Agricultural robot based on mechanical arm and control system thereof

Abstract

The invention relates to the technical field of agricultural machinery, and particularly discloses an agricultural robot based on a mechanical arm and a control system of the agricultural robot. Two six-degree-of-freedom mechanical arms are mounted in the middle of the top end of the crawler base, mounting mechanisms are mounted at the other ends of the two six-degree-of-freedom mechanical arms, and connecting mechanisms are mounted at the other ends of the two mounting mechanisms; the mounting mechanism comprises a mounting seat, a positioning groove, a mounting groove, a moving frame, a clamping block and a spring; the two clamping blocks are pushed to move towards the middle through the elasticity of the spring to clamp the fixing rod on the connecting mechanism, so that the quick mounting and dismounting of the six-degree-of-freedom mechanical arm and the end executors can be realized, and different types of end executors are mounted on the six-degree-of-freedom mechanical arm, so that the mounting and dismounting of the six-degree-of-freedom mechanical arm and the end executors are facilitated. The agricultural robot integrates multiple functions of picking, fertilization, pollination, pesticide spraying and the like, and the diversity and complexity of operation links in the agricultural production process can be overcome.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural machinery, and particularly relates to an agricultural robot based on a robotic arm and its control system. Background Art

[0002] With the continuous progress and vigorous development of agricultural informatization technology, robot technology is gradually penetrating and widely applied in the field of agricultural production. Using robots to replace traditional agricultural workers not only greatly improves labor productivity, effectively reduces labor costs, but also shows significant advantages in many aspects. It effectively alleviates the problem of labor shortage, greatly reduces the labor intensity of workers, significantly improves the comfort of workers' operations, and effectively reduces the safety risks during the labor process. These series of positive effects play an indispensable role in promoting the process of agricultural informatization and the transformation of agricultural modernization in our country.

[0003] Currently, the field of agricultural robots generally shows a trend of specialization. Most agricultural robots are designed to perform specific and single functions. For example, picking robots focus on the precise picking of fruits, spraying robots are dedicated to the uniform spraying of pesticides, and pollination robots focus on achieving effective pollination of flowers. However, although these robots perform well in their respective fields, they have not been comprehensively considered from the perspective of the entire process of agricultural production. They have not been able to overcome the diversity and complexity of the operation links in the agricultural production process, nor fully reflect the unity and coherence among the various links in the planting process. This means that these special robots still have certain limitations in achieving the full automation and intelligence of agricultural production. Summary of the Invention

[0004] The purpose of the present invention is to provide an agricultural robot based on a robotic arm and its control system to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] An agricultural robot based on a robotic arm, comprising:

[0007] A crawler vehicle base;

[0008] In the middle of the top of the crawler vehicle base, two six-degree-of-freedom robotic arms are installed. At the other ends of the two six-degree-of-freedom robotic arms, mounting mechanisms are installed, and at the other ends of the two mounting mechanisms, connecting mechanisms are installed;

[0009] The installation mechanism includes a mounting base, positioning grooves, mounting grooves, moving frames, clamping blocks and springs. The mounting base is installed at the other end of the six-degree-of-freedom robotic arm. There are four positioning grooves, which are respectively opened at the four corners of one end of the mounting base. The mounting groove is opened in the middle of one end of the mounting base. There are two moving frames and two clamping blocks. The two moving frames are respectively installed on the inner walls of both sides of the mounting groove. The two clamping blocks are respectively installed on the opposite surfaces of the two moving frames. There are six springs, and the six springs are respectively installed on the opposite surfaces of the two clamping blocks;

[0010] A fertilizing mechanism is installed on one side of the top of the crawler vehicle base, and the fertilizing mechanism can store water and fertilizers.

[0011] Preferably, an actuator storage box is installed on the other side of the top of the crawler vehicle base. A control panel is installed at one end of the actuator storage box. A storage frame is jointly installed between the outer wall of the actuator storage box and the outer wall of the fertilizing mechanism. The other end of one side of the connecting mechanism is installed with a spraying actuator, and the other end of the other side of the connecting mechanism is installed with a picking actuator.

[0012] Preferably, the connecting mechanism includes a connecting seat, positioning frames, fixing rods and clamping grooves. The connecting seat is installed at one end of the picking actuator. There are four positioning frames, which are respectively installed at the four corners of one end of the connecting seat. The fixing rod is installed in the middle of one end of the connecting seat. There are four clamping grooves, which are respectively opened on the outer walls of both sides of the fixing rod.

[0013] Preferably, both the positioning frames and the positioning grooves are set as L-shaped structures, the clamping grooves are set as wedge-shaped structures, wedge-shaped grooves are respectively opened on the opposite surfaces of the two clamping blocks, and the crawler vehicle base, the two six-degree-of-freedom robotic arms, the spraying actuator and the picking actuator are all electrically connected to the control panel.

[0014] Preferably, the fertilizing mechanism includes a water and fertilizer tank, a water pump, a fertilizer suction pipe, a driving cylinder, a stirring mechanism, a water suction pipe, a water inlet pipe, a water delivery pipe, a connector and a partition plate. The water and fertilizer tank is installed on one side of the top of the crawler vehicle base. The water pump is installed at the upper part of one end of the water and fertilizer tank. The fertilizer suction pipe is installed on the outer wall of one side of the water pump. The driving cylinder is installed in the middle of the outer surface of the fertilizer suction pipe. The stirring mechanism is installed between the inner walls of both sides of the water and fertilizer tank. The water suction pipe is installed on the outer wall of the other side of the water pump. There are two water inlet pipes, and the two water inlet pipes are both installed at the top of the water and fertilizer tank. The water delivery pipe is installed at the top of the water pump. The connector is installed at the other end of the water delivery pipe. The partition plate is installed between the top inner wall and the bottom inner wall of the water and fertilizer tank.

[0015] Preferably, the stirring mechanism includes a stirring shaft, a driving paddle, a stirring frame, a rotating shaft, and a stirring paddle. The stirring shaft is installed between the inner walls on both sides of the water and fertilizer tank through bearings. The driving paddle is installed on one side of the outer surface of the stirring shaft. A plurality of stirring frames, rotating shafts, and stirring paddles are provided. A plurality of the stirring frames are all installed on the outer surface of the stirring shaft. A plurality of the rotating shafts are respectively installed on the outer walls of a plurality of the stirring frames through bearings. A plurality of the stirring paddles are respectively installed at both ends of a plurality of the rotating shafts.

[0016] Preferably, the driving paddle is located inside the driving cylinder. The stirring frame is of a herringbone structure. A plurality of through holes are formed in the stirring frame. The water pump is electrically connected to the control panel. Valves are provided on the fertilizer suction pipe, the water suction pipe, and the two water inlet pipes. The water delivery pipe is a long flexible pipe.

[0017] A control system for an agricultural robot based on a robotic arm, comprising:

[0018] An acquisition end, a control end, a decision-making end, and a transmission end;

[0019] The acquisition end includes a soil humidity sensing unit, a temperature sensing unit, an ultrasonic sensing unit, a lidar unit, and an RGBD camera unit. The control end includes a data processing unit, a robotic arm control unit, and an end effector control unit. The decision-making end includes a crop recognition and health diagnosis unit, a path planning unit, and a GPS positioning unit. The transmission end includes a data storage unit, a data encryption unit, and a wireless communication unit;

[0020] The soil humidity sensing unit is used to monitor the soil humidity and provide a basis for irrigation decision-making. The temperature sensing unit is used to monitor the temperature of the farmland or crops to understand the crop growth environment. The ultrasonic sensing unit is used for obstacle avoidance and short-distance measurement to ensure the safety of the robot during field operations. The lidar unit is used to provide high-precision environmental perception capabilities for navigation, obstacle avoidance, and terrain mapping. The RGBD camera unit is used for image recognition and target detection to capture color images and depth information;

[0021] The data processing unit is used to preprocess and analyze the data collected by the acquisition end and provide decision-making support for the control end. The robotic arm control unit is used to control the robotic arm to perform specific agricultural tasks. The end effector control unit is used to control the switch and actions of the end effector.

[0022] Preferably, the crop recognition and health diagnosis unit is used to identify crop types, growth status, and pest and disease conditions using machine vision and deep learning algorithms. The path planning unit is used to plan the optimal operation path for the agricultural robot. The GPS positioning unit is used to provide global positioning information of the agricultural robot.

[0023] Preferably, the data storage unit is used to store information such as the collected data, operation logs, and decision results. The data encryption unit is used to encrypt the transmitted data to ensure the security of the data during the transmission process. The wireless communication unit is used to realize the real-time data interaction and remote control between the agricultural robot and other devices.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] (1) An installation mechanism is provided at one end of the six-degree-of-freedom robotic arm of the present invention. By the elastic force of the spring, two clamping blocks are pushed towards the middle to clamp the fixed rod on the connecting mechanism, thereby realizing the quick installation and disassembly of the six-degree-of-freedom robotic arm and the end effector. By installing different types of end effectors on the six-degree-of-freedom robotic arm, the agricultural robot integrates multiple functions such as picking, fertilizing, pollinating, and spraying, and can overcome the diversity and complexity of the operation links in the agricultural production process.

[0026] (2) A connecting mechanism is provided at one end of the installation mechanism of the present invention. By inserting the positioning frame into the positioning groove, the positioning and clamping between the connecting seat and the mounting seat can be realized. At the same time, the fixed rod will also be inserted into the installation groove, thus realizing the quick installation of the end effector. This design facilitates the quick disassembly and replacement of the end effector with a connecting mechanism, can significantly reduce the time required for replacing tools, and improve work efficiency.

[0027] (3) A fertilizing mechanism is provided at the top of the crawler vehicle base of the present invention. By starting the water pump to generate suction and opening the valve on the fertilizer suction pipe or the water suction pipe, water or fertilizer can be conveniently extracted. During the process of extracting liquid fertilizer, the fertilizer will enter the inside of the drive cylinder to impact the drive paddle and drive it to rotate, so that the stirring shaft drives a plurality of stirring frames to rotate together, realizing the full stirring and mixing of the liquid fertilizer. This stirring method can avoid the precipitation of fertilizer and ensure the stable quality of the liquid fertilizer. Description of the Drawings

[0028] Figure 1 is a perspective view of the present invention;

[0029] Figure 2 is the present invention Figure 1 an enlarged view of A in;

[0030] Figure 3 is a cross-sectional view of the installation mechanism of the present invention;

[0031] Figure 4 is a perspective view of the connecting mechanism of the present invention;

[0032] Figure 5 is a perspective view of the fertilizing mechanism of the present invention;

[0033] Figure 6 Cross-sectional view of the fertilization mechanism of the present invention;

[0034] Figure 7 Stereogram of the stirring mechanism of the present invention;

[0035] Figure 8 System flowchart of the present invention;

[0036] In the figure: 1, crawler vehicle base; 2, six-degree-of-freedom robotic arm; 3, mounting mechanism; 4, connecting mechanism; 5, fertilization mechanism; 6, actuator storage box; 7, control panel; 8, storage frame; 9, spraying actuator; 10, picking actuator;

[0037] 31, mounting seat; 32, positioning groove; 33, mounting groove; 34, moving frame; 35, clamping block; 36, spring;

[0038] 41, connecting seat; 42, positioning frame; 43, fixing rod; 44, clamping groove;

[0039] 51, water and fertilizer tank; 52, water pump; 53, fertilizer suction pipe; 54, driving cylinder; 55, stirring mechanism; 56, water suction pipe; 57, water inlet pipe; 58, water delivery pipe; 59, connector; 510, partition board;

[0040] 551, stirring shaft; 552, driving paddle; 553, stirring frame; 554, rotating shaft; 555, stirring paddle. Specific embodiments

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0042] Embodiment 1:

[0043] Please refer to Figures 1 to 7 As shown, an agricultural robot based on a robotic arm includes:

[0044] Crawler vehicle base 1;

[0045] In the middle of the top of the crawler vehicle base 1, two six-degree-of-freedom robotic arms 2 are installed. At the other ends of the two six-degree-of-freedom robotic arms 2, mounting mechanisms 3 are installed, and at the other ends of the two mounting mechanisms 3, connecting mechanisms 4 are installed;

[0046] The installation mechanism 3 includes a mounting base 31, a positioning groove 32, a mounting groove 33, a moving frame 34, a clamping block 35 and a spring 36. The mounting base 31 is installed at the other end of the six-degree-of-freedom robotic arm 2. There are four positioning grooves 32, which are respectively opened at the four corners of one end of the mounting base 31. The mounting groove 33 is opened in the middle of one end of the mounting base 31. There are two moving frames 34 and two clamping blocks 35. The two moving frames 34 are respectively installed on the inner walls of both sides of the mounting groove 33. The two clamping blocks 35 are respectively installed on the opposite surfaces of the two moving frames 34. There are six springs 36, and the six springs 36 are respectively installed on the opposite surfaces of the two clamping blocks 35;

[0047] The fertilizing mechanism 5 is installed on one side of the top end of the crawler vehicle base 1, and the fertilizing mechanism 5 can store water and fertilizers.

[0048] It can be seen from Figures 1 to 4 that an actuator storage box 6 is installed on the other side of the top end of the crawler vehicle base 1. A control panel 7 is installed at one end of the actuator storage box 6. A storage frame 8 is jointly installed between the outer wall of the actuator storage box 6 and the outer wall of the fertilizing mechanism 5. The other end of one side connection mechanism 4 is installed with a spraying actuator 9, and the other end of the other side connection mechanism 4 is installed with a picking actuator 10;

[0049] The connection mechanism 4 includes a connection seat 41, a positioning frame 42, a fixing rod 43 and a clamping groove 44. The connection seat 41 is installed at one end of the picking actuator 10. There are four positioning frames 42, and the four positioning frames 42 are respectively installed at the four corners of one end of the connection seat 41. The fixing rod 43 is installed in the middle of one end of the connection seat 41. There are four clamping grooves 44, and the four clamping grooves 44 are respectively opened on the outer walls of both sides of the fixing rod 43.

[0050] As can be seen from the above, during the operation of the agricultural robot, first, the positioning frame 42 and the fixing rod 43 need to be accurately inserted into the positioning groove 32 and the installation groove 33 respectively. The cooperation between the L-shaped positioning frame 42 and the positioning groove 32 ensures the accurate clamping and positioning between the connecting seat 41 and the mounting seat 31. At the same time, during the process of inserting the fixing rod 43 into the installation groove 33, the inclined surface on it will cleverly push the two clamping blocks 35 to move to both sides. When the fixing rod 43 is completely inserted to the bottom of the installation groove 33, the elastic action of the spring 36 will make the two clamping blocks 35 move towards the middle and tightly insert into the wedge-shaped groove of the fixing rod 43, thus automatically locking the fixing rod 43, ensuring the accuracy and stability of the end effector after replacement, and further improving the operation accuracy. This design realizes the rapid installation of the six-degree-of-freedom robotic arm 2 and the end effector. When the end effector needs to be replaced, just pull the moving frame 34 to move the position of the clamping block 35, and the locking of the fixing rod 43 can be easily cancelled, so as to facilitate the rapid disassembly and replacement of the end effector with the connecting mechanism 4. This feature significantly reduces the time required to replace the end effector, increases the effective working time of the robot, and improves the overall production efficiency. Therefore, the agricultural robot can be easily replaced with other types of end effectors according to actual needs, greatly improving the versatility and adaptability of the robot. By installing different types of end effectors such as the spraying actuator 9 and the picking actuator 10 on the six-degree-of-freedom robotic arm 2, the agricultural robot integrates multiple functions such as picking, fertilizing, pollinating, and spraying, and can overcome the diversity and complexity of the operation links in the agricultural production process. At the same time, it also fully reflects the unity and coherence among the various links of the planting process. This enables the agricultural robot to demonstrate comprehensiveness in realizing the full automation and intelligence of agricultural production, greatly expanding its applicable range, thereby improving the labor productivity and operation quality, reducing the labor intensity of growers, and saving a great deal of human resources.

[0051] Specifically, referring to Figures 1 to 4 As shown, both the positioning frame 42 and the positioning groove 32 are set as L-shaped structures, the clamping groove 44 is set as a wedge-shaped structure, wedge-shaped grooves are opened on the opposite surfaces of the two clamping blocks 35, and the crawler vehicle base 1, the two six-degree-of-freedom robotic arms 2, the spraying actuator 9, and the picking actuator 10 are all electrically connected to the control panel 7.

[0052] As can be seen from the above, the positioning frame 42 and the positioning groove 32 of the L-shaped structure are used to provide a stable connection and positioning function. The clamping groove 44 of the wedge-shaped structure is convenient for cooperating with the clamping block 35 having a corresponding wedge-shaped groove. This design enhances the connection strength between components, prevents loosening or falling off of the connection part, and facilitates the operator to comprehensively control the entire agricultural robot through the control panel 7. Various end effectors are stored inside the actuator storage box 6, such as: sowing actuator, weeding actuator, spraying actuator 9, picking actuator 10, etc.

[0053] Embodiment 2:

[0054] Reference Figures 5 to 7 As shown, the fertilization mechanism 5 includes a water and fertilizer tank 51, a water pump 52, a fertilizer suction pipe 53, a drive cylinder 54, a stirring mechanism 55, a water suction pipe 56, a water inlet pipe 57, a water delivery pipe 58, a connector 59 and a partition plate 510. The water and fertilizer tank 51 is installed on one side of the top of the crawler vehicle base 1. The water pump 52 is installed on the upper part of one end of the water and fertilizer tank 51. The fertilizer suction pipe 53 is installed on the outer wall of one side of the water pump 52. The drive cylinder 54 is installed in the middle of the outer surface of the fertilizer suction pipe 53. The stirring mechanism 55 is installed between the inner walls on both sides of the water and fertilizer tank 51. The water suction pipe 56 is installed on the outer wall of the other side of the water pump 52. There are two water inlet pipes 57, and both of the two water inlet pipes 57 are installed on the top of the water and fertilizer tank 51. The water delivery pipe 58 is installed on the top of the water pump 52. The connector 59 is installed at the other end of the water delivery pipe 58. The partition plate 510 is installed between the top inner wall and the bottom inner wall of the water and fertilizer tank 51;

[0055] The stirring mechanism 55 includes a stirring shaft 551, a driving paddle 552, a stirring frame 553, a rotating shaft 554 and a stirring paddle 555. The stirring shaft 551 is installed between the inner walls on both sides of the water and fertilizer tank 51 through bearings. The driving paddle 552 is installed on one side of the outer surface of the stirring shaft 551. There are several stirring frames 553, rotating shafts 554 and stirring paddles 555. Several stirring frames 553 are all installed on the outer surface of the stirring shaft 551. Several rotating shafts 554 are respectively installed on the outer walls of several stirring frames 553 through bearings. Several stirring paddles 555 are respectively installed at both ends of several rotating shafts 554.

[0056] As can be seen from the above, when the agricultural robot needs to be used for watering or fertilizing crops, first, the water delivery pipe 58 is tightly connected to the spraying actuator 9 through the connector 59. Subsequently, the water pump 52 is started by using the control panel 7, and the valve on the water suction pipe 56 is synchronously opened. In this way, the water suction pipe 56 can smoothly extract the water source in the water and fertilizer tank 51, transport it to the spraying actuator 9 through the water delivery pipe 58, and finally, through the flexible operation of the six-degree-of-freedom robotic arm 2, achieve a comprehensive and uniform spraying of the crops. If fertilizing the crops is required, the valve of the water suction pipe 56 is closed through the control panel 7, and the valve of the fertilizer suction pipe 53 is opened, so that the fertilizer suction pipe 53 extracts the liquid fertilizer in the water and fertilizer tank 51 and introduces it into the driving cylinder 54. During this process, the liquid fertilizer impacts the driving paddle 552, thereby driving the stirring shaft 551 and multiple stirring frames 553 thereon to rotate. At the same time, the stirring paddle 555 on the rotating shaft 554 also rotates accordingly, ensuring that the liquid fertilizer is fully and evenly stirred and mixed. This efficient stirring method not only reduces energy consumption and costs but also effectively avoids the precipitation phenomenon of fertilizers, thereby ensuring the stable quality of the liquid fertilizer. This means that the crops can continuously and evenly obtain the required nutrients, which helps their healthy growth and development, thereby increasing the yield of the crops and maintaining the consistency of the fertilization effect, providing balanced nutrition for the growth of the crops, and ultimately not only increasing the yield of the crops but also significantly improving the quality of the crops.

[0057] Preferably, referring to Figures 5 to 7 As shown, the driving paddle 552 is located inside the driving cylinder 54, the stirring frame 553 is arranged in a herringbone structure, multiple through holes are provided on the stirring frame 553, the water pump 52 is electrically connected to the control panel 7, valves are provided on the fertilizer suction pipe 53, the water suction pipe 56, and the two water inlet pipes 57, and the water delivery pipe 58 is arranged as a long flexible pipe.

[0058] As can be seen from the above, the flowing water in the driving cylinder 54 impacts the driving paddle 552 to rotate. The herringbone-structured stirring frame 553 can increase the stirring area and improve the stirring efficiency. The through holes on the stirring frame 553 can make the liquid pass through and mix more easily, improving the stirring effect. These through holes can also reduce the resistance during the stirring process, reduce energy consumption, enable the control panel 7 to control the start-stop and flow rate of the water pump 52, these valves can control the flow and closing of the liquid, and the long flexible water delivery pipe 58 can adapt to different terrains and working environments, improving the adaptability and flexibility of the robot.

[0059] Embodiment Three:

[0060] Referring to Figure 8 As shown, a control system for an agricultural robot based on a robotic arm includes:

[0061] A collection end, a control end, a decision-making end, and a transmission end;

[0062] The acquisition terminal includes a soil humidity sensing unit, a temperature sensing unit, an ultrasonic sensing unit, a lidar unit, and an RGBD camera unit. The control terminal includes a data processing unit, a robotic arm control unit, and an end effector control unit. The decision-making terminal includes a crop recognition and health diagnosis unit, a path planning unit, and a GPS positioning unit. The transmission terminal includes a data storage unit, a data encryption unit, and a wireless communication unit;

[0063] The soil humidity sensing unit is used to monitor the soil humidity and provide a basis for irrigation decisions. The temperature sensing unit is used to monitor the temperature of the farmland or crops to understand the crop growth environment. The ultrasonic sensing unit is used for obstacle avoidance and short-distance measurement to ensure the safety of the robot during field operations. The lidar unit is used to provide high-precision environmental perception capabilities for navigation, obstacle avoidance, and terrain mapping. The RGBD camera unit is used for image recognition and target detection to capture color images and depth information;

[0064] The data processing unit is used to preprocess and analyze the data collected by the acquisition terminal and provide decision-making support for the control terminal. The robotic arm control unit is used to control the robotic arm to perform specific agricultural tasks. The end effector control unit is used to control the switch and actions of the end effector;

[0065] The crop recognition and health diagnosis unit is used to identify crop species, growth status, and pest and disease conditions using machine vision and deep learning algorithms. The path planning unit is used to plan the optimal operation path for the agricultural robot. The GPS positioning unit is used to provide the global positioning information of the agricultural robot;

[0066] The data storage unit is used to store information such as the collected data, operation logs, and decision-making results. The data encryption unit is used to encrypt the transmitted data to ensure the security of the data during transmission. The wireless communication unit is used to achieve real-time data interaction and remote control between the agricultural robot and other devices.

[0067] As can be seen from the above, this control system can comprehensively control the agricultural robot. Through the collaborative work of multiple units, it can achieve precise and efficient execution of agricultural tasks. The acquisition terminal is responsible for collecting various environmental information and crop information required for the operation of the agricultural robot. The soil humidity sensing unit can real-time sense the soil moisture content, and the temperature sensor provides temperature data, which helps to precisely regulate the farmland environment. The ultrasonic sensing unit and the lidar unit respectively calculate the distance to obstacles and generate a three-dimensional environmental model by transmitting and receiving signals, providing precise navigation and obstacle avoidance information for the agricultural robot. The RGB camera unit provides rich visual information for the robot to support tasks such as crop recognition and health diagnosis;

[0068] The control end is responsible for the motion control and operation execution of the agricultural robot. The data processing unit includes algorithms such as data filtering and feature extraction to extract useful information to support the manipulator control and end - effector control. The manipulator control unit realizes precise motion and completes tasks such as picking and pruning by controlling the motor speed and steering. The end - effector control unit ensures the accurate execution of operation tasks, such as precisely grasping crops and evenly spraying pesticides;

[0069] The decision - making end is responsible for the intelligent decision - making and path planning of the agricultural robot. The crop recognition and health diagnosis unit provides accurate crop information to guide the execution of operation tasks. The path planning unit plans an efficient and safe operation path based on the collected environmental information and crop information using advanced algorithms (such as A* algorithm, Dijkstra algorithm or reinforcement learning algorithm). The GPS positioning unit updates the robot's position information in real - time to provide necessary reference for path planning;

[0070] The transmission end is responsible for data storage, encryption and communication. The data storage unit uses large - capacity storage devices to ensure data integrity and security. The data encryption unit uses advanced encryption algorithms to prevent data from being stolen or tampered with. The wireless communication unit supports multiple communication protocols and frequency bands to ensure the smooth transfer of data between the farm management system and the robot, and supports remote monitoring and control functions;

[0071] These units cooperate together to enable the agricultural robot based on the manipulator to precisely and efficiently execute various agricultural tasks, improving agricultural production efficiency and quality.

[0072] Application example:

[0073] This design is applied to the diverse operating environments in modern agriculture. Specifically, it can be widely used in farmland environments and orchard environments. In farmland, this robot can perform various operations such as sowing, fertilizing, spraying pesticides, weeding, and harvesting. Especially in large-scale farmland operations, with its efficient working ability, this robot can significantly improve the operation efficiency and effectively reduce the labor intensity of farmers. The agricultural robot of this design can flexibly perform various complex spatial movements through its two six-degree-of-freedom robotic arms 2 and easily reach every corner of the farmland or orchard. At the same time, through the mounting mechanism 3 installed on the six-degree-of-freedom robotic arm 2 and the connecting mechanism 4 installed on the end effector, the rapid disassembly and replacement of the end effector are realized. This design enables this agricultural robot to integrate multiple functions such as harvesting, fertilizing, pollinating, and spraying pesticides, can fully adapt to each growth stage of crops, and significantly improves the versatility and flexibility of the robot. In terms of fertilization, this design adopts an innovative design, that is, using the impact force generated by water flow to drive the stirring mechanism 55 to rotate, achieving the full mixing of fertilizer and water. This design not only significantly improves the fertilization effect but also effectively reduces energy consumption and costs. In addition, this design also sets up an advanced control system, integrating high-precision sensor technology and intelligent algorithms. This system can real-time monitor the working state and operating environment of the agricultural robot and automatically adjust the movement trajectory of the six-degree-of-freedom robotic arm 2 and the operation mode of the end effector as needed. This enables the robot to efficiently and accurately complete various agricultural operations and greatly improves agricultural production efficiency.

[0074] In summary, the agricultural robot of this design has broad application prospects and significant advantages in modern agriculture and is an important tool for improving agricultural production efficiency and reducing the labor intensity of farmers.

[0075] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An agricultural robot based on a mechanical arm, characterized in that: include: Tracked vehicle base (1); Two six-degree-of-freedom mechanical arms (2) are installed at the middle of the top of the crawler vehicle base (1), the other ends of the two six-degree-of-freedom mechanical arms (2) are installed with mounting mechanisms (3), and the other ends of the two mounting mechanisms (3) are installed with connecting mechanisms (4); The mounting mechanism (3) comprises a mounting seat (31), a positioning groove (32), a mounting groove (33), a movable frame (34), a clamping block (35) and a spring (36); the mounting seat (31) is mounted on the other end of the six-degree-of-freedom mechanical arm (2); four positioning grooves (32) are provided, and the four positioning grooves (32) are respectively arranged at four corners of one end of the mounting seat (31); the mounting groove (33) is arranged in the middle of one end of the mounting seat (31); two movable frames (34) and two clamping blocks (35) are each provided, and the two movable frames (34) are respectively mounted on the inner walls of both sides of the mounting groove (33); the two clamping blocks (35) are respectively mounted on the opposite surfaces of the two movable frames (34); and six springs (36) are provided, and the six springs (36) are respectively mounted on the opposite surfaces of the two clamping blocks (35); A fertilizing mechanism (5) is installed on one side of the top end of the crawler vehicle base (1), and the fertilizing mechanism (5) can store water and fertilizer.

2. The agricultural robot based on a mechanical arm according to claim 1, characterized in that: An actuator storage box (6) is installed on the other side of the top of the crawler vehicle base (1), a control panel (7) is installed on one end of the actuator storage box (6), a storage frame (8) is installed between the outer wall of the actuator storage box (6) and the outer wall of the fertilizing mechanism (5), a spraying actuator (9) is installed on the other end of the connecting mechanism (4) on one side, and a picking actuator (10) is installed on the other end of the connecting mechanism (4) on the other side.

3. The agricultural robot based on a mechanical arm according to claim 2, characterized in that: The connecting mechanism (4) comprises a connecting seat (41), a positioning frame (42), a fixing rod (43) and a clamping groove (44); the connecting seat (41) is mounted on one end of the picking actuator (10); four positioning frames (42) are provided, and the four positioning frames (42) are respectively installed at four corners of one end of the connecting seat (41); the fixing rod (43) is installed in the middle of one end of the connecting seat (41); four clamping grooves (44) are provided, and the four clamping grooves (44) are respectively opened on the outer walls of both sides of the fixing rod (43).

4. The agricultural robot based on a mechanical arm according to claim 3, characterized in that: The positioning frame (42) and the positioning groove (32) are both configured as L-shaped structures, the clamping groove (44) is configured as a wedge-shaped structure, and the opposing surfaces of the two clamping blocks (35) are both provided with wedge-shaped grooves. The crawler vehicle base (1), the two six-degree-of-freedom mechanical arms (2), the spraying actuator (9) and the picking actuator (10) are all electrically connected to the control panel (7).

5. The agricultural robot based on a mechanical arm according to claim 1, characterized in that: The fertilizing mechanism (5) comprises a water-fertilizer tank (51), a water pump (52), a fertilizer extraction pipe (53), a driving cylinder (54), a stirring mechanism (55), a water extraction pipe (56), a water inlet pipe (57), a water delivery pipe (58), a connecting head (59) and a partition plate (510); the water-fertilizer tank (51) is mounted on one side of the top end of the crawler vehicle base (1); the water pump (52) is mounted on the upper part of one end of the water-fertilizer tank (51); the fertilizer extraction pipe (53) is mounted on one side outer wall of the water pump (52); and the driving cylinder (54) is mounted on the fertilizer extraction pipe. The stirring mechanism (55) is installed in the middle of the outer surface of the water-fertilizer tank (51), the water pump (56) is installed on the other outer wall of the water pump (52), two water inlet pipes (57) are provided, and both of the two water inlet pipes (57) are installed at the top of the water-fertilizer tank (51), the water delivery pipe (58) is installed at the top of the water pump (52), the connector (59) is installed at the other end of the water delivery pipe (58), and the partition plate (510) is installed between the top inner wall and the bottom inner wall of the water-fertilizer tank (51).

6. The agricultural robot based on a mechanical arm according to claim 5, characterized in that: The stirring mechanism (55) comprises a stirring shaft (551), a driving paddle (552), a stirring frame (553), a rotating shaft (554) and a stirring paddle (555); the stirring shaft (551) is installed between the inner walls of both sides of the water-fertilizer tank (51) via a bearing; the driving paddle (552) is installed on one side of the outer surface of the stirring shaft (551); a plurality of stirring frames (553), rotating shafts (554) and stirring paddles (555) are provided; a plurality of stirring frames (553) are installed on the outer surface of the stirring shaft (551); a plurality of rotating shafts (554) are installed on the outer walls of a plurality of stirring frames (553) via bearings; and a plurality of stirring paddles (555) are installed at both ends of a plurality of rotating shafts (554).

7. The agricultural robot based on a mechanical arm according to claim 6, characterized in that: The driving paddle (552) is located inside the driving cylinder (54); the stirring frame (553) is configured as a herringbone structure; a plurality of openings are provided on the stirring frame (553); the water pump (52) is electrically connected to the control panel (7); valves are provided on the fertilizer extraction pipe (53), the water extraction pipe (56) and the two water inlet pipes (57); and the water delivery pipe (58) is configured as a long hose.

8. A control system for an agricultural robot based on a mechanical arm, applicable to an agricultural robot based on a mechanical arm as claimed in claims 1 to 7, characterized in that: include: Collection end, control end, decision end and transmission end; The acquisition end includes a soil moisture sensor unit, a temperature sensor unit, an ultrasonic sensor unit, a lidar unit and an RGBD camera unit; the control end includes a data processing unit, a robotic arm control unit and an end execution control unit; the decision end includes a crop identification and health diagnosis unit, a path planning unit and a GPS positioning unit; the transmission end includes a data storage unit, a data encryption unit and a wireless communication unit; The soil moisture sensor unit is used to monitor soil moisture and provide a basis for irrigation decisions. The temperature sensor unit is used to monitor the temperature of farmland or crops and understand the crop growth environment. The ultrasonic sensor unit is used for obstacle avoidance and close-range measurement to ensure the safety of the robot when working in the field. The lidar unit is used to provide high-precision environmental perception capabilities for navigation, obstacle avoidance and terrain mapping. The RGBD camera unit is used for image recognition and target detection, capturing color images and depth information. The data processing unit is used to pre-process and analyze the data collected by the acquisition end and provide decision support for the control end. The robotic arm control unit is used to control the robotic arm to perform specific agricultural tasks. The end execution control unit controls the switching and action of the end effector.

9. The control system of the agricultural robot based on the mechanical arm according to claim 8, characterized in that: The crop identification and health diagnosis unit is used to identify the crop type, growth status and pest and disease conditions using machine vision and deep learning algorithms. The path planning unit is used to plan the optimal operation path for the agricultural robot. The GPS positioning unit is used to provide global positioning information of the agricultural robot.

10. The control system of the agricultural robot based on the mechanical arm according to claim 8, characterized in that: The data storage unit is used to store information such as collected data, operation logs and decision results. The data encryption unit is used to encrypt the transmitted data to ensure the security of the data during transmission. The wireless communication unit is used to realize real-time data interaction and remote control between the agricultural robot and other equipment.

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