Agricultural management equipment with variable working space based on parallel flexible cable driving

Abstract

The invention relates to the technical field of agricultural machinery, in particular to agricultural management equipment based on a parallel flexible cable driving variable working space, which comprises a parallel flexible cable control structure, a telescopic arm walking mechanism, a multifunctional manipulator and a wireless sensing system, the parallel flexible cable control structure comprises a main frame, and universal wheels are arranged at the bottom of the main frame and the bottom of the telescopic arm walking mechanism. The telescopic arm walking mechanism is slidably connected to the main frame, and the power mechanism drives the telescopic arm walking mechanism to move relative to the main frame. Motor rope outlet units are arranged on the two sides of the front end of the upper portion of the upper frame and the two sides of the telescopic arm walking mechanism correspondingly. The four motor rope outlet units achieve movement of the multifunctional mechanical arm in the spatial direction through contraction of driving ropes of the motor rope outlet units correspondingly. And the wireless sensing system receives the signal and controls the action of the multifunctional manipulator according to the signal. The problems that an existing agricultural condition management machine is single in function, small in management range, poor in terrain adaptability, limited in working space and the like are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to agricultural management equipment with a variable working space driven by parallel flexible cables. Background Art

[0002] In recent years, the continuous development of robotics has ushered in a new technological revolution in the agricultural sector. Agricultural robots, integrating automation, intelligence, and advanced sensing technologies, are designed to efficiently manage the crop growing environment, thereby enabling more precise agricultural management. However, while current agricultural robots have contributed to agricultural modernization, the vast majority are still capable of performing only single tasks, such as fertilizing, irrigation, or harvesting. This single-function limitation makes it difficult for them to fully realize their potential in the face of diverse agricultural needs. Furthermore, existing agricultural management machinery suffers from limited management ranges, poor terrain adaptability, and limited workspace. Summary of the Invention

[0003] The present invention aims to solve the problems of current agricultural management machinery, such as single function, small management range, poor terrain adaptability and limited working space. It provides a parallel robot with variable working space integrated with wireless sensing to achieve real-time monitoring and intelligent regulation of the agricultural environment, thereby improving the efficiency of agricultural management.

[0004] The technical solution of the present invention to solve the above problems is:

[0005] The present invention proposes an agricultural management device based on a parallel flexible cable drive with a variable working space, which has the following characteristics:

[0006] The system comprises a parallel flexible cable control structure, a telescopic arm travel mechanism, a multifunctional manipulator, and a wireless sensor system. The parallel flexible cable control structure comprises a main frame, the bottom of which is provided with a main frame universal wheel. The telescopic arm travel mechanism is slidably connected to the main frame, and the bottom of the telescopic arm travel mechanism is provided with at least two telescopic arm universal wheels. The power mechanism of the telescopic arm travel mechanism drives the telescopic arm travel mechanism to move relative to the main frame. Motor rope output units are respectively provided on both sides of the front end of the upper portion of the upper frame, and motor rope output units are respectively provided on both sides of the telescopic arm travel mechanism. The four motor rope output units are respectively connected to the multifunctional manipulator via their drive ropes, and the multifunctional manipulator is moved in a spatial orientation by contracting the drive ropes. The wireless sensor system receives signals and controls the movement of the multifunctional manipulator accordingly. The universal wheels of the main frame and the telescopic arm both have a locking function.

[0007] Preferably, the above-mentioned main frame includes an upper frame and a lower frame, and the upper frame and the lower frame both include parallel guide rods; the upper frame and the lower frame are connected by vertical beams; the telescopic arm walking mechanism includes two left telescopic arms and two right telescopic arms, and the two left telescopic arms and the two right telescopic arms are respectively arranged on the left and right sides of the main frame, and the two left telescopic arms and the two right telescopic arms are respectively connected by telescopic arm fixing plates, and the upper and lower ends of the left telescopic arm and the right telescopic arm are slidably connected to the guide rods of the upper frame and the lower frame through sliding connectors, and telescopic arm universal wheels are provided at the bottom of the left telescopic arm and the right telescopic arm, and the power mechanism is arranged on the main frame.

[0008] Preferably, the two left telescopic arms and the two right telescopic arms of the telescopic arm walking mechanism are symmetrical on the left and right; the two left telescopic arms include a left front telescopic arm and a left rear telescopic arm, and the two right telescopic arms include a right front telescopic arm and a right rear telescopic arm; a left fixed arm and a right fixed arm are respectively provided on the left and right sides of the main frame, the left fixed arm is located between the left front telescopic arm and the left rear telescopic arm, and the right fixed arm is located between the right front telescopic arm and the right rear telescopic arm.

[0009] Preferably, the power mechanism includes an electric hoist, which is fixed to the front end of the lower frame; the right drum and the left drum of the electric hoist lead out the telescopic rope and the telescopic rope respectively.

[0010] Preferably, one end of the telescopic rope passes through a guide ring installed on the front end cross beam of the upper frame and turns to the left, then passes through a guide ring installed on the left front end vertical beam and turns to the left rear, and finally is wrapped around the tie rod installed on the left rear telescopic arm; the other end passes through a guide ring installed on the front end cross beam of the upper frame and turns to the right, passes through a guide ring installed on the right front end vertical beam and turns to the right rear, and finally is wrapped around the tie rod installed on the left rear telescopic arm.

[0011] Preferably, one end of the telescopic rope turns to the left through a guide ring installed on the front end beam of the upper frame, turns in the opposite direction through a guide ring installed on the left fixed arm, and finally wraps around the tie rod installed on the left front telescopic arm; the other end turns to the right through a guide ring installed on the front end beam of the upper frame, turns in the opposite direction through a guide ring installed on the right fixed arm, and finally wraps around the tie rod installed on the right front telescopic arm.

[0012] Preferably, the motor rope output unit includes a drive motor, a drive motor support frame, a drive rope winding wheel, a drive motor fixing plate, a drive motor fixing block, and a drive rope;

[0013] The driving motor is bolted to the driving motor support frame through the mounting hole provided in its housing; the driving rope winding wheel is rigidly connected to the output shaft end of the driving motor through a keyway fitting method; the driving rope is wound in the annular groove of the winding wheel in a dense manner.

[0014] Preferably, the motor rope output unit on the main frame is fastened with a drive motor fixing plate through a bottom mounting hole by means of bolts; the drive motor fixing plate is fixedly connected to the main frame.

[0015] Preferably, the motor rope output unit on the telescopic arm walking mechanism is fixed to the sliding connector and the sliding connector of the telescopic walking mechanism through the bottom mounting hole and the driving motor fixing block respectively.

[0016] Preferably, the multifunctional manipulator includes a depth camera, a manipulator mounting plate, an irrigation nozzle, a manipulator, and drive rope connection holes. The depth camera is mounted on the side of the manipulator mounting plate, where it can be positioned so that even if the manipulator is open, the camera's image capture is not affected. The irrigation nozzle is mounted on both sides of the manipulator. The manipulator, as the core component of the multifunctional manipulator, is mounted in the center of the manipulator mounting plate to facilitate positioning. Four drive rope connection holes are located at the four corners of the manipulator mounting plate, and the four drive rope connection holes are connected to the four drive ropes respectively.

[0017] Advantages of the present invention:

[0018] (1) The present invention avoids the land-based walking operation mode through the parallel flexible cable control mechanism and adopts the aerial operation mode controlled by the three-dimensional parallel flexible cable, thereby realizing effective and efficient aerial operation in the entire space, greatly improving the flexibility of the manipulator while avoiding collision between the manipulator and the vegetables;

[0019] (2) The telescopic arm walking structure proposed in the present invention simplifies the complex telescopic arm. The originally small structure can be stretched by flexible ropes, and the length can be adjusted arbitrarily to achieve the change of the working space, providing a spatial foundation for the robot's aerial operations. The structure can be automatically adjusted, which is more accurate and time-saving, and the efficiency is greatly improved;

[0020] (3) The present invention can realize the movement of the entire robot through the cooperation of the telescopic arm walking mechanism with the universal wheels and directional wheels at the bottom;

[0021] (4) The present invention realizes the change of the robot's working space only through the telescopic arm walking mechanism on both sides, which is consistent with the movement of the entire robot. It has a simple structure and is easy to maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is the overall structure diagram of the variable workspace parallel robot integrated with wireless sensing;

[0023] Figure 2 This is a side view of a parallel robot with a variable workspace and integrated wireless sensing.

[0024] Figure 3 It is the structural diagram of the parallel flexible cable control structure;

[0025] Figure 4 This is an exploded view of the motor rope output unit;

[0026] Figure 5 This is a single-side structural diagram of the telescopic walking mechanism;

[0027] Figure 6 This is the overall assembly drawing of the telescopic walking mechanism and the main frame;

[0028] Figure 7 It is a diagram of the direction of the retractable rope 2-14;

[0029] Figure 8 It is a diagram of the direction of the retractable rope 2-15;

[0030] Figure 9 It is a structural diagram of the multifunctional manipulator;

[0031] Wherein: parallel flexible rope control structure 1, main frame 1-1, guide rod 1-1-1, upper frame front end cross beam 1-1-2, left front end vertical beam 1-1-3, right front end vertical beam 1-1-4, motor rope output unit 1-2, drive motor 1-2-1, drive motor support frame 1-2-2, drive rope winding wheel 1-2-3, drive motor fixing plate 1-3, drive motor fixing block 1-4, drive rope 1-5, motor rope output unit 1-6, motor rope output unit 1-7, motor rope output unit 1-8;

[0032] Telescopic arm walking mechanism 2, tie rod 2-1, guide ring 2-2, left front telescopic arm 2-3, telescopic arm fixing plate 2-4, main frame universal wheel 2-5, telescopic arm universal wheel 2-6, left fixed arm 2-7, left rear telescopic arm 2-8, sliding connector 2-9, right front telescopic arm 2-10, right rear telescopic arm 2-11, right fixed arm 2-12, electric hoist 2-13, electric hoist drive shaft 2-13-1, telescopic rope 2-14, telescopic rope 2-15, sliding connector 2-16, sliding connector 2-17;

[0033] Multifunctional manipulator 3, depth camera 3-1, manipulator mounting plate 3-2, irrigation sprinkler 3-3, manipulator 3-4, drive rope connection hole 3-5;

[0034] Wireless sensing system 4. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention for which protection is claimed, but merely represents selected embodiments of the present invention.

[0036] See also Figure 1 and Figure 2 The present invention proposes an agricultural management equipment with a variable working space driven by parallel flexible cables, including a parallel flexible cable control structure 1, a telescopic arm walking mechanism 2, a multifunctional manipulator 3 and a wireless sensing system 4. The wireless sensing system 4 receives signals and controls the movement of the multifunctional manipulator 3 according to the signals.

[0037] Specifically, see Figure 3 and Figure 5 The parallel flexible cable control structure 1 includes a main frame 1-1, with four main frame universal wheels 2-5 symmetrically mounted at the four corners of the bottom of the main frame 1-1 with bolts; the telescopic arm walking mechanism 2 is slidably connected to the main frame 1-1, and at least two telescopic arm universal wheels 2-6 are provided at the bottom of the telescopic arm walking mechanism 2, which are fixed to the ends of each telescopic arm through a fixing block 2-15, forming the base of the mechanism and providing power support for the mechanical movement. The power mechanism of the telescopic arm walking mechanism 2 drives the telescopic arm walking mechanism 2 to move relative to the main frame 1-1; motor rope output units (1-2, 1-6) are respectively provided on both sides of the upper front end of the upper frame 1-1, and motor rope output units (1-7, 1-8) are respectively provided on both sides of the telescopic arm walking mechanism 2. The four motor rope output units are respectively connected to the multifunctional manipulator 3 through their drive ropes 1-5, and the multifunctional manipulator 3 is moved in a spatial orientation by contracting the drive ropes 1-5. The main frame universal wheels 2-5 and the telescopic arm universal wheels 2-6 both have a locking function.

[0038] Specifically, see Figure 4The motor rope output unit 1-2 includes a drive motor 1-2-1, a drive motor support frame 1-2-2, a drive rope reel 1-2-3, a drive motor fixing plate 1-3, a drive motor fixing block 1-4, and a drive rope 1-5. The drive motor 1-2-1 is bolted to the drive motor support frame 1-2-2 via mounting holes provided in its housing; the drive rope reel 1-2-3 is rigidly connected to the output shaft end of the drive motor 1-2-1 via a keyway fit; and the drive rope 1-5 is closely wound within the annular groove of the reel 1-2-3. Figure 3 The motor rope output units (1-2, 1-6) on the main frame 1-1 are bolted to the drive motor fixing plate 1-3 through the bottom mounting holes; the drive motor fixing plate 1-3 is fixedly connected to the main frame 1-1. The motor rope output units (1-7, 1-8) on the telescopic arm walking mechanism 2 are fixed to the sliding connectors 2-16 and 2-17 of the telescopic walking mechanism 2 through the bottom mounting holes and the drive motor fixing block 1-4.

[0039] The parallel flexible cable control mechanism 1 employs a four-constraint diagonal control method, imposing four spatial constraints on the multifunctional manipulator 3 via four drive cables 1-5. Structurally, the present invention employs a motor-driven approach, with drive motors 1-2-1 located around the manipulator's upper perimeter achieving drive. The drive process begins with the rotation of the drive motor 1-2-1, which drives the retraction and extension of the drive cables 1-5. The drive cable reel 1-2-3 at the front of the motor then constrains the cable's trajectory, changing the direction of the constraint force. Finally, the winding of the drive cables 1-5 allows the multifunctional manipulator 3 to move within its spatial orientation.

[0040] Specifically, see Figure 5 、 6 The main frame 1-1 includes an upper frame and a lower frame, and the upper frame and the lower frame both include parallel guide rods 1-1-1; the upper frame and the lower frame are connected by vertical beams; the telescopic arm walking mechanism 2 includes two left telescopic arms and two right telescopic arms, and the two left telescopic arms and the two right telescopic arms are respectively arranged on the left and right sides of the main frame 1-1, and the two left telescopic arms and the two right telescopic arms are respectively connected by telescopic arm fixing plates, and the upper and lower ends of the left telescopic arm and the right telescopic arm are slidably connected to the guide rods 1-1-1 of the upper frame and the lower frame through sliding connectors, and telescopic arm universal wheels 2-6 are provided at the bottom of the left telescopic arm and the right telescopic arm, and the power mechanism is arranged on the main frame 1-1.

[0041] Specifically, see Figure 6The two left telescopic arms and the two right telescopic arms of the telescopic arm walking mechanism 2 are symmetrical on the left and right; the two left telescopic arms include a left front telescopic arm 2-3 and a left rear telescopic arm 2-8, and the two right telescopic arms include a right front telescopic arm 2-10 and a right rear telescopic arm 2-11; a left fixed arm 2-7 and a right fixed arm 2-12 are respectively provided on the left and right sides of the main frame 1-1, the left fixed arm 2-7 is located between the left front telescopic arm 2-3 and the left rear telescopic arm 2-8, and the right fixed arm 2-12 is located between the right front telescopic arm 2-10 and the right rear telescopic arm 2-11.

[0042] Take the left telescopic arm as an example for explanation, see Figure 5 The upper and lower ends of the left front telescopic arm 2-3 and the left rear telescopic arm 2-8 are assembled with the sliding connector 2-9 through an interference fit. The inner wall of the sliding connector 2-9 is sleeved on the guide rod 1-1-1 by an interference fit. The upper end of the left rear telescopic arm 2-8 is provided with a sliding connector 2-16, which is connected to the drive motor fixing block 1-4 through a positioning hole, providing support for changing the workspace of the parallel robot. The left fixed arm 2-7 is fixedly installed between the left front telescopic arm 2-3 and the left rear telescopic arm 2-8. The telescopic arm fixing plate 2-4 is installed horizontally between the left front telescopic arm 2-3 and the left rear telescopic arm 2-8 to prevent deformation during the movement of the telescopic arm.

[0043] Specifically, see Figure 6 The power mechanism includes an electric hoist 2-13, secured to the front end of the lower frame via mounting holes. Telescopic ropes 2-14 and 2-15 are led out of the right and left drums of the hoist 2-13, respectively. Several guide rings 2-2 and tie rods 2-1 are bolted together within the frame of the telescopic boom travel mechanism 2, providing support for the routing of the telescopic ropes 2-14 and 2-15.

[0044] The telescopic rope 2-14 and the telescopic rope 2-15 are the core actuators of the power source electric hoist 2-10. Their direction and installation method directly affect the transmission accuracy and motion range of the system:

[0045] See also Figure 7 The telescopic rope 2-14 is led out from the right drum of the electric hoist drive shaft 2-13-1, one end of which passes through the guide ring 2-2-1 installed on the front end cross beam 1-1-2 of the upper frame and turns to the left, and then passes through the guide ring 2-2-4 installed on the left front end vertical beam 1-1-3 and turns to the left rear side, and finally winds around the belay rod 2-1-2 installed on the left rear telescopic arm 2-8; the other end passes through the guide ring 2-2-2 installed on the front end cross beam 1-1-2 of the upper frame and turns to the right; passes through the guide ring 2-2-3 installed on the right front end vertical beam 1-1-4 and turns to the right rear side, and finally winds around the belay rod 2-1-4 installed on the left rear telescopic arm 2-11.

[0046] See also Figure 8 The telescopic rope 2-15 is led out from the left drum of the electric hoist drive shaft 2-13-1, and one end thereof turns to the left through the guide ring 2-2-5 installed on the front end beam 1-1-2 of the upper frame, and then turns in the opposite direction through the guide ring 2-2-7 installed on the left fixed arm 2-7, and finally winds around the belay rod 2-1-1 installed on the left front telescopic arm 2-3; the other end turns to the right through the guide ring 2-2-6 installed on the front end beam 1-1-2 of the upper frame, turns in the opposite direction through the guide ring 2-2-8 installed on the right fixed arm 2-12, and finally winds around the belay rod 2-1-3 installed on the right front telescopic arm 2-10.

[0047] The telescopic arm travel mechanism 2 simplifies the complex telescopic arm, stretching the originally small structure to arbitrarily adjust the length, width, and height to cover farmland of various terrains, providing a spatial foundation for parallel flexible rope aerial operations. The movement of this mechanism mainly relies on the close cooperation between the telescopic rope 2-14 and telescopic rope 2-15, the electric hoist 2-13, and several universal wheels. Specifically,

[0048] Two telescopic ropes 2-14 and 2-15 are drawn from the electric hoist 2-10 and ultimately secured to the tie-locking rods 2-1-1 and 2-1-4. The main frame universal wheels 2-5 at the four corners of the main frame are locked, and the telescopic arm universal wheels 2-6 are activated. This causes the electric hoist 2-13 to rotate forward, causing the telescopic rope 2-14 to release and the telescopic rope 2-15 to retract. The telescopic rope mechanism 2 as a whole now moves toward the electric hoist 2-13, and the motor rope output units 1-7 and 1-8 mounted on the sliding connectors 2-16 and 2-17 move along with the telescopic rope mechanism 2. This increases the working space of the mechanism, while conversely, reduces it.

[0049] After the working space reaches the maximum, the telescopic arm universal wheel 2-6 is locked, and the main frame universal wheel 2-5 is unlocked. At this time, the electric hoist is reversed, the telescopic rope 2-14 is released, and the telescopic rope 2-15 is retracted, thereby realizing the overall forward movement of the mechanism. At this time, the working space is minimum, and then the telescopic arm universal wheel 2-6 is unlocked, and the main frame universal wheel 2-5 is locked. The electric hoist rotates forward and reaches the maximum working space again. After repeating the above operations, the continuous forward (or backward) movement of the mechanism can be realized.

[0050] Specifically, see Figure 9The multifunctional manipulator includes a depth camera 3-1, a manipulator mounting plate 3-2, an irrigation nozzle 3-3, a manipulator 3-4, and a drive rope connection hole 3-5. The depth camera 3-1 is mounted on the side of the manipulator mounting plate 3-2. At this position, even if the manipulator is opened, it will not affect the camera's shooting. The irrigation nozzle 3-3 is mounted on both sides of the manipulator. The manipulator 3-4, as the core component of the multifunctional manipulator 3, is mounted on the center of the manipulator mounting plate 3-2 to facilitate the positioning of the manipulator. The four drive rope connection holes 3-5 are respectively located at the four corners of the manipulator mounting plate 3-2. The ends of the drive ropes 1-5 of the four motor rope output units (1-2, 1-6, 1-7, 1-8) are fixed to the drive rope connection holes 3-5 of the multifunctional manipulator 3 through crimped joints.

[0051] The multifunctional manipulator 3 of the present invention uses a wireless sensor system 4 to control the rotation of a motor, driving the crank movement, which in turn drives the picking mechanism to close, thereby harvesting the crops. After the intelligent analysis system identifies the crop needs, the multifunctional irrigation nozzle 3-3 opens the pesticide or water nozzle through the wireless sensor system 4. The compact and powerful structure, combining the multifunctional irrigation nozzle 3-3 with a depth camera 3-1 and a picking gripper 3-4, simultaneously covers the full range of agricultural monitoring and management functions, including vegetable picking, pesticide spraying, precision irrigation, and pest and vegetable growth status monitoring and management, without the need for additional or replacement tools, making it more convenient.

[0052] The wireless sensing system 4 of the present invention is composed of multiple Zigbee modules and several sensors for collecting farmland information. It is built with a master-slave architecture and specifically includes three parts: the front end is composed of sensors that can monitor physical quantities distributed in various locations, and multiple sensors are interconnected and interconnected. The main function of the wireless sensor network front end is to collect and send physical quantities in the area and send them to the coordinator or router for processing. At the middle end, its main task is that Z-Stack uses the protocol stack to build a network and receive data sent by the terminal device and then send it to the host computer through the serial port for remote display. Multi-path data transmission is achieved here with the help of WIFI technology and 5G technology. At the back end, real-time agricultural conditions and agricultural pests as well as intelligent automatic alarms are realized through the host computer. If an abnormal situation occurs, an alarm is automatically sent to the administrator's mobile phone, such as drought and flood warnings, disease and pest warnings, vegetable growth and development warnings, etc., and agricultural facilities such as irrigation and spraying realize remote automation control and other functions.

[0053] In summary, the agricultural management equipment based on parallel flexible cables driving a variable workspace proposed in the present invention uses a four-constraint diagonal control method to impose four spatial constraints on the multifunctional manipulator through four flexible cables. This control method can achieve a specific motion trajectory. At the same time, the flexible cables replace the connecting rod device of the traditional robot, avoiding damage to crops caused by the robot's own structure. The telescopic arm walking mechanism provides power support for the movement of the machine, and its universal wheels provide support for the omnidirectional movement of the machine. Above the walking structure are four vertical telescopic arms and two fixed arms. When all the telescopic arms are fully extended and retracted, they form a complete mechanical structure, simultaneously realizing the change of the robot's workspace and the movement of the robot as a whole. The modular design of the multifunctional manipulator is compact and powerful. It adopts a multifunctional nozzle + camera + picking gripper, and can meet the full coverage of agricultural monitoring and management functions such as vegetable picking, pesticide spraying, precision irrigation, and vegetable growth status, without the need for additional tools. The collection units and sensor units distributed throughout the wireless sensing intelligent perception system are used to monitor and collect environmental parameters in real time, achieving remote management of agricultural conditions.

[0054] Finally, it should be noted that the above is only the best embodiment of the present invention, but the scope of protection of the present invention is not limited to this. For those skilled in the art, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An agricultural management device with a variable working space driven by parallel flexible cables, characterized by: It includes a parallel flexible cable control structure (1), a telescopic arm walking mechanism (2), a multifunctional manipulator (3) and a wireless sensor system (4); The parallel flexible cable control structure (1) comprises a main frame (1-1), and a main frame universal wheel (2-5) is provided at the bottom of the main frame (1-1); The telescopic arm walking mechanism (2) is slidably connected to the main frame (1-1); at least two telescopic arm universal wheels (2-6) are provided at the bottom of the telescopic arm walking mechanism (2); and a power mechanism of the telescopic arm walking mechanism (2) drives the telescopic arm walking mechanism (2) to move relative to the main frame (1-1); Motor rope output units (1-2, 1-6) are respectively provided on both sides of the front end of the upper portion of the upper frame (1-1), and motor rope output units (1-7, 1-8) are respectively provided on both sides of the telescopic arm walking mechanism (2). The four motor rope output units are respectively connected to the multifunctional manipulator (3) via their driving ropes (1-5), and the movement of the multifunctional manipulator (3) in a spatial orientation is achieved by contraction of the driving ropes (1-5); The wireless sensor system (4) receives the signal and controls the movement of the multifunctional manipulator (3) according to the signal.

2. The agricultural management equipment based on parallel flexible cable drive with variable working space according to claim 1 is characterized in that: The main frame (1-1) comprises an upper frame and a lower frame, and both the upper frame and the lower frame comprise guide rods (1-1-1) arranged in parallel; the upper frame and the lower frame are connected by vertical beams; The telescopic arm walking mechanism (2) comprises two left telescopic arms and two right telescopic arms, the two left telescopic arms and the two right telescopic arms being respectively arranged on the left and right sides of the main frame (1-1), the two left telescopic arms and the two right telescopic arms being respectively connected via telescopic arm fixing plates, the upper and lower ends of the left telescopic arms and the right telescopic arms being slidably connected to the guide rods (1-1-1) of the upper frame and the lower frame via sliding connectors, the bottoms of the left telescopic arms and the right telescopic arms being provided with telescopic arm universal wheels (2-6), and the power mechanism being arranged on the main frame (1-1).

3. The agricultural management equipment based on parallel flexible cable drive with variable working space according to claim 2 is characterized in that: The two left telescopic arms and the two right telescopic arms of the telescopic arm walking mechanism (2) are symmetrical. The two left telescopic arms include a left front telescopic arm (2-3) and a left rear telescopic arm (2-8), and the two right telescopic arms include a right front telescopic arm (2-10) and a right rear telescopic arm (2-11). The left and right sides of the main frame (1-1) are respectively provided with a left fixed arm (2-7) and a right fixed arm (2-12). The left fixed arm (2-7) is located between the left front telescopic arm (2-3) and the left rear telescopic arm (2-8), and the right fixed arm (2-12) is located between the right front telescopic arm (2-10) and the right rear telescopic arm (2-11).

4. The agricultural management equipment based on parallel flexible cable drive with variable working space according to claim 3 is characterized in that: The power mechanism comprises an electric hoist (2-13) which is fixed to the front end of the lower frame; a right drum and a left drum of the electric hoist (2-13) respectively lead out a telescopic rope (2-14) and a telescopic rope (2-15).

5. The agricultural management equipment based on parallel flexible cable drive with variable working space according to claim 4 is characterized in that: One end of the telescopic rope (2-14) passes through a guide ring (2-2-1) installed on the front end cross beam (1-1-2) of the upper frame, turns to the left side, passes through a guide ring (2-2-4) installed on the left front end vertical beam (1-1-3), turns to the left rear side, and finally winds around a belay rod (2-1-2) installed on the left rear telescopic arm (2-8); the other end passes through a guide ring (2-2-2) installed on the front end cross beam (1-1-2) of the upper frame, turns to the right side, passes through a guide ring (2-2-3) installed on the right front end vertical beam (1-1-4), turns to the right rear side, and finally winds around a belay rod (2-1-4) installed on the left rear telescopic arm (2-11).

6. The agricultural management equipment based on parallel flexible cable drive with variable working space according to claim 5 is characterized in that: One end of the telescopic rope (2-15) passes through a guide ring (2-2-5) installed on the front end cross beam (1-1-2) of the upper frame, turns to the left, then passes through a guide ring (2-2-7) installed on the left fixed arm (2-7), turns in the opposite direction, and finally winds around a belay rod (2-1-1) installed on the left front telescopic arm (2-3); the other end passes through a guide ring (2-2-6) installed on the front end cross beam (1-1-2) of the upper frame, turns to the right, passes through a guide ring (2-2-8) installed on the right fixed arm (2-12), turns in the opposite direction, and finally winds around a belay rod (2-1-3) installed on the right front telescopic arm (2-10).

7. The agricultural management equipment based on parallel flexible cable drive with variable working space according to claim 6, characterized in that: The motor rope output unit (1-2) comprises a driving motor (1-2-1), a driving motor support frame (1-2-2), a driving rope winding wheel (1-2-3), a driving motor fixing plate (1-3), a driving motor fixing block (1-4), and a driving rope (1-5); The driving motor (1-2-1) is bolt-fastened to the driving motor support frame (1-2-2) through a mounting hole provided in its housing; the driving rope winding wheel (1-2-3) is rigidly connected to the output shaft end of the driving motor (1-2-1) through a keyway fitting method; and the driving rope (1-5) is closely wound in an annular groove of the winding wheel (1-2-3).

8. The agricultural management equipment based on parallel flexible cable drive with variable working space according to claim 7, characterized in that: The motor rope output units (1-2, 1-6) on the main frame (1-1) are bolted to the drive motor fixing plate (1-3) through bottom mounting holes; the drive motor fixing plate (1-3) is fixedly connected to the main frame (1-1).

9. The agricultural management equipment based on parallel flexible cable drive with variable working space according to claim 8, characterized in that: The motor rope output units (1-7, 1-8) on the telescopic arm walking mechanism (2) are respectively fixed to the sliding connector (2-16) and the sliding connector (2-17) of the telescopic walking mechanism (2) through bottom mounting holes and the drive motor fixing block (1-4).

10. The agricultural management equipment based on parallel flexible cable drive with variable working space according to claim 2, characterized in that: The multifunctional manipulator comprises a depth camera (3-1), a manipulator mounting plate (3-2), an irrigation sprinkler (3-3), a manipulator (3-4) and a drive rope connection hole (3-5); The manipulator (3-4) is installed at the center of the manipulator mounting plate (3-2), the depth camera (3-1) is installed on the side of the manipulator mounting plate (3-2), the irrigation sprinkler (3-3) is installed on both sides of the manipulator, and four drive rope connection holes (3-5) are respectively located at the four corners of the manipulator mounting plate (3-2), and the four drive rope connection holes (3-5) are respectively connected to the four drive ropes (1-5).

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