A shelter wheat breeding harvesting operation robot

Abstract

The utility model discloses a square cabin wheat breeding reaping operation robot, including mobile platform and fixed in the lifting platform and the tow chain limiting support of mobile platform top, the telescopic end of lifting platform can drive its elevating along its axial direction, and the telescopic end of lifting platform is horizontally fixedly connected with multi -freedom degree mechanical arm, is equipped with the limiting groove on the tow chain limiting support, and the telescopic end of lifting platform still fixedly connected with the limiting piece of extending to the limiting groove and can with the sliding fit of limiting groove. In the utility model, through the horizontal fixed multi -freedom degree mechanical arm of lifting platform top, it is helpful to increase the depth that multi -freedom degree mechanical arm extends into the inside of vertical multilayer cultivation frame each layer, and the operation depth of ear reaping is increased, and through the cooperation of limiting piece and limiting groove simultaneously, can limit the lifting platform, prevent the telescopic end of lifting platform from rotating relative to lifting platform, thereby improve the operation accuracy of multi -freedom degree mechanical arm.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery and equipment technology, and more specifically to a modular wheat harvesting robot. Background Technology

[0002] Wheat breeding research in modular cabins, plant factories, and artificial climate chambers places special technical demands on harvesting equipment: Limited by the internal structure of these facilities, typical passageways are less than 1.2m wide, and the vertical spacing between shelves is 0.4-0.6m. Traditional field harvesting equipment suffers from poor spatial adaptability (volume overrun rate >85%) and insufficient navigation accuracy (positioning error >50mm). Breeding materials are characterized by varietal diversity (up to 30-50 genotypes per batch) and sample dispersion (single plant harvesting ratio required to be ≥60%).

[0003] According to the literature review, existing harvesting equipment generally has technical defects: the working range of the robotic arm is limited, making it difficult to reach wheat ears that are more than 50cm deep inside the shelving.

[0004] Furthermore, existing wheat harvesting robots are mainly designed for field harvesting operations and lack specialized harvesting equipment suitable for confined spaces such as modular warehouses, small artificial climate chambers, and smart plant factories. These harvesting environments are primarily suitable for cultivating high-quality wheat varieties. To efficiently harvest these high-quality wheat varieties, the developed wheat harvesting robot must be adaptable to relatively narrow passageways and capable of harvesting wheat at different heights within vertical multi-layered cultivation racks.

[0005] Furthermore, wheat harvesting robots need to avoid relative rotation between the fixed structure of the lifting platform and the lifting end of the platform, as rotation would affect the accuracy of the harvesting robot's operation. Utility Model Content

[0006] The technical problem to be solved by this utility model is how to provide a wheat harvesting robot suitable for confined spaces and improve its operational accuracy.

[0007] This utility model solves the above-mentioned technical problems through the following technical means: a containerized wheat harvesting robot, including a mobile platform and a lifting platform and a drag chain limiting frame fixed on the top of the mobile platform. The lifting platform can drive its telescopic end to rise and fall along its axis. The telescopic end of the lifting platform is horizontally and fixedly connected to a multi-degree-of-freedom robotic arm. The drag chain limiting frame is provided with a limiting groove. The telescopic end of the lifting platform is also fixedly connected to a limiting component that extends into the limiting groove and can slide with the limiting groove.

[0008] As a preferred technical solution, the telescopic end of the lifting platform is fixedly connected to a connecting seat. One end of the connecting seat perpendicular to its axis is fixedly connected to a multi-degree-of-freedom robotic arm. The limiting component includes a connecting block and a slider. The slider slides into the limiting groove and is fixedly connected to the side wall of the connecting seat through the connecting block. When the connecting seat is at its highest position, the distance between it and the upper plane of the step platform is the same as the length of the drag chain, which is conducive to enabling the robot to harvest wheat ears at different heights on the vertical multi-layer cultivation rack.

[0009] As a preferred technical solution, the cable chain limiting frame is fixedly connected to two guide rails, and a limiting groove is formed between the two guide rails. The slider is arranged in a U-shape.

[0010] As a preferred technical solution, a stepped platform is fixedly connected to the top of the mobile platform, a drag chain limiter is fixed to the top of the stepped platform, a depth camera C is fixedly connected to the stepped platform via a camera mount, and a tray is also provided on the top of the mobile platform, containing several wheat ear placement containers. The field of view of the depth camera C can cover all the wheat ear placement containers.

[0011] As a preferred technical solution, a cable chain is installed inside the cable chain limit frame. One end of the cable chain is fixedly connected to the step platform, and the other end is fixedly connected to the telescopic end of the lifting platform.

[0012] As a preferred technical solution, the end effector of the multi-degree-of-freedom robotic arm is connected to an actuator connecting flange.

[0013] As a preferred technical solution, the mobile platform includes a mobile chassis and a cabinet. The mobile chassis and the cabinet are detachably fixed, and ultrasonic distance sensors are installed on both sides of the mobile chassis.

[0014] As a preferred technical solution, the bottom of the mobile chassis is equipped with universal auxiliary wheels and two differential drive wheels. The rear end of the mobile chassis is equipped with a boss, on which a contact charging interface and an RGB-D camera located above the contact charging interface are provided. The contact charging interface includes two metal contact strips.

[0015] As a preferred technical solution, the cabinet is provided with fixing grooves at all four corners, and the cabinet is detachably fixed to the support frame by screws, which are installed in the mounting holes.

[0016] As a preferred technical solution, a cover plate is fixedly connected to the rear of the cabinet, and a display screen and a button layout area are fixedly connected to the cover plate. The button layout area is equipped with an emergency stop switch, a power switch, an HDMI interface, a USB interface, a network interface, and a charging interface.

[0017] The beneficial effects of this utility model are as follows:

[0018] (1) In this utility model, by fixing the multi-degree-of-freedom robotic arm horizontally at the top of the lifting platform, it helps to increase the depth of the multi-degree-of-freedom robotic arm into each layer of the vertical multi-layer cultivation rack, and increase the working depth of wheat harvesting. At the same time, through the cooperation of the limiting component and the limiting groove, the lifting platform can be limited to prevent the telescopic end of the lifting platform from rotating relative to the lifting platform, thereby improving the working accuracy of the multi-degree-of-freedom robotic arm.

[0019] (2) In this utility model, by setting up the support platform as a connecting part, it is possible to avoid the inability to install due to the different mounting holes of the cabinet and the mobile chassis. This is beneficial for connecting cabinets with different mounting holes to the mobile chassis, and it is beneficial for the standardization of intelligent mobile chassis specifications, thereby reducing the manufacturing cost of mobile chassis with different mounting holes.

[0020] (3) In this utility model, the four corners of the control cabinet are provided with fixed grooves, which is conducive to the connection and fixation of the control cabinet and the support platform, increasing the reliability of the connection and the balance of the force on the support platform; by setting the inclined surface, it is conducive to the perspective of the depth camera C to cover the entire arrangement area of ​​the wheat ear placement container on the tray; thereby realizing the recording function of wheat ear varieties in different positions of the wheat ear placement container.

[0021] (4) In this utility model, by setting a drag chain limit frame, drag chain and connecting seat, the drag chain can always maintain a vertical state, and avoid the drag chain from being unable to maintain a vertical state due to deformation of each section. The drag chain can also hide the connecting cable between the multi-degree-of-freedom robotic arm and the control cabinet in the drag chain, and connect with the multi-degree-of-freedom robotic arm and other components on the top of the lifting platform.

[0022] (5) In this utility model, by setting a fixing rib plate, not only is the strength of the connecting seat increased, but the connection and fixing of the end of the drag chain can also be realized, thereby realizing the function of the drag chain and the connecting seat rising and falling together. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the robot's front view provided for an embodiment of the present utility model;

[0024] Figure 2 A schematic diagram of the robot's rear-view axonometric view provided for an embodiment of this utility model;

[0025] Figure 3 This is a schematic diagram of the robot's right view provided for an embodiment of the present utility model;

[0026] Icon labels:

[0027] 1. Mobile chassis; 11. Omnidirectional auxiliary wheels; 12. Differential drive wheels; 13. Boss; 131. Contact charging interface; 1311. Metal contact strip; 132. RGB-D camera; 14. Light strip; 15. Ultrasonic distance sensor A; 2. Support platform; 21. Ultrasonic distance sensor B; 22. Depth camera A; 3. Cabinet; 31. Fixing groove; 32. Cover plate; 321. Display screen; 322. Button layout area; 3221. Emergency stop switch; 3222. Power switch; 3223. HDMI interface; 3224. USB Interface; 3225, Network interface; 3226, Charging interface; 33, Tray; 331, Wheat ear placement container; 34, Step platform; 341, Camera mount; 3411, Inclined surface; 3412, Depth camera C; 342, Cable chain limit frame; 3421, Cable chain; 3422, Guide rail; 3423, Slider; 4, Lifting platform; 41, Connecting seat; 411, Fixing rib plate; 412, Connecting block; 5, Multi-degree-of-freedom robotic arm; 51, Camera bracket; 511, Depth camera B; 512, Wheat harvesting end effector connecting flange; 6, LiDAR. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below in conjunction with the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0029] See Figure 1 , Figure 2 A modular wheat harvesting robot includes a mobile chassis 1, a support platform 2, a cabinet 3, a lifting platform 4, and a multi-degree-of-freedom robotic arm 5. The cabinet 3 is fixed to the top of the intelligent mobile chassis 1 via the support platform 2. The lifting platform 4 is fixedly connected to the top of the cabinet 3. The lifting platform 4 can drive its telescopic end to rise and fall along its axis. In this embodiment, the lifting platform 4 is a three-stage lifting platform, but it can also be a multi-stage lifting platform. The lifting platform is existing technology and will not be described in detail here. The lifting platform 4 can also be an electric telescopic rod. The lifting end of the lifting platform 4 is connected to a connecting seat 41. The multi-degree-of-freedom robotic arm 5 is fixedly connected horizontally to the connecting seat 41. Compared with the vertically arranged multi-degree-of-freedom robotic arm 5, the horizontally arranged multi-degree-of-freedom robotic arm 5 helps to increase the depth of the multi-degree-of-freedom robotic arm 5 into the interior of each layer of the vertical multi-layer cultivation rack, thereby increasing the depth of wheat harvesting operations.

[0030] The multi-degree-of-freedom robotic arm 5 has a detachable and fixed actuator at its execution end. The actuator can be a gripper or other execution components. A drag chain limit frame 342 is fixedly connected to the top of the cabinet 3. Two guide rails 3422 are fixedly connected to the drag chain limit frame 342. A slider 3423 is slidably connected to the guide rails 3422. The slider 3423 is fixed to the connecting seat 41 through the connecting block 412. The slider 3423 is U-shaped. The connecting plates at both ends of the U-shaped connecting block 412 are fixedly connected to the slider 3423 through bolts. Through the cooperation of the slider 3423 and the guide rail 3422, the lifting of the lifting platform 4 can be limited to prevent the connecting seat 41 from rotating relative to the lifting platform 4, thereby achieving axial positioning between the connecting seat 41 and the three-stage lifting platform 4.

[0031] A support platform 2 is detachably and fixedly installed on the upper end of the mobile chassis 1. The support platform 2 helps avoid direct connection between the cabinet 3 and the mobile chassis 1. Different specifications of the mobile chassis 1 can be connected to the cabinet 3 via the support platform 2, facilitating the standardization of different specifications of the mobile chassis 1 and reducing the manufacturing cost of diverse mobile chassis 1 models. The support platform 2 also avoids direct connection between the cabinet 3 and the mobile chassis 1; different specifications of the mobile chassis 1 can be connected to the cabinet 3 via this intermediate connector. This facilitates the production of standardized mobile chassis 1 of different specifications, avoiding the need to manufacture different sized, one-piece intermediate connectors for different specifications in existing technologies. This effectively reduces the production of intermediate connectors and lowers the manufacturing cost of diverse mobile chassis models.

[0032] In this embodiment, the mobile chassis 1, support platform 2, and cabinet 3 are all rectangular parallelepipeds. This ensures consistency in the overall robot design and facilitates assembly between components such as the mobile chassis 1, support platform 2, and cabinet 3. The bottom of the mobile chassis 1 is equipped with four omnidirectional auxiliary wheels 11 and two differential drive wheels 12. These wheels facilitate the movement and steering of the mobile chassis 1, while also increasing the overall stability of the robot. The rear end of the mobile chassis 1 has a boss 13, on which a contact charging interface 131 and an R... The GB-D camera 132, by setting the contact charging interface 131 and the RGB-D camera 132, helps the mobile chassis 1 to have the function of identifying and locating the charging interface of the charging pile. When the metal contact strip of the contact charging interface 1311 contacts the charging interface of the charging pile, the mobile chassis 1 can realize the charging function. The contact charging interface 131 includes two metal contact strips 1311. The RGB-D camera 132 is located above the contact charging interface 131. The front end of the mobile chassis 1, i.e. the forward end, is equipped with a light strip 14. The sides of the mobile chassis 1 are equipped with ultrasonic distance sensors A 15.

[0033] See Figure 3 A LiDAR 6 is installed between the support platform 2 and the mobile chassis 1. The LiDAR 6 enables the robot to have LiDAR mapping function. The LiDAR 6 is located at the front of the mobile chassis 1. Two ultrasonic distance sensors B 21 are symmetrically installed at the front of the support platform 2. A depth camera A 22 is also installed at the front of the support platform 2. The ultrasonic distance sensors B 21 and the depth camera A 22 not only realize the distance detection function of the front of the intelligent mobile chassis 1, but also enable the intelligent mobile chassis 1 to have the front object recognition function.

[0034] See Figure 1 , Figure 2 The cabinet 3 has four corners with fixed grooves 31. The fixed grooves 31 are located in the lower part of the cabinet 3, i.e., the end of the cabinet 3 away from the lifting platform 4. The bottom surface of the fixed grooves 31 has mounting holes. The cabinet 3 is detachably fixed to the support platform 2 by screws installed in the mounting holes. The rear end of the cabinet 3, i.e., the end opposite to the front end of the cabinet 3, is fixedly connected to a cover plate 32. The cover plate 32 is located in the upper part of the cabinet 3. The cover plate 32 is equipped with a display screen 321 and a button layout area 322. The display screen 321 is located above the cover plate 32. The upper end of the cabinet 3 is fixedly connected to a step platform 34. The top surface of the step platform 34 and the top surface of the cabinet 3 form a step. The top surface of the step platform 34 is fixedly connected to a camera mount 341 and a drag chain limit bracket 342. The camera mount 341 is fixedly connected to a depth camera C 3412. One side of the camera mount 341 has an inclined surface. 3411, Depth camera C 3412 is fixed at the upper end of the inclined surface 3411. By setting the inclined surface 3411, the field of view of depth camera C 3412 can cover the entire arrangement area of ​​wheat ear placement container 331 on the tray 33. The top of the cabinet 3 is fixedly connected to the tray 33, and the wheat ear placement container 331 is fixedly connected inside the tray 33. By setting the stepped platform 34 and the camera base 341, the top of the wheat ear placement container 331 is within the field of view of depth camera C 3412, which can monitor and locate the wheat ear placement container 331 at different positions, facilitate the marking of wheat ears in the wheat ear placement container 331, and realize the recording function of wheat ear varieties in wheat ear placement containers 331 at different positions. It should be noted that in this embodiment, there are sixteen wheat ear placement containers 331, which are arranged in an array on the tray 33, such as a four-row four-column arrangement, or fifteen, such as a three-row five-column arrangement.

[0035] See Figure 1The camera mount 341 and the cable chain limiter 342 are also located on both sides of the three-stage lifting platform 4. The cable chain limiter 342 is equipped with a cable chain 3421 and is used to limit the cable chain 3421. The lower end of the cable chain 3421 is fixed to the step platform 34, and the other end is connected to the connecting seat 41. In this embodiment, it is a fixed connection. The connecting seat 41 is provided with a fixing rib plate 411. The fixing rib plate 411 is fixedly connected to the other end of the cable chain 3421 by bolts. By setting the fixing rib plate 411, not only is the strength of the connecting seat 41 increased, but the connection and fixation of the end of the cable chain 3421 can also be realized, thereby realizing the function of the cable chain 3421 and the connecting seat 41 rising and falling together.

[0036] By setting up the drag chain limit frame 342, drag chain 3421, and connecting seat 41, the drag chain 3421 can always maintain a vertical position, preventing the sections of the drag chain 3421 from deforming and losing their vertical position. The drag chain 3421 can also hide the connecting cables between the multi-degree-of-freedom robotic arm 5 and the control cabinet 3, and connect to the multi-degree-of-freedom robotic arm 5 and other components on the top of the three-stage lifting platform 4. In this embodiment, the height of the top of the three-stage lifting platform 4 is 1.8m above the ground. When the connecting seat 41 is at its highest position, the distance between it and the top plane of the step platform 34 is the same as the length of the drag chain 3421. This is conducive to enabling the robot to harvest wheat ears at different heights on the vertical multi-layer cultivation rack.

[0037] See Figure 1 The button layout area 322 is located below the display screen 321. The button layout area 322 is equipped with an emergency stop switch 3221, a power switch 3222, an HDMI interface 3223, a USB interface 3224, a network interface 3225, and a charging interface 3226. There is one of each of the emergency stop switch 3221, power switch 3222, HDMI interface 3223, network interface 3225, and charging interface 3226. There are two USB interfaces 3224. By setting up the display screen 321, emergency stop switch 3221, power switch 3222, HDMI interface 3223, USB interface 3224, network interface 3225, and charging interface 3226, the robot has functions such as human-computer interaction, emergency stop, power on and off, connection to an extended display screen, connection to a mouse, wired network connection, and manual charging.

[0038] See Figure 3The multi-degree-of-freedom robotic arm 5 is a six-degree-of-freedom or seven-degree-of-freedom robotic arm, which is conducive to enabling the wheat harvesting end effector to reach the vertical multi-layer cultivation rack and reach the designated position in various postures, and cooperate with the actuator to successfully harvest the wheat ears. The end of the multi-degree-of-freedom robotic arm 5 is equipped with a camera bracket 51, and a depth camera B 511 is installed on the top of the camera bracket 51. The end of the multi-degree-of-freedom robotic arm 5 is fixedly connected to the wheat harvesting end effector connecting flange 512 for connection with the actuator. The two are staggered. The wheat harvesting end effector connecting flange 512 is located outside the camera bracket 51. By setting the depth camera B 511 and the wheat harvesting end effector connecting flange 512, the robot not only has the function of wheat ear recognition and positioning, but also has the function of actuator connection. The depth camera C 3412 is a D435 depth camera, and the depth camera A 22 and the depth camera B 511 are both D435i depth cameras.

[0039] How to use:

[0040] The cabinet 3 is installed on the support platform 2 at the top of the intelligent mobile chassis 1 by screws. Several wheat ear placement containers 331 are fixed on the tray 33 so that the field of view of the depth camera C 3412 on the camera base 341 covers the top of all the wheat ear placement containers 331. Then, the wheat harvesting end actuator is installed on the wheat harvesting end actuator connecting flange 512 at the end of the mobile chassis 1 by bolts.

[0041] When the robot is in use, the mobile chassis 1 uses LiDAR 6 to pre-build an environmental map of an intelligent cabin, a small artificial climate chamber, or a plant factory. It should be noted that the environmental map building here is existing technology, and this embodiment does not involve any improvement to it. The industrial control computer in the mobile chassis 1 controls the differential drive wheels 12 to realize the functions of the mobile chassis 1 walking and turning in the work area. During the operation of the robot, the light strip 14 on the mobile chassis 1 displays different colors of light according to the working status of the robot.

[0042] When obstacles appear in front of and to the side of the robot, and the obstacles are within a suitable distance, ultrasonic distance sensor B21 and ultrasonic distance sensor A15 will detect the obstacles. After the robot moves to the designated position, with its front positioned at the vertical multi-layered cultivation rack, the depth camera B511 at the end of the moving chassis 1 identifies and locates the position of the mature wheat within the vertical multi-layered cultivation rack. The three-stage lifting platform 4 then begins to operate. The connecting seat 41, together with the slider 3423, moves vertically upward along the guide rail 3422 to the appropriate position via the synchronous U-shaped connecting block 412, so that the multi-degree-of-freedom robotic arm 5 is positioned at the designated position on the vertical multi-layered cultivation rack. Within the high-level cultivation layer, the multi-degree-of-freedom robotic arm 5, after its end-effector depth camera 511 identifies and locates the wheat to be harvested, moves the end effector of the wheat harvesting end effector on the flange 512 to a suitable distance directly in front of the wheat, according to the planned path given by the industrial control computer in the cabinet 3. Then, the end effector harvests the wheat ears in a suitable posture. Finally, the multi-degree-of-freedom robotic arm 5 places the wheat ears into the ear-placement container 331 on the tray 33, and the depth camera 3412 on the camera mount 341 records the current position of the wheat ears placed in the ear-placement container 331. Thus, the robot completes the single-plant wheat harvesting work within the designated cultivation layer.

[0043] After the robot completes the wheat harvesting work on the designated cultivation rack, it moves autonomously to the charging station. When the RGB-D camera 132 on the protrusion 13 recognizes the charging port on the charging station, and the metal contact strip 1311 connects with the charging port, the robot can automatically charge.

[0044] It should be noted that the robot's cabinet also houses a controller. The controller is electrically or communicatively connected to the industrial computer, depth camera A 22, depth camera C 3412, depth camera B 511, multi-degree-of-freedom robotic arm 5, lifting platform 4, ultrasonic distance sensor A 15, and ultrasonic distance sensor B 21. The controller is also electrically connected to the emergency stop switch 3221, power switch 3222, HDMI interface 3223, USB interface 3224, network interface 3225, and charging interface 3226.

[0045] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A sheltered wheat breeding and harvesting operation robot, characterized by, The mobile platform is provided with a lifting platform and a drag chain limiting frame fixed on the top of the mobile platform, the lifting platform is capable of driving its telescopic end to ascend and descend along the axial direction, the telescopic end of the lifting platform is fixedly connected with a multi-degree-of-freedom mechanical arm in a horizontal manner, the drag chain limiting frame is provided with a limiting groove, and the telescopic end of the lifting platform is further fixedly connected with a limiting piece extending into the limiting groove and capable of slidingly cooperating with the limiting groove.

2. A silo wheat breeding and harvesting robot according to claim 1, characterized in that, The telescopic end of the lifting platform is fixedly connected with a connecting seat, one end of the connecting seat perpendicular to the axial direction is fixedly connected with the multi-degree-of-freedom mechanical arm, the limiting piece comprises a connecting block and a sliding block, the sliding block is in sliding cooperation with the limiting groove and is fixedly connected with the side wall of the connecting seat through the connecting block.

3. A silo wheat breeding and harvesting robot according to claim 2, wherein The drag chain limiting frame is fixedly connected with two guide rails, the limiting groove is formed between the two guide rails, and the sliding block is arranged in a concave shape.

4. The shelter wheat breeding and harvesting robot of claim 1, wherein, The top of the mobile platform is fixedly connected with a stepped platform, the drag chain limiting frame is fixed on the top of the stepped platform, the stepped platform is further fixedly connected with a depth camera C through a camera seat, the top of the mobile platform is further provided with a tray, the tray is provided with a plurality of ear of wheat placing vessels, and the field of view of the depth camera C can cover all the ear of wheat placing vessels.

5. A silo wheat breeding and harvesting robot according to claim 4, wherein The drag chain limiting frame is provided with a drag chain, one end of the drag chain is fixedly connected with the stepped platform, and the other end is fixedly connected with the telescopic end of the lifting platform.

6. A silo wheat breeding and harvesting robot according to claim 1, characterized in that, The multi-degree-of-freedom mechanical arm is connected with an actuator connecting flange at the end.

7. The shelter wheat breeding and harvesting robot of claim 1, wherein, The mobile platform comprises a mobile chassis and a cabinet body, the mobile chassis is detachably fixed with the cabinet body, and ultrasonic distance sensors A are arranged on the two sides of the mobile chassis.

8. A silo wheat breeding and harvesting robot according to claim 7, characterized in that, The mobile chassis is provided with universal auxiliary wheels and two differential drive wheels at the bottom, the rear end of the mobile chassis is provided with a boss, the boss is provided with a contact type charging interface and an RGB-D camera located above the contact type charging interface, and the contact type charging interface comprises two metal contacts.

9. A silo wheat breeding and harvesting robot according to claim 7, characterized in that, The cabinet body is provided with fixed grooves at the four corners, and the cabinet body is detachably fixed with a support frame through screws, and the screws are arranged in mounting holes.

10. The shelter wheat breeding harvester robot of claim 7, wherein, The rear end of the cabinet body is fixedly connected with a shielding plate, the shielding plate is fixedly connected with a display screen and a key arrangement area, the key arrangement area is provided with an emergency stop switch, a power switch, an HDMI interface, a USB interface, a network interface and a charging interface.

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