A reconfigurable agricultural robot system based on a general platform and automatic reconfiguration

Abstract

The application discloses a reconfigurable agricultural robot system based on a general platform and automatic recombination. The robot general mechanism of the system is composed of independent mechanical arms, actuators, a body main module and a motion module, and the modules are connected with each other through detachable general interface modules. The robot recombination mechanism is composed of a motion recombination module and arm-hand recombination modules, and is used for splitting, assembling and recombining the robot general mechanism. The two arm-hand recombination modules are symmetrically installed in the motion recombination module. The application can improve the comprehensive utilization efficiency and working efficiency of the agricultural robot, realize single robot covering multi-link tasks in agricultural production, strengthen the motion adaptability of the agricultural robot in different working environments, adapt to various terrain motion requirements, expand the working range of the agricultural robot, achieve multi-task and multi-thread operation targets, realize autonomous management of agricultural production, and efficiently guide agricultural operation with the aid of an intelligent system.

Description

Technical Field

[0001] This invention relates to an agricultural robot system, specifically a reconfigurable agricultural robot system based on a universal platform and automatic reconfiguration. Background Technology

[0002] In recent years, the total output value of agriculture, forestry, and fisheries has generally shown a sustained positive growth trend, with fruit production steadily increasing. The in-depth application of modern agricultural technology has played a key role in improving yield and quality, reducing production costs, and promoting sustainable development.

[0003] The robotics industry is developing rapidly as a cutting-edge field of global science and technology. Faced with challenges such as global population growth, agricultural labor shortages, and the need for sustainable development, agricultural robots are becoming a vital force in reshaping modern agriculture, providing innovative solutions for improving production efficiency, reducing costs, and minimizing environmental impact.

[0004] Currently, agricultural machinery and equipment are widely used in agricultural production processes such as farmland management, planting, and harvesting. The application of this equipment has significantly improved production efficiency, promoted the transformation of agricultural production towards mechanization, automation, and intelligence, and effectively alleviated labor shortages and reduced labor intensity. However, most agricultural robots used in facility agriculture, orchards, and other scenarios are still in the research and development stage and have not yet been widely applied. Existing systems generally suffer from two major limitations: Functional limitation: Most robots can only complete a single task or operate on a single object, resulting in low overall utilization efficiency. Insufficient environmental adaptability: Robots with single-configuration motion modules can typically only adapt to specific and limited terrain, limiting their overall motion capabilities.

[0005] Meanwhile, the rapid development of artificial intelligence technology has driven the progress of humanoid robots, whose high versatility has become a hot topic in the robotics field. Combining the versatility of humanoid robots with the needs of agricultural production is expected to elevate agricultural production efficiency, the comprehensive utilization efficiency of robots, and their adaptability to environments and tasks to new heights.

[0006] In summary, against the backdrop of the continuous expansion of the agricultural industry and the rapid iteration of robotics technology, agricultural robots for complex agricultural scenarios are still in the early stages of development, and there is an urgent need for a new type of agricultural robot that is multifunctional, reconfigurable, and fully automated. Summary of the Invention

[0007] To address the problems existing in the background technology, this invention provides a reconfigurable agricultural robot system based on a general platform and automatic reconfiguration. This system solves the problems of low comprehensive utilization efficiency and weak environmental and task adaptability in agricultural robots. It features multifunctionality, reconfigurability, and full automation, primarily targeting agricultural production scenarios such as facility agriculture and artificial orchards. It can be used in all stages of agricultural production, including sowing, management, and harvesting. Its multifunctionality is reflected in its ability to complete various complex agricultural operations in the entire process of sowing, managing, and harvesting specific fruits, as well as specific tasks for different fruits. Its reconfigurability is reflected in the ability to customize and reconfigure actuator modules according to different agricultural production tasks, reconfigure motion modules according to different agricultural operating environments, and add or remove body grouping modules as needed, ultimately improving work efficiency and environmental and task adaptability. Its full automation is reflected in the fact that the robot can automatically complete module combination, disassembly, and reconfiguration with the assistance of the automatic reconfiguration system, realizing transformation between different robot configurations. Combined with the automation of robotic agricultural operations, it can achieve full automation of agricultural production. The entire system integrates robotics, artificial intelligence, the Internet of Things, natural interaction, and multi-dimensional perception technologies. It primarily consists of a general-purpose robot mechanism and a robot reconfiguration mechanism. The general-purpose robot mechanism comprises multiple basic modules, each containing basic functional units. The robot reconfiguration mechanism consists of several reconfiguration platforms, mainly used for combining and disassembling the modules. Based on this invention, the system can effectively improve the problems of low overall utilization efficiency and weak environmental and task adaptability of specialized agricultural robots.

[0008] The technical solution adopted in this invention is:

[0009] The reconfigurable agricultural robot system based on a universal platform and automatic reconfiguration of the present invention includes:

[0010] The robot's general mechanism consists of independent robotic arm modules, actuator modules, main body modules, and motion modules. These modules are interconnected through several detachable general interface modules. Each module contains basic functional units capable of performing programmed agricultural operations.

[0011] The robot reassembly mechanism consists of an automatic reassembly frame, a motion reassembly module, and two arm reassembly modules. It is used to disassemble, assemble, and reassemble the robot's general-purpose mechanism. The motion reassembly module is installed in the automatic reassembly frame, and the two arm reassembly modules are symmetrically installed in the motion reassembly module.

[0012] The main body module includes a head control center, a vision unit, and a body assembly module. The vision unit is installed inside the head control center and faces forward. The upper and lower surfaces of the body assembly module each have a central interface connection hole. A central spindle is vertically installed inside the body assembly module, with its upper and lower ends located in the two central interface connection holes, for the passage of electrical connection lines and to provide physical support. The upper end of the central spindle is connected to the bottom center of the head control center via a neck connection shaft, and the lower end of the central spindle is connected to the top center of the motion module via a universal waist interface module consisting of a male and female waist interface module. The left and right surfaces of the body assembly module have symmetrically placed shoulder interface connection holes. The left and right sides of the group module are respectively connected to the root end of a robotic arm module through the shoulder universal interface module in the arm interface module. The end of the robotic arm module is connected to the actuator module through the wrist universal interface module in the arm interface module. The head control center is also equipped with an interconnected communication unit and a main control unit. The main control unit communicates with the outside through the communication unit. The body grouping module has a built-in motion control unit and a controller unit. The controller unit, vision unit and motion module are all electrically connected to the main control unit. The controller unit is electrically connected to the motion control unit and the motion recombination module and the two arm recombination modules of the robot recombination mechanism. The motion control unit is electrically connected to the robotic arm module and the actuator module through the robotic arm cable.

[0013] The waist male interface module is a hollow cylinder with a three-tiered top surface, the diameter increasing from top to bottom. The bottom surface of the waist male interface module is open and mounted at the center of the top surface of the motion module. The upper two tiers of the waist male interface module consist of a mating protrusion and a limiting protrusion. The end face of the limiting protrusion is provided with power supply male interfaces, data line male interfaces, control line male interfaces, and several lower magnetic interfaces arranged at intervals. The waist female interface module is a hollow cylinder with a two-tiered top surface, the diameter increasing from top to bottom. The bottom surface of the waist female interface module is open and coaxially fitted onto the top surface of the waist male interface module, located on the top surface of the lowest tier of the waist male interface module. The two stepped layers contain a docking groove and a limiting groove, which are coaxially fitted onto the docking protrusion and the limiting protrusion, respectively. The end face of the limiting groove is provided with power supply female interface, data female interface, control female interface and several upper magnetic interfaces arranged at intervals. When the waist male interface module and the waist female interface module are docked, they are respectively connected to the power supply male interface, data male interface, control male interface and each lower magnetic interface. The electrical connection is mainly composed of power supply line, data line and control line. The three sets of cable male interfaces and female interfaces correspond one-to-one and are tightly connected during connection. The receiving end through-beam sensor and the transmitting end through-beam sensor are respectively installed in the central axis of the docking protrusion and the docking groove.

[0014] The inner wall surface of the docking protrusion is equipped with excitation coils, and the outer wall surface of the docking groove is equipped with excitation coils. When the male interface module and the female interface module of the waist are docked, they are attracted by electromagnetic attraction.

[0015] The central spindle comprises, from top to bottom, a hollow first spindle body, a fixed end of a rotating slip ring, a sliding end of a rotating slip ring, and a second spindle body arranged coaxially. The upper spindle body and the fixed end of the rotating slip ring are integrally formed, and the sliding end of the rotating slip ring and the lower spindle body are integrally formed. The fixed end of the rotating slip ring and the sliding end of the rotating slip ring are rotatably connected. The end faces of both spindle bodies are provided with power supply line interfaces, data line interfaces, and control line interfaces arranged at intervals. The two power supply line interfaces, the two data line interfaces, and the two control line interfaces are respectively connected by power supply lines and data lines inside the central spindle. The control line connects to the neck connecting shaft or the waist universal interface module; the sides of the rotating slip ring fixed end and the rotating slip ring sliding end are also provided with data line outlet, control line outlet and power supply line outlet, to connect to the shoulder universal interface module and the controller unit inside the body assembly module; the body assembly module is also equipped with a battery unit and a sensor unit, both of which are electrically connected to the controller unit, and then connected to the main control unit through the central main shaft and the waist universal interface module; the front side of the body assembly module is also provided with a multispectral thermal imaging array and electrically connected to the sensor unit.

[0016] The main body module includes one or more body grouping modules arranged vertically between its body grouping module and motion module. Each body grouping module has its left and right sides symmetrically connected to the root end of its respective robotic arm module via a shoulder universal interface module. The end of the robotic arm module is connected to the actuator module via a wrist universal interface module in the arm interface module. Different actuator modules can be used to perform different tasks simultaneously. Every two body grouping modules are connected via a waist universal interface module. The controller unit in each body grouping module is electrically connected to the main control unit of the head control center via its central spindle, controlling its two robotic arm modules and actuator modules. The added body grouping modules serve as expansion modules, allowing for the addition of other sensors to achieve different tasks.

[0017] The motion reassembly module of the robot reassembly mechanism includes a main lifting platform, two auxiliary lifting platforms, and a rotary positioning device. A ground transmission track is located in the center of the bottom surface inside the automatic reassembly frame. The ground transmission platform is slidably mounted on the ground transmission track, and the rotary positioning device is horizontally mounted on the ground transmission platform. During reassembly and assembly, the motion module of the robot's general mechanism is placed on the rotary positioning device. The main lifting platform is vertically mounted on the rear side of the ground transmission track. Horizontal auxiliary motion tracks, perpendicular to the ground transmission track, are also provided on the symmetrical sides of the ground transmission track inside the bottom surface of the automatic reassembly frame. The two auxiliary lifting platforms are vertically and slidably mounted symmetrically on the two auxiliary motion tracks. The main lifting platform and the two auxiliary lifting platforms are arranged opposite each other at intervals, with the intervals serving as mounting points. At the warehouse entrance, vertically arranged reconfiguration lifting tracks are provided on both sides of the main lifting platform facing the two auxiliary lifting platforms, and on the side of the two auxiliary lifting platforms facing the main lifting platform. Each reconfiguration lifting track has two horizontally spaced positioning rods slidably installed. Each arm reconfiguration module is installed on four positioning rods between its respective auxiliary lifting platform and the main lifting platform and moves up and down along the reconfiguration lifting track. A body lifting track is also provided between the two reconfiguration lifting tracks on the main lifting platform, with two horizontally spaced telescopic drive rods slidably installed. A body lifting track is also provided on the side of the two auxiliary lifting platforms facing each other, with horizontal telescopic drive rods slidably installed. During the reconfiguration and installation of the robot's general mechanism, the body grouping module is placed on the four telescopic drive rods.

[0018] The bottom rear side of the body assembly module has two fixed slots parallel to the ground transmission track, one of which has an electrical connection interface. The symmetrical sides of the bottom front of the body assembly module have fixed slots perpendicular to the ground transmission track, each with an electrical connection interface. The three electrical connection interfaces are respectively electrically connected to the control terminals inside the main lifting platform and the two auxiliary lifting platforms. During the reassembly and installation of the robot's general mechanism, a telescopic drive rod is inserted into each fixed slot, and the three telescopic drive rods are electrically connected to the electrical connection interface through electrical contacts at their ends, thereby connecting to the controller unit of the body assembly module. Each lifting track on the main lifting platform, as well as the ground transmission track and the rotation positioning device, are electrically connected to the control terminal therein. Each lifting track on the auxiliary lifting platform and the two auxiliary motion tracks are electrically connected to their respective control terminals.

[0019] Each of the aforementioned arm recombination modules includes a robotic arm recombination platform and an actuator recombination platform. The bottom surface of the robotic arm recombination platform, near the main lifting platform and auxiliary lifting platform, has two symmetrically arranged positioning rod slots parallel to the ground transmission track. Two of these slots contain electrical connection interfaces. During recombination and installation, a positioning rod is inserted into each positioning rod slot, and two of the positioning rods are electrically connected to the electrical connection interfaces via electrical contacts at their ends, thereby connecting to the control terminals of the main lifting platform and auxiliary lifting platform. The actuator recombination platform is mounted on the top side of the robotic arm recombination platform away from the body lifting track via an actuator connector. The actuator connector is a rectangular rod extending outward from the top surface of the robotic arm recombination platform. The top surface of the arm reassembly platform near the main lifting platform has a semi-cylindrical robotic arm fixing groove. A semi-circular slide cylinder is horizontally installed in the robotic arm fixing groove. The slide cylinder is a robotic arm support semi-cylindrical with a shape and length roughly the same as the robotic arm module. It can contact the robotic arm module and allow the robotic arm module to rotate axially around its central axis to achieve alignment of the robotic arm module interface. The arm positioning component of the robotic arm module has positioning protrusions and alignment protrusions. The top surface of the slide cylinder has positioning grooves and alignment grooves. When the robotic arm module is reassembled, it is placed on the slide cylinder and the positioning protrusions and alignment protrusions are respectively engaged in the positioning grooves and alignment grooves. The positioning protrusions and positioning grooves realize the placement posture positioning when the robotic arm module is assembled. Alignment protrusions and alignment grooves are aligned to adjust and fix the posture of the robotic arm module during actuator module replacement, enabling the process of replacing only the actuator module without disassembling the robotic arm module; the slide tube electrical connection interface is connected to the control terminal of the auxiliary lifting platform. The electrical connection interface is used to establish an electrical connection with the robot reassembly mechanism when in contact with the positioning rod to ensure the accuracy of the robotic arm module installation; the positioning rod provides electrical connection and physical support for the arm reassembly module. Electrical contacts are symmetrically distributed along the radial central axis on the upper surface of the positioning rod. The positioning rod can also be extended and retracted from the main lifting platform to the auxiliary lifting platform. After extension and retraction, the reassembly lifting track drives the positioning rod to climb and descend as a whole.

[0020] The actuator reconfiguration platform includes an elongated rod, an L-shaped translational track groove component, and a translational rod. One end of the horizontally arranged elongated rod is connected to the bottom end of the actuator connector via a first connecting rotating shaft. The other end of the elongated rod is connected to the center top surface of the L-shaped translational track groove component via a second connecting rotating shaft. Connecting blocks extend downwards from the bottom of both ends of the L-shaped translational track groove component. T-shaped translational grooves are horizontally formed in each of the two connecting blocks. Horizontal and mutually perpendicular push rod translational tracks and first parallel tracks are slidably installed in each of the two T-shaped translational grooves. Several friction wheels are present on the contact surfaces between the T-shaped translational grooves and the push rod translational tracks and first parallel tracks, allowing the push rod translational tracks and first parallel tracks to move parallel along the track direction to complete the reconfiguration. Different tasks are performed; an auxiliary connecting push rod is vertically arranged and perpendicular to the push rod translation track on the side away from the first parallel track. The auxiliary connecting push rod is a push rod with a round top, used to push the robotic arm module to make small axial stroke movements. The shoulder male interface module of the auxiliary robotic arm module is connected to the body grouping module through the shoulder female interface module. Its external contact part is made of flexible material and will not damage the wrist male interface module on the robotic arm module. When the L-shaped translation track groove component rotates around the second connecting rotation axis so that the auxiliary connecting push rod is close to the robotic arm module, it is perpendicular to the central axis of the robotic arm module. The translation rod is an L-shaped rod composed of a horizontal translation component and a vertical translation track. The end of the horizontal translation component is installed on the first parallel track. A parallel track is located away from the push rod translation track. During the installation of the actuator module, the first parallel track allows for a certain degree of parallel movement, facilitating smooth installation. The other end of the push rod translation track and the first parallel track is equipped with a spring-loaded limiting key to restrict movement within a T-shaped translation groove. This spring-loaded limiting key is a spring-loaded protrusion that, when protruding, restricts the T-shaped translation groove within the track; when recessed, it allows disassembly of the auxiliary connecting push rod and other components. A vertically arranged capture ring, perpendicular to the auxiliary connecting push rod, is mounted on the vertical translation track via a T-shaped block. When awaiting installation, the actuator module is installed in the capture ring using the actuator installation assembly. When the L-shaped translation track groove component rotates around the second connecting... The rotation of the rotating shaft aligns the male wrist interface module on the actuator module with the female wrist interface module on the robotic arm module. The capture ring is a circular mounting component with an internal locking mechanism to achieve contact and locking with the male wrist interface module for actuator module installation. The execution mounting assembly consists of an inner movable semi-circular ring and an outer fixed semi-circular ring rail. When the actuator module is installed, the inner semi-circular ring can be driven to move to the point where it overlaps with the outer fixed semi-circular ring. Then, the entire circular execution mounting assembly moves downward, and the male wrist interface module disengages from the execution mounting assembly. The first connecting rotating shaft, the second connecting rotating shaft, the push rod translation rail, the first parallel rail, and the vertical translation rail are all electrically connected to the electrical connection interface and then connected to the control terminal of the auxiliary lifting platform.The first connecting rotating shaft can drive the extension rod to rotate 180 degrees to smoothly perform the installation of the actuator module. The push rod translation rail can drive the L-shaped translation rail groove component to rotate 90 degrees to switch between different assembly modes, namely the installation of the robotic arm module and the actuator module.

[0021] Furthermore, the agricultural robot system can also form a multi-robot cluster to complete collaborative operations.

[0022] The beneficial effects of this invention are:

[0023] 1) Improve the overall utilization and work efficiency of agricultural robots, enabling a single robot to cover multiple stages of agricultural production: Traditional single-function agricultural machinery or robots are often limited to performing specific tasks on specific fruits in specific scenarios, resulting in relatively simple functions and limited application scope. This invention allows a single robot to complete all or most of the work tasks in the entire agricultural production process, avoiding resource idleness and waste caused by the need for multiple different devices at different stages, and greatly improving the overall utilization efficiency of robots. At the same time, a single robot can handle multiple stages of work, effectively reducing time losses during task transitions and significantly improving work efficiency.

[0024] 2) Enhance the mobility adaptability of agricultural robots in different working environments and adapt to the movement needs of various terrains: Before the start of the operation, the humanoid agricultural robot system of this invention can select the most suitable movement mode according to the ground conditions, thereby meeting the requirements of various ground conditions, effectively improving the comprehensive movement capability of agricultural robots in different working environments, and meeting the movement needs of agricultural operations in different terrains.

[0025] 3) Expanding the operational range of agricultural robots and achieving multi-tasking and multi-threaded operation goals: This invention uses a replaceable end effector module, which enables a single robot to complete multiple tasks; and uses a multi-arm module, which enables multi-threaded operation and can effectively expand the operational range of agricultural robots.

[0026] 4) Achieving autonomous management of agricultural production and efficiently guiding agricultural operations through intelligent systems: This invention relies on the robot's internal processor and cloud system to introduce an intelligent and smart management model. By receiving instructions or using artificial intelligence interfaces, the robot can autonomously plan, control, and execute the entire agricultural operation process, achieving autonomous management of agricultural production. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall system structure provided in an embodiment of the present invention;

[0028] Figure 2This is an overall assembly diagram of the general robot mechanism provided in an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the waist interface module provided in an embodiment of the present invention, wherein, Figure 3 (a) is a schematic diagram of the waist male interface module. Figure 3 (b) is a schematic diagram of the waist female interface module;

[0030] Figure 4 A schematic diagram of the robotic arm and its interface provided in an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of an actuator module and its interface provided in an embodiment of the present invention, wherein, Figure 5 (a) is a schematic diagram of the five-finger actuator and its interface. Figure 5 (b) is a schematic diagram of a two-finger actuator and its interface;

[0032] Figure 6 A schematic diagram of the central spindle provided in an embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram of a body grouping module provided in an embodiment of the present invention, wherein, Figure 7 (a) is a schematic diagram of the external structure of the body grouping module. Figure 7 (b) is a schematic diagram of the internal structure of the body grouping module;

[0034] Figure 8 A schematic diagram of the main body module provided in an embodiment of the present invention;

[0035] Figure 9 This is a schematic diagram of a motion module provided in an embodiment of the present invention, wherein, Figure 9 (a) is a schematic diagram of the wheeled motion module. Figure 9 (b) is a schematic diagram of the bipedal movement module;

[0036] Figure 10 This is a schematic diagram of an automatic recombination mechanism provided in an embodiment of the present invention, wherein, Figure 10 (a) is a schematic diagram of the automatic reassembly framework. Figure 10 (b) is a three-dimensional schematic diagram of the motion reassembly module. Figure 10 (c) is a schematic diagram of the overall structure of the motion reconfiguration module;

[0037] Figure 11 This is a schematic diagram of an arm and hand reconstruction module provided in an embodiment of the present invention, wherein, Figure 11 (a) is a front view of the arm-hand reconstruction module. Figure 11 (b) is a schematic diagram of the robotic arm recombination platform. Figure 11 (c) is a schematic diagram of the actuator reconfiguration platform;

[0038] In the diagram: 1. Waist male interface module, 101. Power supply male interface, 102. Data cable male interface, 103. Control cable male interface, 104. Lower magnetic interface, 105. Docking protrusion, 106. Lower alignment mark, 107. Limiting protrusion, 108. Receiver-end through-beam sensor; 2. Waist female interface module, 201. Power supply female interface, 202. Data cable female interface, 203. Control cable female interface, 204. Upper magnetic interface, 205. Docking groove, 206. Upper alignment mark, 207. Limiting slot, 208. Transmitter-end through-beam sensor; 3. Arm interface module, 301. Wrist male interface module, 302. Wrist female interface module, 303. Shoulder male interface module, 304. Shoulder female interface module 4. Robotic Arm Module, 401. Arm Positioning Component, 402. First Radial Rotary Joint, 403. First Axial Rotary Joint, 404. Second Radial Rotary Joint, 405. Second Axial Rotary Joint, 5. Actuator Module, 501. Five-Finger Actuator, 502. Two-Finger Actuator, 6. Central Spindle, 601. Power Supply Cable, 602. Data Cable, 603. Control Cable, 604. Rotary Slip Ring Fixed End, 605. Rotary Slip Ring Sliding End, 606. Data Cable Outlet, 607. Control Cable Outlet, 608. Power Supply Cable Outlet, 609. Spindle Body, 7. Body Assembly Module, 701. Shoulder Interface Connection Hole, 702. Multispectral Thermal Imaging Array, 703. Electrical Connection Interface, 704. Fixing Slot 705. Central interface connection hole; 706. Motion control unit; 707. Battery; 708. Sensor unit; 709. Controller unit; 710. Robotic arm cable; 8. Main body module; 801. Head control center; 802. Vision unit; 803. Neck connecting shaft; 9. Motion module; 901. Wheeled motion module; 902. Bipedal motion module; 10. Automatic reconfiguration frame; 1001. Front panel; 1002. Top panel; 1003. Rear panel; 1004. Bottom panel; 11. Motion reconfiguration module; 1101. Main lifting platform; 1102. Reconfiguration lifting rail; 1103. Auxiliary lifting platform; 1104. Equipment storage entrance; 1105. Ground transmission platform; 1106. 1107 Ground transmission track, 1108 Rotary positioning device, 1109 Auxiliary motion track, 1101 Telescopic drive rod, 1110 Body lifting track, 12 Arm recombination module, 13 Robotic arm recombination platform, 1301 Positioning rod slot, 1302 Execution connector, 1303 Robotic arm fixing slot, 1304 Slide cylinder, 1405 Actuator recombination platform, 1406 First connecting rotating shaft, 1407 Extension rod, 1408 Second connecting rotating shaft, 1409 L-shaped translation track slot component, 1400 T-shaped translation slot, 14006 Push rod translation track, 14007 Auxiliary connecting push rod, 1401 Spring limit key, 1402 First parallel track, 1410 Horizontal translation component.1411. Vertical translation track; 1412. T-block; 1413. Execute installation assembly; 1414. Capture ring. Detailed Implementation

[0039] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Specific embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0040] like Figure 1 and Figure 2 As shown, the reconfigurable agricultural robot system based on a universal platform and automatic reconfiguration of the present invention mainly includes a universal robot mechanism and an automatic reconfiguration mechanism. The universal robot mechanism consists of independent robotic arm modules 4, actuator modules 5, main body modules 8, and motion modules 9. These modules are interconnected through several detachable universal interface modules. Each module contains basic functional units capable of completing programmed agricultural operations. The automatic reconfiguration mechanism 10 consists of several reconfiguration modules, mainly including an arm-hand reconfiguration module 12 and a motion reconfiguration module 11. The arm-hand reconfiguration module 12 includes a robotic arm reconfiguration platform 13 and an actuator reconfiguration platform 14, enabling the disassembly, assembly, and reconfiguration of the universal robot mechanism. Figure 10 As shown, the robot reassembly mechanism consists of an automatic reassembly frame 10, a motion reassembly module 11, and two arm reassembly modules 12. It is used to disassemble, assemble, and reassemble the robot's general mechanism. The motion reassembly module 11 is installed in the automatic reassembly frame 10, and the two arm reassembly modules 12 are symmetrically installed in the motion reassembly module 11.

[0041] The general-purpose interface modules are mainly divided into waist interface modules 1 and 2, shoulder interface modules 303 and 304, and wrist interface modules 301 and 302. Each module is composed of male and female connectors. They are primarily used for physical and electrical connections between the main body module 8, the body assembly module 7, the robotic arm module 4, the actuator module 5, and the motion module 9. Specifically, the waist interface modules are mainly used for connections between the body assembly modules 7 and between the body assembly module 7 and the motion module 9; the shoulder interface modules are mainly used for connections between the robotic arm module 4 and the body assembly module 7; and the wrist interface modules are mainly used for connections between the robotic arm module 4 and the actuator module 5. The composition and operating principles of the interface modules are basically the same, differing only in size. Therefore, this invention focuses on waist interface modules 1 and 2, as these three sets of interfaces form the basis of the robot's general-purpose mechanism and automatic reconfiguration mechanism.

[0042] like Figure 7 of (a) Figure 7 (b) and Figure 8 As shown, the main body module 8 includes a head control center 801, a vision unit 802, and a body assembly module 7. The vision unit 802 is installed inside the head control center 801 and faces forward. The upper and lower surfaces of the body assembly module 7 each have a central interface connection hole 705. A central spindle 6 is vertically installed inside the body assembly module 7, with its upper and lower ends located in the two central interface connection holes 705 respectively, for the passage of electrical connection lines and to provide physical support. The upper end of the central spindle 6 is connected to the center of the bottom surface of the head control center 801 via a neck connection shaft 803, and the lower end of the central spindle 6 is connected to the center of the top surface of the motion module 9 via a universal waist interface module consisting of a waist male interface module 1 and a waist female interface module 2. The left and right surfaces of the body assembly module 7 have symmetrically arranged shoulder interface connection holes 701. The left and right symmetrical sides of module 7 are connected to the root end of their respective robotic arm modules 4 through the shoulder universal interface module in arm interface module 3. The end of robotic arm module 4 is connected to actuator module 5 through the wrist universal interface module in arm interface module 3. The head control center 801 is also equipped with a communication unit and a main control unit that are interconnected. The main control unit communicates with the outside through the communication unit. The body grouping module 7 has a built-in motion control unit 706 and a controller unit 709. The controller unit 709, vision unit 802 and motion module 9 are all electrically connected to the main control unit. The controller unit 709 is electrically connected to the motion control unit 706 and the motion recombination module 11 and two arm recombination modules 12 of the robot recombination mechanism. The motion control unit 706 is electrically connected to robotic arm module 4 and actuator module 5 through robotic arm cable 710.

[0043] The body assembly module 7 is different only at the neck connecting shaft 803. The upper connecting hole of the body assembly module 7, which constitutes the main body module 8, is used to connect the neck connecting shaft 803, and its size is slightly smaller than the middle interface connecting hole 705.

[0044] The head control center 801 establishes electrical and mechanical connections with the body assembly module 7 via the neck connecting shaft 803, primarily for overall robot system control. The communication unit enables the robot to connect to a network, while the main control unit handles data processing, motion control, and command issuance. The communication unit can be a 5G module, a WIFI module, or a Bluetooth module, and the main control unit can be a high-performance single-board processor module or a small computer. The vision units 802 are located on the front panel surface of the head control center 801 and are mainly used for acquiring visual information, such as RGB images, depth information, and thermal radiation information. The vision units 802 can employ binocular RGBD cameras, RGBT multimodal cameras, etc.

[0045] The shoulder universal interface module includes a shoulder male interface module 303 and a shoulder female interface module 304, and the wrist universal interface module includes a wrist male interface module 301 and a wrist female interface module 302. The shoulder universal interface module and the wrist universal interface module have the same structure as the waist universal interface module, but their sizes are different.

[0046] like Figure 4 As shown, the robotic arm module 4 includes a first radial rotation joint 402, a first axial rotation joint 403, an arm positioning component 401, a second radial rotation joint 404, and a second axial rotation joint 405 connected in sequence. The shoulder male interface module 303 is installed at the root end of the first radial rotation joint 402 and then connected to the shoulder interface connection hole 701 of the body grouping module 7 through the shoulder female interface module 304. The wrist female interface module 302 is installed at the end of the second axial rotation joint 405 and then connected to the root end of the actuator module 5 through the wrist male interface module 301. The end of the actuator module 5 serves as the execution end.

[0047] The first radial rotary joint 402 is composed of a basic pin connector and can rotate 180 degrees radially along the robotic arm module 4. The first axial rotary joint 403 is composed of cylindrical bearings connected inside the robotic arm module 4 and can rotate 180 degrees axially along the robotic arm module 4. The second radial rotary joint 404 has the same structure and function as the first radial rotary joint 402. The second axial rotary joint 405 has the same structure and function as the first axial rotary joint 403.

[0048] like Figure 5 (a) and Figure 5 As shown in (b), actuator module 5 can employ a five-finger actuator 501 or a two-finger actuator 502. The five-finger actuator 501 can utilize a five-finger dexterous hand, which has five joints to meet different needs in agricultural operations. The two-finger actuator 502 can employ a two-finger gripper, which contains a lateral drive motor to enable the harvesting of agricultural products. Actuator module 5 can also be equipped with circular grippers, soft grippers, etc., to meet different operational requirements.

[0049] like Figure 9 (a) and Figure 9 As shown in (b), the motion module 9 can be a wheeled motion module 901 or a bipedal motion module 902. A central interface connection hole 705 is provided at the top center of the wheeled motion module 901 to mount the waist female interface module 2. The lower part of the wheeled motion module 901 consists of four solid wheels, enabling rapid and efficient movement in flat environments. The bipedal motion module 902 has four rotational degrees of freedom in its lower bipedal mechanical legs, allowing it to adapt to unstructured environments such as hilly orchards. The motion module 9 can also be composed of tracked motion modules, flight modules, etc., to meet the operational needs of different environments.

[0050] like Figure 3 As shown in (a), the waist male interface module 1 is a hollow cylinder with a three-step columnar top surface, the diameter of which increases from top to bottom. The bottom end of the waist male interface module 1 is open and installed at the center of the top surface of the motion module 9. The upper two stepped layers of the waist male interface module 1 are a docking protrusion 105 and a limiting protrusion 107, respectively. The end face of the limiting protrusion 107 is provided with power supply male interfaces 101, data line male interfaces 102, control line male interfaces 103 and several lower magnetic interfaces 104 arranged at intervals. Figure 3 As shown in (b), the waist female interface module 2 is a hollow cylinder with a two-step columnar top surface, the diameter of which increases from top to bottom. The bottom end of the waist female interface module 2 is open and coaxially fitted onto the top surface of the waist male interface module 1, and is located on the top surface of the bottommost step layer of the waist male interface module 1. The two steps of the waist female interface module 2 contain a docking groove 205 and a limiting groove, respectively, which are coaxially fitted onto the docking protrusion 105 and the limiting protrusion 107. The end face of the limiting groove is provided with a power supply female interface 201, a data female interface 202, and a control female interface 207 arranged at intervals. The cable female interface 203 and several upper magnetic interfaces 204 are connected one-to-one with the power supply male interface 101, data line male interface 102, control line male interface 103 and each lower magnetic interface 104 when the waist male interface module 1 and waist female interface module 2 are connected. The electrical connection is mainly composed of power supply line, data line and control line. The three sets of cable male interfaces and female interfaces correspond one-to-one and are tightly connected when connected. The receiving end through-beam sensor 108 and the transmitting end through-beam sensor 208 are respectively installed in the center axis of the docking protrusion 105 and the docking groove 205.

[0051] The outer side of the bottommost step of the waist male interface module 1 is also provided with a lower alignment mark 106 in the vertical direction, the outer side of the limiting groove is also provided with an upper alignment mark 206 in the vertical direction, the outer side of the limiting protrusion 107 is also provided with a locking block, and the outer side of the limiting groove is also provided with a limiting slot 207. The lower alignment mark 106 and the upper alignment mark 206 are aligned. When the waist male interface module 1 and the waist female interface module 2 are connected, the locking block is locked in the limiting slot 207. The limiting slot 207 is used for physical limiting during connection. When the limiting slot 207 is locked into the male limiting protrusion 107, it indicates that the connection is successful.

[0052] The lower magnetic interface 104, the limiting protrusion 107, and the receiving end through-beam sensor 108 are mainly used for accurate mating of the male and female interfaces. The lower magnetic interface 104 achieves magnetic attraction through opposite magnetism; the limiting protrusion 107 is used for physical limiting during connection, indicating successful connection when the corresponding groove of the female interface is precisely engaged; the receiving end through-beam sensor 104 is mainly used for horizontal position calibration, indicating horizontal axis alignment when the receiving end through-beam sensor 104 receives the through-beam signal from the transmitting end through-beam sensor 208. The lower alignment mark 106 is mainly used for physical marking. The mating protrusion 105 is mainly used to provide axial support force to prevent interface slippage.

[0053] The upper magnetic interface 204, the limiting slot 207, and the transmitting end through-beam sensor 208 are mainly used for accurate interface docking. The upper magnetic interface 204 achieves magnetic attraction through opposite magnetism; when the male and female connectors are correctly docked, the two sets of magnetic interfaces 104 and 204 magnetically connect and emit a docking success signal. The limiting slot 207 is used for physical positioning during connection; when the limiting slot 207 engages with the limiting protrusion 107, the connection is successful. The transmitting end through-beam sensor 208 is mainly used for horizontal position calibration and emits through-beam signals when the interface is connected. The upper alignment mark 206 is mainly used for physical marking. The docking groove is mainly used to provide axial support force to prevent interface slippage.

[0054] The inner wall of the mating protrusion 105 is equipped with excitation coils, and the outer wall of the mating groove 205 is equipped with excitation coils. When the male interface module 1 and the female interface module 2 of the waist are mated, they are attracted by electromagnetic attraction.

[0055] In practical implementation, the male interface module 1 has two sets of lower magnetic interfaces 104, unevenly distributed along the circumference, symmetrically distributed along the alignment mark 106. The two diagonally distributed lower magnetic interfaces 104 have opposite magnetic properties, and the magnetic interfaces 104 and 204 at corresponding positions of the male and female interfaces have opposite magnetic properties. The limiting protrusion 107 is used for physical limiting during connection; when the groove corresponding to the female interface is precisely engaged in this position, the connection is successful. The receiver-end through-beam sensor 108 is mainly used for horizontal position calibration; when the receiver receives the through-beam signal from the transmitter, it indicates that the horizontal axis is aligned. The lower alignment mark 106 is mainly used for physical marking. The mating protrusion 105 is mainly used to provide axial support force to prevent interface slippage. The upper magnetic interface 204, limiting slot 207, and transmitter-side through-beam sensor 208 of the waist-mounted female interface module 2 are mainly used for accurate interface docking. There are two sets of upper magnetic interfaces 204, unevenly distributed along the circumference, symmetrically distributed along the upper alignment mark 206. The two diagonally distributed upper magnetic interfaces 204 have opposite magnetic properties. When the male and female interfaces are correctly docked, the two sets of magnetic interfaces magnetically connect and emit a docking success signal. The transmitter-side through-beam sensor 208 is mainly used for horizontal position calibration and emits a through-beam signal when the interface is connected. The lower alignment mark 106 is mainly used for physical marking. The docking groove 205 is mainly used to provide axial support force to prevent interface slippage.

[0056] Taking the male waist interface module 1 and the female waist interface module 2 as examples, the docking process is as follows: Before the interface is ready for installation, the transmitting end of the through-beam sensor in the male waist interface module 1 will start to emit photoelectric signals. At the same time, the male waist interface module 1 will adjust its horizontal position until the receiving end through-beam sensor 108 receives the photoelectric signal from the transmitting end through-beam sensor 208, indicating that the axis is aligned. Then, the male waist interface module 1 will move closer to the female waist interface module 2 and slowly rotate during this process until the card block is inserted into the limiting card slot 207 and the magnetic interfaces 104 and 204 are stably connected. At this time, the excitation coil of the entire side wall will be energized to ensure that the male and female interfaces establish a strong magnetic tight connection. The docking process ends here.

[0057] like Figure 6As shown, the central spindle 6 includes a hollow first spindle body 609, a rotating slip ring fixed end 604, a rotating slip ring sliding end 605, and a second spindle body 609 arranged coaxially from top to bottom. The upper spindle body 609 and the rotating slip ring fixed end 604 are integrally formed, and the rotating slip ring sliding end 605 and the lower spindle body 609 are integrally formed. The rotating slip ring fixed end 604 and the rotating slip ring sliding end 605 are rotatably connected. The end faces of both spindle bodies 609 are provided with power supply line interfaces, data line interfaces, and control line interfaces arranged at intervals. The two power supply line interfaces, the two data line interfaces, and the two control line interfaces are respectively connected by power supply lines 601, data lines 602, and control lines inside the central spindle 6. 603 is connected to the neck connecting shaft 803 or the waist universal interface module; the sides of the rotating slip ring fixed end 604 and the rotating slip ring sliding end 605 are also provided with a data line outlet 606, a control line outlet 607 and a power supply line outlet 608, to connect to the shoulder universal interface module and the controller unit 709 inside the body assembly module 7; the body assembly module 7 is also equipped with a battery unit 707 and a sensor unit 708, both of which are electrically connected to the controller unit 709, and then connected to the main control unit through the central main shaft 6 and the waist universal interface module; the front side of the body assembly module 7 is also provided with a multispectral thermal imaging array 702 and electrically connected to the sensor unit 708.

[0058] The main spindle 609 is made of hard metal alloy and primarily provides physical support for the robot's upright posture. The body grouping module 7 can rotate 360 ​​degrees around the central main spindle 6 to meet the needs of different operating postures in agricultural production scenarios. The fixed end 604 and the sliding end 605 of the rotating slip ring together form a rotating slip ring. In specific implementation, the sliding end 605 of the rotating slip ring is grouped into 3 groups, which are respectively connected to the data line outlet 606, the control line outlet 607, and the power supply line outlet 608. Among them, the power supply lines 601 are grouped in pairs, and the control lines 603 and data lines 602 are grouped in groups of four, distributed from bottom to top on the outside of the main spindle 609. The rotating slip ring fixed end 604 is connected to the power supply line 601, data line 602, and control line 603 inside the spindle body 609 through internal wiring and is fixed on the spindle body 609. The main material is a metal copper ring. The rotating slip ring sliding end 605 is mainly made of graphite. The rotating slip ring fixed end 604 and the rotating slip ring sliding end 605 can establish an effective electrical connection.

[0059] The multispectral thermal imaging array 702 is mainly used to collect information needed in agricultural operations, such as plant phenotypic information and leaf temperature. Other types of agricultural sensing units or arrays, such as temperature and humidity sensors and infrared terahertz sensors, can also be distributed within it. All other units use existing mature circuit modules; this invention only describes their distribution and function. The motion control unit 706 is mainly used to control the movement and operation of the robotic arm module 4 and the actuator module 5. The robotic arm cable 710 is used to connect the motion control unit 706 and the shoulder female interface module 304. The battery unit is mainly used to power the body assembly module 7 and is also connected to a battery scheduling unit for control; specifically, a lithium battery and a power scheduling circuit board can be used. The sensor unit 708 is mainly used to control, collect, and transmit data from the multispectral thermal imaging array 702. The controller unit 709 is mainly used for the overall functional control of the body assembly module 7, and performs data transmission and control interaction with other body assembly modules and head control center 801 through the central spindle 6. The controller unit 709 can be a microcontroller or a programmable logic chip FPGA, and the sensor unit 708 can be a high-performance microcontroller or a programmable logic controller PLC as the controller.

[0060] One or more body grouping modules 7 are vertically arranged between the body grouping module 7 and the motion module 9 of the main body module 8. The left and right symmetrical sides of each body grouping module 7 are connected to the root end of one of its respective robotic arm modules 4 via shoulder universal interface modules. The end of the robotic arm module 4 is connected to the actuator module 5 via the wrist universal interface module in the arm interface module 3. Different actuator modules 5 can be used to simultaneously complete different tasks. Every two body grouping modules 7 are connected via waist universal interface modules. The controller unit 709 in each body grouping module 7 is electrically connected to the main control unit of the head control center 801 via its respective central spindle 6, and controls its two robotic arm modules 4 and actuator modules 5. The added body grouping module 7 serves as an expansion module, in which other sensors can be added to achieve different work tasks.

[0061] like Figure 10 (b) and Figure 10As shown in (c), the motion recombination module 11 of the robot recombination mechanism includes a main lifting platform 1101, two auxiliary lifting platforms 1103, and a rotary positioning device 1107. A ground transmission track 1106 is located in the middle of the bottom surface inside the automatic recombination frame 10. The ground transmission platform 1105 is slidably mounted on the ground transmission track 1106, and the rotary positioning device 1107 is horizontally mounted on the ground transmission platform 1105. During recombination and installation, the motion module 9 of the robot's general mechanism is placed on the rotary positioning device 1107. The main lifting platform 1101 is vertically mounted on the rear side of the ground transmission track 1106. Horizontal auxiliary motion tracks 1108, perpendicular to the ground transmission track 1106, are also provided on the symmetrical sides of the bottom surface inside the automatic recombination frame 10. Two auxiliary lifting platforms 1103 are vertically and slidably mounted symmetrically on the two auxiliary motion tracks 1108. The main lifting platform 1101 and the two auxiliary lifting platforms 1103 are arranged opposite each other at intervals. At the equipment warehouse entrance 1104, the main lifting platform 1101 is vertically provided with reconfiguration lifting rails 1102 on both sides of the main lifting platform 1103 facing the two auxiliary lifting platforms 1103, and on the side of the two auxiliary lifting platforms 1103 facing the main lifting platform 1101. Each reconfiguration lifting rail 1102 has two horizontally spaced positioning rods slidably installed on it. Each arm reconfiguration module 12 is installed on the four positioning rods between its respective auxiliary lifting platform 1103 and the main lifting platform 1101 and moves up and down along the reconfiguration lifting rail 1102. The two reconfiguration lifting rails 1102 on the main lifting platform 1101 are also provided with body lifting rails 1110 spaced apart and two horizontally spaced telescopic drive rods 1109 slidably installed on them. The side of the two auxiliary lifting platforms 1103 facing each other is also provided with body lifting rails 1110 and horizontally telescopic drive rods 1109 slidably installed on them. When the robot's general mechanism is reconfigured, the body grouping module 7 is placed on the four telescopic drive rods 1109.

[0062] like Figure 10 As shown in (a), the automatic reassembly frame 10 includes two front panels 1001, a top panel 1002, a rear panel 1003, and a bottom panel 1004, which are distributed on the front two sides, the upper side, the rear side, and the lower side of the motion reassembly module 11, respectively. It is mainly used to enclose the robot reassembly mechanism. The bottom panel 1004 serves as a base, on which the ground transmission track 1106 and the auxiliary motion track 1108 are installed.

[0063] The auxiliary lifting platforms 1103 are located at a certain distance in front of the main lifting platform 1101, and are symmetrically distributed with the central axis of the entire motion recombination module 11 as the axis of symmetry. The left and right auxiliary lifting platforms 1103 are mirror symmetrical, each with a body lifting track 1110 and two recombination lifting tracks 1102 at the equipment storage entrance 1104. The left and right recombination lifting tracks 1102 are mirror distributed with the central axis of the motion recombination module 11 as the axis.

[0064] Equipment storage entrance 1104 is used to enter the equipment storage for reloading robotic arm module 4 and actuator module 5. Ground transfer platform 1105 is mainly used for transferring body assembly module 7 and motion module 9, and has a rotation positioning device 1107 at its center, which can rotate and position body assembly module 7 and motion module 9. Furthermore, ground transfer track 1106 is connected to the storage of motion module 9.

[0065] The rotary positioning device 1107 has a hollow center, and its dimensions are consistent with those of the waist-mounted female interface module 2. The auxiliary motion tracks 1108 of the auxiliary lifting platform 1103 are distributed on the left and right sides of the auxiliary lifting platform 1103. They are mainly used to separate the robot's general mechanism from the robot reassembly mechanism after the reassembly is completed. That is, after the two auxiliary lifting platforms 1103 move to the sides, the reassembled robot general mechanism moves out of the robot reassembly mechanism along the direction of the ground transmission track 1106.

[0066] like Figure 7 (a) and Figure 10 As shown in (c), two fixed slots 704 parallel to the ground transmission track 1106 are opened on the middle rear side of the bottom surface of the body assembly module 7, one of which is equipped with an electrical connection interface 703. On the symmetrical sides of the front side of the bottom surface of the body assembly module 7, fixed slots 704 perpendicular to the ground transmission track 1106 are opened, each equipped with an electrical connection interface 703. The three electrical connection interfaces 703 are electrically connected to the control terminals inside the main lifting platform 1101 and the two auxiliary lifting platforms 1103, respectively. During the reassembly and installation of the robot's general mechanism, each fixed slot 704... Each of the four sections has a telescopic drive rod 1109 inserted, and three of the telescopic drive rods 1109 are electrically connected to the electrical connection interface 703 through electrical contacts at their ends, and then connected to the controller unit 709 of the body grouping module 7; the various lifting rails 1102, 1110 on the main lifting platform 1101, as well as the ground transmission rail 1106 and the rotation positioning device 1107, are all electrically connected to the control terminal therein, and the various lifting rails 1102, 1110 on the auxiliary lifting platform 1103, as well as the two auxiliary motion rails 1108, are all electrically connected to their respective control terminals.

[0067] The control terminal on the main lifting platform 1101 is the main control terminal, used to receive status data from various devices and issue control commands and signals to control the lifting and lowering of the lifting rails 1102 and 1110, as well as the reassembly operation. Electrical connection interfaces 703 are distributed on the bottom plane of the fixed slots 704, cooperating with the electrical interface at the end of the telescopic drive rod 1109 to form an electrical connection, mainly used for data transmission and interaction between the robot's reassembly mechanism and the robot's general mechanism. Each module of the reassembly robot establishes an electrical connection with the control terminal through the telescopic drive rod 1109, and the arm reassembly module 12 establishes an electrical connection with the control terminal through the positioning rod. The telescopic drive rod 1109 and the positioning rod are mainly used to cooperate in completing the reassembly operation. These electrical connections enable the control terminal to perceive the status of the robot's general mechanism and the arm reassembly module 12.

[0068] The body lifting track 1110 provides electrical connection and physical support to the body assembly module 7 through the telescopic drive rod 1109. The telescopic drive rod 1109 can extend and retract on the body lifting track 1110. When the electrical contact protrusion at the end of the body lifting track 1110 is engaged with the electrical connection interface 703 in the fixing slot 704 at the bottom of the body assembly module 7, the body lifting track 1110 moves to drive the telescopic drive rod 1109 to climb and descend.

[0069] like Figure 11 (a) and Figure 11As shown in (b), each arm recombination module 12 includes a robotic arm recombination platform 13 and an actuator recombination platform 14. Two positioning rod slots 1301, parallel to the ground transmission track 1106, are symmetrically formed on the bottom surface of the robotic arm recombination platform 13 near the main lifting platform 1101 and the auxiliary lifting platform 1103. Two of these slots have electrical connection interfaces 703. During recombination and installation, a positioning rod is inserted into each positioning rod slot 1301, and two of the positioning rods are electrically connected to the electrical connection interface 703 via electrical contacts at their ends, thereby connecting to the control terminals of the main lifting platform 1101 and the auxiliary lifting platform 1103. The actuator recombination platform 14 is mounted on the top side of the robotic arm recombination platform 13 away from the body lifting track 1110 via an actuator connector 1302. The actuator connector 1302 extends outwards from the top surface of the robotic arm recombination platform 13. A rectangular rod extends from the side. The top surface of the robotic arm reassembly platform 13 near the main lifting platform 1101 has a semi-cylindrical robotic arm fixing groove 1303. A semi-circular slide cylinder 1304 is horizontally installed in the robotic arm fixing groove 1303. The slide cylinder 1304 is a robotic arm support semi-cylindrical with a shape and length approximately the same as the robotic arm module 4. It can contact the robotic arm module 4 and allow the robotic arm module 4 to rotate axially around its central axis to achieve alignment of the interface of the robotic arm module 4. The arm positioning part 401 of the robotic arm module 4 is provided with positioning protrusions and alignment protrusions. The top surface of the slide cylinder 1304 is provided with positioning grooves and alignment grooves. When the robotic arm module 4 is reassembled, it is placed on the slide cylinder 1304 and the positioning protrusions and alignment protrusions are respectively engaged in the positioning grooves and alignment grooves. The positioning protrusions and positioning grooves realize the positioning posture of the robotic arm module 4 during assembly. Alignment protrusions and alignment grooves are aligned to adjust and fix the posture of the robotic arm module 4 when the actuator module 5 is replaced, enabling the process of replacing the actuator module 5 without disassembling the robotic arm module 4; the slide cylinder 1304 is electrically connected to the electrical connection interface 703, which in turn connects to the control terminal of the auxiliary lifting platform 1103. The electrical connection interface 703 is used to establish an electrical connection with the robot reassembly mechanism when in contact with the positioning rod, so as to ensure the accuracy of the installation of the robotic arm module 4; the positioning rod provides electrical connection and physical support for the arm reassembly module 12. Electrical contacts are symmetrically distributed along the radial central axis on the upper surface of the positioning rod. The positioning rod can also be extended and retracted in the direction from the main lifting platform 1101 to the auxiliary lifting platform 1103. After extension and retraction, the reassembly lifting track 1102 drives the positioning rod to climb and descend as a whole.

[0070] like Figure 11As shown in (c), the actuator reconfiguration platform 14 includes an elongated rod 1402, an L-shaped translational track groove component 1404, and a translational rod. The top surface of one end of the horizontally arranged elongated rod 1402 is connected to the bottom surface of the end of the actuator connector 1302 via a first connecting rotation shaft 1401. The bottom surface of the other end of the elongated rod 1402 is connected to the top surface of the center of the L-shaped translational track groove component 1404 via a second connecting rotation shaft 1403. Connecting blocks extend downward from the bottom of both ends of the L-shaped translational track groove component 1404. T-shaped translational grooves 1405 are horizontally formed in both connecting blocks, and sliding grooves 1405 are formed in both T-shaped translational grooves 1405. A horizontally aligned and mutually perpendicular push rod translation track 1406 and a first parallel track 1409 are installed. Several friction wheels are present on the contact surface between the T-shaped translation groove 1405 and the push rod translation track 1406 and the first parallel track 1409, allowing the push rod translation track 1406 and the first parallel track 1409 to move parallel to each other along the track direction to complete different tasks. An auxiliary connecting push rod 1407, vertically arranged and perpendicular to the push rod translation track 1406, is installed on the side of the push rod translation track 1406 away from the first parallel track 1409. The auxiliary connecting push rod 1407 is a push rod with a rounded top, used to push the robotic arm. Module 4 performs a small axial stroke movement. The shoulder male interface module 303 of the auxiliary robotic arm module 4 is connected to the body grouping module 7 through the shoulder female interface module 304. Its external contact part is made of flexible material, which will not damage the wrist male interface module 301 on the robotic arm module 4. When the L-shaped translation track groove component 1404 rotates around the second connecting rotation axis 1403, causing the auxiliary connecting push rod 1407 to approach the robotic arm module 4, it is perpendicular to the central axis of the robotic arm module 4. The translation rod is an L-shaped rod composed of a horizontal translation component 1410 and a vertical translation track 1411. The end of the horizontal translation component 1410 is mounted on the first The parallel track 1409 is located away from the push rod translation track 1406. The first parallel track 1409 can achieve a certain parallel movement during the installation of the actuator module 5, so that the actuator module 5 can be installed smoothly. The other side of the push rod translation track 1406 and the first parallel track 1409 is also provided with a spring limit key 1408 to restrict it in the T-shaped translation groove 1405 when it moves. The spring limit key 1408 is a spring protrusion key that can be pressed down. When it is protruding, it can restrict the T-shaped translation groove 1405 in the track. When it is concave, the auxiliary connecting push rod 1407 and other components can be disassembled.A capture ring 1414, vertically arranged and perpendicular to the auxiliary connecting push rod 1407, is mounted on the vertical translation track 1411 via a T-shaped block 1412. When the actuator module 6 is to be installed, it is installed in the capture ring 1414 via the execution installation assembly 1413. When the L-shaped translation track groove component 1404 rotates around the second connecting rotation axis 1403, the wrist male interface module 301 on the actuator module 6 aligns with the wrist female interface module 302 on the robotic arm module 4. The capture ring 1414 is a ring-shaped installation component with an internal locking mechanism, achieving contact and locking with the wrist male interface module 301 for actuator module 5 installation. The execution installation assembly 1413 consists of an inner movable semi-circular ring and an outer fixed semi-circular ring rail. When the actuator module 5 is installed, it can drive the inner semi-circular ring... The ring moves to the point where it overlaps with the externally fixed semi-circular ring, after which the entire annular actuator mounting assembly 1413 moves downward, and the wrist male interface module 301 disengages from the actuator mounting assembly 1413. The first connecting rotating shaft 1401, the second connecting rotating shaft 1403, the push rod translation rail 1406, the first parallel rail 1409, and the vertical translation rail 1411 are all electrically connected to the electrical connection interface 703, which in turn connects to the control terminal of the auxiliary lifting platform 1103. The first connecting rotating shaft 1401 can drive the extension rod 1402 to rotate 180 degrees to smoothly perform the installation work of the actuator module 5. The push rod translation rail 1406 can drive the L-shaped translation rail groove component 1404 to rotate 90 degrees to switch between different assembly modes, namely the installation of the robotic arm module 4 and the actuator module 5.

[0071] To further clarify the motion principle of the present invention, the present invention also provides a description of a recombination implementation method, a combination implementation method, a split implementation method, a recombination implementation process of robots with different configurations, and a fully automated operation method for the entire agricultural process.

[0072] The automatic robot reconfiguration of this invention is based on a combination implementation method and a split implementation method for the reconfiguration of robots with different configurations. The fully reconfigurable robot of this invention consists of two body grouping modules 7, one motion module 9, two sets of robotic arm modules 4, and two sets of actuator modules 5. Based on this, the invention can automatically complete the replacement of the motion module 9, the replacement of the actuator module 5, and the adjustment of the body grouping module 7, realizing a universal robot mechanism with a single body grouping module 7 and a single actuator module 5, a universal robot mechanism with a single body grouping module 7 and multiple actuator modules 5, as well as the reconfiguration of actuator modules 5 and motion modules 9.

[0073] The main process of the combined implementation method provided by the present invention includes module preparation, module placement and module combination, as well as enable verification, state transformation and motion disengagement at the robot level, and reorganization platform removal at the reorganization system level.

[0074] Module preparation, specifically during the assembly of motion module 9 or body assembly module 7, involves the ground transmission platform 1105 on motion recombination module 11 transporting motion module 9 or body assembly module 7 out of the module warehouse via ground transmission track 1106. Furthermore, the female interface module 2 on the lower side of the body assembly module 7 needs to be engaged with the rotary positioning device 1107. During the assembly of robotic arm module 4 and actuator module 5, the arm recombination module 12 transports the module out of the equipment warehouse entrance via the positioning rod on the recombination lifting track 1102.

[0075] When the body assembly module 7 is assembled, the ground transmission platform 1105 adjusts its horizontal position via track movement and achieves rotational alignment via the rotation positioning device 1107. Furthermore, the main body module 8 only needs to ensure its head and front panel face directly forward. When the motion module 9 is assembled, the ground transmission platform 1105 stably transports the motion module 9 into the accurate docking position in a fixed posture. When the robotic arm module 4 is assembled, the positioning rod on the reassembly lifting track 1102 elevates the robotic arm reassembly platform 13 to achieve vertical position adjustment. The positioning rod is adjusted to the same horizontal plane as the telescopic drive rod 1109, and then rotated to the interface alignment position via the slide cylinder 1304. When the actuator module 5 is assembled, the L-shaped translational track groove component 1404 rotates 90 degrees onto the actuator mounting assembly 1413, and the wrist male interface module 301 of the actuator module 5 is aligned with the wrist female interface 302.

[0076] In the assembly of the body assembly module 7, the telescopic drive rod 1109 extends from the body lifting track 1110 and is fixedly engaged with the lower fixing slot 704 of the main body module 8, raising the entire module along the body lifting track 1110 until it is fully engaged with the waist interface modules 1 and 2. Furthermore, for the main body module 8, it is only necessary for the telescopic drive rod 1109 to extend from the body lifting track 1110 and be fixedly engaged with the lower fixing slot 704, raising the main body module 8 to a certain height along the body lifting track 1110. In the assembly of the motion module 9, the telescopic drive rod 1109 descends along the body lifting track 1110 until it is fully engaged with the waist interface modules 1 and 2. When assembling the robotic arm module 4, after the connection between the robotic arm fixing slot 1303 and the arm fixing part is separated, the auxiliary connecting push rod 1407 moves axially to make flexible contact with the wrist female interface module 302 and applies a pushing force, so that the shoulder interface modules 303 and 304 of the robotic arm module 4 are fully engaged. After that, the auxiliary connecting push rod 1407 is reset. When assembling the actuator module 5, the horizontal translation component 1410 drives the execution mounting assembly 1413 to move inward along the first parallel track 1409 for a certain distance, so that the wrist interface modules 301 and 302 are fully engaged.

[0077] Enable verification refers to the robot system performing self-verification on the connection status of interface modules 1, 2, 301, 302, 303, and 304 to ensure stable connection.

[0078] State transition refers to the robot changing from a reorganized state to a free state, specifically manifested in the robotic arm module 4 returning to a relaxed, naturally drooping state.

[0079] Motion disengagement refers to the disengagement of the general mechanism of the auxiliary robot from the automatic reassembly mechanism via motion module 9.

[0080] After the actuator module 5 is assembled, the reassembly platform is removed when the inner semicircular ring moves to fully overlap with the outer fixed semicircular ring, and the entire actuator mounting assembly 1413 moves downward until the wrist interfaces 301 and 302 detach from the actuator mounting assembly 1413. After the robotic arm module 4 is assembled, the extension rod 1402 rotates 180 degrees around the first connecting rotation axis 1401 until the entire actuator reassembly platform 14 is no longer interfered with by the actuator module 5. Then, the arm reassembly module 12 moves downward a certain distance along the track, and the extension rod 1402 rotates 90 degrees around the first connecting rotation axis 1401 until it is stopped by the actuator reassembly platform 14 and the bottom panel 1004. The arm reassembly module 12 is then stored in the equipment room. After the motion module 9 is assembled, the telescopic drive rod 1109 rises a certain distance along the body lifting track 1110, waiting for the ground transmission platform 1105 to leave the motion reassembly module 11 along the ground transmission track 1106. The entire robot then descends to the ground. The telescopic drive rod 1109 retracts, and the auxiliary lifting platform 1103 moves to both sides.

[0081] The specific steps of the combined implementation method are as follows:

[0082] S01 Robot Assembly Begins.

[0083] S02 Preparation of body assembly module 7: The ground transmission platform 1105 on the motion reassembly module 11 transports the main body module 8 out of the module warehouse via the ground transmission track 1106. The waist female interface module 2 on the lower side of the main body module 8 needs to be inserted into the rotation positioning device 1107.

[0084] S03 Body assembly module 7 in place: The ground transmission platform 1105 adjusts its horizontal position through track movement and achieves rotational alignment through the rotational positioning device 1107. The main body module 8 must ensure that the head and front panel face directly forward.

[0085] S04 Body assembly module 7: The telescopic drive rod 1109 extends from the body lifting track 1110 and is fixed to the lower fixing slot 704 of the body main module 8, so as to lift the body main module 8 as a whole along the body lifting track 1110 to a certain height.

[0086] S05 Robotic arm module preparation: The arm reassembly module 12 uses the positioning rod on the reassembly lifting rail 1102 to transport the robotic arm module 4 out of the equipment warehouse from the equipment warehouse entrance 1104.

[0087] S06 Robotic arm module in place: The robotic arm reassembly platform 13 is raised and lowered by the positioning rod on the reassembly lifting rail 1102 to achieve vertical position adjustment. The positioning rod is adjusted to be on the same horizontal plane as the telescopic drive rod 1109, and then rotated to the interface alignment position by the slide cylinder 1303.

[0088] S07 Robotic Arm Module 4 Assembly: After the connection between the robotic arm fixing slot 1304 and the robotic arm module 4 is separated, the auxiliary connecting push rod 1407 moves axially to make flexible contact with the wrist female interface module 302 and applies a pushing force, so that the shoulder interface modules 303 and 304 of the robotic arm module are fully docked. After that, the auxiliary connecting push rod 1407 is reset.

[0089] S08 Actuator Module 5 Preparation: The arm recombination module 12 uses the positioning rod on the recombination lifting rail 1102 to transport the actuator module 5 out of the equipment warehouse from the equipment warehouse entrance 1104.

[0090] S09 Actuator module 5 in place: L-shaped translational track groove component 1404 rotates 90 degrees onto actuator mounting assembly 1413, wrist male interface module 301 is aligned with wrist female interface module 302 and rotated to be aligned.

[0091] S10 Actuator Module 5 Assembly: The horizontal translation component 1410 drives the execution mounting assembly 1413 to move inward along the first parallel track 1409 for a certain distance, so that the wrist interface modules 301 and 302 are fully engaged. After the assembly is completed, the inner semi-circular ring moves until it is completely aligned with the outer fixed semi-circular ring, and the entire execution mounting assembly 1413 moves downward until the wrist interface modules 301 and 302 disengage from the execution mounting assembly 1413.

[0092] S11 Motion Module Preparation: The ground transmission platform 1105 on the motion reassembly module 11 transports the motion module 9 out of the module warehouse via the ground transmission track 1106.

[0093] S12 Motion Module 9 in place: The ground transmission platform 11 stably transports the motion module 9 into the accurate docking position in a fixed posture.

[0094] S13 Motion Module 9 Assembly: During the assembly of motion module 9, the telescopic drive rod 1109 descends along the body lifting track 1110 until the waist interface modules 1 and 2 are fully connected. After assembly, the telescopic drive rod 1109 rises a certain distance along the body lifting track 1110, waiting for the ground transmission platform 1105 to leave the motion reassembly module 11 along the ground transmission track 1106, and the overall robot general mechanism descends to the ground.

[0095] S14 Robot General Mechanism Enable Verification: The robot system performs self-verification on the connection status of each interface module 1, 2, and 3 to ensure stable connection.

[0096] S15 Automatic Reassembly Mechanism Retraction: After the robotic arm module 4 is assembled, the extension rod 1402 rotates 180 degrees around the first connecting rotation axis 1401 until the entire actuator reassembly platform 14 is no longer interfered with by the actuator module 5. The arm reassembly module 12 then moves downwards along the track a certain distance. The extension rod 1402 rotates 90 degrees around the first connecting rotation axis 1401 until it reaches the limit between the actuator reassembly platform 12 and the bottom panel 1004. The arm reassembly platform 12 then enters the equipment storage through the equipment storage entrance 1104. The telescopic drive rod 1109 retracts, and the auxiliary lifting platform 1103 withdraws to both sides.

[0097] S16 Robot General Mechanism State Transition: The robot general mechanism changes from the reorganized state to the free state, specifically manifested in the robotic arm module 4 returning to the relaxed state of natural drooping.

[0098] S17 Robot General Mechanism Motion Disengagement: The robot general mechanism disengages from the automatic reassembly mechanism via motion module 9.

[0099] The S18 robot general mechanism assembly is complete.

[0100] The main process of the disassembly implementation method provided by the present invention includes module capture, module disassembly and module storage, as well as robot-level motion entry and state transformation, and reassembly system-level reassembly platform placement.

[0101] Before the motion module 9 is disassembled, the lifting platforms 1101 and 1103 lower the entire robot general mechanism until the motion module 9 is about to touch the ground transmission platform 1105. Before the body assembly module 7 is disassembled, the main lifting platform 1101 lowers until the female interface module 2 on the lower side of the body assembly module 7 engages with the rotary positioning device 1107. Before the robotic arm module 4 is disassembled, the robotic arm fixing slot 1303 of the robotic arm recombination platform 13 moves towards the center until it engages with the positioning protrusion on the robotic arm module 4, at which point the posture of the robotic arm module 4 during disassembly is fixed. Before the actuator module 5 is disassembled, the alignment groove of the robotic arm module 4 on the robotic arm recombination platform 13 engages with the alignment protrusion of the robotic arm module 4, fixing the posture of the robotic arm module 4. The inner semicircular ring of the execution installation component 1413 moves to coincide with the outer fixed semicircular ring, and then the execution installation component 1413 moves vertically along the vertical translation track 1411 until it contacts the wrist female interface module 302 on the robotic arm module 4.

[0102] When the motion module 9 is disassembled, the strong magnetic connection between the waist interface modules 1 and 2 will automatically disengage, and the motion module 9 will fall onto the ground transmission platform 1105. When the torso assembly module 7 is disassembled, the upper and lower sets of telescopic drive rods 1109 drive the two modules to move slowly in opposite directions for a distance, while the strong magnetic connection between the waist interface modules 1 and 2 disengages. Furthermore, when the main torso module 8 is disassembled, it only needs to be lowered by the telescopic drive rods 1109 until it lands smoothly on the ground transmission platform 1105. When the robotic arm module 4 is disassembled, the shoulder male interface module 303 on the robotic arm module 4 disconnects from the shoulder female interface module 304 of the torso assembly module 7, and the robotic arm fixing slot 1303 of the robotic arm recombination platform 13 moves outward, causing the robotic arm module 4 to detach from the interface area, thus achieving the detachment of the robotic arm module 4. When actuator module 5 is disassembled, the actuator mounting assembly 1413 moves along the first parallel track 1409 towards the wrist interface on actuator module 5. The internal movable semicircular ring moves along the external fixed semicircular ring track until it completely surrounds the wrist interface on the entire actuator module. At this point, the entire ring is locked inside and contacts and locks into place with the wrist interface. The female wrist interface module 302 of robotic arm module 4 is disconnected from the male wrist interface module 301 of actuator module 5. The actuator mounting assembly 1413 moves outward along the first parallel track 1409, causing actuator module 5 to detach from the interface area of ​​robotic arm module 4.

[0103] Module storage refers to the process where disassembled modules are transported into the equipment and module storage areas by an automated reassembly mechanism. The storage of the arm reassembly module 12 includes the storage of actuator module 5 and robotic arm module 4.

[0104] "Motion entry" refers to the robot's general mechanism moving into the automatic reassembly mechanism in a fixed posture via motion module 9. The fixed posture must ensure that the head and front panel are facing directly forward, i.e., on the side of the front panel 1001 of the automatic reassembly frame 10, and the motion module 9 enters along the ground transmission track 1106.

[0105] State transition refers to the transformation of a robot's general mechanism from a free state to a reconfigured state. Specifically, this is manifested in the robotic arm module 4 opening to a horizontal state, and the body assembly module 7, motion module 9, and actuator module 5 resetting.

[0106] Once the reassembly platform is in place, the auxiliary lifting platform 1103 moves from both sides to the working position. The telescopic drive rod 1109 extends from the track and engages with the limiting slot 207, raising the robot's general mechanism a certain distance. The ground transmission platform 1105 of the motion reassembly module 11 moves to below the robot's general mechanism. The arm reassembly module 12 moves unloaded to below the robotic arm module 4, and the robotic arm reassembly platform 13 slowly moves upward until it connects with the alignment groove and alignment protrusion of the robotic arm module 4.

[0107] The specific steps for implementing the split method are as follows:

[0108] S01 Robot General Mechanism Disassembly Begins.

[0109] S02 Robot General Mechanism Movement Entry: The robot general mechanism enters the automatic reassembly frame 10 in a fixed posture via motion module 9. The fixed posture must ensure that the front panel of the head and torso grouping module 7 faces directly forward, i.e., to the side of the front panel of the automatic reassembly frame 10, and motion module 9 enters along the direction of ground transmission track 1106.

[0110] S03 Robot General Mechanism State Transition: The robot's general mechanism transforms from a free state to a reassembled state. Specifically, this is manifested in the robotic arm module 4 opening to a horizontal state, and the body assembly module 7, motion module 9, and actuator module 5 resetting.

[0111] S04 Automatic Reassembly Mechanism Positioning: The auxiliary lifting platform 1103 moves from both sides to the working position. The telescopic drive rod 1109 extends from the track and engages with the fixing slot 704, raising the robot's general mechanism a certain distance. The ground transmission platform 1105 of the motion reassembly module 11 moves to below the robot's general mechanism. The arm reassembly module 12 moves unloaded to below the robotic arm module 4, and the robotic arm reassembly platform 13 slowly moves upward to connect with the alignment groove and alignment protrusion of the robotic arm module 4.

[0112] S05 Actuator Module 5 captures: The alignment groove and alignment protrusion of the robotic arm module 4 on the robotic arm reassembly platform 13 are locked together, and the posture of the robotic arm module 4 is fixed. The inner semicircular ring of the execution mounting assembly 1413 moves to coincide with the outer fixed semicircular ring, and then the execution mounting assembly 1413 moves vertically along the vertical translation track 1411 to contact the wrist interface modules 301 and 302 on the robotic arm module 4.

[0113] S06 Actuator Module 5 Disassembly: The actuator mounting assembly 1413 moves along the first parallel track 1409 towards the wrist interface modules 301 and 302 on the actuator module 5. The internal movable semicircular ring moves along the external fixed semicircular ring track until it completely surrounds the wrist interface modules 301 and 302 on the actuator module 5. At this time, the entire ring is locked inside and contacts and locks with the wrist interface modules 301 and 302. The male wrist interface module 301 on the robotic arm module 4 is disconnected from the female wrist interface module 302 of the actuator module 5. The actuator mounting assembly 1413 moves outward along the first parallel track 1409, causing the actuator module 5 to disengage from the interface area of ​​the robotic arm module 4.

[0114] S07 Robotic arm module 4 capture: The robotic arm fixing slot 1304 of the robotic arm reassembly platform 13 moves towards the center until it is locked with the positioning protrusion on the robotic arm module 4. At this time, the posture of the robotic arm module 4 during disassembly is fixed.

[0115] S08 Disassembly of robotic arm module 5: The shoulder male interface module 303 on the robotic arm module 4 is disconnected from the shoulder female interface module 304 of the body assembly module 7. The robotic arm fixing slot 1304 of the robotic arm reassembly platform 13 moves outward, causing the robotic arm module 4 to detach from the interface area, thus realizing the detachment of the robotic arm module 4.

[0116] S09 Arm and Hand Reassembly Module 12 Enters the Warehouse: The arm and hand reassembly module 12 descends along the reassembly lifting track 1102 to the equipment warehouse entrance 1104 and enters the equipment warehouse.

[0117] S10 Motion Module 9 captures: The telescopic drive rod 1109 moves up and down along the track, lowering the entire robot's general mechanism until the motion module 9 is about to touch the ground transmission platform 1105.

[0118] S11 Motion Module 9 Disassembly: When disassembling motion module 9, the strong magnetic connection between waist interface modules 1 and 2 will automatically detach, and motion module 9 will fall onto ground transmission platform 1105.

[0119] S12 Body grouping module 7 captures: Body grouping module 7 descends to the lower waist female interface module 2 and engages with the rotation positioning device 1107.

[0120] S13 Body Assembly Module 7 Disassembly: During the disassembly of body assembly module 7, the upper and lower sets of telescopic drive rods 1109 drive the two body assembly modules 7 to slowly move a distance in opposite directions, while the strong magnetic connection of waist interface modules 1 and 2 disengages. Furthermore, when the main body module 8 disengages, the telescopic drive rods 1109 only need to drive the body assembly module 7 to descend smoothly onto the ground transmission platform 1105.

[0121] S14 Body Assembly Module 7 Storage: The disassembled body assembly module 7 is transported into the equipment and module storage by the automatic reassembly mechanism. Among them, the storage of arm and hand reassembly module 12 includes the storage of actuator module 5 and robotic arm module 4.

[0122] The disassembly of the general mechanism of the S15 robot is complete.

[0123] This invention also provides a method for recombining robots of different configurations, namely a legged five-fingered robot and a wheeled two-fingered robot. The grouping tasks in the recombining method are derived from the aforementioned combination and splitting methods, so details will not be repeated. The overall steps are as follows:

[0124] S01 Robot General Mechanism Initiates Reorganization Procedure.

[0125] S02 The robot's general mechanism moves into the automatic reconfiguration mechanism.

[0126] S03 The robot's general mechanism changes state and is raised to a certain height.

[0127] S04 Arm and hand reconstruction module 12 and motion reconstruction module 11 enter the reconstruction preparation position.

[0128] S05 Actuator Reassembly Platform 12 captures five-finger actuator 501.

[0129] S06 Actuator Reassembly Platform 12 Disassembles Five-Finger Actuator 501.

[0130] S07 Arm and Hand Reassembly Module 12 has been put into storage.

[0131] S08 Five-finger actuator 501 is put into storage.

[0132] S09 The arm-hand reconstruction module 12 removes the two-finger actuator 502 and enters the reconstruction preparation position.

[0133] S10 Actuator Reassembly Platform 12 enters the assembly and positioning state.

[0134] The S11 actuator reconfiguration platform 12 controls the combination of the two-finger actuator 502 and the robotic arm module 4.

[0135] S12 The ground transmission platform 1105 of the motion recombination module 11 moves to below the robot's general mechanism, and the entire robot descends to the point where the motion module 9 is about to touch the ground transmission platform 1105, and the motion module 9 captures it.

[0136] The waist male interface module 1 of the S13 bipedal motion module 902 is separated, and the motion module 9 is successfully disassembled.

[0137] The S14 ground transmission platform 1105 transports the bipedal motion module 902 into the warehouse and stably transports the wheeled motion module 901 out of the warehouse in a fixed posture.

[0138] The S15 ground transmission platform stably transports the wheeled motion module 901 out of the warehouse in a fixed posture, and the wheeled motion module 901 moves to the docking position and enters the positioning state.

[0139] S16 The entire robot general mechanism descends to the docking position, reduces speed, waist interface modules 1 and 2 dock, and motion module 9 is assembled.

[0140] S17 Robot General Mechanism Enable Verification.

[0141] The S18 automatic reconfiguration mechanism is withdrawn, and the auxiliary lifting platform 1103 moves back to both sides along the track.

[0142] The S19 robot's general mechanism state transitions to a free state.

[0143] S20 Robot General Mechanism Motion Disengagement Automatic Reassembly Mechanism.

[0144] S2 The entire task of reassembling robots with different configurations has ended.

[0145] This invention also provides a fully automated agricultural operation method, targeting a facility agriculture scenario. The operational scenario is a strawberry greenhouse where the plants are just entering maturity. The method mainly includes agricultural management and harvesting stages, comprising five phases: preparation, management, transition, and harvesting. By automatically reconfiguring robots, specific operational stages of agricultural robots can be transformed into general operational stages, achieving multi-purpose functionality. The method flow is described in detail below:

[0146] M1 preparation stage: The automatic reconfiguration mechanism implements the automatic combination program and loads the management mode robot. This configuration robot adopts a wheeled motion module 901, a multi-body grouping module 7 and a five-finger actuator 501, which can complete field inspection, automatic plant protection and other operations.

[0147] M2 Management Phase: The robot's general mechanism uses a wheeled motion module 901 to move at a moderate speed on the floor of the strawberry greenhouse. Simultaneously, the vision unit 802 on the robot's head control center 801 collects image information of plant growth, and the cylindrical multispectral thermal imaging array 702 on its front panel can obtain phenotypic information of plant leaves. During the inspection, the robot's general mechanism rotates and divides the rows synchronously using the axis column formed by the central main shaft 6 and the waist interface modules 1 and 2. After the inspection, the communication unit in the head control center 801 uploads the above information to the cloud and performs automatic plant protection operations according to the cloud instructions. Plant protection operations include cleaning diseased plants, fertilizing and watering, etc. The robot's general mechanism uses a five-finger actuator 501 in conjunction with tools to complete these unstructured operations.

[0148] M3 Transition Phase: The robot's general mechanism returns to the automatic reassembly mechanism for reassembly, and loads the harvesting mode robot. This configuration robot uses a wheeled motion module 901, a multi-body grouping module 7, and a multi-actuator module 5, which can complete the harvesting task.

[0149] M4 Harvesting Stage: The robot's general mechanism retrieves harvesting information from the cloud and automatically schedules harvesting tasks. During the harvesting task, the robot's general mechanism controls the two-finger actuator 502 and the five-finger actuator 501 to work together to ensure that the strawberries are picked completely and accurately. After completing the harvesting of the entire greenhouse, the robot's general mechanism returns to the automatic reassembly mechanism.

[0150] M5 End Phase: After the robot's general mechanism returns to the automatic reassembly mechanism, it performs an automatic disassembly task. All modules are disassembled and stored in sequence, and the entire process is completed.

[0151] Furthermore, the robot system can also form a multi-robot cluster to complete collaborative operations.

[0152] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention and are not intended to limit the scope of protection of the present invention. All equivalent methods or modifications that do not depart from the technology of the present invention should be included within the scope of protection of the present invention.

Claims

1. A reconfigurable agricultural robotic system based on a general platform and automatic reconfiguration, characterized by, Include: The robot general mechanism is composed of independent mechanical arm modules (4), executor modules (5), body main modules (8) and motion modules (9), and the mechanical arm modules (4), the executor modules (5), the body main modules (8) and the motion modules (9) are connected with each other through a plurality of detachable general interface modules; The robot reorganization mechanism is composed of an automatic reorganization frame (10), a motion reorganization module (11) and two arm hand reorganization modules (12), and is used for splitting, assembling and reorganizing the robot general mechanism, the motion reorganization module (11) is installed in the automatic reorganization frame (10), and the two arm hand reorganization modules (12) are symmetrically installed in the motion reorganization module (11); The motion reorganization module (11) of the robot reorganization mechanism comprises a main lifting platform (1101), two auxiliary lifting platforms (1103) and a rotary positioning device (1107), a ground transmission track (1106) is arranged in the middle of the inner bottom surface of the automatic reorganization frame (10), a ground transmission platform (1105) is slidingly installed on the ground transmission track (1106), the rotary positioning device (1107) is horizontally installed on the ground transmission platform (1105), and the robot general mechanism is placed on the rotary positioning device (1107) during reorganization and installation; the main lifting platform (1101) is vertically and perpendicularly installed on the rear side of the ground transmission track (1106), the inner bottom surface of the automatic reorganization frame (10) is also provided with auxiliary motion tracks (1108) which are horizontal and perpendicular to the ground transmission track (1106) and are located on the symmetric two sides of the ground transmission track (1106), and the two auxiliary lifting platforms (1103) are vertically and slidingly installed on the two auxiliary motion tracks (1108); the main lifting platform (1101) and the two auxiliary lifting platforms (1103) are arranged in a front-to-back manner, the main lifting platform (1101) is opposite to the symmetric two sides of the two auxiliary lifting platforms (1103), and the two auxiliary lifting platforms (1103) are opposite to one side of the main lifting platform (1101); a reorganization lifting track (1102) is vertically arranged on each of the symmetric two sides of the main lifting platform (1101) and the side of the main lifting platform (1101) opposite to the two auxiliary lifting platforms (1103), two positioning rods are slidingly installed on each reorganization lifting track (1102), each arm hand reorganization module (12) is installed on four positioning rods between a respective one of the auxiliary lifting platforms (1103) and the main lifting platform (1101) and moves up and down along the reorganization lifting track (1102); a body lifting track (1110) is also spaced apart and provided with two horizontally spaced telescopic drive rods (1109) on the two reorganization lifting tracks (1102) in the main lifting platform (1101), a body lifting track (1110) is also provided on the side of each of the two auxiliary lifting platforms (1103) opposite to each other and is slidingly installed with a horizontal telescopic drive rod (1109), and the robot general mechanism is placed on the four telescopic drive rods (1109) during reorganization and installation; Each of the arm hand reorganization module (12) includes a mechanical arm reorganization platform (13) and an executor reorganization platform (14), the bottom surface of the mechanical arm reorganization platform (13) is symmetrically provided with two positioning rod grooves (1301) parallel to the ground transmission rail (1106) near one side of the main lifting platform (1101) and the auxiliary lifting platform (1103), and two electrical connection interfaces (703) are arranged in the two positioning rod grooves (1301), when the robot universal mechanism is reassembled, one positioning rod is inserted into each of the positioning rod grooves (1301), and the two positioning rods are electrically connected to the electrical connection interfaces (703) through electrical contacts at the ends, and then connected to the control terminal of the main lifting platform (1101) and the auxiliary lifting platform (1103); the executor reorganization platform (14) is installed on the top of the side of the mechanical arm reorganization platform (13) away from the body lifting rail (1110) through an execution connector (1302), a semicylindrical mechanical arm fixing groove (1303) is formed on the top surface of the side of the mechanical arm reorganization platform (13) near the main lifting platform (1101), and a semicylindrical sliding cylinder (1304) is horizontally installed in the mechanical arm fixing groove (1303); the mechanical arm module (4) is provided with a positioning protrusion and an alignment protrusion, the top surface of the sliding cylinder (1304) is provided with a positioning recess and an alignment recess, and the mechanical arm module (4) is placed on the sliding cylinder (1304) during reassembly and the positioning protrusion and the alignment protrusion are respectively clamped in the positioning recess and the alignment recess; the sliding cylinder (1304) is electrically connected to the electrical connection interfaces (703) and then connected to the control terminal of the auxiliary lifting platform (1103).

2. The reconfigurable agricultural robotic system based on a general platform and automatic reconfiguration of claim 1, wherein: The body main module (8) comprises a head control center (801), a vision unit (802) and a body grouping module (7), the vision unit (802) is installed inside the head control center (801) and faces the front; a central main shaft (6) is vertically installed in the inside center of the body grouping module (7), the upper end of the central main shaft (6) is connected to the bottom center of the head control center (801) through a neck connecting shaft (803), the lower end of the central main shaft (6) is connected to the top center of the motion module (9) through a waist universal interface module composed of a waist male interface module (1) and a waist female interface module (2); the left and right symmetrical sides of the body grouping module (7) are respectively connected to the root end of each one of the mechanical arm modules (4) through the shoulder universal interface module in the arm interface module (3), the tail end of the mechanical arm module (4) is connected to the actuator module (5) through the wrist universal interface module in the arm interface module (3); the inside of the head control center (801) is further provided with a communication unit and a main control unit connected to each other, the body grouping module (7) is internally provided with a motion control unit (706) and a controller unit (709), the controller unit (709), the vision unit (802) and the motion module (9) are all electrically connected to the main control unit, the controller unit (709) is electrically connected to the motion control unit (706) and the motion reorganization module (11) and the two arm hand reorganization modules (12) of the robot reorganization mechanism, and the motion control unit (706) is electrically connected to the mechanical arm module (4) and the actuator module (5).

3. The reconfigurable agricultural robotic system based on a general platform and automatic reconfiguration of claim 2, wherein: The waist male interface module (1) is hollow cylindrical and the top end surface is three-step columnar, the bottom end surface of the waist male interface module (1) is open and is installed at the top surface center of the motion module (9), the upper two layers of the waist male interface module (1) are respectively a butt protrusion (105) and a limiting protrusion (107), the end surface of the limiting protrusion (107) is provided with a power line male interface (101), a data line male interface (102), a control line male interface (103) and a plurality of lower magnetic attraction interfaces (104) arranged at intervals, the waist female interface module (2) is hollow cylindrical and the top end surface is two-step columnar, the bottom end surface of the waist female interface module (2) is open and coaxially sleeved on the top surface of the waist male interface module (1), the two layers of the waist female interface module (2) are respectively a butt groove (205) and a limiting groove, and are coaxially sleeved on the butt protrusion (105) and the limiting protrusion (107), the end surface of the limiting groove is provided with a power line female interface (201), a data line female interface (202), a control line female interface (203) and a plurality of upper magnetic attraction interfaces (204) arranged at intervals, and when the waist male interface module (1) and the waist female interface module (2) are butt jointed, the power line male interface (101), the data line male interface (102), the control line male interface (103) and each lower magnetic attraction interface (104) are connected one by one, respectively.

4. The reconfigurable agricultural robotic system based on a general platform and automatic reconfiguration of claim 3, wherein: The inner wall surface of the butt protrusion (105) is distributed with an excitation coil, the outer wall surface of the butt groove (205) is distributed with an excitation coil, and the waist male interface module (1) and the waist female interface module (2) are magnetically attracted after butt jointing.

5. The reconfigurable agricultural robotic system based on a general platform and automatic reconfiguration of claim 3, wherein: The center main shaft (6) comprises a hollow first main shaft body (609), a rotating slip ring fixed end (604), a rotating slip ring sliding end (605) and a second main shaft body (609) arranged coaxially from top to bottom, the upper main shaft body (609) and the rotating slip ring fixed end (604) are integrally formed, the rotating slip ring sliding end (605) and the lower main shaft body (609) are integrally formed, the rotating slip ring fixed end (604) and the rotating slip ring sliding end (605) are rotatably connected, the end faces of the two main shaft bodies (609) are provided with power line interfaces, data line interfaces and control line interfaces arranged at intervals, the two power line interfaces, the two data line interfaces and the two control line interfaces are connected by the power line (601), the data line (602) and the control line (603) inside the center main shaft (6) respectively to connect to the neck connecting shaft (803) or the waist universal interface module; the side surfaces of the rotating slip ring fixed end (604) and the rotating slip ring sliding end (605) are further provided with data line outlets (606), control line outlets (607) and power line outlets (608) to connect to the controller unit (709) inside the shoulder universal interface module and the body organization module (7); the body organization module (7) is further provided with a battery unit (707) and a sensor unit (708) inside, the battery unit (707) and the sensor unit (708) are electrically connected to the controller unit (709), and then connected to the main control unit through the center main shaft (6) and the waist universal interface module, and the front side surface of the body organization module (7) is further provided with a multispectral thermal imaging array (702) and electrically connected to the sensor unit (708).

6. The reconfigurable agricultural robotic system based on a general platform and automatic reconfiguration of claim 3, wherein: The body organization module (7) and the motion module (9) of the body main module (8) are further provided with one or more body organization modules (7) along the vertical direction, the left and right symmetrical sides of each body organization module (7) are connected to the root end of one mechanical arm module (4) respectively through the shoulder universal interface module, and the tail end of the mechanical arm module (4) is connected to the actuator module (5) through the wrist universal interface module in the arm interface module (3); every two body organization modules (7) are connected through the waist universal interface module, the controller unit (709) in each body organization module (7) is electrically connected to the main control unit of the head control center (801) through the center main shaft (6) of each body organization module (7), and controls the two mechanical arm modules (4) and the actuator module (5) respectively.

7. The reconfigurable agricultural robotic system based on a general platform and automatic reconfiguration of claim 1, wherein: The bottom of the body assembly module (7) has two fixed slots (704) parallel to the ground transmission track (1106) on the middle rear side, one of which has an electrical connection interface (703). The bottom of the body assembly module (7) also has two fixed slots (704) perpendicular to the ground transmission track (1106) on the symmetrical sides of the front side, each with an electrical connection interface (703). The three electrical connection interfaces (703) are electrically connected to the control terminals inside the main lifting platform (1101) and the two auxiliary lifting platforms (1103), respectively. During the reassembly and installation of the robot's general mechanism, each fixed slot (704) contains... Each of the three telescopic drive rods (1109) is inserted into an electrical connection interface (703) via electrical contacts at the ends, and then connected to the controller unit (709) of the body assembly module (7); the various lifting rails (1102, 1110) on the main lifting platform (1101), as well as the ground transmission rail (1106) and the rotation positioning device (1107), are all electrically connected to the control terminal therein, and the various lifting rails (1102, 1110) on the auxiliary lifting platform (1103) and the two auxiliary motion rails (1108) are all electrically connected to their respective control terminals.

8. The reconfigurable agricultural robotic system based on a general platform and automatic reconfiguration of claim 1, wherein: The actuator reconfiguration platform (14) includes an elongated rod (1402), an L-shaped translational track groove component (1404), and a translational rod. One end of the horizontally arranged elongated rod (1402) is connected to the bottom end of the actuator connector (1302) via a first connecting rotating shaft (1401). The other end of the elongated rod (1402) is connected to the center top surface of the L-shaped translational track groove component (1404) via a second connecting rotating shaft (1403). Connecting blocks extend downwards from the bottom of both ends of the L-shaped translational track groove component (1404). Each connecting block has a horizontally formed T-shaped translation groove (1405). Horizontal and mutually perpendicular push rod translation rails (1406) and a first parallel rail (1409) are slidably installed in each of the two T-shaped translation grooves (1405). An auxiliary connecting push rod (1407) is vertically arranged and perpendicular to the push rod translation rail (1406) on the side of the push rod translation rail (1406) away from the first parallel rail (1409). When the L-shaped translation rail groove component (1404) rotates around the second connecting rotation axis (1403), the auxiliary connecting push rod (1407)... 7) When close to the robotic arm module (4), it is perpendicular to the central axis of the robotic arm module (4); the translation rod is an L-shaped rod composed of a horizontal translation component (1410) and a vertical translation track (1411). The end of the horizontal translation component (1410) is installed on the side of the first parallel track (1409) away from the push rod translation track (1406). A capture ring (1414) is vertically arranged and perpendicular to the auxiliary connecting push rod (1407) on the vertical translation track (1411). The actuator module (6) is installed on the capture ring (1414) when it is to be installed. In step 4), when the L-shaped translational track groove component (1404) rotates around the second connecting rotation axis (1403), the wrist male interface module (301) on the actuator module (6) is aligned with the wrist female interface module (302) on the robotic arm module (4); the first connecting rotation axis (1401), the second connecting rotation axis (1403), the push rod translational track (1406), the first parallel track (1409) and the vertical translational track (1411) are all electrically connected to the electrical connection interface (703) and then connected to the control terminal of the auxiliary lifting platform (1103).

Images