DESC:CROSS REFERENCE TO RELATED APPLICATION
This Application is based on and derives the benefit of Indian Provisional Application 202241028413 filed on 17-May-2022, the contents of which are incorporated herein by reference.

TECHNICAL FIELD
[001] The embodiments herein relate to an agricultural robot for use in agricultural fields.

BACKGROUND
[002] Weeds are unwanted plants that compete with healthy crops for essential resources such as space, water, nutrients, light and carbon dioxide. Weed distribution is heterogeneous in agricultural fields and weed presence reduces overall agricultural output, thereby reducing total productivity. Identification and removal of weeds is the important process involved in the agricultural practices, as the weed competing with the crop plants may reduce the growth of the crops by obtaining nutrients and other resources provided to the crops, thereby reducing the yield of the food crops. While detecting the weed, it is important to identify the species of weeds, the spread of weed and the weed growth stages and the like. The evaluation and assessment of weeds among crops are typically performed by field personnel, either by walking or the use of a motor vehicle. However, the ability to determine weed growth physical area at a glance is not immediate.
[003] In conventional approaches, removal of weeds between the crops may involve removing large quantity of weeds between crops grown in rows. Usually, the weeds are removed manually by using weed removing tools. Physical removal of weeds requires strenuous digging and pulling by hands. Getting on hands and knees to pull the weeds puts strain on the back and legs. Further, manually removing the weeds is tedious and time consuming, especially in vast agricultural fields. Some weeds have long roots that require extra digging to remove the entire weed. Therefore, the weed removing tools attached to the agricultural vehicle may remove the weeds along the plant or may remove the plants without proper identification of weeds. Thus, removal of weed must be optimized to identify between the weeds and the crops before the removal of unnecessary plants. Manually driven strategies for removing weeds can be error prone and inefficient due to dependency on skill sets of a farmer especially for a novice. Thus, the manual driven strategies may result in incorrect agricultural practices.
[004] In addition, the conventional agricultural vehicles do not have real-time information related to the agricultural vehicle and the agricultural implement such as, but not limited to, speed match of the agricultural implement and the agricultural vehicle, time required to remove the weeds, excessive push or pull information required to remove the weeds and so on. Further, strenuous effort is required by operator to operate agricultural implements such as power tillers or power take-off (PTO) driven implements. Furthermore, the operator may undergo harsh vibrations which are generated by the vehicle while operating the agricultural implements in agricultural fields thereby imparting strain and discomfort to the operator.
[005] In addition, in the conventional approaches, the removal of weeds may not use smart methods to precisely identify the weeds along the plants. The weed removal tools attached to the agricultural vehicle may not precisely remove the weed due to mismatch in time or speed required by the agricultural vehicle to remove the weed. This results in improper or wrong removal of plants, that is undesirable and causes chaos in agricultural practice and also affects the production of crops. Also, the crop-cultivation practiced in various countries differs in different regions, so it is difficult to manufacture a system to implement all the subtle differences in the crop practices.
[006] Therefore, there exists a need for an agricultural robot, which obviates the aforementioned drawbacks.
OBJECTS
[007] The principal object of embodiments herein is to provide an agricultural robot for use in agricultural fields.
[008] Another object of embodiments herein is to provide the agricultural robot which precisely identify and accurately remove weeds in an optimized way in real-time scenario.
[009] Another object of embodiments herein is to provide the agricultural robot which reduces cost and increases efficiency, and production of high-yielding and high-quality crops.
[0010] Another object of embodiments herein is to provide a semi-autonomous agricultural robot.
[0011] Another object of embodiments herein is to provide a fully autonomous agricultural robot.
[0012] Another object of embodiments herein is to provide a compact agricultural robot which is robust and has high maneuverability in order to achieve a lower turning radius in tight spaces.
[0013] Another object of embodiments herein is to provide the compact agricultural robot which can be operated in small row spacing of crops plants.
[0014] Another object of embodiments herein is to provide the agricultural robot which eliminates the high operational cost of conventional machines like tractors, power weeders, tillers, sprayers, and the like.
[0015] Another object of embodiments herein is to easily operate the agricultural robot to perform various operations in agricultural fields without requiring strenuous effort by operator.
[0016] Another object of embodiments herein is to provide the agricultural robot which eliminates spraying of hazardous chemicals.
[0017] Another object of embodiments herein is to provide the agricultural robot which eliminates labor shortage and inefficiencies of manual de-weeding.
[0018] Another object of embodiments herein is to provide the agricultural robot which effectively removes the weeds in spite of variability in the field conditions.
[0019] Another object of embodiments herein is to provide the agricultural robot which can detect and classify weed plants from
crop plants and also effectively remove the weed plants without damaging the crop plants.
[0020] Another object of embodiments herein is to provide the agricultural robot which can remove the weed plants of random pattern in agricultural fields while not damaging/ retarding the growth of crop plants.
[0021] Another object of embodiments herein is to provide the agricultural robot which can remove weed plants which are in close proximity to the crop plants.
[0022] These and other objects of embodiments herein will be better appreciated and understood when considered in conjunction with following description and accompanying drawings. It should be understood, however, that the following descriptions, while indicating embodiments and numerous specific details thereof, are given by way of illustration and not of limitation. Many changes and modifications may be made within the scope of the embodiments herein without departing from the spirit thereof, and the embodiments herein include all such modifications.
BRIEF DESCRIPTION OF DRAWINGS
[0023] The embodiments are illustrated in the accompanying drawings, throughout which like reference letters indicate corresponding parts in various figures. The embodiments herein will be better understood from the following description with reference to the drawings, in which:
[0024] Fig. 1 depicts a perspective view of an agricultural robot, according to embodiments as disclosed herein;
[0025] Fig. 2 depicts a block diagram of a master controller unit in communication with a remote controller unit, an implement motor, a steering linear actuator, a first electric traction motor, a second electric traction motor and an implement position adjusting actuator of the agricultural robot, according to embodiments as disclosed herein;
[0026] Fig. 3 depicts a top view of a steering system of the agricultural robot, according to embodiments as disclosed herein;
[0027] Fig. 4 depicts another top view of the steering system in which a first front wheel and a second front wheel of the agricultural robot is steered in a right direction, according to embodiments as disclosed herein;
[0028] Fig. 5 depicts another top view of the steering system in which the first front wheel and the second front wheel of the agricultural robot is steered in a left direction, according to embodiments as disclosed herein;
[0029] Fig. 6 depicts a perspective view of front wheel suspension system of the agricultural robot, according to embodiments as disclosed herein;
[0030] Fig. 7 depicts a front view of the front wheel suspension system, according to embodiments as disclosed herein;
[0031] Fig. 8 illustrates the stability of the agricultural robot which is achieved by using the front wheel suspension system when the agricultural robot is operated in uneven terrains, according to embodiments as disclosed herein;
[0032] Fig. 9 depicts a perspective view of a first powertrain and a second powertrain of the agricultural robot, according to embodiments as disclosed herein;
[0033] Fig. 10 depicts another perspective view of the first powertrain and the second powertrain, according to embodiments as disclosed herein;
[0034] Fig. 11 depicts a top view of the first powertrain and the second powertrain, according to embodiments as disclosed herein;
[0035] Fig. 12 depicts a side view of an implement hitching system of the agricultural robot in which an agricultural implement is lowered by an implement position adjusting actuator, according to embodiments as disclosed herein;
[0036] Fig. 13 depicts another side view of the implement hitching system in which the agricultural implement is lifted by the implement position adjusting actuator, according to embodiments as disclosed herein;
[0037] Fig. 14 depicts a top view of the implement hitching system, according to embodiments as disclosed herein;
[0038] Fig. 15 depicts an exploded view of the front wheel suspension system, according to embodiments as disclosed herein; and
[0039] Fig. 16 depicts a perspective view of a lower hitch linkage assembly, according to embodiments as disclosed herein.
DETAILED DESCRIPTION
[0040] The embodiments herein and the various features and advantageous details thereof are explained more fully with reference to the non-limiting embodiments that are illustrated in the accompanying drawings and detailed in the following description. Descriptions of well-known components and processing techniques are omitted so as to not unnecessarily obscure the embodiments herein. The examples used herein are intended merely to facilitate an understanding of ways in which the embodiments herein may be practiced and to further enable those of skill in the art to practice the embodiments herein. Accordingly, the examples should not be construed as limiting the scope of the embodiments herein.
[0041] The embodiments herein achieve an agricultural robot for use in agricultural fields. Another embodiment herein achieves a compact agricultural robot which can be operated in small row spacing of crops plants. Referring now to the drawings Figs 1 through 16, where similar reference characters denote corresponding features consistently throughout the figures, there are shown embodiments.
[0042] Fig. 1 depicts a perspective view of an agricultural robot, according to embodiments as disclosed herein, according to embodiments as disclosed herein. In an embodiment, the agricultural robot (10) includes a chassis (10C), as shown in fig. 6 to fig. 8), a first front wheel (10RFW), as shown in fig. 1, fig. 3 to fig. 8), a second front wheel (10LFW), as shown in fig. 1, fig. 3 to fig. 8), a first rear wheel (10RRW), as shown in fig.1, fig. 9 to fig. 11), a second rear wheel (10LRW), as shown in fig.1, fig. 9 to fig. 11), a steering system (100), as shown in fig. 1, fig. 3 to fig. 5), a front wheel suspension system (200), as shown in fig. 1, fig. 6 to fig. 8), a first powertrain (300), as shown in fig. 1, fig. 9 to fig. 11), a second power train (400), as shown in fig. 9 to fig. 11), an implement hitching system (500), as shown in fig. 12 to fig. 14), an implement position adjusting actuator (600), as shown in fig. 12 to fig. 14), a master controller unit (10MC), as shown in fig. 2), a main battery (10MB) and a remote controller unit (10R), as shown in fig. 2).
[0043] Fig. 3 to fig. 5 illustrate the steering system (100) of the agricultural robot (10), according to embodiments as disclosed herein. In an embodiment, the steering system (100) includes a first steering arm (102), a steering linear actuator (104), a second steering arm (106), a steering linkage (108), a mounting bracket (110), a first steering ball joint (112A) and a second steering ball joint (112B). The first steering arm (102) is connected to a first front wheel strut (10RWS), as shown in fig. 3). The first steering arm (102) includes a first steering arm finger (102Y) and a second steering arm finger (102Z). The steering linear actuator (104) includes a final linear movable member (104CR) adapted to be connected to the first steering arm finger (102Y) of the first steering arm (102). The second steering arm (106) is connected to a second front wheel strut (10LWS), as shown in fig. 3). The second steering arm (106) includes a third steering arm finger (106Y). The steering linkage (108) is adapted to connect the first steering arm (102) to the second steering arm (106). The steering linkage (108) includes a first end (108Y) and a second end (108Z). The first end (108Y) and the second end (108Z) of the steering linkage (108) are connected to the second steering arm finger (102Z) and the third steering arm finger (106Y) respectively. For the purpose of this description and ease of understanding, the steering linkage (108) is considered to be a connecting tie-rod The mounting bracket (110) adapted to mount the steering linear actuator (104) onto a front wheel suspension axle (204) of the agricultural robot (10). The first steering ball joint (112A) adapted to connect the first end (108Y) of the steering linkage (108) to the second steering arm finger (102Z) of the first steering arm (102). The second steering ball joint (112B) is adapted to connect the second end (108Z) of the steering linkage (108) to the third steering arm finger (106Y) of the second steering arm (106).
[0044] The steering linear actuator (104) is provided in communication with the master controller unit (10MC). The master controller unit (10MC) is configured to operate the steering linear actuator (104) to steer the first front wheel (10RFW) and the second front wheel (10LFW) of the agricultural robot (10) through the first front wheel strut (10RWS) and the second front wheel strut (10LWS) respectively. The final linear movable member (104CR) of the steering linear actuator (104) is at least a connecting rod. For the purpose of this description and ease of understanding, the steering linear actuator (104) is considered to be an electric linear actuator.
[0045] Fig. 6 to fig. 8 illustrates the front wheel suspension system (200) of the agricultural robot (10), according to embodiments as disclosed herein. In an embodiment, front wheel suspension system (200) includes a pair of axle mounting brackets (202), a front wheel suspension axle (204), a pair of first bearings (206), a support member (208), as shown in fig. 15) and a pair of locking members (210), as shown in fig. 15). Each axle mounting bracket (202) transversely extends from the chassis (10C) in a downward direction. Each axle mounting bracket (202) is connected to the chassis (10C) of the agricultural robot (10).
[0046] The front wheel suspension axle (204) includes a first end (204A) and a second end (204B). The front wheel suspension axle (204) is adapted to support the first front wheel (10RFW) through the first front wheel strut (10RWS). The first front wheel strut (10RWS) is rotatably connected to the first end (204A) of the front wheel suspension axle (204) through a second bearing (not shown). The second end (204B) of the front wheel suspension axle (204) is adapted to support the second front wheel (10LFW) through the second front wheel strut (10LWS). The second front wheel strut (10LWS) is rotatably connected to the second end (204B) of the front wheel suspension axle (204) through a third bearing (not shown). Each first bearing (206) includes a stationary bearing member (206A) and a rotatable bearing member (206B), as shown in fig. 15). The rotatable bearing member (206B) of each first bearing (206) is received by corresponding bearing hub (204H), as shown in fig.15) defined on the front wheel suspension axle (204). The stationary bearing member (206A) of each first bearing (206) is mounted onto the support member (208). Each of the support member (208) is connected to corresponding axle mounting bracket (202). For the purpose of this description and ease of understanding, the support member (208) is considered to be a rod or shaft. Each locking member (210) is adapted to lock corresponding support member (208) against corresponding arm (202A) of the axle mounting bracket (202). For the purpose of this description and ease of understanding, each locking member (210) is considered to be a locknut.
[0047] The front axle suspension axle (204) is adapted to swingably move with respect to the stationary bearing member (206A) of the first bearings (206) thereby restricting transfer of shock loads imparted by front wheels (10RFW, 10LFW) to the chassis (10C) as well as maintaining stability (as shown in fig. 8) of the agricultural robot (10) when the agricultural robot (10) is operated on uneven terrain.
[0048] Fig. 9 to fig. 11 illustrates the first powertrain (300) and the second powertrain (400) of the agricultural robot (10), according to embodiments as disclosed herein. The first powertrain (300) is configured to drive the first rear wheel (10RRW) of the agricultural robot (10) when the first electric traction motor (302) is operated by the master controller unit (10MC). In an embodiment, the first powertrain (300) includes a first electric traction motor (302), a first power transmission unit (304), a first rear wheel driving member (306), a first rear wheel driven member (308) and a first connecting member (310). The first electric traction motor (302) is in communication with the master controller unit (10MC). The first power transmission unit (304) includes a first transmission input member (304A), as shown in fig. 11) and a first transmission output member (304B). The first transmission input member (304A) of the first power transmission unit (304) is rotatably coupled to a first motor output member (302S) of the first electric traction motor (302). The first rear wheel driving member (306) is mounted onto the first transmission output member (304B) of the first power transmission unit (304). The first rear wheel driven member (308) is mounted onto a first wheel hub shaft (10RRS), as shown in fig. 10) of the first rear wheel (10RRW). The first connecting member (310) is adapted to rotatably connect the first rear wheel driving member (306) to the first rear wheel driven member (310). For the purpose of this description and ease of understanding, the first rear wheel driving member (306), the first rear wheel driven member (308) and first connecting member (310) are considered to be a first driving sprocket, first driven sprocket and first chain respectively. It is also within the scope of the invention to use pulleys and belts or gear trains in place of sprockets and chains.
[0049] The second powertrain (400) is configured to drive the second rear wheel (10LRW) of the agricultural robot (10) when the second electric traction motor (402) is operated by the master controller unit (10MC). In an embodiment, the second powertrain (400) includes a second electric traction motor (402), a second power transmission unit (404), a second rear wheel driving member (406), a second rear wheel driven member (408) and a second connecting member (410). The second electric traction motor (402) is in communication with the master controller unit (10MC). The second power transmission unit (404) includes a second transmission input member (404A) and a second transmission output member (404B). The second transmission input member (404A) of the second power transmission unit (404) is rotatably coupled to a second motor output member (402S) of the second electric traction motor (402). The second rear wheel driving member (406) is mounted onto the second transmission output member (404B) of the second power transmission unit (404). The second rear wheel driven member (408) is mounted onto a second wheel hub shaft (10RRS), as shown in fig. 9 and fig. 10) of the first rear wheel (10RRW). The second connecting member (410) is adapted to rotatably connect the second rear wheel driving member (406) to the second rear wheel driven member (410). For the purpose of this description and ease of understanding, the second rear wheel driving member (406), the second rear wheel driven member (408) and second connecting member (410) are considered to be a second driving sprocket, second driven sprocket and second chain respectively. It is also within the scope of the invention to use pulleys and belts or gear trains in place of sprockets and chains. Further, it is also within the scope of the invention to use hub motors for driving rear wheels of agricultural robots.
[0050] For the purpose of this description and ease of understanding, each power transmission unit (304, 404) of the first and second powertrains (300, 400) are considered to be helical gearboxes. Torque vectoring is employed by using independent electric traction motors (302, 402) for the drivetrains (304-310) & (404-410). This increases maneuverability and control of the agricultural robot (10). Helical gearboxes were used in place of spur/ worm gearbox are more efficient and durable when subjected to sudden loads and reversal in direction. It is also within the scope of the invention to use any other types of gearboxes in place of helical gearboxes.
[0051] The master controller unit (10MC) is configured to operate the first electric traction motor (302) and the second electric traction motor (304) for driving the first rear wheel (10RRW) and the second rear wheel (10LRW) of the agricultural robot (10) respectively at predefined speeds.
[0052] The main battery (10MB) is adapted to provide electric current supply to the steering linear actuator (104), the first electric traction motor (302), the second electric traction motor (304), the implement position adjusting actuator (600) and an implement motor (10M), as shown in fig. 2) of the agricultural implement (10T). The main battery (10MB) is in communication with the master controller unit (10MC). The master controller unit (10MC) is configured to one of vary or switch ON or switch OFF electric current to the steering linear actuator (104), the first electric traction motor (302), the second electric traction motor (304), the implement position adjusting actuator (600) and the implement motor (10M).
[0053] Fig. 12 to fig. 14 illustrates the implement hitching system (500) of the agricultural robot (10), according to embodiments as disclosed herein. In an embodiment, the implement hitching system (500) includes a plurality of first hitch linkages (502), as shown in fig. 15), a plurality of second hitch linkages (504), a pair of cross members (506) and a pair of actuator connecting brackets (508), only one of which is shown in fig. 12 & fig. 13). One end of each first hitch linkage (502) is movably coupled to a rear end of the agricultural robot (10), and another end of each first hitch linkage (502) is coupled to the agricultural implement (10T). Each first hitch linkage (502) is considered to be upper hitch linkage. One end of each of the second hitch linkage (504) is movably coupled to the rear end of the agricultural robot (10), and another end of each second hitch linkage (502) is coupled to the agricultural implement (10T). Each second hitch linkage (504) is considered to be lower hitch linkage. Each cross member (506) is adapted to connect the second hitch linkages (504) with each other. The pair of actuator connecting brackets (508) are connected to the cross members (506). Each actuator connecting bracket (508) is transverse to the cross members (506). The actuator connecting bracket (508) defines a slot (508S), as shown in fig. 12, fig. 13 & fig. 15) adapted to receive an engaging member (604), as shown in fig. 12 & fig. 13) of the implement position adjusting actuator (600). The slot (508S) of each actuator connecting bracket (508) is adapted to allow to movement of the agricultural implement (10T) thereby restricting transfer of shock load imparted by the agricultural implement (10T) to the final linear movable member (604) of the implement position adjusting actuator (600) when the agricultural robot (10) is operated in uneven agricultural fields. The plurality of second hitch linkages (504), the pair of cross members (506) and the pair of actuator connecting brackets (508) form a lower hitch linkage assembly.
[0054] The implement position adjusting actuator (600) is adapted to move the agricultural implement (10T) to one a raised position and a lowered position based on operating the implement position adjusting actuator (600) by the master controller unit (10MC). In the raised position (as shown in fig. 13), the agricultural implement (10T) is away from the ground surface. In the lowered position (as shown in fig. 12), the agricultural implement (10T) is closer to the ground surface. The agricultural position adjusting actuator (600) is in communication with the master controller unit (10MC). For the purpose of this description and ease of understanding, the implement position adjusting actuator (600) is considered to be an electric linear actuator. The implement position adjusting actuator (600) includes a final linear movable member (602) and an engaging member (604). For the purpose of this description and ease of understanding, the final linear movable member (602) is considered to be a connecting rod. The engaging member (604) is transversely mounted to the final linear movable member (602) of the implement position adjusting actuator (600). The master controller unit (10MC) is configured to operate the implement position adjusting actuator (600) for raising or lowering the agricultural implement (10T) through the final linear movable member (602). For the purpose of this description and ease of understanding, the engaging member (604) is considered to be a lock pin or linch pin.
[0055] In one embodiment, the master controller unit (10MC) is adapted to operate the agricultural robot (10) based on inputs from the remote controller unit (10R). In another embodiment, the master controller unit (10MC) is adapted to operate the agricultural robot (10) autonomously. The master controller unit (10MC) is in communication with global positioning system (GPS) and an artificial intelligence (AI) module. The master controller unit (10MC) is configured to receive the agricultural field data, crop plant data, weed data, vehicle data and any other information which are required by the agricultural robot (10) for performing various operations in agricultural fields.
[0056] The remote controller unit (10R) is adapted to control the operation of the agricultural robot (10) through the master controller unit (10MC). In an embodiment, the remote controller unit (10R) is a dedicated remote-control unit. In another embodiment, the remote controller unit (10R) is one of a smartphone and a computing device.
[0057] Way-Point Navigation for effectively navigating the field with initial setup by a remote controller dry-run (no operational activities like tilling, cutting, or spraying) by the operator. The agricultural robot shall store the GPS coordinates and control to mimic the control of the operator (farmer).
[0058] The technical advantages of the agricultural robot (10) are as follows. The agricultural robots precisely identify and accurately remove weeds in an optimized way in real-time scenario. The agricultural robot reduces costs and increases efficiency, and production of high-yielding and high-quality crops. The compact agricultural robot is robust and has high maneuverability in order to achieve a lower turning radius in tight spaces. The compact agricultural robot can be operated in small row spacing of crops plants. The agricultural robot eliminates the high operational cost of conventional machines like tractors, power weeders, tillers, sprayers and the like. The agricultural robot eliminates labor shortage and inefficiencies of manual de-weeding. The agricultural robot effectively removes the weeds in spite of variability in the field conditions. The agricultural robot can detect and classify weed plants from crop plants and also effectively remove the weed plants without damaging the crop plants. The agricultural robot can remove the weed plants of random pattern in agricultural fields while not damaging/ retarding the growth of crop plants. The agricultural robot can remove weed plants which are in close proximity to the crop plants.
[0059] The foregoing description of the specific embodiments will so fully reveal the general nature of the embodiments herein that others can, by applying current knowledge, readily modify and/or adapt for various applications such specific embodiments without departing from the generic concept, and, therefore, such adaptations and modifications should and are intended to be comprehended within the meaning and range of equivalents of the disclosed embodiments. It is to be understood that the phraseology or terminology employed herein is for the purpose of description and not of limitation. Therefore, while the embodiments herein have been described in terms of embodiments, those skilled in the art will recognize that the embodiments herein can be practiced with modifications within the spirit and scope of the embodiments as described herein.
,CLAIMS:1. An agricultural robot (10) comprising:
a steering system (100), wherein said steering system (100) comprises,
a first steering arm (102) connected to a first front wheel strut (10RWS), wherein said first steering arm (102) includes a first steering arm finger (102Y) and a second steering arm finger (102Z);
a steering linear actuator (104) having a final linear movable member (104CR) adapted to be connected to said first steering arm finger (102Y);
a second steering arm (106) connected to a second front wheel strut (10LWS), wherein said second steering arm (106) includes a third steering arm finger (106Y); and
a steering linkage (108) having a first end (108Y) and a second end (108Z), wherein said first end (108Y) and said second end (108Z) of said steering linkage (108) are connected to said second steering arm finger (102Z) and said third steering arm finger (106Y) respectively.

2. The agricultural robot (100) as claimed in claim 1, wherein said steering system (100) comprises a mounting bracket (110) adapted to mount said steering linear actuator (104) onto a front wheel suspension axle (204) of said agricultural robot (10).

3. The agricultural robot (10) as claimed in claim 1, said steering linear actuator (104) is provided in communication with a master controller unit (10MC);
said master controller unit (10MC) is configured to operate said steering linear actuator (104) to steer a first front wheel (10RFW) and a second front wheel (10LFW) of said agricultural robot (10) through said first front wheel strut (10RWS) and said second front wheel strut (10LWS) respectively;
said final linear movable member (104CR) of said steering linear actuator (104) is at least a connecting rod; and
said steering linear actuator (104) is an electric linear actuator.
4. The agricultural robot (10) as claimed in claim 1, wherein said steering system (100) includes,
a first steering ball joint (112A) adapted to connect said first end (108Y) of said steering linkage (108) to said second steering arm finger (102Z) of said first steering arm (102); and
a second steering ball joint (112B) adapted to connect said second end (108Z) of said steering linkage (108) to said third steering arm finger (106Y) of said second steering arm (106),
wherein
said steering linkage (108) is at least a connecting tie-rod.

5. The agricultural robot (10) as claimed in claim 2, wherein said agricultural robot (10) comprises a front wheel suspension system (200), wherein said front wheel suspension system (200) comprises,
a pair of axle mounting brackets (202) connected to a chassis (10C) of said agricultural robot (10);
said front wheel suspension axle (204) having a first end (204A) and a second end (204B), wherein said first end (204A) of said front wheel suspension axle (204) is adapted to support said first front wheel (10RFW) through said first front wheel strut (10RWS), wherein said second end (204B) of said front wheel suspension axle (204) is adapted to support said second front wheel (10LFW) through said second front wheel strut (10LWS);
a pair of first bearings (206), wherein each of said first bearing (206) includes a stationary bearing member (206A) and a rotatable bearing member (206B), wherein said rotatable bearing member (206B) of each of first said bearing (206) is adapted to be received by corresponding bearing hub (204H) defined on said front wheel suspension axle (204); and
a support member (208), wherein each end of said support member (208) is connected to corresponding said axle mounting bracket (202), wherein said stationary bearing member (206A) of each of said first bearing (206) is mounted onto said support member (208).

6. The agricultural robot (10) as claimed in claim 5, wherein said front wheel suspension system (200) includes a pair of locking members (210), wherein each of said locking member (210) is adapted to lock corresponding said support member (208) against corresponding said axle mounting bracket (202),
wherein
said first front wheel strut (10RWS) is rotatably connected to said first end (204A) of said front wheel suspension axle (204) through a second bearing;
said second front wheel strut (10LWS) is rotatably connected to said second end (204B) of said front wheel suspension axle (204) through a third bearing; and
said front axle suspension axle (204) is adapted to swingably move with respect to said stationary bearing member (206A) of said first bearings (206) thereby restricting transfer of shock loads imparted by front wheels (10RFW, 10LFW) to said chassis (10C) as well as maintaining stability of said agricultural robot (10) when said agricultural robot (10) is operated on uneven terrain.

7. An agricultural robot (10) comprising:
a first powertrain (300), wherein said first powertrain (300) comprises,
a first electric traction motor (302) having a first motor output member (302S);
a first power transmission unit (304) having a first transmission input member (304A) and a first transmission output member (304B), wherein said first transmission input member (304A) is rotatably coupled to said first motor output member (302S);
a first rear wheel driving member (306) mounted onto said first transmission output member (304B);
a first rear wheel driven member (308) mounted onto a first wheel hub shaft (10RRS) of a first rear wheel (10RRW); and
a first connecting member (310) adapted to rotatably connect said first rear wheel driving member (306) to said first rear wheel driven member (310).

8. The agricultural robot (10) as claimed in claim 6, wherein said agricultural robot (10) comprises a second powertrain (400), wherein said second powertrain (400) includes,
a second electric traction motor (402) having a second motor output member (402S);
a second power transmission unit (404) having a second transmission input member (404A) and a second transmission output member (404B), wherein said second transmission input member (404A) is rotatably coupled to said second motor output member (402S);
a second rear wheel driving member (406) mounted onto said second transmission output member (404B);
a second rear wheel driven member (408) mounted onto a second wheel hub shaft (10RLS) of a second rear wheel (10LRW); and
a second connecting member (410) adapted to rotatably connect said second rear wheel driving member (406) to said second rear wheel driven member (408).

9. The agricultural robot (10) as claimed in claim 8, wherein said first electric traction motor (302) is in communication with a master controller unit (10MC);
said second electric traction motor (402) is in communication with said master controller unit (10MC);
said master controller unit (10MC) is configured to operate said first electric traction motor (302) and said second electric traction motor (304) for driving said first rear wheel (10RRW) and said second rear wheel (10LRW) of said agricultural robot (10) respectively at predefined speeds;
said first rear wheel driving member (306) is at least a first driving sprocket;
said first rear wheel driven member (308) is at least a first driven sprocket;
said first connecting member (310) is at least a first chain;
said second rear wheel driving member (406) is at least a second driving sprocket;
said second rear wheel driven member (408) is at least a second driven sprocket; and
said second connecting member (410) is at least a second chain.

10. An agricultural robot (10) comprising:
an implement position adjusting actuator (600) having a final linear movable member (602) and an engaging member (604), wherein said engaging member (604) is transversely mounted to said final linear movable member (602); and
an implement hitching system (500), wherein said implement hitching system (500) includes,
a plurality of first hitch linkages (502), wherein one end of each of said first hitch linkage (502) is movably coupled to a rear end of said agricultural robot (10), and another end of each of said first hitch linkage (502) is coupled to an agricultural implement (10T);
a plurality of second hitch linkages (504), wherein one end of each of said second hitch linkage (504) is movably coupled to said rear end of said agricultural robot (10), and another end of each of said second hitch linkage (502) is coupled to said agricultural implement (10T);
a pair of cross members (506) adapted to be connect said second hitch linkages (504) with each other; and
a pair of actuator connecting brackets (508) connected to said cross members (506), wherein each of said actuator connecting bracket (508) defines a slot (508S) adapted to receive said engaging member (604) of said implement position adjusting actuator (600).

11. The agricultural robot (10) as claimed in claim 10, wherein said implement position adjusting actuator (600) is in communication with a master controller unit (10MC);
said implement position adjusting actuator (600) is at least an electric linear actuator;
said master controller unit (10MC) is configured to operate said implement position adjusting actuator (600) for raising or lowering said agricultural implement (10T) through said final linear movable member (602); and
said slot (508S) of each of said actuator connecting bracket (508) is adapted to allow to movement of said agricultural implement (10T) thereby restricting transfer of shock load imparted by said agricultural implement (10T) to said final linear movable member (604) of said implement position adjusting actuator (600) when said agricultural robot (10) is operated in uneven terrains.