Transportation robot based on inter-ridge tracking
By designing a transportation robot based on inter-row tracking, the problem of existing agricultural robots lacking accurate tracking and effective transportation in inter-row operations is solved, and efficient and accurate operation and automatic transportation effects are achieved in inter-row environments.
Patent Information
- Application Number
- CN202411919685.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-24
- Publication Date
- 2025-04-08
AI Technical Summary
Existing agricultural robots lack precise operation path tracking capabilities in ridge operations, cannot complete precise operations efficiently, and lack effective transportation capabilities, so they cannot realize automatic transportation of materials related to picking work.
Design a transport robot based on inter-ridge tracking, including transport vehicles, inter-ridge identification system, harvesting tracking system and control system. The ridges on both sides of the ridges are identified through the inter-ridge identification system, the harvesting tracking system identifies the collection operators, and the control system controls the transport vehicle to walk in the middle of the ridges and moves with the collection operators to realize automatic transportation of the picked objects.
It realizes efficient and accurate operations in complex ridge environments, ensuring that the transport vehicle can accurately follow the collecting workers and automatically transport the harvested materials, and improves the automation level and efficiency of agricultural operations.
Smart Images
Figure CN119773882A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the field of agricultural automation, and in particular to a transport robot based on ridge-to-ridge tracking. Background Art
[0002] Automated and semi-automated crop harvesting is an important part of agricultural production, especially the selective harvesting of fresh fruits and vegetables, tobacco leaves and other crops. Due to the inconsistent maturity time, they currently basically rely on manual collection. After harvesting, they are transported to the fields by hand or shoulder, which is time-consuming and laborious, and it is difficult to meet the needs of large-scale, real-time collection.
[0003] Existing agricultural robots have not yet formed an integrated, multifunctional, and highly intelligent agricultural operation platform. Especially in the complex environment of inter-ridge operations, most existing robotic equipment is single-function and cannot flexibly adapt to different operation requirements. In addition, existing equipment generally has problems such as low automation level, low operation efficiency, and poor adaptability.
[0004] At present, inter-ridge operations often rely on manual labor, which has problems such as high labor intensity, low efficiency, and great influence from weather and environment. Although some agricultural robots have been proposed to simplify or replace manual operations, existing agricultural robots generally have the following problems when working in inter-ridge operations:
[0005] 1. Lack of accurate operation path tracking capability, resulting in the inability to accurately identify and follow operators.
[0006] 2. It is impossible to efficiently complete precise operations in complex ridge environments.
[0007] 3. Agricultural robots usually lack effective transportation capabilities and are often unable to achieve automatic transportation of materials related to picking work. Summary of the invention
[0008] The purpose of the present invention is to overcome the above-mentioned problems and provide a transport robot based on ridge tracking, which can accurately identify and follow the collecting workers, can efficiently complete precise operations in a complex ridge environment, and automatically transport the harvested materials picked by the collecting workers.
[0009] The purpose of the present invention is achieved through the following technical solutions:
[0010] A transport robot based on ridge tracking comprises a transport vehicle, a ridge identification system, a harvest tracking system and a control system; wherein the transport vehicle, the ridge identification system and the harvest tracking system are all connected to the control system; the ridge identification system is used to distinguish the ridge bodies on both sides of the ridge; the harvest tracking system is used to identify the collecting workers, so that the transport vehicle moves with the collecting workers; the transport vehicle is used to place the harvested materials picked by the collecting workers.
[0011] The working principle of the above-mentioned transport robot based on ridge tracking is:
[0012] When working, the ridge identification system can distinguish the ridges on both sides of the ridge, and the harvest tracking system can identify the collecting workers. The control system controls the transport vehicle to move in the middle of the two ridges according to the information identified by the ridge identification system and the harvest tracking system, and controls the transport vehicle to follow the collecting workers and keep an appropriate following distance at all times. The collecting workers place the picked harvested materials on the transport vehicle. When the transport vehicle is full of harvested materials (such as vegetables, tobacco leaves, etc.), the control system controls the transport vehicle to transport them to the field for unloading.
[0013] A preferred embodiment of the present invention, wherein the ridge identification system includes complex tactile sensors arranged on both sides of the transport vehicle and a first simple visual module arranged on the top of the transport vehicle; wherein the complex tactile sensors sense the surrounding environment of the crop through a flexible tactile structure, so that the transport vehicle pushes away branches, flexible vines and weeds attached to the ridge body, and obtains the real position of the ridge body; the first simple visual module obtains the characteristic image of the ridge body; the complex tactile sensors cooperate with the first simple visual module to ensure that the transport vehicle stays in the middle of the ridge bodies on both sides.
[0014] Preferably, the harvesting tracking system includes a second simple visual module and an infrared sensor arranged on the top of the transport vehicle; the second simple visual module is used to sense the position of the collection worker in real time, and the infrared sensor collects the distance between the worker's position and the transport vehicle in real time. In the above structure, the transport vehicle can follow the movement of the collection worker and achieve tracking through the second simple visual module and the infrared sensor; the distance between the worker's position and the transport vehicle is collected in real time through the infrared sensor to ensure that the transport vehicle always maintains an appropriate safety distance to avoid collision; after receiving the dynamic position signal of the collection worker, the harvesting tracking system can automatically adjust the speed and direction of the transport vehicle through the control system, thereby achieving efficient tracking of the collection worker and adapting to different operation requirements.
[0015] Preferably, the first simple visual module and the second simple visual module are the same simple visual module. By setting a simple visual module, it is possible to ensure that the transport vehicle stays in the middle of the ridges on both sides and efficiently follows the collection workers; and the structure is simpler and more compact, saving costs.
[0016] Preferably, the simple vision module obtains the ridge feature image based on the embedded image processing algorithm, extracts the ridge edge features, and obtains the real position of the ridge in combination with the complex tactile sensor to form an accurate ridge position information map.
[0017] Preferably, the simple vision module includes a simple vision sensor, through which the position of the collection worker can be identified and the characteristic image of the ridge body can be obtained.
[0018] Preferably, the transport vehicle comprises a chassis, a steering triangular drive track arranged at the front end of the chassis, wheels arranged at the rear end of the chassis, and a cargo-carrying mechanism arranged on the chassis, and the steering triangular drive track is connected to a control system. In the above structure, the steering triangular drive track can be automatically steered and moved by the control system; the cargo-carrying mechanism is used to load the harvested materials picked by the collection workers.
[0019] Preferably, after the cargo-carrying mechanism is filled with the harvested materials, the collection staff guides the transport vehicle to the field, and after unloading, the transport vehicle follows the collection staff back to the work site to continue working.
[0020] Preferably, the steering triangular drive track includes a fork structure arranged at the front end of the chassis, a driving triangular track arranged at the lower end of the fork structure, and a steering gear arranged at the upper end of the fork structure; the driving triangular track includes an electric motor, a reducer, a track, a driving wheel, and two driven wheels; the driving wheel and the two driven wheels are distributed in a triangle, and the driving wheel and the two driven wheels are matched with the track, the main shaft of the electric motor is connected to the input end of the reducer, and the output end of the reducer is connected to the driving wheel. In the above structure, the track is driven by the electric motor and the reducer installed on the side of the shaft of the driving wheel, and the steering gear at the upper end of the fork structure realizes the adjustment of the deflection direction, and the electric motor and the steering gear are controlled by the control system to realize automatic walking and steering.
[0021] Preferably, the chassis is a frame, and a detachable battery is provided between the frame and the cargo-carrying mechanism. The battery can provide power for the transport robot.
[0022] Compared with the prior art, the present invention has the following beneficial effects:
[0023] 1. The transport robot in the present invention ensures accuracy and efficiency during the operation process through precise ridge identification and harvest tracking technology; specifically, the ridge bodies on both sides of the ridge can be distinguished through the ridge identification system, and a precise operation path can be planned; the harvest tracking system can accurately identify the collection workers and follow the collection workers to move, so as to efficiently complete precise operations in a complex ridge environment; and the transport vehicle can be set up to place the harvested materials picked by the collection workers, and automatic following and automatic transportation can be achieved under the control of the control system.
[0024] 2. The transport robot in the present invention provides important technical support and equipment guarantee for the development of agricultural modernization. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] Figure 1 It is a schematic diagram of the structure of a transport robot based on ridge-to-ridge tracking in the present invention. DETAILED DESCRIPTION
[0026] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.
[0027] See also Figure 1 This embodiment discloses a transport robot based on ridge tracking, wherein the transport robot is a man-picking and machine-transporting robot, that is, a robot that is used by collecting workers to harvest and transport; the transport robot includes a transport vehicle, a ridge identification system, a harvesting tracking system and a control system; wherein the transport vehicle, the ridge identification system and the harvesting tracking system are all connected to the control system; the ridge identification system is used to distinguish the ridge bodies on both sides of the ridge; the harvesting tracking system is used to identify the collecting workers, so that the transport vehicle moves with the collecting workers; the transport vehicle is used to place the harvested objects picked by the collecting workers.
[0028] See also Figure 1 , the working principle of the above-mentioned transport robot based on ridge tracking is:
[0029] When working, the ridge identification system can distinguish the ridges on both sides of the ridge, and the harvest tracking system can identify the collecting workers. The control system controls the transport vehicle to move in the middle of the two ridges according to the information identified by the ridge identification system and the harvest tracking system, and controls the transport vehicle to follow the collecting workers and keep an appropriate following distance at all times. The collecting workers place the picked harvested materials on the transport vehicle. When the transport vehicle is full of harvested materials (such as vegetables, tobacco leaves, etc.), the control system controls the transport vehicle to transport them to the field for unloading.
[0030] See also Figure 1, the ridge identification system includes a complex tactile sensor arranged on both sides of the transport vehicle and a first simple visual module arranged on the top of the transport vehicle; wherein the complex tactile sensor senses the surrounding environment of the crop through a flexible tactile structure, so that the transport vehicle pushes away the branches, leaves, flexible vines and weeds attached to the ridge body, and obtains the real position of the ridge body; the first simple visual module obtains the characteristic image of the ridge body; the complex tactile sensor cooperates with the first simple visual module to ensure that the transport vehicle remains in the middle of the ridge bodies on both sides. In the above structure, high-precision perception of the field environment is achieved through the multi-information fusion of the complex tactile sensor and the first simple visual module. The complex tactile sensor senses the surrounding environment of the crop through a flexible tactile structure, so that the transport vehicle pushes away the branches, leaves, flexible vines and small weeds attached to the ridge body, and identifies the real position of the ridge body through the information processing module, thereby guiding the planning of the transport vehicle's travel path; the complex tactile sensor cooperates with the first simple visual module, the first simple visual module obtains the characteristic image of the ridge body based on the image processing algorithm, and the complex tactile sensor obtains the real position of the ridge body, ensuring that the transport vehicle can still stably maintain the middle of the ridge bodies on both sides in an interference environment.
[0031] See also Figure 1 , the harvest tracking system can follow the collection workers, including a second simple visual module and an infrared sensor set on the top of the transport vehicle; the second simple visual module is used to perceive the position of the collection workers in real time, and the infrared sensor collects the distance between the position of the workers and the transport vehicle in real time. In the above structure, the transport vehicle can follow the collection workers to achieve tracking through the second simple visual module and the infrared sensor; the distance between the position of the workers and the transport vehicle is collected in real time by the infrared sensor to ensure that the transport vehicle always maintains an appropriate safety distance to avoid collision; after receiving the dynamic position signal of the collection workers, the harvest tracking system can automatically adjust the speed and direction of the transport vehicle through the control system, thereby achieving efficient tracking of the collection workers and adapting to different operation requirements. At the same time, the cargo mechanism 1 can store the fruits, vegetables, tobacco leaves and other crops collected by the collection workers. After the cargo mechanism 1 is filled with harvested materials, the collection workers guide the transport vehicle to the end of the field, and after unloading, it follows the collection workers to return to the operation point (origin) to continue the operation.
[0032] The first simple visual module and the second simple visual module are the same simple visual module. By setting a simple visual module, it is possible to ensure that the transport vehicle stays in the middle of the ridges on both sides and efficiently follows the collection workers; and the structure is simpler and more compact, saving costs.
[0033] The ridge identification system can cope with multiple interferences in the complex field environment by combining complex tactile sensors and simple visual modules with multi-information fusion technology. The flexible tactile structure (flexible tactile element) of the complex tactile sensor is made of elastic material, which can sensitively sense the distribution position of obstacles in the field and update the transport vehicle path planning information in real time through tactile feedback signals. The simple visual module adopts a lightweight design. The simple visual module obtains the ridge feature image based on the embedded image processing algorithm, extracts the ridge edge features, and forms an accurate ridge position information map in combination with the real position of the ridge provided by the complex tactile sensor. The data processing unit of the ridge identification system eliminates redundant interference signals through multi-source sensor data fusion technology to ensure that the transport robot can continue to stably maintain the middle position between the ridges.
[0034] The simple visual module includes a simple visual sensor. The simple visual module of the harvesting tracking system uses a high-sensitivity camera to capture the dynamic position of the collection staff and transmit the position signal to the core processing unit of the control system; the infrared sensor measures the distance between the collection staff and the transport vehicle in real time to ensure a safe distance between the transport vehicle and the collection staff. The harvesting tracking system dynamically adjusts the travel path and speed of the transport vehicle through real-time processing of position and distance data to ensure the following stability of the transport robot in different working environments.
[0035] See also Figure 1 The transport vehicle includes a chassis 4, a steering triangular drive track arranged at the front end of the chassis 4, wheels 12, 13 arranged at the rear end of the chassis 4, and a cargo-carrying mechanism 1 arranged on the chassis 4, and the steering triangular drive track is connected to the control system. In the above structure, the automatic steering and walking of the steering triangular drive track can be realized through the control of the control system; the cargo-carrying mechanism 1 is used to load the harvested materials picked by the collection workers. The wheels 12, 13 are two idle wheels distributed on the left and right, which provide support for the chassis 4 and the cargo-carrying mechanism 1, and further ensure the stability of the robot operation. When the cargo-carrying mechanism 1 of the transport vehicle is full, the collection staff guides the transport robot to the field to unload the goods. After the transport robot completes the unloading, it can automatically return to the work point with the collection staff and resume normal harvesting operations.
[0036] See also Figure 1The steering triangular drive crawler includes a fork structure 3 arranged at the front end of the chassis 4, a driving triangular crawler arranged at the lower end of the fork structure 3, and a steering gear 2 arranged at the upper end of the fork structure 3; the driving triangular crawler includes a motor 8, a reducer 9, a crawler 6, a driving wheel 7, and two driven wheels 5, 10; the driving wheel 7 and the two driven wheels 5, 10 are distributed in a triangle, and the driving wheel 7 and the two driven wheels 5, 10 are matched with the crawler 6, the main shaft of the motor 8 is connected to the input end of the reducer 9, and the output end of the reducer 9 is connected to the driving wheel 7. In the above structure, the crawler 6 is driven by the motor 8 and the reducer 9 installed on the side of the shaft of the driving wheel 7, and the steering gear 2 at the upper end of the fork structure 3 realizes the adjustment of the deflection direction, and the motor 8 and the steering gear 2 are controlled by the control system to realize automatic walking and steering.
[0037] See also Figure 1 The control system is responsible for coordinating the operation of various functional modules of the robot, including the steering triangle drive crawler, the ridge identification system, the harvest tracking system and the operation instructions of the cargo mechanism 1. The control system realizes precise control of the transport vehicle by fusing multi-sensor data, wherein the steering triangle drive crawler drives the crawler 6 to move through the motor 8 and the reducer 9, and the steering control is driven by the steering gear 2, and the steering action can be completed by adjusting the fork structure 3 on the top of the crawler 6. The core processing unit of the control system has efficient data processing capabilities and real-time control functions, and can dynamically optimize the operating parameters of the transport vehicle according to the operation requirements.
[0038] See also Figure 1 The transport robot based on ridge-to-ridge tracking has modular design features. The chassis 4 is a frame. The chassis 4 structure adopts a frame design to facilitate the disassembly and maintenance of components. A track 6 is installed in front of the frame. The two sides of the track 6 are fixedly connected to the motor 8 and the reducer 9 through a connecting shaft. The motor 8 and the reducer 9 jointly drive the rotation of the track 6, and cooperate with the steering gear 2 to realize the straight-line travel and steering functions. The fork structure 3 on the top of the track 6 is installed on the chassis 4. The fork structure 3 is controlled by the steering gear 2. The steering gear 2 controls the rotation direction of the track 6 by adjusting the deflection angle of the fork structure 3, thereby realizing the adjustment of the forward path of the transport vehicle. The idle wheel is installed at the rear of the chassis 4, and its bearing structure is fixedly connected to the frame to provide additional support for the transport robot during driving and improve the balance of the transport robot in the cargo-carrying state.
[0039] See also Figure 1 A detachable battery 11 is provided between the frame and the cargo-carrying mechanism 1. The battery 11 can provide power for the transport robot.
[0040] See also Figure 1The cargo mechanism 1 adopts a lightweight design, and the detachable battery 11 and the frame gap optimize the compactness and portability of the overall structure. The detachable battery 11 is flat and can be inserted into the gap between the frame and the cargo mechanism 1, and is seamlessly integrated with the overall structure of the transport vehicle. The cargo mechanism 1 adopts a modular design; the cargo mechanism 1 includes a cargo box, which is connected to the frame through a connecting rod mechanism. The connecting rod mechanism realizes the loading and unloading of harvested materials through electric drive, and can quickly complete the unloading at the head of the field and return to the work point.
[0041] See also Figure 1 According to the functional requirements of the transport robot based on ridge tracking, the frame design of the chassis 4 has both lightweight and high strength characteristics, and is made of corrosion-resistant materials, which is suitable for harsh agricultural working environments such as high humidity and mud. The surface of the track 6 is covered with high-friction material, which can provide sufficient traction in muddy or soft fields while ensuring the flexibility of steering action. The track 6 is connected to the frame through an elastic suspension device at the bottom of the frame. The elastic suspension device provides a buffering effect when the track 6 passes through complex terrain, reducing the interference of machine vibration on sensors and control systems.
[0042] The inter-ridge recognition system combines the synergy of complex tactile sensors and simple visual modules. The complex tactile sensors can effectively sense tiny obstacles in the field environment, including small branches and leaves, flexible vines and thin weeds, and use flexible probe structures to avoid damage to crops. The simple visual module uses a deep learning algorithm to analyze the image features of the field ridges in real time and generate high-precision environmental perception data. The complex tactile sensor provides an auxiliary calibration function for the ridge position information, thereby ensuring that the transport robot can always move smoothly along the center line of the ridge. The inter-ridge recognition system can also automatically adjust the recognition parameters according to the ridge morphology of different crops through an environmental adaptation algorithm, thereby improving the versatility and accuracy of the recognition system.
[0043] The simple vision module in the harvesting and tracking system is equipped with a high-resolution camera (the high-resolution camera and the high-sensitivity camera can be the same camera), which can accurately capture the dynamic image of the collection staff under complex lighting conditions. The infrared sensor uses multi-point ranging technology to track the distance between the collection staff and the transport vehicle in real time, and combines the position information provided by the simple vision module to form accurate personnel positioning data. The control system uses this data to dynamically adjust the relative position between the transport robot and the collection staff, and adapts to different operating requirements through a speed optimization algorithm, thereby achieving efficient following functions while ensuring a safe distance. The harvesting and tracking system has an automatic recovery function. When the transport robot deviates from the predetermined path due to obstacles or signal interference, the system can automatically restore normal working conditions by recalibrating the sensor signal.
[0044] See also Figure 1 The design of the cargo mechanism 1 takes into account both large capacity and light weight. The cargo box adopts a modular design, and the box size can be adjusted according to different operating requirements. The cargo box is equipped with a flexible support structure for fixing and protecting fragile crops (harvested objects). The connecting rod mechanism can realize automatic cargo loading and unloading actions through control system instructions. The unloading process does not require manual intervention, which greatly improves the operating efficiency. A battery 11 installation slot is reserved between the cargo mechanism 1 and the chassis 4. The battery 11 adopts a flat design and is easy to replace through a plug-in connection. At the same time, it provides a long battery life to ensure that the transport robot can operate continuously.
[0045] See also Figure 1 The control system is the core part of the transport robot based on ridge tracking. The control system realizes all-round intelligent management of the transport robot by integrating sensor data processing module, drive control module and path planning module. The sensor data processing module can fuse multi-source data of complex tactile sensors, simple visual modules and infrared sensors, eliminate noise and interference by filtering algorithm and data correction model, and provide high-precision environmental perception data. The drive control module dynamically adjusts the travel speed and steering angle of the transport robot by working in coordination with the motor 8, reducer 9 and steering gear 2 to ensure that the transport robot can operate flexibly in the field environment. The path planning module generates the optimal path based on real-time sensor data (data of complex tactile sensors, simple visual sensors and infrared sensors) and preset operation targets, and adjusts the motion trajectory of the transport robot through control system instructions to improve operation efficiency.
[0046] The transport robot has an efficient unloading function. After the cargo-carrying mechanism 1 is fully loaded, the harvesting staff guides the transport vehicle to move to the unloading point at the end of the field. After unloading is completed, the transport robot can automatically return to the original operation point with the harvesting staff through the path planning module and the harvesting tracking system, and continue to perform subsequent harvesting tasks. This process does not require complex manual operations, which improves the automation level and overall efficiency of agricultural operations.
[0047] See also Figure 1 The transport robot based on ridge tracking adopts a modular design, which is easy to maintain and upgrade. The chassis 4, the steering triangle drive track, the ridge identification system, the harvest tracking system and the cargo mechanism 1 are all connected through a standardized interface. Users can replace or upgrade components according to specific needs to ensure that the transport robot can adapt to the needs of different crops and working environments. The overall structure of the transport robot is lightweight and made of durable materials. It can work stably in high humidity, muddy and multi-obstacle environments.
[0048] See also Figure 1In summary, the transport robot based on ridge tracking in this embodiment combines multiple advanced technologies to provide an efficient and intelligent agricultural harvesting solution. The transport robot ensures accuracy and efficiency during the operation through accurate ridge identification and harvesting tracking technology, and realizes full-process automated harvesting operations through coordinated optimization of the cargo mechanism 1 and the control system. It provides important technical support and equipment guarantee for the development of agricultural modernization.
[0049] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.
Claims
1. A transport robot based on ridge-to-ridge tracking, characterized in that: It includes a transport vehicle, a ridge identification system, a harvest tracking system and a control system; wherein the transport vehicle, the ridge identification system and the harvest tracking system are all connected to the control system; the ridge identification system is used to distinguish the ridge bodies on both sides of the ridge; the harvest tracking system is used to identify the collecting workers, so that the transport vehicle moves with the collecting workers; the transport vehicle is used to place the harvested materials picked by the collecting workers.
2. A transport robot based on ridge tracking according to claim 1, characterized in that: The ridge identification system includes complex tactile sensors arranged on both sides of the transport vehicle and a first simple visual module arranged on the top of the transport vehicle; wherein, the complex tactile sensors sense the surrounding environment of the crops through a flexible tactile structure, so that the transport vehicle pushes away branches, flexible vines and weeds attached to the ridge body and obtains the real position of the ridge body; the first simple visual module obtains the characteristic image of the ridge body; the complex tactile sensor cooperates with the first simple visual module to ensure that the transport vehicle stays in the middle of the ridge bodies on both sides.
3. A transport robot based on ridge tracking according to claim 2, characterized in that: The harvesting tracking system includes a second simple visual module and an infrared sensor arranged on the top of the transport vehicle; the second simple visual module is used to sense the position of the harvesting worker in real time, and the infrared sensor collects the distance between the worker's position and the transport vehicle in real time.
4. A transport robot based on ridge tracking according to claim 3, characterized in that: The first simple visual module and the second simple visual module are the same simple visual module.
5. The transport robot based on ridge tracking according to claim 4, characterized in that: The simple vision module obtains the ridge feature image based on the embedded image processing algorithm, extracts the ridge edge features, and obtains the real position of the ridge in combination with the complex tactile sensor to form an accurate ridge position information map.
6. The transport robot based on ridge tracking according to claim 4, characterized in that: The simple vision module includes a simple vision sensor.
7. The transport robot based on ridge tracking according to claim 1, characterized in that: The transport vehicle comprises a chassis, a steering triangular drive track arranged at the front end of the chassis, wheels arranged at the rear end of the chassis and a cargo loading mechanism arranged on the chassis, and the steering triangular drive track is connected to a control system.
8. The transport robot based on ridge tracking according to claim 7, characterized in that: After the loading mechanism is filled with harvested materials, the collecting staff will guide the transport vehicle to the end of the field. After unloading, the transport vehicle will follow the collecting staff back to the work site to continue working.
9. The transport robot based on ridge tracking according to claim 7, characterized in that: The steering triangular drive track includes a fork structure arranged at the front end of the chassis, a driving triangular track arranged at the lower end of the fork structure, and a steering gear arranged at the upper end of the fork structure; the driving triangular track includes an electric motor, a reducer, a track, a driving wheel and two driven wheels; the driving wheel and the two driven wheels are distributed in a triangle, the driving wheel and the two driven wheels are both matched with the track, the main shaft of the electric motor is connected to the input end of the reducer, and the output end of the reducer is connected to the driving wheel.
10. The transport robot based on ridge tracking according to claim 7, characterized in that: The chassis is a frame, and a detachable battery is provided between the frame and the cargo carrying mechanism.