A transplanting robot for small rice fields and a control method thereof

Abstract

This invention provides a rice transplanting robot and its control method suitable for small paddy fields, belonging to the field of agricultural machinery technology. It includes a moving part and a transplanting assembly. The moving part includes a body, multiple mechanical legs, and corresponding drive components for the mechanical legs. The mechanical legs are connected to the body through corresponding drive components. The transplanting assembly includes a seedling storage box, a mechanical arm, a mechanical claw, an angle sensor, and a finger pressure sensor. The seedling storage box is mounted on the body. One end of the mechanical arm is rotatably connected to the body. The angle sensor is mounted on the mechanical arm, and the mechanical claw is mounted on the other end of the mechanical arm. The finger pressure sensor is mounted on the mechanical claw. The mechanical arm has multiple degrees of rotational freedom. The mechanical claw grasps seedlings from the seedling storage box, and the insertion depth of the seedlings is adjusted based on the readings from the angle sensor and the finger pressure sensor. This invention solves the technical problem of existing rice transplanting equipment being limited in use in small paddy fields due to structural defects, resulting in low seedling survival rates.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a rice transplanting robot suitable for small paddy fields and its control method. Background Technology

[0002] Rice is one of my country's main food crops and plays a pivotal role in my country's grain production. Rice has a long history of cultivation in my country and is also a fine tradition of intensive farming in Chinese agriculture.

[0003] In related technologies, traditional rice transplanting typically relies on manual labor or semi-automatic machinery. However, manual transplanting is labor-intensive and inefficient, especially in vast paddy fields, requiring a significant amount of labor and time. While advancements in agricultural technology have led to labor savings through rice transplanters, existing transplanting equipment is mostly large machinery, often requiring agricultural vehicles for propulsion. The large size of these machines makes them unsuitable for irregular terrain or small paddy fields, increasing the risk of collisions and mechanical damage in complex environments. Furthermore, transplanting often involves large-scale simultaneous planting, making it difficult to ensure each seedling is planted at the correct orientation and depth. These limitations all negatively impact seedling survival rates and yields in small paddy fields. Summary of the Invention

[0004] This invention provides a rice transplanting robot and its control method suitable for small paddy fields, which solves the technical problem that existing rice transplanting equipment is limited in use in small paddy fields due to structural defects, resulting in low seedling survival rates. The technical solution is as follows:

[0005] In a first aspect, embodiments of the present invention provide a rice transplanting robot suitable for small paddy fields, comprising:

[0006] Action unit and rice transplanting components,

[0007] The action unit includes a body, multiple mechanical legs, and drive components corresponding to the multiple mechanical legs. The multiple mechanical legs are connected to the body through the corresponding drive components, and the drive components are used to drive the corresponding mechanical legs to move the body.

[0008] The rice transplanting assembly includes a seedling storage box, a robotic arm, a robotic gripper, an angle sensor, and a finger pressure sensor. The seedling storage box is mounted on the machine body. One end of the robotic arm is rotatably connected to the machine body. The angle sensor is mounted on the robotic arm. The robotic gripper is mounted on the other end of the robotic arm. The finger pressure sensor is mounted on the robotic gripper. The robotic arm is configured to have multi-directional rotational freedom so that it can grasp the seedlings in the seedling storage box through the robotic gripper and adjust the insertion depth of the seedlings according to the readings of the angle sensor and the finger pressure sensor.

[0009] Optionally, the finger pressure sensor is disposed on the inside of the finger of the mechanical claw.

[0010] Optionally, four mechanical legs are provided, and they are arranged in pairs on the left and right sides of the machine body, with the two sets of mechanical legs arranged in a front-to-back interval.

[0011] Optionally, the body is provided with a control system, which includes a positioning module and a central control module. The positioning module is used to acquire the spatial position information of the moving part, and the central control module is configured to output control signals to the drive component according to the spatial position information and a preset motion trajectory.

[0012] Optionally, the control system further includes an ultrasonic sensor, which is mounted on the machine body and located on the same side as the robotic arm, and the ultrasonic sensor is communicatively connected to the main control module.

[0013] Optionally, the control system further includes a video sensor, which is disposed on the side of the machine body away from the ultrasonic sensor, and the video sensor is communicatively connected to the main control module.

[0014] Optionally, the seedling storage box is provided with a seedling outlet that matches the mechanical claw, the seedling storage box is provided with a push rod facing the seedling outlet, and the bottom of the seedling storage box is provided with a conveyor belt facing the push rod.

[0015] Optionally, a pressure sensor is provided at the seedling outlet, and the pressure sensor is communicatively connected to the robotic arm, the push rod, and the conveyor belt.

[0016] Secondly, embodiments of the present invention also provide a control method, implemented based on the rice transplanting robot suitable for small paddy fields described in the first aspect above, comprising:

[0017] The spatial position information of the fuselage is obtained, and control signals are output to the drive component based on the spatial position information and the preset motion trajectory, so as to use the multiple mechanical legs to drive the action part to avoid obstacles or move according to the planned path;

[0018] The robotic arm is used to grab seedlings from the seedling storage box for transplanting. During the transplanting process, the angle sensor detects the real-time angle of the robotic arm, and the finger pressure sensor detects the insertion resistance fed back to the robotic gripper. If the insertion resistance is higher than the set upper limit, the insertion angle of the robotic arm is adjusted to make the seedling more horizontal to reduce the insertion depth; if the insertion resistance is lower than the set lower limit, the insertion angle of the robotic arm is adjusted to make the seedling more vertical to increase the insertion depth.

[0019] Optionally, the control method further includes:

[0020] Once the seedlings reach the set depth, the mechanical gripper releases its grip and the robotic arm is controlled to maintain the insertion angle while lifting.

[0021] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following:

[0022] The rice transplanting robot for small paddy fields provided in this invention adopts a multi-legged robot structure, with multiple mechanical legs connected by multi-degree-of-freedom rotational joints. This allows for stable movement in uneven, muddy paddy fields, adapting to paddy fields of varying sizes and terrains, significantly improving walking stability. Compared to traditional large-scale rice transplanters, this invention is more flexible and reliable, enabling stable operation in complex and small paddy field environments. During transplanting, a multi-degree-of-freedom robotic arm drives an end effector to pick up seedlings from a seedling storage box. The robot's real-time posture and seedling insertion depth are precisely controlled by feedback from angle sensors on the robotic arm and insertion resistance sensors on the end effector, ensuring that each seedling's insertion depth and height meet standards. This reduces crop growth differences caused by uneven transplanting, resulting in high transplanting precision and increased rice yield. This effectively solves the technical problems of existing rice transplanting equipment being limited in use in small paddy fields due to structural defects and resulting in low seedling survival rates. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a three-dimensional structural diagram of a rice transplanting robot suitable for small paddy fields provided in an embodiment of the present invention;

[0025] Figure 2 This is a partial structural schematic diagram of the rice transplanting assembly provided in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the working condition of the transplanting component, in which the robotic arm uses a mechanical claw to pick up seedlings from the seedling storage box.

[0027] Figure 4 This is a schematic diagram of the working condition when the transplanting component is in operation, in which the robotic arm uses a mechanical claw to pick up the seedlings and remove them from the seedling storage box.

[0028] Figure 5 This is a schematic diagram illustrating the working condition of the rice transplanting assembly, where the robotic arm inserts rice seedlings into the soil using a robotic claw.

[0029] Figure 6 This is a schematic diagram of the path planning of the rice transplanting robot during operation, provided in an embodiment of the present invention.

[0030] Figure 7 This is a flowchart of the control method provided in an embodiment of the present invention.

[0031] In the picture:

[0032] 1-Action unit; 2-Transplanting assembly; 3-Control system; 11-Body; 12-Mechanical leg; 13-Drive assembly; 21-Seedling storage box; 22-Mechanical arm; 23-Mechanical claw; 24-Angle sensor; 25-Finger pressure sensor; 31-Positioning module; 32-Master control module; 33-Ultrasonic sensor; 34-Video sensor; 131-Rotating joint; 211-Seedling outlet; 212-Push rod; 213-Conveyor belt; 214-Pressure sensor. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0034] Figure 1 This is a three-dimensional structural diagram of a rice transplanting robot suitable for small paddy fields provided in an embodiment of the present invention; Figure 2This is a partial structural schematic diagram of the rice transplanting assembly provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the working condition of the transplanting component, in which the robotic arm uses a mechanical claw to pick up seedlings from the seedling storage box. Figure 4 This is a schematic diagram of the working condition when the transplanting component is in operation, in which the robotic arm uses a mechanical claw to pick up the seedlings and remove them from the seedling storage box. Figure 5 This is a schematic diagram illustrating the working condition of the rice transplanting assembly, where the robotic arm inserts rice seedlings into the soil using a robotic claw. Figure 6 This is a schematic diagram of the path planning of the rice transplanting robot provided in an embodiment of the present invention. Figures 1 to 6 As shown, this embodiment of the invention provides a rice transplanting robot suitable for small paddy fields, including a movement unit 1 and a rice transplanting component 2.

[0035] The action unit 1 includes a fuselage 11, multiple mechanical legs 12, and drive components 13 corresponding to the multiple mechanical legs 12. The multiple mechanical legs 12 are connected to the fuselage 11 through the corresponding drive components 13, and the drive components 13 are used to drive the corresponding mechanical legs 12 to move the fuselage 11.

[0036] The rice transplanting assembly 2 includes a seedling storage box 21, a robotic arm 22, a robotic gripper 23, an angle sensor 24, and a finger pressure sensor 25. The seedling storage box 21 is mounted on the machine body 11. One end of the robotic arm 22 is rotatably connected to the machine body 11. The angle sensor 24 is mounted on the robotic arm 22, and the robotic gripper 23 is mounted on the other end of the robotic arm 22. The finger pressure sensor 25 is mounted on the robotic gripper 23. The robotic arm 22 is configured to have multi-directional rotational freedom to grasp seedlings from the seedling storage box 21 using the robotic gripper 23 and adjust the insertion depth of the seedlings based on the readings from the angle sensor 24 and the finger pressure sensor 25.

[0037] In this embodiment of the invention, four mechanical legs 12 arranged in a rectangular array are positioned in pairs on the left and right sides of the body 11, forming a quadruped robot structure that mimics a quadruped. Each mechanical leg 12 is connected to the body 11 via a corresponding drive assembly 13. In this embodiment, each mechanical leg 12 has a two-end rod structure, and the two ends of the rods, as well as the mechanical leg 12 and the body 11, are rotatably connected via electrically controlled rotating joints 131 as drive assemblies 13. During operation, the rotating joints 131 execute preset rotation commands to drive the mechanical leg 12 to rotate in two stages, thereby driving the entire rice transplanting robot to walk according to a set pattern. In this embodiment, the rice transplanting robot has both a walking state and a positioning state. When in walking mode, the robot moves through the paddy field using four mechanical legs 12. Upon reaching the desired planting location, it switches to a positioning mode and stops moving. The mechanical arm 22 then curls upwards, causing the mechanical claw 23 to move to the seedling storage box 21. After picking up a seedling from the storage box 21, the robot arm 22's initial angle is set according to the preset planting depth and soil resistance. Driving the mechanical arm 22 moves the mechanical claw 23, inserting the seedling held in the claw 23 into the paddy field soil at a preset insertion angle. During planting, an angle sensor 24 detects the real-time angle of the mechanical arm 22, while a finger pressure sensor 25 detects the insertion resistance fed back to the mechanical claw 23. Based on different insertion resistance feedbacks, the robot judges the seedling's insertion status in the field soil. If the insertion resistance is higher than the set upper limit, it indicates that the current soil position is high or relatively compact, and the seedling may be inserted too deeply or with difficulty at the preset insertion angle. Forcing insertion may damage the seedling's roots. At this point, adjust the insertion angle of the robotic arm 22 to make the seedlings more horizontal, thus reducing the insertion depth. If the insertion resistance is lower than the set lower limit, it indicates that the current soil position is low or the soil condition is relatively loose. At the preset insertion angle, the seedling insertion depth may be insufficient, leading to problems such as the seedlings easily tipping over after planting. In this case, adjust the insertion angle of the robotic arm 22 to make the seedlings more vertical, thus increasing the insertion depth.

[0038] The rice transplanting robot for small paddy fields provided in this invention adopts a multi-legged robot structure, with multiple mechanical legs 12 connected by multi-degree-of-freedom rotational joints. This allows for stable movement in uneven, muddy paddy fields, adapting to paddy fields of varying sizes and terrains, significantly improving walking stability. Compared to traditional large rice transplanters, this invention offers more flexible and reliable operation, enabling stable operation in complex and small paddy field environments. During transplanting, the multi-degree-of-freedom robotic arm 22 drives the end effector 23 to pick up seedlings from the seedling storage box 21. The robot's real-time posture and seedling insertion depth are precisely controlled by feedback from the rotation angle sensor 24 on the robotic arm 22 and the insertion resistance from the finger pressure sensor 25 on the end effector 23. This ensures that the insertion depth and height of each seedling meet standards, reducing crop growth differences caused by uneven transplanting, resulting in high transplanting precision and ultimately increasing rice yield. This effectively solves the technical problem of limited use of existing rice transplanting equipment in small paddy fields due to structural defects, resulting in low seedling survival rates.

[0039] Optionally, the finger pressure sensor 25 is disposed on the inner side of the finger of the mechanical gripper 23. Exemplarily, in this embodiment of the invention, the finger pressure sensor 25 is disposed inside the finger of the mechanical gripper 23, directly contacting the seedling during the grasping and insertion process. It can detect the grasping and releasing force of the mechanical gripper 23 on the seedling in real time through a corresponding control module or device, enabling adaptive control to avoid damaging the seedling and further improve the survival rate.

[0040] It should be noted that, in this embodiment of the invention, the fingers of the robotic arm 22 and the robotic claw 23 are driven by built-in small motors to ensure the continuous operation of the robotic claw 23, so that the process of picking and transplanting rice seedlings is repeated cyclically. This results in high transplanting efficiency, low machine operation complexity, and minimal human intervention.

[0041] Optionally, a control system 3 is provided on the body 11. The control system 3 includes a positioning module 31 and a central control module 32. The positioning module 31 is used to acquire the spatial position information of the moving part 1, and the central control module 32 is configured to output control signals to the drive component 13 according to the spatial position information and the preset motion trajectory. Exemplarily, in this embodiment of the invention, the movement control of this rice transplanting robot is achieved through signal transmission and reception control via the central control module 32 integrated on the body 11. When moving in the paddy field, a preset rice transplanting path can be generated in the central control module 32 based on the spatial position information of the paddy field through pre-input or external communication, thus setting the walking trajectory of the rice transplanting robot. During movement, the corresponding positioning module 31 acquires the real-time spatial position information of the body 11, that is, the three-dimensional coordinate information of the current position. By comparing this with the preset rice transplanting path coordinates, the movement of the mechanical legs 12 is adjusted in real time to ensure the accuracy of the movement path.

[0042] Optionally, the control system 3 further includes an ultrasonic sensor 33, which is mounted on the body 11 and located on the same side as the robotic arm 22. The ultrasonic sensor 33 is communicatively connected to the main control module 32. Exemplarily, in this embodiment of the invention, the ultrasonic sensor 33 and the robotic arm 22 are mounted together at the front end of the body 11. During the movement of the rice transplanting robot, obstacles on the path can be detected by the ultrasonic sensor 33. The detection signal from the ultrasonic sensor 33 is fed back to the main control module 32. The main control module 32 performs path planning and motion adjustment based on a preset route and the position of obstacles, achieving flexible obstacle avoidance and preventing collisions with obstacles in the rice paddy.

[0043] For example, during obstacle avoidance and dynamic adjustment, the ultrasonic sensor 33 detects the position and distance of obstacles in front in real time. When the distance to the obstacle is less than a set threshold (e.g., 0.5 meters), the robot triggers obstacle avoidance mode. Under the signal control of the central control module 32, the stride of the mechanical leg 12 decreases, first decelerating to a safe travel speed (e.g., 40% of the original speed). Then, the central control module 32 calculates the offset angle based on the obstacle position and adjusts the robot's direction (maximum deflection angle is 45°). After obstacle avoidance is completed, the central control module 32 returns to the original trajectory by backtracking or using the shortest path and gradually restores the normal speed. The speed adjustment range is set between 0.1 m / s and 0.5 m / s, with a default constant speed of 0.3 m / s.

[0044] Optionally, the control system 3 also includes a video sensor 34, which is disposed on the side of the body 11 away from the ultrasonic sensor 33. The video sensor 34 is communicatively connected to the main control module 32. Exemplarily, in this embodiment of the invention, a video sensor 34 is disposed at the rear of the body 11. During the movement and transplanting of the rice transplanting robot, the video sensor 34 acquires the condition of the seedlings in the area behind the robot's direction of movement via a camera and feeds back the video signal to the main control module 32. The main control module 32 simultaneously combines the detection information from the ultrasonic sensor 33 and the video sensor 34 to monitor the distribution of obstacles and seedlings in front and behind in real time, dynamically adjusting the direction and speed of the rice transplanting robot to ensure precise movement along a set trajectory. During the turning and obstacle avoidance and dynamic adjustment process, by detecting the seedling information behind, the stride of the mechanical legs 12 can also be dynamically adjusted to avoid trampling on the planted seedlings during turning, further improving the survival rate.

[0045] It should be noted that the rice transplanting robot provided by this invention supports both fully automatic operation and, with the addition of wireless remote control, allows users to control the robot's movement and transplanting operations in real time via a remote controller. The remote control function enables the robot to flexibly adapt to different work scenarios. For example, when manual adjustments are needed at the edge of the paddy field or in specific areas, users can remotely operate the transplanting robot to complete the transplanting task. In most cases, this invention primarily achieves fully automated operation through preset programs. Users can set parameters such as the size of the paddy field, the working path, and the transplanting frequency before the operation begins, and the robot automatically completes the transplanting operation according to these preset parameters. This function is particularly suitable for large-area paddy field operations, greatly reducing the need for manual intervention and improving work efficiency.

[0046] Optionally, the seedling storage box 21 is provided with a seedling outlet 211 that matches the mechanical claw 23, and a push rod 212 is provided inside the seedling storage box 21 facing the seedling outlet 211. A conveyor belt 213 is provided at the bottom of the seedling storage box 21, facing the push rod 212. Exemplarily, in an embodiment of the present invention, referring to... Figures 3 to 5 As shown, during the seedling grasping process using the mechanical gripper 23, multiple seedlings are stored in each seedling storage box 21. After being moved laterally by the conveyor belt 213 to the front of the retracted push rod 212, the push rod 212 is extended, pushing at least one seedling to the seedling outlet 211 near the front end of the seedling storage box 21, facilitating accurate gripping by the mechanical gripper 23. During the gripping and transplanting process, the conveyor belt 213 and push rod 212 work in a cycle to ensure that there is always a seedling at the seedling outlet 211 in the grasping position.

[0047] Optionally, a pressure sensor 214 is provided at the seedling outlet 211, and the pressure sensor 214 is communicatively connected to the robotic arm 22, the push rod 212, and the conveyor belt 213. Exemplarily, in a further optimized embodiment, a pressure sensor 214 is provided at the bottom of the seedling outlet 211 to detect whether seedlings are present above the seedling outlet 211. When the pressure sensor 214 detects that a seedling has been taken away by the robotic gripper 23, it sends a signal feedback. Through direct or indirect signal control from the central control module 32, the conveyor belt 213 and the push rod 212 are driven to perform the seedling transport operation, ensuring that seedlings are replenished to the seedling outlet 211 in a timely manner to meet the work cycle of the rice transplanting robot.

[0048] Figure 7 This is a flowchart of the control method provided in an embodiment of the present invention. Figure 7 As shown, embodiments of the present invention also provide a control method based on, for example, Figures 1 to 5 The ballast track maintenance test device shown includes:

[0049] S1, acquire the spatial position information of the fuselage 11, and output control signals to the drive component 13 based on the spatial position information and the preset motion trajectory, so as to use multiple mechanical legs 12 to drive the action unit 1 to avoid obstacles or move according to the planned path.

[0050] Specifically, such as Figure 6 As shown, in this step, after the robot starts, the control system divides the field into grids according to its shape and size, setting the grid width to be equal to the working width of the robotic arm 22; and assigning numbers to each grid according to a "serpentine" path. The field shown in the figure is a rectangular area, 20 meters long and 10 meters wide. The working width of the robotic arm 22, that is, the lateral working width achieved by free rotation, is 1 meter. Therefore, the field is divided into a 10×20 grid, with the grid numbering starting from the upper left corner, and the operation sequence is planned according to a "serpentine" path.

[0051] During path planning, the rice transplanting robot can use ultrasonic sensors 33 to identify obstacles in real time, including obstacles appearing on opposite field ridges and in the paddy field, and replan the obstacle avoidance path. If there are no obstacles, the path planning optimization control algorithm selects the shortest obstacle-free path so that each grid is covered in sequence to complete the rice transplanting operation. If an obstacle is detected, an alternative path is first generated based on the location and size of the obstacle, and the updated path data is obtained using the alternative path to ensure continuous operation and no grid is missed. The updated path data is then transmitted to the control module on the rice transplanting robot as subsequent execution instructions.

[0052] S2, the robotic arm 22 grabs seedlings from the seedling storage box 21 for transplanting. During the transplanting process, the angle sensor 24 detects the real-time angle of the robotic arm 22, and the finger pressure sensor 25 detects the insertion resistance fed back to the robotic claw 23 during the transplanting process. If the insertion resistance is higher than the set upper limit value, the insertion angle of the robotic arm 22 is adjusted to make the seedling more horizontal to reduce the insertion depth; if the insertion resistance is lower than the set lower limit value, the insertion angle of the robotic arm 22 is adjusted to make the seedling more vertical to increase the insertion depth.

[0053] Specifically, in this step, the robotic arm 22 is raised upwards, causing the robotic claw 23 to move to the seedling storage box 21. After picking up the seedlings from the storage box 21, the initial angle of the robotic arm 22 is set according to the preset planting depth and soil resistance. The robotic arm 22 is then driven to move the robotic claw 23, inserting the seedling held in the claw 23 into the paddy field soil at the preset insertion angle. During the planting process, the angle sensor 24 detects the real-time angle of the robotic arm 22, while the finger pressure sensor 25 detects the insertion resistance fed back to the robotic claw 23. Based on different insertion resistance feedbacks, the insertion status of the seedling in the paddy field soil is judged. If the insertion resistance is higher than the set upper limit, it indicates that the current soil position is high or relatively compact, and there is a problem of the seedling being inserted too deeply or difficult to insert at the preset insertion angle. Forcing insertion may damage the roots of the seedling. At this point, adjust the insertion angle of the robotic arm 22 to make the seedlings more horizontal, thus reducing the insertion depth. If the insertion resistance is lower than the set lower limit, it indicates that the current soil position is low or the soil condition is relatively loose. At the preset insertion angle, the seedling insertion depth may be insufficient, leading to problems such as the seedlings easily tipping over after planting. In this case, adjust the insertion angle of the robotic arm 22 to make the seedlings more vertical, thus increasing the insertion depth.

[0054] Furthermore, based on S2, once the seedlings reach the set depth, the mechanical gripper 23 releases its grip and the robotic arm 22 is controlled to maintain the insertion angle while lifting. After transplanting, the angle of the robotic arm 22 is adjusted to an appropriate horizontal or slightly raised position to ensure stable removal of the seedlings and avoid damage to the roots. In this way, the robotic arm 22 can flexibly adjust the insertion angle according to operational needs and environmental changes, thereby achieving high-precision and high-efficiency transplanting operations.

[0055] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising” or “including” and similar terms mean that the element or object preceding “comprising” or “including” encompasses all elements or objects listed following “comprising” or “including” and are identical to them, but do not exclude other elements or objects. The terms “connected” or “linked” and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. “Up,” “down,” “left,” “right,” etc., are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0056] The above description is merely an optional embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A rice transplanting robot suitable for small paddy fields, characterized in that, include: Action unit (1) and rice transplanting component (2). The action unit (1) includes a body (11), a plurality of mechanical legs (12) and a drive assembly (13) corresponding to the plurality of mechanical legs (12). The plurality of mechanical legs (12) are connected to the body (11) through the corresponding drive assembly (13). The drive assembly (13) is used to drive the corresponding mechanical leg (12) to move the body (11). The rice transplanting assembly (2) includes a seedling storage box (21), a robotic arm (22), a robotic claw (23), an angle sensor (24), and a finger pressure sensor (25). The seedling storage box (21) is mounted on the machine body (11). One end of the robotic arm (22) is rotatably connected to the machine body (11). The angle sensor (24) is mounted on the robotic arm (22). The robotic claw (23) is mounted on the other end of the robotic arm (22). The finger pressure sensor (25) is mounted on the inside of the finger of the robotic claw (23). The robotic arm (22) is configured to have multiple degrees of rotational freedom so as to grasp the seedlings in the seedling storage box (21) through the robotic claw (23) and adjust the insertion angle of the robotic arm (22) and the insertion depth of the seedlings according to the readings of the angle sensor (24) and the finger pressure sensor (25).

2. The rice transplanting robot suitable for small paddy fields according to claim 1, characterized in that, The mechanical legs (12) are provided in four groups, and are arranged in pairs on the left and right sides of the body (11), with the two groups of mechanical legs (12) arranged in a front-to-back interval.

3. The rice transplanting robot suitable for small paddy fields according to claim 1, characterized in that, The fuselage (11) is provided with a control system (3), which includes a positioning module (31) and a main control module (32). The positioning module (31) is used to obtain the spatial position information of the action unit (1), and the main control module (32) is configured to output control signals to the drive component (13) according to the spatial position information and the preset motion trajectory.

4. A rice transplanting robot suitable for small paddy fields according to claim 3, characterized in that, The control system (3) further includes an ultrasonic sensor (33), which is mounted on the body (11) and located on the same side as the robotic arm (22). The ultrasonic sensor (33) is communicatively connected to the main control module (32).

5. A rice transplanting robot suitable for small paddy fields according to claim 4, characterized in that, The control system (3) further includes a video sensor (34), which is located on the side of the body (11) away from the ultrasonic sensor (33) and is communicatively connected to the main control module (32).

6. A rice transplanting robot suitable for small paddy fields according to any one of claims 1 to 5, characterized in that, The seedling storage box (21) is provided with a seedling outlet (211) that matches the mechanical claw (23). Inside the seedling storage box (21), there is a push rod (212) facing the seedling outlet (211). At the bottom of the seedling storage box (21), there is a conveyor belt (213) facing the push rod (212).

7. A rice transplanting robot suitable for small paddy fields according to claim 6, characterized in that, A pressure sensor (214) is provided at the seedling outlet (211), and the pressure sensor (214) is communicatively connected to the robotic arm (22), the push rod (212) and the conveyor belt (213).

8. A control method, based on the rice transplanting robot suitable for small paddy fields as described in any one of claims 1 to 7, characterized in that, include: The spatial position information of the fuselage (11) is obtained, and a control signal is output to the drive component (13) based on the spatial position information and the preset motion trajectory, so as to use the multiple mechanical legs (12) to drive the action part (1) to avoid obstacles or move according to the planned path; The robotic arm (22) is used to grab seedlings from the seedling storage box (21) for transplanting. During the transplanting process, the angle sensor (24) is used to detect the real-time angle of the robotic arm (22), and the finger pressure sensor (25) is used to detect the insertion resistance fed back to the robotic claw (23) during the transplanting process. If the insertion resistance is higher than the set upper limit value, the insertion angle of the robotic arm (22) is adjusted to make the seedling more horizontal to reduce the insertion depth. If the insertion resistance is lower than the set lower limit value, the insertion angle of the robotic arm (22) is adjusted to make the seedling more vertical to increase the insertion depth.

9. The control method according to claim 8, characterized in that, The control method further includes: Once the seedlings reach the set depth, the mechanical claw (23) releases its grip and the mechanical arm (22) is controlled to maintain the insertion angle while lifting.

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