Robot capable of automatically placing and recycling gas collection box

Abstract

The utility model relates to the technical field of plant physiology and ecology data collection, in particular to a robot capable of automatically placing and recycling a gas collection box. The utility model discloses a robot for automatically placing and recycling a gas collection box. One end of a trolley base is fixedly connected with a radar control tower, and the radar control tower is used for fixing a laser radar; an electric suction cup and a depth camera are mounted at one end of the six-axis mechanical arm, and the other end of the six-axis mechanical arm is fixedly connected with the other end of the trolley base through a metal connecting piece and used for placing and / or carrying the gas collection box in a non-coaxial mode; the gas collection box is arranged at a reserved position of the trolley base and is used for collecting a gas sample; the depth camera is used for collecting image information; the electric suction cup is used for adsorbing the gas collection box to realize placement and recovery of the gas collection box, and the laser radar is used for scanning an actual scene to generate a 2D map. According to the utility model, the six-axis mechanical arm and the depth camera are adopted, so that the accurate placement and recovery of the gas collection box are realized, the labor cost is reduced, and the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of plant physiological ecology data collection, specifically relates to a kind of robot of automatic placement and recycling gas collection box. BACKGROUND

[0002] Rice field ecosystems play an important role in emitting greenhouse gases such as nitrous oxide, carbon dioxide and methane, which have significant impacts on global climate warming. Rice fields are not only an important source of nitrous oxide emissions, but the organic carbon content in their soil is usually much higher than that in upland soils. Therefore, monitoring and studying the generation and emission processes of these gases in rice fields is of great significance to understanding the carbon and nitrogen cycles in farmland soils and developing strategies to reduce greenhouse gas emissions from rice fields.

[0003] Currently, the collection of gases released by rice and its rhizosphere soil usually relies on manual operation, i.e. covering gas collection boxes on rice plants by hand. In order to ensure that the collection box is in close contact with the soil surface and forms an effective seal, a base is equipped around the collection box. However, this manual method is not only inefficient and time-consuming, but also has poor consistency and reproducibility in operation, which limits its application in large-scale gas emission monitoring. In addition, this method also has obvious shortcomings in terms of reducing agricultural labor intensity and improving work efficiency.

[0004] Therefore, it is necessary to propose a robot for automatic placement and recycling of gas collection boxes to solve the above problems. SUMMARY

[0005] The utility model aims to provide a kind of robot of automatic placement and recycling gas collection box, to solve the technical problems of low efficiency, time-consuming, labor-intensive and non-intelligent in the collection of field rice gas in prior art.

[0006] To achieve the above purpose, the utility model provides a kind of robot of automatic placement and recycling gas collection box, comprising:

[0007] Trolley base, one end of the trolley base is fixedly connected with radar tower,

[0008] Six-axis mechanical arm, one end of the six-axis mechanical arm is provided with electric suction cup and depth camera, the other end is fixedly connected with the other end of the trolley base through metal connecting piece, for completing the placement and / or carrying of gas collection box of different shafts;

[0009] Gas collection box, the gas collection box is in the position reserved by the trolley base, for collecting gas sample;

[0010] The electric suction cup is used to adsorb gas collection box, to realize the placement and recycling of gas collection box.

[0011] a depth camera for collecting image information;

[0012] the laser radar is used for scanning an actual scene to generate a 2D map;

[0013] the radar tower is used for fixing the laser radar.

[0014] In an embodiment of the utility model, the six-axis mechanical arm has six degrees of freedom, and is used for driving the electric suction disc to realize six-axis degree of freedom action.

[0015] In an embodiment, the gas collection box comprises a switch and a gas bag.

[0016] The switch is used to start and / or stop the gas bag from collecting gas.

[0017] The gas bag is used for temporarily storing gas.

[0018] In an embodiment, the trolley base comprises more than one wheel, and the front and rear wheels are differentially operated.

[0019] In an embodiment, the electric suction disc comprises, but is not limited to, one air hole for adsorbing the top of the gas collection box.

[0020] In an embodiment, the trolley base is provided with an antiskid foot stand for placing the gas collection box.

[0021] In an embodiment, the depth camera is used for collecting images containing RGB-D information.

[0022] In an embodiment, the gas collection box is placed on a metal base in a field to collect gas.

[0023] In an embodiment, the six degrees of freedom action comprises translation along an X-axis, translation along a Y-axis, translation along a Z-axis, rotation around the X-axis, rotation around the Y-axis and rotation around the Z-axis in a flange coordinate system.

[0024] In an embodiment, the wheels of the trolley base can be replaced by a track.

[0025] The robot for automatically placing and recycling the gas collection box provided by the utility model adopts a six-axis mechanical arm and a depth camera, realizes accurate placement and recycling of the gas collection box, improves the flexibility and accuracy of gas collection, enhances the environmental perception ability of the robot in combination with the laser radar, reduces the labor cost and improves the work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to make the above objectives, characteristics and advantages of the present application more apparent, concrete embodiments of the present application will be described in detail below with reference to the drawings.

[0027] Figure 1 A schematic diagram of a robot structure for automatically placing and recycling a gas collection box is disclosed in an embodiment of the present application.

[0028] Figure 2 A practical application scene diagram is disclosed in an embodiment of the present application.

[0029] The meanings of the reference numerals in the drawings are as follows.

[0030] 10 trolley base

[0031] 11 anti-skid wheel

[0032] 20 six-axis mechanical arm

[0033] 21 electric suction cup

[0034] 22 air hole

[0035] 23 metal connecting piece

[0036] 30 depth camera

[0037] 40 gas collection box

[0038] 41 gas bag

[0039] 42 anti-skid foot stand

[0040] 50 radar tower

[0041] 51 laser radar

[0042] 60 metal base

[0043] 70 experimental rice field

[0044] 71 experimental rice

[0045] 72 control rice

[0046] 80 rice field passageway DETAILED DESCRIPTION

[0047] In order to make the above objectives, characteristics and advantages of the present application more apparent, concrete embodiments of the present application will be described in detail below with reference to the drawings.

[0048] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced without the specific details. In other instances, well-known methods, procedures and components have not been described in detail so as not to obscure the present application.

[0049] The embodiments of the present application will be described below based on the drawings. However, the embodiments shown below are examples of a robot for automatically placing and recycling a gas collection box that embodies the technical idea of the present application, and the robot for automatically placing and recycling a gas collection box of the present application is not limited to the following content.

[0050] Figure 1 A robot structure diagram of an embodiment of the present application for automatically placing and recycling a gas collection box is disclosed, as shown in the figure, the robot for automatically placing and recycling a gas collection box comprises a trolley base 10, a six-axis robot arm 20, an electric suction cup 21, a depth camera 30, a gas collection box 40, a laser radar 51 and a radar tower 50. Figure 1

[0051] The various parts of the robot for automatically placing and recycling a gas collection box will be described in detail below.

[0052] The trolley base 10 is fixedly connected to one end of the radar tower 50, and the radar tower 50 is used to fix the laser radar 51.

[0053] A metal connecting piece 23 is arranged on the other end of the trolley base 10, and the trolley base 10 is fixedly connected to the six-axis robot arm 20 through the metal connecting piece 23, wherein the types of the metal connecting piece 23 include but are not limited to rivets, bolts, nuts, buckles, hinges, washers, expansion screws, etc.

[0054] The trolley base 10 is internally provided with a processor, which is used to analyze and process the environmental information collected by the laser radar and the image information collected by the depth camera.

[0055] In an embodiment, the trolley base 10 is internally provided with an edge computing platform, which can be used to analyze and process the information collected by the 3D laser radar 51 and the depth camera 30.

[0056] The depth camera 30 is used to collect image information.

[0057] The depth camera 30 is connected to the processor through a USB, and is used to transmit the collected image containing RGB-D information.

[0058] Alternatively, the depth camera 30 is connected to the built-in host of the trolley through a USB 3.0 to collect and transmit image data.

[0059] The built-in host of the trolley is also provided with a target detection algorithm YOLOv10 (You Only Look Once Version 10) based on deep learning to identify the metal base 15 in the field. Among them, the target detection algorithm YOLOv10 can process images in real time.​

[0060] In an embodiment, the depth camera 30 is installed at the end of the six-axis robot arm 20 for capturing information of the environment, which, in combination with the RGB-D information, can be used for object recognition and spatial localization.

[0061] Specifically, the RGB color mode in RGB-D obtains a variety of colors by changing the three color channels of red (R), green (G), and blue (B) and superimposing them on each other. In 3D computer graphics, a depth map (DepthMap) is an image or image channel containing information about the distance of the scene object's surface from the viewpoint. The DepthMap is similar to a grayscale image, except that each pixel value is the actual distance from the sensor to the object. Usually, the RGB image and the DepthMap are registered, so there is a one-to-one correspondence between the pixels.

[0062] The processor is also configured to use a target detection algorithm based on deep learning to identify the position of the metal base 60. The position of the metal base 60 is the correct position for placing the gas collection box, where the metal base is placed in the field, and the gas collection box is placed on the position of the metal base to collect gas.

[0063] It is worth noting that in this embodiment, the field refers to an experimental rice field, but it is also applicable to other fields that are not for experimental purposes.

[0064] In combination with the depth information obtained by the depth camera 30, the target detection algorithm calculates the 3D positions of the center point and the four corner points of the metal base 60, and then plans a suitable and correct placement pose for the gas collection box 40, so that the gas collection box 40 can be smoothly and quickly embedded in the metal base 60 during placement, greatly improving the efficiency and accuracy of the robot operation and providing strong protection.

[0065] Figure 2 The actual application scene diagram of an embodiment of the utility model is disclosed, as shown in Figure 2 As shown in the figure, in an experimental rice field 70, the robot moves on the rice field passageway 80, uses the built-in 3D laser radar 51 and depth camera 30 to identify and locate the accurate position of the metal base 60. Once the positioning is completed, the robot will adsorb the gas collection box 40 through the electric suction cup 21 on the six-axis robot arm 20 and place it on the metal base 60 for gas collection. After the collection process is completed, the robot will repeat the process to recycle the gas collection box 40 from the metal base 60.

[0066] The metal base 60, which works in conjunction with the robot, can be square. The square metal base 60 surrounds several experimental rice plants 71 and is embedded in the soil to ensure the stability of the gas collection box 40 for placement and recovery. In contrast, the control rice plants 72 are located outside the metal base 60.

[0067] The electric suction cup 21 is used to adsorb the gas collection box 40, enabling the placement and retrieval of the gas collection box. The electric suction cup 21 is mounted on the end of the six-axis robotic arm 20 and is connected to the built-in main unit of the trolley via a relay, which can control the electric suction cup 21 to firmly adhere to the top of the gas collection box 40.

[0068] The electric suction cup 21 includes, but is not limited to, a vent 22 for adsorbing the top of the gas collection box.

[0069] In one embodiment, the electric suction cup 21 has four vents 22, which can more firmly adhere to the top of the gas collection box.

[0070] The trolley base is equipped with anti-slip feet 42 for placing the gas collection box. When the gas collection box 40 is placed on the trolley base 10 and travels on the paddy field passage 80, the anti-slip feet 42 can prevent the gas collection box 40 from bumping and slipping off.

[0071] In one embodiment, to ensure that the six-axis robotic arm 20 can accurately place the gas collection box 40 on the metal base 60, the robot needs to perform hand-eye calibration. Hand-eye calibration is a calibration process where the eye is on the hand, and image-based vision control, position-based vision control, and hybrid vision control can be used to quickly and effectively calibrate the coordinates of the object being measured. Specifically, the coordinate system transformation relationship between the depth camera 30 (eye) and the six-axis robotic arm 20 (hand) can be determined, and further, the coordinate system transformation relationship between the depth camera 30 and the motorized suction cup 21 can be obtained.

[0072] In one embodiment, the transformation relationship between the coordinate systems of the depth camera 30 and the motorized suction cup 21, i.e., hand-eye calibration, can be determined by the Zhang Zhengyou calibration method.

[0073] First, the position and orientation information of the metal base 60 in the coordinate system of the depth camera 30 are obtained by using the depth camera 30 in combination with the target detection algorithm.

[0074] Then, by combining the transformation relationship between the depth camera 30 and the electric suction cup 21 (which should be the end of the six-axis robotic arm 20), as well as the transformation relationship between the coordinate system of the electric suction cup 21 and the coordinate system of the flange center of the six-axis robotic arm 20 and the coordinate system of the flange center of the six-axis robotic arm 20 and the base coordinate system of the six-axis robotic arm 20, the pose information of the metal base 60 in the base coordinate system of the six-axis robotic arm 20 is calculated.

[0075] Finally, since the conversion relationship between the depth camera 30 and the motorized suction cup 21 cannot be directly obtained, it is necessary to solve equation A using multiple sets of data. i XB i C i =A j XB j C j (i, j = 1, 2, 3…n, where n is the number of photos taken of the checkerboard pattern) to achieve hand-eye calibration. Specifically, the checkerboard pattern is placed within the field of view of the depth camera 30, and while taking photos of the checkerboard pattern, the pose information of the end-center of the motorized suction cup 21 in the coordinate system of the six-axis robotic arm 20 is recorded. By taking and recording multiple sets of data, the relevant OpenCV library functions are used to solve for X in the equation. This X is the solution for hand-eye calibration, which is the transformation relationship from the depth camera 30 to the motorized suction cup 21.

[0076] Specifically, the robot can accurately convert the 3D information of the metal base 60 acquired by the depth camera 30 into operation commands of the six-axis robotic arm 20, enabling the electric suction cup 21 to accurately place and recover the gas collection box 40.

[0077] In one embodiment, the robot first adsorbs and transports the gas collection box 40 onto the cart base 10. Then, it moves along a preset path to a designated point, activates the depth camera 30, and uses a deep learning algorithm to identify the metal base. A hand-eye conversion matrix is ​​used to convert the 3D information into the coordinate system of the six-axis robotic arm 20, thereby driving the electric suction cup 21 at the end of the six-axis robotic arm to adsorb the gas collection box 40 and precisely fit it into the metal base 60, recording the end-effector pose. After gas collection is complete, the robot returns to its initial pose and adsorbs and transports the gas collection box 40 back onto the cart base 10, completing the entire automatic placement and retrieval process of the gas collection box.

[0078] The six-axis robotic arm 20 is mounted on the metal connector 23. The mounting position is not fixed, but is flexibly selected according to the weight of each component. This ensures that the four tires of the robot car base 10 are evenly stressed and the pressure remains consistent, thus laying the foundation for the stable operation of the robot.

[0079] One end of the six-axis robotic arm 20 is equipped with an electric suction cup 21 and a depth camera 30, and the other end is fixedly connected to the other end of the trolley base 10 through a metal connector 23, which is used to place and / or transport the gas collection box 40 along different axes.

[0080] The six-axis robotic arm 20 can flexibly drive the electric suction cup 21 at the end to move freely within a specific range to meet different operational needs.

[0081] Specifically, such as Figure 1As shown, the six-axis robotic arm 20 can be positioned at the central axis of the other end of the trolley base 10. The six-axis robotic arm 20 is connected to the left central axis of the trolley base via a metal connector 23, and can perform six degrees of freedom of movement, enabling complex motion paths in three-dimensional space.

[0082] The six-axis robotic arm 20 has six degrees of freedom, used to drive the electric suction cup to achieve six-axis free-motion movements. The six degrees of freedom of the six-axis robotic arm 20, relative to the robotic arm base coordinates, are typically defined in the flange coordinate system as: translation along the X-axis, translation along the Y-axis, translation along the Z-axis, rotation around the X-axis, rotation around the Y-axis, and rotation around the Z-axis.

[0083] The flange coordinate system is an important coordinate system used in industrial robots to describe the position and orientation of the robot's end effector (such as a tool). It is usually located at the center point of the robot flange. The Z-axis is aligned with the normal direction of the robot flange, pointing above or below the robot's end tool; the X-axis is perpendicular to the normal direction, pointing in front of the robot's end tool; and the Y-axis is perpendicular to the X-axis, pointing to the left or right of the robot's end tool.

[0084] It is worth noting that the specific directions mentioned above may vary depending on the design and configuration of the robot.

[0085] The three-dimensional coordinate system containing the center of the end flange of the robotic arm, compared to the three translational degrees of freedom (movement along the X, Y, and Z axes) and three rotational degrees of freedom (rotation around the X, Y, and Z axes) of the base coordinate system of the robotic arm, can be represented by the six degrees of freedom X, Y, Z, Rx, Ry, and Rz, respectively.

[0086] In one embodiment, a space is reserved on the main body of the trolley base for placing a gas collection box 40. The gas collection box 40, located at the reserved position on the trolley base 10, is used to collect gas samples. The gas collection box 40 includes a switch and a gas bag 41. The switch is used to activate and / or deactivate the gas bag for gas collection, and the gas bag 41 is used to temporarily store the gas. The gas bag 41 and the switch can automatically collect the gas from the gas collection box 40 and temporarily store it in the gas bag 41.

[0087] The car base includes more than one wheel, with the front and rear wheels operating at different speeds. The path of the wheels can be controlled by a remote control or automatically navigated.

[0088] In one embodiment, the vehicle base 10 has four wheels, with the front and rear wheels capable of differential speed operation. Specifically, the vehicle can be controlled by a remote control to rotate in place and move forward, backward, left, and right. It can also navigate automatically according to a set fixed trajectory and waypoints.

[0089] In another embodiment, the four wheels of the trolley base 10 can be replaced by tracks, which can effectively solve the problems of excessive pressure and severe wear on the tires in the wheel-based grounding method. Because the contact area between the tires and the ground is small, long-term operation will lead to accelerated tire wear, especially during the movement of the six-axis robotic arm 20. The change in the center of gravity causes uneven pressure on the four tires, which in turn causes the trolley's movement path to deviate.

[0090] In this embodiment, the tracks contact the ground, providing a larger contact area, effectively distributing pressure, and reducing wear. Furthermore, the tracks have excellent obstacle-crossing ability, easily traversing small potholes and obstacles. On special terrain surfaces, the anti-slip effect of the tracks is superior to that of wheels. The tracks can also be toothed to increase friction, thereby improving overall stability and passability.

[0091] The radar tower 50 is connected to one end of the trolley base 10 to fix the 3D lidar 51, so that the 3D lidar 51 has a horizontal scanning angle of nearly 180°.

[0092] The LiDAR 51 can scan the actual scene to generate a 2D map, set the robot's waypoints and target points on the map, or set the navigation route while scanning the map.

[0093] The robot for automatically placing and recovering gas collection boxes provided by this utility model can improve overall efficiency in the placement and recovery of gas collection boxes in large-scale rice paddies, where a single robot may affect overall efficiency. In cases where gas needs to be collected simultaneously in multiple experimental fields, multiple robots can be used to work together.

[0094] The robot for automatically placing and retrieving gas collection boxes provided by this utility model adopts a six-axis robotic arm and a depth camera, which realizes the precise placement and retrieval of gas collection boxes, improves the flexibility and accuracy of gas collection, and enhances the robot's environmental perception capabilities by combining with LiDAR, reducing labor costs and improving work efficiency.

[0095] The robot for automatically placing and retrieving gas collection boxes provided by this utility model achieves precise identification and positioning of the metal base. It uses hand-eye calibration technology to ensure that the six-axis robotic arm accurately carries the electric suction cup to adsorb the gas collection box and automatically places and retrieves it. This significantly improves work efficiency, reduces labor costs, enhances the repeatability and stability of the operation, and expands the application scope of monitoring technology. It provides an efficient, accurate and reliable automated solution for the monitoring and research of gas emissions from paddy fields.

[0096] While the foregoing disclosure has discussed various examples of utility model embodiments that are currently considered useful, it should be understood that the designations corresponding to the components shown in the "Claims" and "Utility Model Contents" columns are assigned to the components shown in the embodiments for ease of understanding of the scope of the claims. However, the components shown in the claims are not intended to be specific to the components of the embodiments. In particular, the dimensions, materials, shapes, and relative arrangements of the constituent components described in the embodiments, unless specifically stated otherwise, are not intended to limit the scope of the present utility model, but are merely illustrative examples.

[0097] However, the dimensions or positional relationships of the components shown in the accompanying drawings are sometimes exaggerated for clarity. Therefore, in the following description, detailed descriptions of the same names and symbols representing the same or homogeneous components are appropriately omitted. Furthermore, the elements constituting this utility model can be multiple elements composed of the same components, thus allowing one component to function as multiple elements; conversely, multiple components can share the function of one component. Additionally, the content described in some embodiments and implementations can be applied to other embodiments and implementations. Furthermore, in this specification, "upper" is not limited to the case of being formed in contact with an upper surface, but also includes the case of being formed separately on top, and also includes the meaning of an interlayer between layers.

[0098] Similarly, it should be noted that, in order to simplify the description of this utility model and thus aid in the understanding of one or more embodiments, the foregoing description of the embodiments of this utility model sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the object of this utility model requires more features than those mentioned in the claims. In fact, the embodiments have fewer features than all the features of the single embodiment disclosed above.

[0099] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not specifically singular and may include plural forms. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0100] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0101] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed according to the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of range in some embodiments of this invention are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0102] Although the present invention has been described with reference to specific embodiments, those skilled in the art should recognize that the above embodiments are merely illustrative of the present invention, and various equivalent changes or substitutions can be made without departing from the spirit of the present invention. Therefore, any changes or modifications to the above embodiments within the scope of the essential spirit of the present invention will fall within the scope of the claims of this application.

Claims

1. A robot for automatically placing and retrieving gas collection boxes, characterized in that, The utility model relates to a kind of gas collection vehicle, including: Trolley base, six-axis robot arm, gas collection box, electric suction cup, depth camera, laser radar and radar tower; One end of the trolley base is fixedly connected with the radar tower; One end of the six-axis robot arm is provided with electric suction cup and depth camera, and the other end is fixedly connected with the other end of the trolley base through metal connecting piece, for completing different shafts to place and / or carry gas collection box; The gas collection box is placed on the reserved position of the trolley base, for collecting gas sample; The electric suction cup is used to adsorb gas collection box, to realize the placement and recycling of gas collection box; The depth camera is used to collect image information; The laser radar is used to scan actual scene to generate 2D map; The radar tower is used to fix laser radar.

2. The robot of claim 1, wherein, The six-axis robot arm has six degrees of freedom, for driving the electric suction cup to realize six-axis freedom action.

3. The robot of claim 1, wherein, The gas collection box includes switch and gas bag; The switch is used to start and / or close gas bag to collect gas; The gas bag is used to temporarily store gas.

4. The robot of claim 1, wherein, The trolley base includes more than one wheel, and the front and rear wheels run differentially.

5. The robot of claim 1, wherein, The electric suction cup includes not limited to one air hole, for adsorbing the top of the gas collection box.

6. The robot of claim 1, wherein, The trolley base is provided with antiskid foot stand, for placing the gas collection box.

7. The robot of claim 1, wherein, The depth camera is used to collect images containing RGB-D information.

8. The robot of claim 1, wherein, The gas collection box is placed on the metal base to collect gas, and the metal base is placed in the field.

9. The robot of claim 2, wherein, The six degrees of freedom action includes: in flange coordinate system, along X-axis translation, along Y-axis translation, along Z-axis translation, rotate around X-axis, rotate around Y-axis, and rotate around Z-axis.

10. The robot of claim 4, wherein, The wheels of the trolley base are replaced by caterpillar track.

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