Four-wheel leg type all-terrain agricultural robot

Abstract

The invention discloses a four-wheel-leg type all-terrain agricultural robot, and particularly relates to the technical field of agricultural robots, the four-wheel-leg type all-terrain agricultural robot comprises a robot main body, and an energy charging module connected with a power module through a wire is fixedly installed on the rear portion of the upper end of the robot main body; an insect killing module connected with the control module and the power module through signal lines is fixedly installed in the middle of the upper end of the robot body, four all-terrain movement modules connected through motors are fixedly connected to the left end and the right end of the robot body in a rectangular distribution mode, and an obstacle removing module is fixedly installed at the lower end of the robot body. According to the four-wheel-leg type all-terrain agricultural robot, the all-terrain movement module is matched with the robot body and the visual analysis module to drive equipment to move in an operation site, the obstacle clearing module is synchronously used for clearing and moving obstacles and weeds on a blocked road, and the pest killing module is used for positioning and killing pests; the number of pests in fields or orchards is reduced, and the quality and yield of fruits and vegetables are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural robots, and in particular to a four-wheeled and legged all-terrain agricultural robot. Background Art

[0002] In the agricultural sector, the application of robotics technology is gradually increasing to improve operational efficiency and crop management accuracy. As a new type of agricultural machinery, the four-wheeled legged all-terrain agricultural robot aims to overcome the limitations of traditional agricultural robots through its unique design and adapt to the changing farmland environment.

[0003] Chinese patent publication number CN115071857B discloses a four-wheeled and legged all-terrain agricultural robot, including a robot body, a sensor system is provided on the robot body, and two robot wheel legs are respectively provided on the front and rear sides of the robot body; the robot wheel legs include a gait walking mechanism and a steering mechanism, the upper end of the steering mechanism is connected to the robot body through the gait walking mechanism, and the lower end of the steering mechanism is connected to the driving wheel.

[0004] However, during actual use, the above-mentioned equipment has poor endurance, making it difficult to achieve long-term, large-scale operation, and is unable to clean and remove weeds and obstacles on the road. At the same time, current agricultural robots all spray pesticides over a large area, which is very wasteful and will cause environmental pollution. Summary of the invention

[0005] The main purpose of the present invention is to provide a four-wheeled, legged, all-terrain agricultural robot that can effectively solve the problems of poor endurance, inability to perform autonomous machine failures, and environmental pollution in existing equipment.

[0006] To achieve the above object, the technical solution adopted by the present invention is:

[0007] A four-wheeled, legged, all-terrain agricultural robot comprises a robot body, a visual analysis module is fixedly installed at the front end of the robot body, a power module, a control module and a signal transmission module are arranged in the inner cavity of the robot body, a charging module connected to the power module through a wire is fixedly installed at the rear of the upper end of the robot body, an insecticide module connected to the control module and the power module through a signal line is fixedly installed at the middle of the upper end of the robot body, four all-terrain motion modules connected through motors are fixedly connected in rectangular distribution at the left and right ends of the robot body, and an obstacle removal module is fixedly installed at the lower end of the robot body.

[0008] Preferably, the all-terrain motion module includes a leg support plate fixedly connected to the side surface of the robot body and the motor output shaft inside the robot body, a stepper motor 1 is fixedly installed on the end of the leg support plate away from the robot body, a support leg is fixedly installed on the output shaft of stepper motor 1, and a power wheel is fixedly installed on the side of the support leg away from stepper motor 1.

[0009] Preferably, the obstacle clearing module comprises a T-shaped slot provided at the lower end of the robot body, the inner surface of the T-shaped slot is slidably connected with a U-shaped slider, the rear end of the U-shaped slider is fixedly connected with an electric telescopic rod installed in the inner cavity of the robot body, the inner surface of the U-shaped slider is rotatably connected with a T-shaped connecting rod through a damping ring, the lower end of the vertical part of the T-shaped connecting rod is fixedly installed with an obstacle clearing component, the left and right outer surfaces of the T-shaped connecting rod are fixedly connected with a gear one that fits the inner wall of the T-shaped slot, and the front part of the inner surface of the T-shaped slot corresponds to the two gears one. The longitudinal line is fixedly installed with a rack one.

[0010] Preferably, the obstacle clearing component includes a support seat fixedly connected to the lower end of the vertical part of the T-shaped connecting rod, the front end of the support seat is rotatably connected to a left and right swing arm with a built-in axial motor, the front end of the left and right swing arm is rotatably connected to an up and down swing arm with a built-in longitudinal motor, the front end of the up and down swing arm is fixedly installed with a clamp and a seat, the inner surface of the clamp and the seat is symmetrically provided with driving connecting rods, the two driving connecting rods are respectively rotatably connected to clamp arms rotatably connected to the inner surfaces of adjacent clamps and seats, and the ends of the two clamp arms close to each other are respectively fixedly connected to a blade group.

[0011] Preferably, the charging module includes a base installed at the rear part of the upper end of the robot body, a stepper motor 2 is fixedly installed on the bottom wall of the inner surface of the base, the output end of the stepper motor 2 is transmission-connected with a rotating rod rotatably connected to the inner surface of the base, the upper part of the outer surface of the rotating rod is rotationally connected to a support plate, a stepper motor 3 transmission-connected to the support plate is fixedly installed in the inner cavity of the rotating rod, the end of the support plate away from the rotating rod is fixedly connected to a photovoltaic panel, the upper part of the end of the support plate close to the rotating rod is fixedly installed with a photometric component, and a plurality of photosensitive sensors connected to the control module through signal lines are fixedly installed in a rectangular distribution on the end of the photometric component close to the photovoltaic panel.

[0012] Preferably, the insecticidal module includes a base fixedly connected to the upper end of the robot body, the upper end of the base is rotatably connected to a toothed disc, the outer surface of the base is meshed with a second gear, the inner cavity of the base is fixedly installed with a base transmission-connected to the second gear, the rear part of the upper end of the toothed disc is symmetrically fixedly connected to a support block, the front part of the upper end of the base is fixedly installed with a second electric telescopic rod, the upper end of the second electric telescopic rod is fixedly installed with a U-shaped connecting frame, the inner surface of the U-shaped connecting frame and the inner surface of the support block are jointly provided with a killing component, and the upper end of the killing component is fixedly connected with a sonic locator connected to the control module through a signal line.

[0013] Preferably, the killing component includes a mounting shell rotatably connected to two support blocks, a half gear is rotatably connected to the lower side of the inner surface of the mounting shell, a stepper motor five is fixedly connected to the left stepper motor four at the left end of the half gear, and rollers are eccentrically fixedly connected to the left and right ends of the half gear.

[0014] Preferably, a double-cavity mounting cylinder is fixedly installed on the inner surface of the mounting shell, a compression spring 2 is fixedly connected to the rear part of the inner surface of the double-cavity mounting cylinder, a strike rod slidably connected to the rear chamber of the double-cavity mounting cylinder is fixedly connected to the front end of the compression spring 2, and a plurality of teeth meshing with the roller are linearly distributed and fixedly connected to the lower part of the outer surface of the strike rod.

[0015] Preferably, a compression spring 1 is fixedly installed in the front chamber of the compression spring 2, a movable plate is fixedly connected to the front end of the compression spring 1, an L-shaped connecting rod is symmetrically fixedly connected to the lower part of the outer surface of the movable plate, the rear vertical parts of the two L-shaped connecting rods are both located at the rear of the roller, a firing rod is fixedly connected to the inner surface of the movable plate, the rear end of the firing rod passes through the partitions of the two chambers of the compression spring 2 and is tightly attached to the front end of the impact rod, and a shooting tube is fixedly connected to the front end of the double-cavity mounting tube, which passes through the inner cavity of the mounting shell and extends to the front end of the mounting shell.

[0016] Preferably, a magazine is fixedly mounted on the upper end of the mounting shell, a spring top plate is fixedly connected to the rear side of the inner surface of the magazine, the front part of the inner cavity of the magazine is connected to the shooting tube through a connecting tube and the connecting tube is located on the upper side of the firing rod, and the upper end of the magazine is fixedly connected to the lower end of the sonic locator.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention drives the device to move in the work site through the cooperation of the all-terrain motion module, the robot body and the visual analysis module. During this process, the internal battery is continuously charged through the charging module. Synchronously, the obstacle removal module is used to clear and move obstacles and weeds blocking the road. During the movement, the insecticide module is used to locate and kill pests, thereby reducing the number of pests in the field or orchard and ensuring the quality and yield of fruits and vegetables.

[0019] 2. The present invention pushes out the obstacle clearing component through the electric telescopic rod 1, and drives the obstacle clearing component to rotate downward through the cooperation of the gear 1 and the rack 1 installed on the T-shaped connecting rod, and drives the clamping arm to clamp together by the action of the clamp and the seat and the driving connecting rod, so as to transfer and clean up the stones, obstacles and the like on the road surface, and uses the blade group installed on the clamping arm to perform farmland weeding operations.

[0020] 3. The present invention provides a signal to the control module through the signal difference of each photosensitive sensor installed on the light measuring component, and uses the second stepper motor to drive the rotating rod to rotate, and uses the third stepper motor to adjust the angle of the support plate, so that the photovoltaic panel is always facing the direction of sunlight, and the internal battery is continuously charged during operation, thereby improving the endurance, reducing the frequency of returning to the base station for charging, and thus improving work efficiency.

[0021] 4. The present invention uses an acoustic wave locator to control stepper motor 4 to drive gear 2 to rotate, thereby driving the gear disk to rotate, and cooperates with electric telescopic rod 2 and U-shaped connecting frame to lift the killing component to different angles, thereby achieving accurate positioning and killing of pests, reducing the number of pests in orchards and fields, increasing crop yields, and reducing the harm of large-scale spraying of pesticides to the environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 It is a structural schematic diagram of the all-terrain sports module of the present invention;

[0024] Figure 3 It is a structural schematic diagram of the obstacle removal module of the present invention;

[0025] Figure 4 It is a structural schematic diagram of the obstacle removal assembly of the present invention;

[0026] Figure 5 It is a rear structural schematic diagram of the charging module of the present invention;

[0027] Figure 6 It is a front view structural schematic diagram of the charging module of the present invention;

[0028] Figure 7 It is a structural schematic diagram of the insecticidal module of the present invention;

[0029] Figure 8 It is a schematic cross-sectional structure diagram of the killing component of the present invention;

[0030] Fig. 9 It is a side structural schematic diagram of the killing component of the present invention.

[0031] In the figure: 1. Robot body; 2. Visual analysis module; 3. All-terrain motion module; 31. Leg support plate; 32. Stepper motor 1; 33. Support leg; 34. Power wheel; 4. Obstacle removal module; 41. Electric telescopic rod 1; 42. U-shaped slider; 43. T-shaped slide; 44. Gear 1; 45. T-shaped connecting rod; 46. Obstacle removal component; 461. Support seat; 462. Left and right swing arm; 463. Up and down swing arm; 464. Clamp and seat; 465. Driving connecting rod; 466. Clamp arm; 467. Blade assembly; 47. Rack 1; 5. Charging module; 51. Base; 52. Stepper motor 2; 53. Rotating rod; 54. Stepper motor 3; 55. Support Support plate; 56. Photometric component; 561. Photosensitive sensor; 57. Photovoltaic panel; 6. Insecticide module; 60. Sonic locator; 61. Base; 62. Stepper motor four; 63. Gear two; 64. Toothed disc; 65. Support block; 66. Electric telescopic rod two; 67. U-shaped connecting frame; 68. Killing component; 681. Mounting shell; 682. Half gear; 683. Roller; 684. L-shaped connecting rod; 685. Movable plate; 686. Compression spring one; 687. Launch rod; 688. Shooting tube; 689. Impact rod; 690. Compression spring two; 691. Magazine; 692. Spring top plate; 693. Double-chamber mounting tube; 694. Stepper motor five. DETAILED DESCRIPTION

[0032] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0033] Embodiment 1, as Figure 1 As shown, a four-wheeled legged all-terrain agricultural robot includes a robot body 1, a visual analysis module 2 is fixedly installed at the front end of the robot body 1, a power module, a control module and a signal transmission module are arranged in the inner cavity of the robot body 1, a charging module 5 connected to the power module through a wire is fixedly installed at the rear of the upper end of the robot body 1, an insecticide module 6 connected to the control module and the power module through a signal line is fixedly installed at the middle of the upper end of the robot body 1, four all-terrain motion modules 3 connected by motors are fixedly connected in rectangular distribution at the left and right ends of the robot body 1, and an obstacle removal module 4 is fixedly installed at the lower end of the robot body 1.

[0034] It should be specially noted that the above-mentioned robot body 1 and visual analysis module 2 are both mature technical means in the prior art. The power module, control module and signal transmission module in the robot body 1 are also the basic configuration of the robot and are mature technical means. In the present invention, they are only used to realize the basic functions of control and energy storage, and their detailed structure and operating principle will not be elaborated.

[0035] Further, to achieve all-terrain mobility, see Figure 2 The all-terrain motion module 3 includes a leg support plate 31 fixedly connected to the side of the robot body 1 and the motor output shaft inside the robot body 1, a stepper motor 32 is fixedly installed on the end of the leg support plate 31 away from the robot body 1, a support leg 33 is fixedly installed on the output shaft of the stepper motor 32, and a power wheel 34 is fixedly installed on the side of the support leg 33 away from the stepper motor 32.

[0036] The leg support plate 31 can rotate slightly left and right under the action of the inner motor. Similarly, the support leg 33 can rotate slightly under the action of the stepper motor 32. The four all-terrain motion modules 3 cooperate to simulate walking, thereby driving the robot body 1 to move. At the same time, the front visual analysis module 2 is used to scan the terrain and calculate the movement frequency and amplitude of each all-terrain motion module 3, thereby adapting to terrain changes and improving the scope of application.

[0037] During the operation of this embodiment, the all-terrain motion module 3 is first used in cooperation with the robot body 1 and the visual analysis module 2 to drive the equipment to move in the work site. During this process, the internal battery is continuously charged by the charging module 5. Synchronously, the obstacle removal module 4 is used to clear and move obstacles and weeds blocking the road. During the movement, the insecticide module 6 is used to locate and kill pests, thereby reducing the number of pests in the fields or orchards and ensuring the quality and yield of fruits and vegetables.

[0038] Embodiment 2: Based on embodiment 1, this embodiment pushes out the obstacle clearing component 46 through the electric telescopic rod 141, and drives the obstacle clearing component 46 to rotate downward through the cooperation of the gear 144 and the rack 147 installed on the T-shaped connecting rod 45, and drives the clamping arm 466 to clamp by utilizing the action of the clamp and seat 464 and the driving connecting rod 465, so as to transfer and clean up the stones, obstacles and the like on the road surface, and utilizes the blade group 467 installed on the clamping arm 466 to perform farmland weeding operations.

[0039] Specifically, in order to deal with weeds, obstacles or other objects that affect the progress of the operation route, refer to Figure 3 The obstacle removal module 4 includes a T-shaped slide groove 43 provided at the lower end of the robot body 1, a U-shaped slider 42 is slidably connected to the inner surface of the T-shaped slide groove 43, an electric telescopic rod 41 installed in the inner cavity of the robot body 1 is fixedly connected to the rear end of the U-shaped slider 42, the inner surface of the U-shaped slider 42 is rotatably connected to a T-shaped connecting rod 45 through a damping ring, an obstacle removal component 46 is fixedly installed at the lower end of the vertical part of the T-shaped connecting rod 45, the left and right outer surfaces of the T-shaped connecting rod 45 are fixedly connected to a gear 44 that fits the inner wall of the T-shaped slide groove 43, and a rack 47 is fixedly installed on the front of the inner surface of the T-shaped slide groove 43 corresponding to the longitudinal lines where the two gears 44 are located.

[0040] There is high resistance between the U-shaped slider 42 and the T-shaped connecting rod 45. Under normal conditions, the U-shaped slider 42 and the T-shaped connecting rod 45 will not rotate relative to each other, and will only rotate when subjected to strong force. The electric telescopic rod 1 41 pushes the U-shaped slider 42 to slide in the rack 1 47, and pushes the U-shaped slider 42 forward. When pushed to the front side, the gear 1 44 meshes with the rack 1 47 and rotates under strong force, thereby driving the T-shaped connecting rod 45 to rotate around the axis of the gear 1 44, and the obstacle removal component 46 is tilted downward.

[0041] Further, to achieve the handling of obstacles, see Figure 4 The obstacle removal component 46 includes a support seat 461 fixedly connected to the lower end of the vertical part of the T-shaped connecting rod 45, the front end of the support seat 461 is rotatably connected to a left and right swing arm 462 with a built-in axial motor, the front end of the left and right swing arm 462 is rotatably connected to an up and down swing arm 463 with a built-in longitudinal motor, the front end of the up and down swing arm 463 is fixedly installed with a clamp and seat 464, the inner surface of the clamp and seat 464 is symmetrically provided with driving connecting rods 465, the two driving connecting rods 465 are respectively rotatably connected to clamp arms 466 rotatably connected to the inner surfaces of adjacent clamps and seats 464, and the ends of the two clamp arms 466 close to each other are respectively fixedly connected to blade groups 467.

[0042] The left and right swing arms 462 can rotate left and right in the support seat 461, and the up and down swing arms 463 can rotate up and down in the left and right swing arms 462. The clamp and seat 464 has a built-in electric cylinder that can push the driving connecting rod 465 to move, thereby driving the clamp and seat 464 to move inward or away from outward, thereby clamping the obstacle. The blade group 467 installed on the clamp arm 466 can cut the weeds and reduce the weed content in the field.

[0043] Embodiment three, based on embodiment two, this embodiment further provides signals to the control module through the signal differences of each photosensitive sensor 561 installed on the light measuring component 56, and uses the stepper motor 2 52 to drive the rotating rod 53 to rotate, and adjusts the angle of the support plate 55 through the stepper motor 3 54, so that the photovoltaic panel 57 is always facing the direction of sunlight, and the internal battery is continuously charged during operation, thereby improving the endurance, reducing the frequency of returning to the base station for charging, and thus improving work efficiency.

[0044] Specifically, to achieve real-time charging according to the sun's position and to ensure longer battery life when working outdoors, refer to Figure 5 and Figure 6The charging module 5 includes a base 51 installed at the rear part of the upper end of the robot body 1, a stepper motor 2 52 is fixedly installed on the bottom wall of the inner surface of the base 51, the output end of the stepper motor 2 52 is transmission-connected with a rotating rod 53 rotatably connected to the inner surface of the base 51, the upper part of the outer surface of the rotating rod 53 is rotationally connected to a support plate 55, a stepper motor 3 54 transmission-connected to the support plate 55 is fixedly installed in the inner cavity of the rotating rod 53, one end of the support plate 55 away from the rotating rod 53 is fixedly connected to a photovoltaic panel 57, and the upper part of the end of the support plate 55 close to the rotating rod 53 is fixedly installed with a photometric component 56, and one end of the photometric component 56 close to the photovoltaic panel 57 is fixedly installed with a plurality of photosensitive sensors 561 connected to the control module through signal lines in a rectangular distribution.

[0045] It should be specially noted that the above-mentioned photosensor 561 is a conventional photosensor, and the light measuring component 56 divides the area by a cross dividing plate, and determines the position of sunlight through the difference in signals sent back by each sensor, thereby driving the stepper motor 2 52 and the stepper motor 3 54 to operate, continuously aligning the photovoltaic panel 57 with the sunlight, realizing continuous charging, and improving battery life.

[0046] Embodiment 4. Based on embodiment 3, this embodiment uses an acoustic wave locator 60 to control a stepper motor 4 62 to drive a gear 2 63 to rotate, thereby driving a toothed disc 64 to rotate, and cooperates with an electric telescopic rod 2 66 and a U-shaped connecting frame 67 to lift and lower the killing component 68 to different angles, thereby achieving accurate positioning and killing of pests, reducing the number of pests in orchards and fields, increasing crop yields, and reducing the harm to the environment caused by large-scale spraying of pesticides.

[0047] Specifically, to achieve the pest killing operation, refer to Figure 7 The insecticidal module 6 includes a base 61 fixedly connected to the upper end of the robot body 1, a toothed disc 64 is rotatably connected to the upper end of the base 61, a gear 63 is meshed on the outer surface of the base 61, and the base 61 connected to the gear 63 is fixedly installed in the inner cavity of the base 61, and a support block 65 is symmetrically fixedly connected to the upper rear end of the toothed disc 64, and an electric telescopic rod 66 is fixedly installed at the front of the upper end of the base 61, and a U-shaped connecting frame 67 is fixedly installed on the upper end of the electric telescopic rod 66. The inner surface of the U-shaped connecting frame 67 and the inner surface of the support block 65 are jointly provided with a killing component 68, and the upper end of the killing component 68 is fixedly connected to a sonic locator 60 connected to the control module through a signal line.

[0048] It should be noted that the above-mentioned sound wave locator 60 is a basic device for conventional sound wave positioning, which can locate the source of sound according to sound waves and convert it into digital signals to be transmitted to the control module. The control module controls the rotation of the stepper motor four 62 and drives the toothed disc 64 to rotate through the gear two 63, thereby moving the killing component 68 closer to the sound source, and synchronously drives the electric telescopic rod two 66 to rise, and lifts the killing component 68 through the U-shaped connecting frame 67, and finally locates it to the predetermined position.

[0049] Further, to realize the driving of water bullet ejection and ammunition filling, refer to Figure 8 and Fig. 9 The killing component 68 includes a mounting shell 681 rotatably connected to the two support blocks 65, a half gear 682 is rotatably connected to the lower side of the inner surface of the mounting shell 681, a stepper motor five 694 fixedly connected to the left stepper motor four 62 is fixedly connected to the left end of the half gear 682, and rollers 683 are eccentrically fixedly connected to the left and right ends of the half gear 682.

[0050] Further, in order to realize the action of exciting the follower half gear 682 to shoot, refer to Figure 8 and Fig. 9 A double-cavity mounting cylinder 693 is fixedly installed on the inner surface of the mounting shell 681, a compression spring 690 is fixedly connected to the rear part of the inner surface of the double-cavity mounting cylinder 693, a strike rod 689 which is slidably connected to the rear chamber of the double-cavity mounting cylinder 693 is fixedly connected to the front end of the compression spring 690, and a plurality of teeth which mesh with the roller 683 are linearly distributed and fixedly connected to the lower part of the outer surface of the strike rod 689.

[0051] Further, in order to realize the pushing and ejection of the water bullet, refer to Figure 8 and Fig. 9 A compression spring 1 686 is fixedly installed in the front chamber of the compression spring 2 690, and a movable plate 685 is fixedly connected to the front end of the compression spring 1 686. L-shaped connecting rods 684 are symmetrically fixedly connected to the lower outer surface of the movable plate 685. The rear vertical parts of the two L-shaped connecting rods 684 are both located at the rear of the roller 683. A firing rod 687 is fixedly connected to the inner surface of the movable plate 685. The rear end of the firing rod 687 penetrates the partitions of the two chambers of the compression spring 2 690 and is tightly attached to the front end of the impact rod 689. A shooting tube 688 is fixedly connected to the front end of the double-cavity mounting tube 693, which penetrates the inner cavity of the mounting shell 681 and extends to the front end of the mounting shell 681.

[0052] Further, to realize the storage of water bombs, see Figure 8 and Fig. 9A magazine 691 is fixedly installed on the upper end of the mounting shell 681, and a spring top plate 692 is fixedly connected to the rear side of the inner surface of the magazine 691. The front part of the inner cavity of the magazine 691 is connected to the shooting tube 688 through a connecting pipe, and the connecting pipe is on the upper side of the firing rod 687. The upper end of the magazine 691 is fixedly connected to the lower end of the sonar locator 60.

[0053] In summary, during the operation of the present embodiment, the stepper motor five 694 can drive the half gear 682 to rotate, and the half gear 682 drives the impact rod 689 to slide backward in the double-chamber mounting tube 693 through the meshing between the teeth. At this time, the compression spring two 690 is compressed. When the impact rod 689 slides, the firing rod 687 is no longer limited by the impact rod 689, and the synchronous roller 683 drives the movable plate 685 to slide backward through the L-shaped connecting rod 684. At this time, the firing rod 687 retreats to the rear side of the connecting tube, and the water bullet soaked with low-toxic pesticides falls from the bullet storage chamber 691 into the shooting tube 688. Following the movement of the roller 683, the movable plate 685 is reset under the action of the compression spring one 686.

[0054] Furthermore, the roller 683 continues to rotate until the roller 683 is separated from the impact rod 689. Under the action of the compression spring 690, the impact rod 689 is rapidly reset and hits the launching rod 687. The water bullet is shot out from the shooting tube 688 through the launching rod 687 and hits the pests, thereby achieving precise pest control in a small range.

[0055] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A four-wheeled, legged, all-terrain agricultural robot, comprising a robot body (1), a visual analysis module (2) fixedly mounted at the front end of the robot body (1), a power module, a control module and a signal transmission module arranged in the inner cavity of the robot body (1), characterized in that: A charging module (5) connected to a power module via a wire is fixedly mounted on the rear upper end of the robot body (1); an insecticide module (6) connected to a control module and a power module via a signal line is fixedly mounted on the middle upper end of the robot body (1); four all-terrain motion modules (3) connected via electric motors are fixedly mounted on the left and right ends of the robot body (1) in a rectangular arrangement; and an obstacle removal module (4) is fixedly mounted on the lower end of the robot body (1).

2. The four-wheeled, legged, all-terrain agricultural robot according to claim 1, characterized in that: The all-terrain motion module (3) comprises a leg support plate (31) fixedly connected to the side of the robot body (1) and the output shaft of the motor inside the robot body (1); a stepper motor (32) is fixedly mounted on one end of the leg support plate (31) away from the robot body (1); a support leg (33) is fixedly mounted on the output shaft of the stepper motor (32); and a power wheel (34) is fixedly mounted on one side of the support leg (33) away from the stepper motor (32).

3. The four-wheeled, legged, all-terrain agricultural robot according to claim 1, characterized in that: The obstacle removal module (4) comprises a T-shaped slide groove (43) provided at the lower end of the robot body (1); the inner surface of the T-shaped slide groove (43) is slidably connected to a U-shaped slider (42); the rear end of the U-shaped slider (42) is fixedly connected to an electric telescopic rod (41) installed in the inner cavity of the robot body (1); the inner surface of the U-shaped slider (42) is rotatably connected to a T-shaped connecting rod (45) through a damping ring; the lower end of the vertical part of the T-shaped connecting rod (45) is fixedly installed with an obstacle removal component (46); the left and right outer surfaces of the T-shaped connecting rod (45) are fixedly connected to a gear (44) that is in contact with the inner wall of the T-shaped slide groove (43); and the front part of the inner surface of the T-shaped slide groove (43) is fixedly installed with a rack (47) corresponding to the longitudinal line where the two gears (44) are located.

4. The four-wheeled, legged, all-terrain agricultural robot according to claim 3, characterized in that: The obstacle removal assembly (46) comprises a support seat (461) fixedly connected to the lower end of the vertical part of the T-shaped connecting rod (45); the front end of the support seat (461) is rotatably connected to a left and right swing arm (462) with a built-in axial motor; the front end of the left and right swing arm (462) is rotatably connected to an up and down swing arm (463) with a built-in longitudinal motor; the front end of the up and down swing arm (463) is fixedly installed with a clamp and seat (464); the inner surface of the clamp and seat (464) is symmetrically provided with driving connecting rods (465); the two driving connecting rods (465) are respectively rotatably connected to clamp arms (466) rotatably connected to the inner surface of adjacent clamps and seats (464); and the ends of the two clamp arms (466) close to each other are respectively fixedly connected to a blade group (467).

5. The four-wheeled, legged, all-terrain agricultural robot according to claim 1, characterized in that: The charging module (5) comprises a base (51) mounted on the rear part of the upper end of the robot body (1); a stepper motor 2 (52) is fixedly mounted on the bottom wall of the inner surface of the base (51); an output end of the stepper motor 2 (52) is transmission-connected to a rotating rod (53) rotationally connected to the inner surface of the base (51); an upper portion of the outer surface of the rotating rod (53) is rotationally connected to a support plate (55); a stepper motor 3 (54) transmission-connected to the support plate (55) is fixedly mounted in the inner cavity of the rotating rod (53); an end of the support plate (55) away from the rotating rod (53) is fixedly connected to a photovoltaic panel (57); an upper portion of an end of the support plate (55) close to the rotating rod (53) is fixedly mounted with a light measuring component (56); and an end of the light measuring component (56) close to the photovoltaic panel (57) is rectangularly distributed and fixedly mounted with a plurality of light sensors (561) connected to the control module via signal lines.

6. The four-wheeled, legged, all-terrain agricultural robot according to claim 1, characterized in that: The insecticidal module (6) comprises a base (61) fixedly connected to the upper end of the robot body (1), the upper end of the base (61) is rotatably connected to a toothed disc (64), the outer surface of the base (61) is meshed with a second gear (63), the inner cavity of the base (61) is fixedly installed with a base (61) transmission-connected to the second gear (63), the rear portion of the upper end of the toothed disc (64) is symmetrically fixedly connected to a support block (65), the front portion of the upper end of the base (61) is fixedly installed with a second electric telescopic rod (66), the upper end of the second electric telescopic rod (66) is fixedly installed with a U-shaped connecting frame (67), the inner surface of the U-shaped connecting frame (67) and the inner surface of the supporting block (65) are jointly provided with a killing component (68), and the upper end of the killing component (68) is fixedly connected with a sonic locator (60) connected to the control module via a signal line.

7. The four-wheeled, legged, all-terrain agricultural robot according to claim 6, characterized in that: The killing component (68) comprises a mounting shell (681) rotatably connected to two support blocks (65); a half gear (682) is rotatably connected to the lower side of the inner surface of the mounting shell (681); a stepper motor five (694) fixedly connected to a left stepper motor four (62) is fixedly connected to the left end of the half gear (682); and rollers (683) are eccentrically fixedly connected to the left and right ends of the half gear (682).

8. The four-wheeled, legged, all-terrain agricultural robot according to claim 7, characterized in that: A double-cavity mounting cylinder (693) is fixedly mounted on the inner surface of the mounting shell (681), a compression spring 2 (690) is fixedly connected to the rear of the inner surface of the double-cavity mounting cylinder (693), a front end of the compression spring 2 (690) is fixedly connected to an impact rod (689) that is slidably connected to the rear chamber of the double-cavity mounting cylinder (693), and a plurality of teeth that mesh with the roller (683) are linearly distributed and fixedly connected to the lower portion of the outer surface of the impact rod (689).

9. The four-wheeled, legged, all-terrain agricultural robot according to claim 8, characterized in that: A compression spring 1 (686) is fixedly installed in the front chamber of the compression spring 2 (690), and a movable plate (685) is fixedly connected to the front end of the compression spring 1 (686). An L-shaped connecting rod (684) is fixedly connected to the lower part of the outer surface of the movable plate (685) in a symmetrical manner. The rear vertical parts of the two L-shaped connecting rods (684) are both located at the rear of the roller (683). A firing rod (687) is fixedly connected to the inner surface of the movable plate (685). The rear end of the firing rod (687) passes through the two chamber partitions of the compression spring 2 (690) and is tightly attached to the front end of the impact rod (689). The front end of the double-chamber mounting tube (693) is fixedly connected to a shooting tube (688) that passes through the inner cavity of the mounting shell (681) and extends to the front end of the mounting shell (681).

10. The four-wheeled, legged, all-terrain agricultural robot according to claim 9, characterized in that: A magazine (691) is fixedly mounted on the upper end of the mounting shell (681), a spring top plate (692) is fixedly connected to the rear side of the inner surface of the magazine (691), the front part of the inner cavity of the magazine (691) is connected to the shooting tube (688) through a connecting pipe, and the connecting pipe is located on the upper side of the firing rod (687), and the upper end of the magazine (691) is fixedly connected to the lower end of the sonar locator (60).

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