling robot includes a mounting plate 20, a control box 21, a handling robot central processor 22, a winch lifting mechanism 23, a handling robot electromagnet 24, a material hook 25, a lifting motor 26, a handling robot battery 27, a lifting motor driver 28 and a circuit control board 29; the control box 21 is connected to the mounting plate 20, the handling robot central processor 22, the handling robot battery 27, the lifting motor driver 28 and the circuit control board 29 are arranged in the control box 21, and one end of the winch lifting mechanism 23 is connected to the mounting plate 20. The first connecting frame is connected to the mounting plate 20, and the lower end is connected to the second connecting frame; the handling robot electromagnet 24 is located on the second connecting frame, and is used to adsorb the cleaning robot; the material hook 25 is set at the bottom of the second connecting frame, and is used to hook the material; the lifting motor 26 is installed at the bottom of the mounting plate 20, and is connected to the winch lifting mechanism 23, driving the winch lifting mechanism 23 to lift and lower, the winch lifting mechanism 23 is connected to the lifting motor driver 28, the lifting motor driver 28 is connected to the circuit control board 29, the circuit control board 29 is connected to the handling robot central processor 22, and the handling robot central processor 22 is connected to the host computer. The handling robot battery 27 is connected to the handling robot central processor 22, the handling robot electromagnet 24, the lifting motor driver 28 and the circuit control board 29 respectively. The mounting plate 20 is connected to the operation robot connecting plate 10, and is mounted under the mounting mechanism; the host computer controls the circuit control board 29 according to the preset process, and the handling robot central processor 22 drives the winch lifting mechanism 23 to lift and lower through the lifting motor driver 28 to complete the corresponding operation.

[0067] The transport robot can adsorb the cleaning robot through the transport robot electromagnet 24, or hook the materials through the material hook 25. It can be used to transport the cleaning robot and the materials. One machine has multiple uses, which expands the applicability of the transport robot.

[0068] The track 8 is a special track for the sliding of the carrying mechanism established above the breeding pond. The special track 8 can be arranged above each breeding pond in the breeding factory, so that the universal track-type carrying device of the operating robot can cover above each breeding pond. The inspection robot, the handling robot and the feeding robot can all be carried on the carrying mechanism, which is conducive to realizing "one track sharing", breaking through the limitations of the complex breeding environment and insufficient space of the aquaculture factory, and the carrying mechanism can carry different types of operating robots, which is conducive to realizing "one machine for multiple uses", improving the efficiency of the breeding factory, and saving costs. During the breeding process, the upper computer can control the spare carrying mechanism closest to the target breeding pond to the nearest robot placement point to replace the operating robot for operation according to the preset process of the breeding pond, which is conducive to simplifying path planning and division of labor and cooperation, and efficiently completing production operations. For example, during the breeding process, the A breeding pond needs to be inspected, and the B breeding pond needs to be fed. The distance between the two is far, and there is no inspection robot near the A breeding pond, only a feeding robot, and there is no feeding robot near the B breeding pond, only an inspection robot. The upper computer controls the feeding robot of breeding pond A to move to the robot placement point closest to breeding pond A and manually replaces it with an inspection robot, and controls the inspection robot of breeding pond B to move to the robot placement point closest to breeding pond B and manually replace it with a feeding robot, which is conducive to realizing common track collaborative operation and improving operation efficiency.

[0069] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0070] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A universal rail-type carrying device for a working robot, characterized in that: The invention comprises a guide rail (8); the guide rail (8) is provided with a plurality of carrying mechanisms, each of the carrying mechanisms comprises an ultrasonic module (1), a driving wheel (5), a driven wheel (18), an outer shell (6), a supporting wheel group, a reader / writer (9), a driving motor (11), a central processing unit (12), an ultrasonic controller (13), a stepping motor driver (14), a control board (15), a wireless network card (16) and an operating robot connection board (10); The front and rear ends of the outer shell (6) are respectively provided with ultrasonic modules (1), and the ultrasonic controller (13) is respectively connected to the ultrasonic module (1) and the control board (15); The guide rail (8) is located above the outer shell (6), and the driving wheel (5) and the driven wheel (18) are symmetrically arranged on both sides of the guide rail (8); the driving wheel (5) and the driven wheel (18) are respectively mounted on a support frame (19) of the outer shell (6), and the support wheel groups are symmetrically arranged on both sides of the support frame (19); each support wheel group includes two support wheels (7), and the two support wheels (7) are symmetrically arranged on both sides of the guide rail (8); The driving motor (11) is installed in the outer shell (6); the output shaft of the driving motor (11) is connected to the driving wheel (5) through a transmission mechanism; the driving motor (11) drives the driving wheel (5) to move along the guide rail (8); the stepping motor driver (14) is respectively connected to the driving motor (11) and the control board (15); The central processor (12) is connected to the reader / writer (9) and the control board (15) respectively. The central processor (12) is connected to the host computer via a wireless network card (16). The reader / writer (9) is used to read the position information and transmit it to the central processor (12). The central processor (12) transmits the position information to the host computer via the wireless network card (16); Working robot connection plates (10) are respectively provided on both sides of the outer shell (6), and the working robot connection plates (10) are used to be connected to the working robot.

2. The universal rail-type mounting device for a working robot according to claim 1, characterized in that: The support wheel (7) is mounted on the outer shell (6) via a support wheel shaft seat (701).

3. The universal rail-type mounting device for a working robot according to claim 2, characterized in that: It also includes guide wheels (4); the guide wheels (4) are symmetrically arranged on both sides of the driving wheel (5); the guide wheels (4) are detachably mounted on the supporting wheel shaft seat (701) via an auxiliary connecting plate (401).

4. The universal rail-type mounting device for a working robot according to claim 1, characterized in that: The reader / writer (9) is an RF310R reader / writer; the central processor (12) is a Jetson Nano series.

5. The universal rail-type mounting device for a working robot according to claim 1, characterized in that: It also includes an electromagnet (3); the electromagnet (3) is mounted on the outer shell (6); the electromagnet (3) is connected to a control board (15); when the driving wheel (5) stops, the control board (15) controls the electromagnet (3) to be adsorbed on the bottom of the guide rail (8).

6. The universal rail-type mounting device for a working robot according to claim 1, characterized in that: The transmission mechanism is a gear transmission mechanism; the gear transmission mechanism comprises a first bevel gear, a second bevel gear and a helical gear; the first bevel gear is connected to the output shaft of the drive motor (11), the first bevel gear is meshed with the second bevel gear, the second bevel gear transmits power to the helical gear through the gear shaft, and the helical gear drives the drive wheel (5) to rotate.

7. The universal rail-type mounting device for a working robot according to claim 1, characterized in that: Also includes a battery box (2) and a battery (17); The battery box (2) is installed at the front end of the outer shell (6), and the battery (17) is installed in the battery box (2); the battery (17) is respectively connected to the ultrasonic module (1), the electromagnet (3), the reader (9), the drive motor (11), the central processing unit (12), the ultrasonic controller (13), the stepper motor driver (14), the control board (15) and the wireless network card (16).

8. The universal rail-type mounting device for a working robot according to claim 1, characterized in that: The operating robots include an inspection robot, a transport robot and a feeding robot.

9. The universal rail-type mounting device for a working robot according to claim 8, characterized in that: The handling robot comprises a mounting plate (20), a control box (21), a handling robot central processor (22), a winch lifting mechanism (23), a handling robot electromagnet (24), a material hook (25), a lifting motor (26), a handling robot battery (27), a lifting motor driver (28) and a circuit control board (29); The mounting plate (20) is connected to the operating robot connecting plate (10) and is mounted below the mounting mechanism. The control box (21) is connected to the mounting plate (20). The handling robot central processor (22), the handling robot battery (27), the lifting motor driver (28) and the circuit control board (29) are arranged in the control box (21). One end of the winch lifting mechanism (23) is connected to the mounting plate (20) through a first connecting frame, and the lower end is connected to a second connecting frame. The handling robot electromagnet (24) is located on the second connecting frame. The material hook (25) is arranged at the bottom of the second connecting frame. The lifting motor (2 6) is installed at the bottom of the mounting plate (20) and is connected to the winch lifting mechanism (23) to drive the winch lifting mechanism (23) to rise and fall. The winch lifting mechanism (23) is connected to the lifting motor driver (28), the lifting motor driver (28) is connected to the circuit control board (29), the circuit control board (29) is connected to the handling robot central processor (22), and the handling robot central processor (22) is connected to the host computer; the handling robot battery (27) is respectively connected to the handling robot central processor (22), the handling robot electromagnet (24), the lifting motor driver (28) and the circuit control board (29).

10. A method for controlling the universal rail-type carrying device of a working robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: A guide rail (8) is arranged above the culture pond, and a plurality of mounting mechanisms are arranged on the guide rail (8). The working robot is mounted on the mounting mechanisms via a working robot connecting plate (10); the control panel (15) controls the driving motor (11) via a stepping motor driver (14) to drive the driving wheel (5) to move along the guide rail (8); The control board (15) controls the ultrasonic modules (1) at the front and rear ends of the outer shell (6) through the ultrasonic controller (13) to detect obstacle signals in the moving direction, and transmits the obstacle signals to the control board (15). If there is an obstacle, the control board (15) controls the drive motor (11) to stop working through the stepper motor driver (14); The reader / writer (9) reads the location information and transmits it to the central processor (12), and the central processor (12) transmits the location information to the host computer via the wireless network card (16); When the carrying mechanism reaches a preset position, the control panel (15) controls the driving motor (11) to stop working through the stepping motor driver (14), and controls the electromagnet (3) to be adsorbed on the bottom of the guide rail (8).

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