Electric control system of pesticide applying and supplying separated greenhouse plant protection robot

Abstract

The invention relates to an electrical control system of a pesticide applying and supplying separated greenhouse plant protection robot. The system comprises an environment sensing module, a pesticide supplying and applying control module, a motion control module and a safety module. The environment sensing module is used for acquiring environment information in the greenhouse and current position information of the robot; the pesticide supplying and applying control module is used for controlling the robot pesticide applying part and the pesticide supplying part to synergistically spray pesticide liquid and detecting the tightness degree of a pesticide liquid supplying pipe connecting the robot pesticide applying part and the pesticide supplying part; the motion control module receives information of the environment sensing module and controls the robot to operate; and the safety module monitors the distance between the current position of the robot and the obstacle in the greenhouse in real time and performs safety protection on the robot. Compared with the prior art, the pesticide application and supply separation type greenhouse plant protection robot can be controlled, it is ensured that the robot pesticide supply part and the robot pesticide application part can be well matched in the operation process of the robot, and the pesticide application work efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural robots, and in particular to an electrical control system of a pesticide-applying and pesticide-supplying separated greenhouse plant protection robot. Background Art

[0002] With the rapid development of facility agriculture, the area of ​​greenhouse cultivation continues to expand, and the scope of application has gradually expanded from single facility vegetables to fruits, flowers and other fields. At present, greenhouse plant protection operations are still mainly carried out with backpack, stretcher or hand-push sprayers. This operation method is not only labor-intensive and has a high operation frequency, but also has poor ventilation conditions and high temperatures inside the greenhouse. Operators working in harsh environments for a long time may cause harm to their health. In addition, this traditional operation mode is inefficient and difficult to meet the needs of large-scale intensive agricultural development.

[0003] At present, most agricultural robots in the prior art are still in the laboratory research and development stage and have not yet formed practical products. Therefore, a small unmanned plant protection robot that is efficient, pure electric and suitable for greenhouse spraying will effectively fill the technical gap in this field. It can not only significantly improve the efficiency of spraying vegetables and flowers in greenhouses and reduce the cost of spraying, but also improve working conditions and reduce the labor intensity of operators. It has broad prospects for industrial application and important social and economic value. In the prior art, the Chinese invention patent application with patent publication number CN113545330A discloses a plant protection robot for greenhouses, but it mainly focuses on the mechanical structure design of the robot and does not involve the electrical control system architecture and design scheme of the robot. In addition, the Chinese invention patent application with patent publication number CN116349457A discloses an intelligent spraying robot, which is integrated with the spraying device on the walking system through a hydraulic system to achieve remote control of spraying and walking. However, it is limited by the fuselage structure and the spraying method, and it is difficult to adapt to the operation requirements of narrow environments such as greenhouses. Therefore, what is currently lacking in robot control is a small, efficient, purely electric, and unmanned plant protection robot suitable for greenhouse spraying and its electrical control method. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide an electrical control system for a greenhouse plant protection robot with separate application and supply of pesticides, which is used to control the greenhouse plant protection robot with separate application and supply of pesticides, to ensure that the drug supply part and the drug application part of the robot can cooperate well during the operation of the robot, thereby improving the efficiency of the application work.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] An electrical control system for a greenhouse plant protection robot with separate application and supply, the robot comprising a water supply pipe connecting the application part and the supply part, characterized in that the system comprises an environment perception module, a drug supply and application control module, a motion control module and a safety module; wherein,

[0007] The environmental perception module obtains the environmental information in the greenhouse and the current position information of the robot, and transmits the information to other modules;

[0008] The medicine supply and application control module receives the control signal sent by the motion control module, controls the robot's medicine application part and the medicine supply part to coordinately spray the medicine liquid, and at the same time detects the tightness of the medicine supply water pipe connecting the robot's medicine application part and the medicine supply part, and controls the speed at which the robot's medicine supply part releases the medicine supply water pipe according to the detection result, so that the medicine supply water pipe is normally connected;

[0009] The motion control module receives information from the environment perception module and controls the operation of the robot;

[0010] The safety module receives data from the environmental perception module and monitors the distance between the robot's current position and obstacles in the greenhouse in real time. If the distance exceeds the set spacing threshold or the distance decreases by more than the set growth threshold in a short period of time, a control signal is sent to the motion control module to perform emergency braking on the robot, stop the robot's pesticide application operation, and issue an alarm.

[0011] Furthermore, the process of the medicine applying part and the medicine supply part cooperating to spray the medicine liquid includes:

[0012] Receive the control signal of the motion control module, control the water pump of the robot's application part according to the signal, transport the liquid medicine from the medicine box of the robot's medicine supply part through the medicine supply water pipe to the robot's application part for spraying, and drive the pipe reel of the robot's medicine supply part to release or retract the medicine supply water pipe in accordance with the walking direction and speed of the robot's application part.

[0013] Furthermore, during the operation of the robot, if the liquid level in the medicine box of the medicine supply part is lower than the preset liquid level threshold, the medicine supply and application control module will issue an alarm for insufficient medicine liquid, and send a braking signal to the motion control module to stop the robot's application operation. If the liquid level in the medicine box returns to normal, a recovery signal will be sent to the motion control module to allow the robot to automatically resume the application operation.

[0014] Furthermore, the drug supply and application control module also detects the release length of the drug supply water pipe connecting the robot's application part and the drug supply part. If the release length of the drug supply water pipe reaches a release threshold, the drug supply and application control module sends a braking signal to the motion control module to stop the robot's application operation.

[0015] Furthermore, the motion control module controls the operation of the robot including: robot walking control, robot steering control and robot arm span control.

[0016] Furthermore, the safety module is also used to check the status of the robot when the robot is started, scan the electrical control system and the robot hardware, and if an abnormal status is detected, a voice alarm is issued and the robot operation is stopped.

[0017] Furthermore, the system also includes a host computer module, a human-computer interaction module and a power supply module; wherein,

[0018] The host computer module is used to coordinate and manage all modules, receive information obtained by the environment perception module, automatically complete the robot's trajectory planning, and send it to the motion control module;

[0019] The human-machine interaction module receives information sent by the environment perception module, module connection status information, alarm information and robot status information, and integrates and displays the information, so that the operator can monitor the working status of the robot in real time, and send control signals to the motion control module and the drug supply and application control module through remote control;

[0020] The power supply module performs status analysis and charge and discharge control management on the robot battery, and controls the robot on and off according to the control signal of the motion control module.

[0021] Furthermore, the motion control module controls the robot motion including manual control mode, free movement mode and automatic operation mode;

[0022] In the manual control mode and the free movement mode, the motion control module receives the control signal sent by the human-computer interaction module and controls the operation of the robot in combination with the information from the environment perception module;

[0023] In the automatic operation mode, the motion control module receives the trajectory planning of the robot sent by the host computer module, and automatically controls the operation of the robot in combination with the information of the environment perception module.

[0024] Furthermore, the power supply module analyzes the battery status by monitoring the data of the robot's battery cell voltage, total battery voltage, charge and discharge current and battery temperature. If the battery status is abnormal, the power supply module sends an alarm message and sends a braking signal to the host computer module to stop the operation of all modules of the robot.

[0025] Furthermore, the host computer module, motion control module and environmental perception module are interconnected via a USB bus, the power supply module and motion control module are connected via a CAN bus, the power supply module is also electrically connected to other modules, the motion control module, human-computer interaction module and drug supply and administration control module are wirelessly connected; the security module and motion control module are wirelessly connected.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] 1. The present invention proposes a control method for a greenhouse plant protection robot with separate characteristics of applying and supplying medicine, which controls the robot's applying part and supply part to coordinately spray the medicine liquid, monitors the tightness and release length of the medicine supply water pipe, ensures the normal connection of the medicine supply water pipe and the stable spraying of the medicine liquid, so that the separated applying part and supply part of the robot form a control whole, thereby improving the robot's operation safety and efficiency; the safety module monitors the distance between the robot and the obstacle in real time, and performs emergency braking when necessary, effectively avoiding collision accidents and improving the safety of the robot's operation;

[0028] 2. The system of the present invention includes multiple modules such as environmental perception, drug supply and administration, motion control, safety, host computer, human-computer interaction, remote control and power supply. The modules work together to achieve highly integrated functions and modular design, which is convenient for system maintenance and upgrading;

[0029] 3. The power supply module in the system of the present invention can perform status analysis and charge and discharge control management on the robot battery to ensure the reasonable use of the battery and extend the battery life. At the same time, when the battery status is abnormal, the power supply module can issue an alarm message and stop the operation of all modules of the robot to ensure the safety of the system;

[0030] 4. The human-machine interaction module in the system of the present invention can integrate and display environmental perception information, module connection status, alarm information and robot status information, so that the operator can monitor the working status of the robot in real time and send control signals through remote control, which improves the convenience and flexibility of operation;

[0031] 5. The motion control module in the system of the present invention supports manual control mode, free movement mode and automatic operation mode, which can meet the operation requirements in different scenarios and enhance the flexibility of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a system structure diagram of the present invention;

[0033] Figure 2 This is a structural block diagram of the environment perception module of the present invention;

[0034] Figure 3 This is a structural block diagram of the motion control module of the present invention;

[0035] Figure 4 This is a structural block diagram of the drug supply and administration control module of the present invention;

[0036] Figure 5 This is a structural block diagram of the power supply module of the present invention;

[0037] Figure 6 It is a system flow chart of the electrical control system of the present invention. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0039] Example 1

[0040] The greenhouse plant protection robot with separate application and supply features reduces the size of the robot's moving part actually used for application, and the supply part only needs to be placed in an open place or even outside the greenhouse. The two are connected by a water supply pipe, which greatly facilitates the application operation.

[0041] This embodiment intends to disclose an electrical control system for a greenhouse plant protection robot with separate application and supply of pesticides. Figure 1 The system shown includes an environment perception module 1 , a drug supply and administration control module 2 , a motion control module 3 , a safety module 4 , a host computer module 5 , a human-computer interaction module 6 and a power supply module 7 .

[0042] The host computer module 5, the motion control module 3 and the environmental perception module 1 are interconnected via a USB bus, the motion control module 3 and the power supply module 7 are connected via a CAN bus, and the motion control module 3, the human-computer interaction module 6, the safety module 4 and the drug supply and administration control module 2 are connected wirelessly.

[0043] The environment perception module 1 is used to obtain the environment information in the greenhouse and the current position information of the robot, and transmit the information to other modules. Figure 2 As shown in the figure, the environment perception module 1 includes front and rear dual cameras, obstacle avoidance laser radar and GPS positioning device. The front and rear dual cameras are used to capture visible light images of the working environment and identify crop rows and working areas; the laser radar detects the position and distance of obstacles in real time and generates three-dimensional environmental information; the GPS positioning device provides the robot with real-time position information to assist in path planning and work positioning. Figure 2 As shown in the figure, the sensor data captured by the front and rear dual cameras, obstacle avoidance lidar and GPS positioning device will be summarized in the host computer module and then distributed to other modules.

[0044] The motion control module 3 receives information from the environment perception module 1 and controls the robot operation, including: robot walking control, robot steering control and robot arm span control. Figure 3 As shown in the figure, the motion control module 3 is based on the STM32 controller, and connects the walking and steering function with the spray boom retracting and releasing function through the CAN bus. The walking and steering function realizes precise forward, turning and backward operations through multiple sets of motor drivers and walking motors; the spray boom retracting and releasing function controls the robot arm span through the driver, controls the spray boom motor, realizes the automatic extension and retraction of the spray boom, and ensures the uniformity and efficiency of the spraying operation. There are three modes for the motion control module 3 to control the robot, including manual control mode, free movement mode and automatic operation mode.

[0045] The medicine supply and application control module 2 receives the control signal sent by the motion control module 3, controls the robot's application part and the supply part to coordinately spray the medicine solution, and uses the tension sensor to detect the tightness of the medicine supply water pipe connecting the robot's application part and the medicine supply part, and controls the speed at which the medicine supply water pipe is released by the pipe reel of the robot's medicine supply part according to the detection result, so that the medicine supply water pipe is normally connected.

[0046] The medicine supply and application control module 2 includes a water pump, a hose reel and a medicine box, and communicates with the motion control system via wireless signals.

[0047] like Figure 4 As shown, the process of spraying the liquid medicine by the medicine applying part and the medicine supply part in cooperation includes:

[0048] Receive the control signal of the motion control module 3, control the water pump of the robot's medicine applying part according to the signal, transport the medicine liquid from the medicine box of the robot's medicine supply part to the robot's medicine applying part through the medicine supply water pipe for spraying, and drive the pipe reel of the robot's medicine supply part to release or retract the medicine supply water pipe in coordination with the walking direction and speed of the robot's medicine applying part.

[0049] During the operation of the robot, if the liquid level in the medicine box of the medicine supply part of the robot is lower than the preset liquid level threshold, the medicine supply and application control module 2 will issue an alarm for insufficient medicine liquid and send a braking signal to the motion control module 3 to stop the robot's application operation. If the liquid level in the medicine box returns to normal, a recovery signal will be sent to the motion control module 3 to allow the robot to automatically resume the application operation.

[0050] The medicine supply and application control module 2 also detects the release length of the medicine supply water pipe connecting the robot's application part and the medicine supply part through the tube reel limiter. If the tube reel limiter detects that the release length of the medicine supply water pipe reaches the release threshold, the medicine supply and application control module 2 sends a braking signal to the motion control module 3 to stop the robot's application operation.

[0051] The safety module 4 receives data from the environmental perception module 1 and monitors the distance between the robot's current position and obstacles in the greenhouse in real time. If the distance exceeds the set spacing threshold or the distance decreases by more than the set growth threshold in a short period of time, it sends a control signal to the motion control module 3 to perform emergency braking on the robot, stop the robot's pesticide application operation, and issue an alarm. The safety module 4 also includes anti-collision boots and an emergency stop button. The anti-collision boots can protect the robot from collision in an emergency, and the emergency stop button is a physical or virtual button that can be triggered by other modules or manually. After departure, an alarm will be issued and the robot will stop running.

[0052] The safety module 4 is also used to check the status of the robot when it is started, scan the electrical control system and the robot hardware, and if an abnormal status is detected, a voice alarm is issued and the robot is stopped.

[0053] The host computer module 5 is used to coordinate and manage all modules, including sensor data processing, task planning and scheduling, motion control and navigation, task feedback and recording, and human-computer interaction. The host computer analyzes the real-time data collected by the environmental perception system, formulates the optimal plant protection path and operation plan according to the preset intelligent algorithm, and generates corresponding control instructions to send to the lower motion control module 3 to control the robot to perform corresponding operations.

[0054] The human-computer interaction module 6 receives information sent by the environmental perception module 1, module connection status information, alarm information and robot status information, and integrates and displays the information so that the operator can monitor the working status of the robot in real time, and send control signals to the motion control module 3 and the drug supply and administration control module 2 through remote control. The human-machine interaction module 6 includes a remote control, a receiver and a human-machine interface, wherein the remote control uses the SBUS communication protocol to realize the remote operation and control of the plant protection robot. The operator remotely controls the plant protection robot to adjust the movement direction and start, pause and stop the pesticide application and supply system through the remote control system; the receiver is connected to the camera and the digital video transmission function is used to achieve a transmission of up to 20 km at SD resolution; the human-machine interface includes CAN communication management, central information processing, fault alarm and information display functions. The instrument display module parses and displays key vehicle information. First, the CAN bus information is collected and parsed through the high-speed CAN communication management function. According to the CAN protocol, the effective information is parsed and amplified and then transmitted to the central information processing. After the central information is analyzed, the instrument display screen is driven to display the accumulated mileage, power, fault code, braking status, high and low speed driving status, and high and low speed mowing status information. At the same time, according to logical judgment, the voice alarm is driven in real time.

[0055] The power supply module 7 performs status analysis and charge and discharge control management on the robot battery, and controls the robot on and off according to the control signal of the motion control module 3. Figure 5 As shown, the power supply module 7 provides power to the entire robot through a 48V battery pack, and supplies power to different components through different voltage conversion modules. Specifically, it includes a 5V power supply to power the laser radar, camera and host computer; a 12V power supply to power the motion controller STM32; a 24V power supply to power the liquid level switch and other medium-voltage equipment; a 48V power supply to directly power the walking motor, hose reel and spray rod motor, and realize the working status control of the equipment through the drive module. In addition, the power supply system supports 220V AC charging, and cooperates with the water pump and liquid level detection functions to realize the dynamic power management and safe operation of the system.

[0056] The power supply module 7 analyzes the battery status by monitoring the data of the robot's battery cell voltage, total battery voltage, charge and discharge current and battery temperature. If the battery status is abnormal, the power supply module 7 will issue an alarm message and send a braking signal to the host computer module 5 to stop the operation of all modules of the robot.

[0057] Example 2

[0058] This embodiment discloses an electrical control system for a pesticide application and supply separation type greenhouse plant protection robot based on Embodiment 1, and proposes a control process for three modes of controlling the robot movement by the motion control module 3 in the above system.

[0059] The motion control module 3 controls the robot motion including manual control mode, free movement mode and automatic operation mode, such as Figure 6 As shown, in the manual control mode and the free movement mode, the motion control module 3 receives the control signal sent by the human-computer interaction module 6, and controls the operation of the robot in combination with the information of the environmental perception module 1; in the automatic operation mode, the motion control module 3 receives the trajectory planning of the robot sent by the upper computer module 5, and automatically controls the operation of the robot in combination with the information of the environmental perception module 1.

[0060] Specifically, the system determines the current operation mode of the robot according to the state of the lever position and executes the corresponding operation process. In manual mode, the robot receives control instructions through remote control signals, mainly including forward, backward, stop and turn operations. When receiving the forward instruction, the robot starts the walking motor, turns on the water pump and the hose reel at the same time, and performs synchronous spraying operations; when receiving the stop instruction, the robot immediately stops walking and stops the operation of the water pump and the hose reel at the same time. In manual mode, the operator controls the movement and spraying operations of the robot in real time through the remote control device, which is suitable for complex operation scenarios that require human intervention. In manual mode, the robot receives control instructions through remote control signals, mainly including forward, backward, stop and turn operations. When receiving the forward instruction, the robot starts the walking motor, turns on the water pump and the hose reel at the same time, and performs synchronous spraying operations; when receiving the stop instruction, the robot immediately stops walking and stops the operation of the water pump and the hose reel at the same time. In manual mode, the operator controls the movement and spraying operations of the robot in real time through the remote control device, which is suitable for complex operation scenarios that require human intervention. In both modes, the robot is equipped with a safety protection mechanism. When an emergency occurs, the safety system will trigger the emergency stop button to immediately stop the operation of all motors, including the travel motor, water pump and pipe reel, to ensure the safety of the robot's operation.

[0061] also, Figure 6 The robot also shows the control of the hose reel during operation. During operation, the hose reel limiter detects the release length of the water supply pipe connecting the robot's spraying part and the supply part. If the hose reel limiter detects that the release length of the water supply pipe reaches the release threshold, the robot stops spraying to ensure the continuity of the operation. Similarly, if the robot limiter detects that the robot's movement distance reaches the threshold during operation, the robot stops spraying.

[0062] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An electrical control system for a greenhouse plant protection robot with separate application and supply, the robot comprising a water supply pipe connecting the application part and the supply part, characterized in that: The system includes an environment perception module, a drug supply and administration control module, a motion control module and a safety module; wherein, The environmental perception module obtains the environmental information in the greenhouse and the current position information of the robot, and transmits the information to other modules; The medicine supply and application control module receives the control signal sent by the motion control module, controls the robot's medicine application part and the medicine supply part to coordinately spray the medicine liquid, and at the same time detects the tightness of the medicine supply water pipe connecting the robot's medicine application part and the medicine supply part, and controls the speed at which the robot's medicine supply part releases the medicine supply water pipe according to the detection result, so that the medicine supply water pipe is normally connected; The motion control module receives information from the environment perception module and controls the operation of the robot; The safety module receives data from the environmental perception module and monitors the distance between the robot's current position and obstacles in the greenhouse in real time. If the distance exceeds the set spacing threshold or the distance decreases by more than the set growth threshold in a short period of time, a control signal is sent to the motion control module to perform emergency braking on the robot, stop the robot's pesticide application operation, and issue an alarm.

2. The electrical control system of the pesticide application and supply separation type greenhouse plant protection robot according to claim 1 is characterized in that: The process of spraying the medicine liquid in cooperation with the medicine supply part includes: Receive the control signal of the motion control module, control the water pump of the robot's application part according to the signal, transport the liquid medicine from the medicine box of the robot's medicine supply part through the medicine supply water pipe to the robot's application part for spraying, and drive the pipe reel of the robot's medicine supply part to release or retract the medicine supply water pipe in accordance with the walking direction and speed of the robot's application part.

3. The electrical control system of the pesticide application and supply separation type greenhouse plant protection robot according to claim 2 is characterized in that: During the operation of the robot, if the liquid level in the medicine box of the medicine supply part is lower than the preset liquid level threshold, the medicine supply and application control module will issue an alarm for insufficient medicine liquid and send a braking signal to the motion control module to stop the robot's application operation. If the liquid level in the medicine box returns to normal, a recovery signal will be sent to the motion control module to allow the robot to automatically resume the application operation.

4. The electrical control system of the pesticide application and supply separation type greenhouse plant protection robot according to claim 1 is characterized in that: The medicine supply and application control module also detects the release length of the medicine supply water pipe connecting the robot's application part and the medicine supply part. If the release length of the medicine supply water pipe reaches a release threshold, the medicine supply and application control module sends a braking signal to the motion control module to stop the robot's application operation.

5. The electrical control system of the pesticide application and supply separation type greenhouse plant protection robot according to claim 1 is characterized in that: The motion control module controls the operation of the robot including: robot walking control, robot steering control and robot arm span control.

6. The electrical control system of the pesticide application and supply separation type greenhouse plant protection robot according to claim 1, characterized in that: The safety module is also used to check the status of the robot when it is started, scan the electrical control system and the robot hardware, and if an abnormal status is detected, a voice alarm is issued and the robot is stopped.

7. The electrical control system of the pesticide application and supply separation type greenhouse plant protection robot according to claim 1 is characterized in that: The system also includes a host computer module, a human-computer interaction module and a power supply module; wherein, The host computer module is used to coordinate and manage all modules, receive information obtained by the environment perception module, automatically complete the robot's trajectory planning, and send it to the motion control module; The human-machine interaction module receives information sent by the environment perception module, module connection status information, alarm information and robot status information, and integrates and displays the information, so that the operator can monitor the working status of the robot in real time, and send control signals to the motion control module and the drug supply and application control module through remote control; The power supply module performs status analysis and charge and discharge control management on the robot battery, and controls the robot on and off according to the control signal of the motion control module.

8. The electrical control system of the pesticide application and supply separation type greenhouse plant protection robot according to claim 7, characterized in that: The motion control module controls the robot motion including manual control mode, free movement mode and automatic operation mode; In the manual control mode and the free movement mode, the motion control module receives the control signal sent by the human-computer interaction module and controls the operation of the robot in combination with the information from the environment perception module; In the automatic operation mode, the motion control module receives the trajectory planning of the robot sent by the host computer module, and automatically controls the operation of the robot in combination with the information of the environment perception module.

9. The electrical control system of the pesticide application and supply separation type greenhouse plant protection robot according to claim 7, characterized in that: The power supply module analyzes the battery status by monitoring the data of the robot's battery cell voltage, total battery voltage, charge and discharge current and battery temperature. If the battery status is abnormal, the power supply module sends an alarm message and sends a braking signal to the host computer module to stop the operation of all modules of the robot.

10. The electrical control system of the pesticide application and supply separation type greenhouse plant protection robot according to claim 7, characterized in that: The host computer module, motion control module and environmental perception module are interconnected via a USB bus, the power supply module and motion control module are connected via a CAN bus, and the power supply module is also electrically connected to other modules. The motion control module, human-computer interaction module and drug supply and administration control module are wirelessly connected; the safety module and motion control module are wirelessly connected.

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