Forestry autonomous operation track type cruise protection monitoring device

Abstract

The invention discloses a track type cruise protection monitoring device for forestry autonomous operation. The track type cruise protection monitoring device comprises a steel rail, a track driving system, a control box, an obstacle removing mechanism, a camera and a rotary spraying arm. Crawler driving systems are arranged on the two sides of the control box, the obstacle removing mechanism is arranged at the front end of the control box, and the rotary spraying arm is arranged at the upper front end of the control box; the track driving system is driven by fuel oil and provides advancing power for the whole device, the two sets of cameras monitor the forest area condition in real time, the obstacle removing mechanism is matched with the steel rail, guidance is provided for the device, derailing is prevented, foreign matter inside and outside the steel rail is removed, and the device is prevented from being clamped by the foreign matter in the moving process. Clear water or insect repellent is provided for the rotary spraying arm through the switching valve, the rotary spraying arm sprays the clear water to control the disaster situation, the fire disaster situation is prevented from being further expanded before professionals arrive, and fire protection monitoring and insect pest protection monitoring are provided for forest areas.

Description

Technical Field

[0001] This invention belongs to the field of forestry protection and monitoring technology, and specifically relates to a forestry autonomous operation track-type patrol protection and monitoring device. Background Technology

[0002] Forest fires are one of the most serious natural disasters in forestry, characterized by their suddenness, destructiveness, and difficulty in extinguishing. Forest pests and diseases are characterized by their insidious, long-term, and widespread nature; if not controlled in time, they can lead to the collapse of the forest ecosystem. Traditional manual patrols are inefficient, and early detection of fire and pest outbreaks is crucial for related prevention and control. The track-based patrol method is not strictly limited by weather conditions, enabling 24-hour patrol monitoring. The pre-set track ensures full coverage without blind spots and adapts to complex terrain. In complex forest environments, scattered stones can accelerate the wear and tear on rails and wheels, and cause jamming at curves. Fallen branches can directly block the track surface, becoming rigid obstacles that cause the inspection device to derail or be damaged. Integrating a clearing mechanism into the patrol device enables autonomous "walking and clearing" operations, reducing the probability of device malfunctions, reducing manual patrol costs, improving monitoring efficiency and coverage, and enabling early detection of disasters to extinguish them in their infancy.

[0003] A search revealed a forestry protection spraying device (CN120243337A) with patent number CN120243337A, comprising a frame, a pesticide tank, and two connecting hoses. This device uses a drone to carry the pesticide tank, which is connected to the hoses. The hoses have nozzles at the front for spraying pesticides into the forest area. Spraying from high altitude by the drone has limited effectiveness in the lower and middle sections of the forest, and the drone's range and the amount of pesticide it can carry are also limited. Another search revealed a forest fire early warning device for mountainous forests (CN119942712A), comprising a support pole with a camera unit and a control unit. This device monitors the forest through the camera unit, and its underground casing provides protection for the equipment on the crossbar during a fire. However, this device is fixed and cannot provide real-time monitoring of the forest area, thus failing to effectively suppress early-stage fires. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a forestry autonomous operation track-type patrol protection and monitoring device. The tracked drive system provides forward power for the entire device, the rotating seat I controls the rotation of the cameras, two sets of cameras monitor the forest area in real time, the obstacle clearing mechanism works with the rails to guide the device and prevent derailment, and at the same time clears foreign objects inside the rails and horizontal branches on both sides to prevent the device from being jammed by foreign objects during movement, and the switching valve works with the water pump to provide clean water or insect repellent to the rotating spray arm. When a forest fire is detected by the cameras, clean water is sprayed by the rotating spray arm to control the fire and prevent the fire from spreading further before professional personnel arrive, thus achieving early detection of the fire and extinguishing the disaster in its infancy, providing fire protection and pest protection monitoring for the forest area.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A forestry autonomous operation track-based patrol and protection monitoring device includes steel rails, a tracked drive system, a control box, a chassis, a clearing mechanism, a water tank, a medicine tank, a camera, a water pump, and a rotating spraying arm. The steel rails are laid based on UAV surveys and GIS planning to ensure efficient coverage of key forest protection areas, such as fire-prone areas and areas with high pest and disease incidence. The laying process considers complex terrain factors, optimizing the path in flat areas to expand coverage, controlling the slope within the equipment's capacity on sloping terrain, and setting up zigzag or ultra-high curves. When crossing gullies or rivers, simple bridges or culverts are built for reinforcement, thus achieving continuous operation of the entire route and ensuring the stability and uninterrupted operation of the monitoring device. It features blind-spot patrol capability while minimizing disturbance to the forest ecosystem. The control box contains a fuel tank, generator, and battery. The fuel tank stores fuel, the generator produces electricity from the fuel, and the battery stores electrical energy sufficient to meet the overall power needs of the device. Tracked drive systems are located on both sides of the control box. These systems include tracks, drive wheels, guide wheels, and a suspension system. The tracked drive system utilizes existing technology; the tracks directly contact the ground and transmit driving force, the drive wheels mesh with the tracks to convert power input into linear movement of the tracks, the guide wheels guide the track movement and adjust tension, and the suspension system dampens vibrations and improves driving stability.

[0007] The control box has a chassis at its lower part, and a clearing mechanism is located under the chassis. The clearing mechanism is also located at the front of the control box. A water tank and a medicine tank are located on the upper part of the control box. The water tank and medicine tank are connected to a switching valve via a delivery pipe. The switching valve is connected to a water pump via another delivery pipe. A rotating spray arm is located at the front of the upper part of the control box. The water pump is connected to the rotating spray arm via a delivery pipe. A protective cover I is installed on the rotating spray arm to protect its structure. Two sets of rotating base I and cameras are provided, one set located above the water tank and the other set located at the front of the upper part of the control box. The tracked drive system is fuel-powered and serves as the overall system. Providing forward propulsion, the rotating seat I controls the rotation of the cameras. Two sets of cameras monitor the forest area in real time. The obstacle clearing mechanism works in conjunction with the rails to guide the device and prevent derailment. It also clears foreign objects inside the rails and horizontal branches on both sides to prevent the device from getting stuck during movement. Through the switching valve and water pump, it provides clean water or insect repellent to the rotating spray arm. When a fire is detected in the forest area by the cameras, the rotating spray arm sprays clean water to control the fire and prevent it from spreading further before professionals arrive. It provides fire protection monitoring and pest control monitoring for the forest area.

[0008] The obstacle removal mechanism includes a connecting frame, a support plate I, a road surface cleaning mechanism, a rail cleaning mechanism, and a guiding mechanism. The connecting frame is fixed to the lower part of the chassis, the support plate I is fixed to the connecting frame, and a sliding wheel I is located at the lower front end of the support plate I, simultaneously sliding with the rail. The road surface cleaning mechanism is located at the upper front end of the support plate I, the rail cleaning mechanism is located at the upper rear end of the support plate I, and the guiding mechanism is located at the rear end of the rail cleaning mechanism, both cooperating with the rail. The connecting frame and the sliding wheel I provide overall support for the obstacle removal mechanism. The road surface cleaning mechanism removes larger foreign objects such as branches and stones from both sides of the rail, while the rail cleaning mechanism removes smaller foreign objects from the inside of the rail, preventing the device from getting stuck by foreign objects during movement. The guiding mechanism ensures that the entire device does not deviate from the track, providing guidance for the entire device.

[0009] The guiding mechanism includes a limiting shaft I, a limiting plate I, a spring I, a conical wheel, a pulley frame, and a sliding wheel II. The limiting shaft I passes through the chassis and connects to the support plate I. A limiting plate I is provided on the upper part of the limiting shaft I. The spring I is disposed between the chassis and the support plate I, and the spring I is also sleeved on the limiting shaft I. The connecting shaft I is fixed to the lower part of the support plate I. A connecting plate I is provided on the connecting shaft I, and the connecting shaft I is rotatably connected to the connecting plate I. Connecting shafts II are provided on both sides of the connecting plate I, and the connecting shafts II are rotatably connected to the connecting plate I. A conical wheel is provided at the lower part of the connecting shaft II. The device features tapered wheels, with a pulley frame at the bottom of the connecting shaft I, and multiple sets of sliding wheels II housed within the pulley frame. When the entire device moves forward, the chassis drives the guiding mechanism forward, pressing the support plate I with spring I. The support plate I then drives the connecting shaft I and the connecting plate I. The tapered wheels on both sides are positioned in grooves within the rails, clamping the middle rail. When turning, the connecting plate I rotates according to the curvature of the rail, ensuring that the tapered wheels always clamp the rail, preventing the device from derailing during movement and providing guidance for the entire device.

[0010] The rail cleaning mechanism includes a motor I, a positioning plate I, a transmission shaft I, a rotating frame, a positioning plate II, an electric push rod I, a rotating frame, and a brush rod. The motor I is mounted on the positioning plate I, which is fixed to a support plate I. The output end of the motor I is connected to the transmission shaft I, which is positioned between two sets of positioning plates I. The rotating frame is mounted on the transmission shaft I, and the other end of the transmission shaft I is also equipped with a gear I. The two sets of gears I mesh with each other and are housed within a protective cover III, which is fixed to the support plate I. A support plate II is located below the rotating frame, and an electric push rod I is fixed on the support plate II. The protruding end of the electric push rod I is connected to a rack I, which is also positioned in a limiting groove I on the support plate II. The rack I meshes with the gear II, which is mounted on a connecting shaft III. A rotating frame is located below the connecting shaft III, and a brush rod is located on one side of the rotating frame. The electric push rod I, rack I, and gear II are all housed inside the protective cover IV. The protective cover IV is fixed on the support plate II. The positioning plate II is set at the lower part of the support plate I. The limiting shaft II passes through the limiting plate II and is fixed on the positioning plate II. The spring II is set between the limiting plate II and the positioning plate II, and is also sleeved on the limiting shaft II. The limiting plate II also cooperates with the rotating frame. The motor I controls the transmission shaft I to rotate. The rotation of the transmission shaft I drives the gear I to rotate. The two sets of gears I mesh with each other, driving the two sets of rotating frames to swing downward at the same time. The rotating frame is in contact with the limiting plate II. The limiting plate II presses the spring II. The limiting plate II ensures the downward swing position of the rotating frame. The swing of the rotating frame drives the support plate II. The electric push rod fixed on the support plate II pushes the rack I. The rack I meshes with the gear II. The gear II drives the connecting shaft III to rotate. The connecting shaft III drives the rotating frame and the brush rod to rotate, so that the brush rod is close to the groove of the rail. During the previous movement of the device, the foreign objects in the groove are cleaned again to prevent the foreign objects in the groove from jamming the device.

[0011] The road cleaning mechanism includes an electric push rod II, a rotating connecting seat, a rotating shaft, a connecting plate II, and a clearing scraper. The electric push rod II is fixed to the lower part of the chassis. The top end of the electric push rod II is connected to a push block, which is disposed in a limiting groove II on the support plate I. A connecting rod I is provided on the push block, and the push block is rotatably connected to the connecting rod I. The connecting rod I is rotatably connected to the connecting rod II via a pin. The connecting rod II is rotatably connected to the rotating shaft, which is disposed in the rotating connecting seat and rotatably connected to the rotating connecting seat. The rotating connecting seat is fixed to the support plate I. On both sides, a connecting plate II is provided on the upper part of the rotating shaft, and a clearing scraper is provided at the front end of the connecting plate II; the electric push rod II pushes the push block forward along the limiting slide groove II, the push block drives the connecting rod I and the connecting rod II to move forward, the connecting rod II drives the rotating shaft to rotate, the rotating shaft drives the connecting plate II to rotate, the connecting plate II drives the clearing scraper to rotate, and the clearing scraper on both sides is controlled by the electric push rod II to open and close the angle, clearing large foreign objects on both sides of the road and tree branches on the crossbeams on the rails, so as to prevent the device from being jammed by large foreign objects during the movement.

[0012] The rotating spray arm includes motor II, robotic arm I, motor III, robotic arm II, lifting mechanism, locking mechanism, spray arm I, lifting arm, spray arm II, and transmission mechanism. The rotating base II is located on the upper part of the control box. Motor II is mounted on the rotating base II. The output end of motor II is connected to robotic arm I. Motor III and hose reel are mounted on robotic arm I. The hose reel is connected to a water pump through a water supply pipe. The output end of motor III is connected to robotic arm II. Lifting mechanism is mounted on robotic arm II. Locking mechanism is located at the lower part of lifting mechanism. Locking mechanism cooperates with lifting mechanism. Lifting mechanism is connected to transmission mechanism. Spray arm I is located on one side of transmission mechanism. Lifting mechanism is also connected to lifting arm. An angle stepper motor I is located at the top of lifting arm. Gear III is connected to gear IV at the output end of angle stepper motor I. Gear III meshes with gear IV. Gear IV is fixed on rotating base III. Rotating base III is rotatably connected to lifting arm. Spray arm II is mounted on rotating base III. Lifting mechanism, locking mechanism, and transmission mechanism are all located inside protective cover I.

[0013] The lifting mechanism includes a motor IV, a positioning plate III, a transmission shaft IV, and a positioning plate V. The motor IV is mounted on a motor mounting bracket I, which is fixed to the robotic arm II. The output end of the motor IV is connected to gear V, which meshes with gear VI. Gear VI is mounted on the transmission shaft II, which is positioned between the positioning plates V. The positioning plate V is fixed to the robotic arm II. A sprocket I is mounted on the transmission shaft II, and sprocket I and sprocket II are connected by a chain I. Sprocket II is mounted on the transmission shaft III. Gear VII and sprocket III are mounted on the transmission shaft III, which is positioned between the positioning plates III. The positioning plate III is fixed to the robotic arm II. Gear VII meshes with rack II, which is fixed to one side of the lifting arm. Sprocket III and sprocket IV are connected by a chain II. Sprocket IV is mounted on the transmission shaft IV, which is positioned between the positioning plates IV. The positioning plate IV is fixed to the robotic arm II.

[0014] The transmission mechanism includes a helical gear I, a transmission shaft V, a positioning plate VI, a lifting frame, a limiting shaft III, and a three-way connector. The helical gear I is mounted on the transmission shaft IV and meshes with helical gear II. The helical gear II is mounted on the transmission shaft V, which is positioned between the positioning plates VI. The positioning plates VI are fixed to the robotic arm II. The helical gear III is mounted on the transmission shaft V and meshes with helical gear IV. The helical gear IV is mounted on a lead screw, which is positioned between the positioning plates VII. The positioning plates VII are fixed to the robotic arm II. The lifting frame is connected to the lead screw and is slidably connected to the limiting shaft III. The lifting frame is equipped with a three-way connector, through which the water pipe is fixed and diverted.

[0015] The spray arm I includes an angle stepper motor II, an angle stepper motor III, a robotic arm III, an electric actuator III, and a robotic arm IV. The angle stepper motor II is mounted on a motor mounting bracket II, which is fixed to a lifting frame. The output end of the angle stepper motor II is connected to a helical gear V, which meshes with a helical gear VI. The helical gear VI is located at the lower part of the rotating base IV, which is rotatably connected to the lifting frame. The angle stepper motor III is mounted on the rotating base IV, and its output end is connected to the robotic arm III. The robotic arm III is connected to the robotic arm IV, and an electric actuator III is located between the robotic arm III and the robotic arm IV. A nozzle is located at the front end of the robotic arm IV.

[0016] The locking mechanism includes an angle stepper motor IV, a support circular plate, a worm gear plate, push rods, limit gears, and a fixed housing. The angle stepper motor IV is mounted on the fixed housing, which is fixed to the robotic arm II. The output end of the angle stepper motor IV is connected to a helical gear VII, which meshes with a helical gear VIII. The helical gear VIII is located at the lower part of the worm gear plate and is rotatably connected to the support circular plate. The support circular plate is fixed inside the fixed housing. The worm gear plate has three sets of push rods, the lower part of which engages with a worm-shaped groove on the worm gear plate. The front end of the push rod is provided with a limit gear, and the middle of the three sets of limit gears is a gear VIII, which is fixed to the transmission shaft II. The groove plate is located at the upper part of the fixed housing.

[0017] The advantages of this invention compared to existing technologies are as follows:

[0018] 1) The "walking and clearing" autonomous operation is achieved through the clearing agency, eliminating the need for regular manual line patrols and clearing, which greatly reduces the later operation and maintenance costs and manpower burden. It is especially suitable for remote and vast forest areas. Timely clearing can prevent problems such as derailment, slippage, and motor overload shutdown caused by the accumulation of debris, ensuring that the monitoring task is uninterrupted.

[0019] 2) The guide mechanism inside the obstacle removal mechanism has tapered wheels on both sides set in grooves in the rails, clamping the middle rail. When turning, connecting plate I can rotate according to the curvature of the rail, ensuring that the tapered wheels always clamp the rails, preventing the device from derailing during movement and providing guidance for the entire device. The brush rod of the rail cleaning mechanism inside the obstacle removal mechanism is close to the groove of the rail, cleaning foreign objects in the groove during the previous movement of the device, preventing foreign objects in the groove from jamming the device. The connecting plate II of the road cleaning mechanism drives the obstacle removal scraper to rotate. The opening and closing angle of the obstacle removal scrapers on both sides is controlled by electric push rod II, cleaning large foreign objects on both sides of the road and tree branches on the rails, preventing the device from being jammed by large foreign objects during movement.

[0020] 3) The lifting mechanism, in conjunction with the transmission mechanism, drives the spraying arm I and spraying arm II to rise and fall. The electric push rod III of spraying arm I controls the opening and closing angle between mechanical arm III and mechanical arm IV, compensating for blind spots generated during spraying. This enables precise spraying of the middle and lower layers of the forest area, improving overall spraying efficiency. When the limiting gear of the locking mechanism approaches gear VIII and meshes with gear VIII, the transmission shaft II of the lifting mechanism stops rotating due to the limitation of the limiting gear, realizing the height locking function of the lifting mechanism, ensuring the spraying height, and improving stability during spraying. Attached Figure Description

[0021] Appendix Figure 1 This is a schematic diagram of the structure of a forestry autonomous operation track-type patrol and protection monitoring device according to the present invention. Figure 1 ;

[0022] Appendix Figure 2 This is a schematic diagram of the structure of a forestry autonomous operation track-type patrol and protection monitoring device according to the present invention. Figure 2 ;

[0023] Appendix Figure 3 This is a schematic diagram of the structure of a forestry autonomous operation track-type patrol and protection monitoring device according to the present invention. Figure 3 ;

[0024] Appendix Figure 4 It is attached Figure 1 schematic diagram of the obstacle removal mechanism Figure 1 ;

[0025] Appendix Figure 5 It is attached Figure 1 schematic diagram of the obstacle removal mechanism Figure 2 ;

[0026] Appendix Figure 6 It is attached Figure 4 Schematic diagram of the guide mechanism structure;

[0027] Appendix Figure 7 It is attached Figure 4 Schematic diagram of the rail cleaning mechanism Figure 1;

[0028] Appendix Figure 8 It is attached Figure 4 Schematic diagram of the rail cleaning mechanism Figure 2 ;

[0029] Appendix Figure 9 It is attached Figure 4 Schematic diagram of the road surface cleaning mechanism;

[0030] Appendix Figure 10 It is attached Figure 1 Schematic diagram of the rotating spray arm structure Figure 1 ;

[0031] Appendix Figure 11 It is attached Figure 1 Schematic diagram of the rotating spray arm structure Figure 2 ;

[0032] Appendix Figure 12 It is attached Figure 9 Schematic diagram of the lifting mechanism;

[0033] Appendix Figure 13 It is attached Figure 9 Schematic diagram of the central transmission mechanism and spray arm I;

[0034] Appendix Figure 14 It is attached Figure 9 Schematic diagram of the locking mechanism;

[0035] In the diagram: 11. Rail; 12. Track drive system; 13. Control box; 14. Chassis; 15. Obstacle removal mechanism; 16. Water tank; 17. Medicine tank; 18. Rotary seat I; 19. Camera; 20. Switching valve; 21. Delivery pipe; 22. Water pump; 23. Rotary spray arm; 24. Protective cover I;

[0036] 101. Connecting frame; 102. Support plate I; 103. Pulley I; 104. Road surface cleaning mechanism; 105. Rail cleaning mechanism; 106. Guiding mechanism;

[0037] 1101. Limiting shaft I; 1102. Limiting plate I; 1103. Spring I; 1104. Connecting shaft I; 1105. Connecting plate I; 1106. Connecting shaft II; 1107. Conical wheel; 1108. Pulley frame; 1109. Sliding wheel II;

[0038] 2101. Motor I; 2102. Positioning Plate I; 2103. Drive Shaft I; 2104. Rotating Frame; 2105. Gear I; 2106. Positioning Plate II; 2107. Limiting Shaft II; 2108. Spring II; 2109. Limiting Plate II; 2110. Support Plate II; 2111. Electric Push Rod I; 2112. Limiting Slide Groove I; 2113. Rack I; 2114. Gear II; 2115. Connecting Shaft III; 2116. Rotating Frame; 2117. Brush Rod; 2118. Protective Cover III; 2119. Protective Cover IV;

[0039] 3101, Electric push rod II; 3102, Limiting slide groove II; 3103, Push block; 3104, Connecting rod I; 3105, Connecting rod II; 3106, Rotating connecting seat; 3107, Rotating shaft; 3108, Connecting plate II; 3109, Clearing scraper;

[0040] 201. Rotary base II; 202. Motor II; 203. Robotic arm I; 204. Motor III; 205. Hose reel; 206. Robotic arm II; 207. Lifting mechanism; 208. Locking mechanism; 209. Spraying arm I; 210. Lifting arm; 211. Angle stepper motor I; 212. Gear III; 213. Gear IV; 214. Rotary base III; 215. Spraying arm II; 219. Transmission mechanism;

[0041] 4101. Motor IV; 4102. Motor mounting bracket I; 4103. Gear V; 4104. Gear VI; 4105. Drive shaft II; 4106. Sprocket I; 4107. Chain I; 4108. Sprocket II; 4109. Drive shaft III; 4110. Positioning plate III; 4111. Gear VII; 4112. Rack II; 4113. Sprocket III; 4114. Chain II; 4115. Sprocket IV; 4116. Positioning plate IV; 4117. Drive shaft IV; 4118. Positioning plate V;

[0042] 5101. Helical Gear I; 5102. Helical Gear II; 5103. Drive Shaft V; 5104. Positioning Plate VI; 5105. Helical Gear III; 5106. Helical Gear IV; 5107. Lead Screw; 5108. Lifting Frame; 5109. Limit Shaft III; 5110. T-Connector; 5111. Water Pipe; 5112. Positioning Plate VII;

[0043] 6101. Angle Stepper Motor II; 6102. Motor Mounting Bracket II; 6103. Helical Gear V; 6104. Helical Gear VI; 6105. Rotary Base IV; 6106. Angle Stepper Motor III; 6107. Robotic Arm III; 6108. Electric Actuator III; 6109. Robotic Arm IV;

[0044] 7101. Angle stepper motor IV; 7102. Helical gear VII; 7103. Helical gear VIII; 7104. Gear VIII; 7105. Support circular plate; 7106. Worm plate; 7107. Push rod; 7108. Limit gear; 7109. Fixed housing; 7110. Slide plate. Detailed Implementation

[0045] To facilitate understanding by those skilled in the art, the following is in conjunction with the appendix. Figure 1-14 The technical solution of the present invention will be further described in detail below.

[0046] A forestry autonomous operation track-type patrol and protection monitoring device includes a steel rail 11, a track drive system 12, a control box 13, a chassis 14, a clearing mechanism 15, a water tank 16, a medicine tank 17, a camera 19, a water pump 22, and a rotating spraying arm 23. The steel rail 11 is laid according to UAV survey and GIS planning to ensure that the route can efficiently cover key protection areas in the forest area, such as fire-prone areas and areas with high incidence of pests and diseases. During the laying process, complex terrain factors are taken into consideration. In flat areas, the path is optimized to expand the coverage. In sloping areas, the slope is controlled within the equipment's capacity and a zigzag pattern or super-high curves are set. When crossing gullies and rivers, simple bridges or culverts are built for reinforcement. In this way, the entire line is connected from beginning to end, ensuring that the monitoring device can patrol stably and without blind spots, while minimizing the disturbance to the forest ecology.

[0047] The control box 13 contains a fuel tank, a generator, and a battery. The fuel tank stores fuel, the generator generates electricity using fuel, and the battery stores electrical energy. The electrical energy stored in the battery can meet the overall power demand of the device. The control box 13 has a track drive system 12 on both sides. The track drive system 12 includes tracks, drive wheels, guide wheels, and a suspension system. The track drive system 12 is existing technology. The tracks are in direct contact with the ground and transmit driving force. The drive wheels mesh with the tracks, converting the power input into linear motion of the tracks. The guide wheels guide the movement of the tracks and adjust the tension. The suspension system buffers vibrations and improves driving stability.

[0048] The control box 13 has a chassis 14 at its lower part, and a clearing mechanism 15 is located at the lower part of the chassis 14. The clearing mechanism 15 is also located at the front of the control box 13. The steel rail 11 is laid on the forest ground according to the plan. The control box 13 has a water tank 16 and a medicine tank 17 at its upper part. The water tank 16 and the medicine tank 17 are connected to the switching valve 20 through the delivery pipe 21. The switching valve 20 is connected to the water pump 22 through the delivery pipe 21. The rotating spray arm 23 is located at the upper front of the control box 13. The water pump 22 is connected to the rotating spray arm 23 through the delivery pipe 21. The rotating spray arm 23 is equipped with a protective cover I 24 to protect the structure on the rotating spray arm 23. There are two sets of rotating base I 18 and camera 19. One set is located on the upper part of the water tank 16, and the other set is located in the control box 13. The upper front end features a tracked drive system 12 powered by fuel, providing forward propulsion for the entire device. A rotating base I 18 controls the rotation of cameras 19, with two sets of cameras 19 monitoring the forest area in real time. A clearing mechanism 15 works in conjunction with rails 11 to guide the device and prevent derailment. It also clears foreign objects from inside rails 11 and horizontal branches on both sides to prevent the device from getting stuck during movement. A switching valve 20 works in conjunction with a water pump 22 to provide clean water or insect repellent to the rotating spray arm 23. When a fire is detected in the forest area by cameras 19, the rotating spray arm 23 sprays clean water to control the fire and prevent it from spreading further before professionals arrive. This provides fire protection monitoring and pest control monitoring for the forest area.

[0049] The obstacle clearing mechanism 15 includes a connecting frame 101, a support plate I 102, a road surface cleaning mechanism 104, a rail cleaning mechanism 105, and a guiding mechanism 106. The connecting frame 101 is fixed to the lower part of the chassis 14, the support plate I 102 is fixed on the connecting frame 101, a sliding wheel I 103 is located at the lower front end of the support plate I 102, and the sliding wheel I 103 also slides with the rail 11. The road surface cleaning mechanism 104 is located at the upper front end of the support plate I 102, and the rail cleaning mechanism 105 is located at the upper rear end of the support plate I 102. The guide mechanism 106 is located at the rear end of the rail cleaning mechanism 105. The rail cleaning mechanism 105 and the guide mechanism 106 cooperate with the rail 11. The connecting frame 101 and the sliding wheel I 103 provide overall support for the obstacle removal mechanism 15. The road cleaning mechanism 104 removes larger foreign objects such as tree branches and stones from both sides of the rail 11, and the rail cleaning mechanism 105 removes smaller foreign objects from the inside of the rail 11 to prevent the device from being jammed by foreign objects when it moves. The guide mechanism 106 ensures that the device does not deviate from the track and provides guidance for the device as a whole.

[0050] The guiding mechanism 106 includes a limiting shaft I1101, a limiting plate I1102, a spring I1103, a conical wheel 1107, a pulley frame 1108, and a sliding wheel II1109. The limiting shaft I1101 passes through the chassis 14 and connects to the support plate I102. The limiting plate I1102 is provided on the upper part of the limiting shaft I1101. The spring I1103 is disposed between the chassis 14 and the support plate I102 and is also sleeved on the limiting shaft I1101. The connecting shaft I1104 is fixed to the lower part of the support plate I102. A connecting plate I1105 is provided on the connecting shaft I1104. The connecting shaft I1104 and the connecting plate I1105 are rotatably connected. Connecting shafts II1106 are provided on both sides of the connecting plate I1105. The connecting shafts II1106 are connected to the connecting plate I1102. The 105 rotatable connection has a conical wheel 1107 at the lower part of the connecting shaft II 1106 and a pulley frame 1108 at the lower part of the connecting shaft I 1104. Multiple sets of pulley wheels II 1109 are set in the pulley frame 1108. When the device moves forward as a whole, the chassis 14 drives the guide mechanism 106 to move forward. The support plate I 102 is pressed by the spring I 1103. The support plate I 102 drives the connecting shaft I 1104 and the connecting plate I 1105. The conical wheels 1107 on both sides are set in the grooves in the rail 11, clamping the middle rail 11. When turning, the connecting plate I 1105 can rotate according to the size of the arc of the rail 11, ensuring that the conical wheels 1107 always clamp the rail 11, preventing the device from derailing during movement and providing a guiding function for the whole device.

[0051] The rail cleaning mechanism 105 includes a motor I 2101, a positioning plate I 2102, a drive shaft I 2103, a rotating frame 2104, a positioning plate II 2106, an electric push rod I 2111, a rotating frame 2116, and a brush rod 2117. The motor I 2101 is mounted on the positioning plate I 2102, which is fixed to the support plate I 102. The output end of the motor I 2101 is connected to the drive shaft I 2103, which is positioned between two sets of positioning plates I 2102. The rotating frame 2104 is mounted on the drive shaft I 2103. The other end of the drive shaft I 2103 is also equipped with a gear I 2105. The two sets of gears I 2105 mesh with each other. I2105 is installed inside the protective cover III2118, which is fixed to the support plate I102. A support plate II2110 is located at the lower part of the rotating frame 2104. An electric actuator I2111 is fixed on the support plate II2110. The protruding end of the electric actuator I2111 is connected to a rack I2113. The rack I2113 is also located in the limiting groove I2112 on the support plate II2110. The rack I2113 meshes with a gear II2114, which is mounted on the connecting shaft III2115. A rotating frame 2116 is located at the lower part of the connecting shaft III2115. A brush rod 2117 is located on one side of the rotating frame 2116. The electric actuator I2111, rack I2113, and gear II2114 are all present. 2114 are all located inside the protective cover IV 2119. The protective cover IV 2119 is fixed on the support plate II 2110. The positioning plate II 2106 is located at the lower part of the support plate I 102. The limiting shaft II 2107 passes through the limiting plate II 2109 and is fixed on the positioning plate II 2106. The spring II 2108 is located between the limiting plate II 2109 and the positioning plate II 2106, and is also sleeved on the limiting shaft II 2107. The limiting plate II 2109 also cooperates with the rotating frame 2104. The motor I 2101 controls the rotation of the transmission shaft I 2103. The rotation of the transmission shaft I 2103 drives the gear I 2105 to rotate. The two sets of gears I 2105 mesh with each other, driving the two sets of rotating frames 2104 to rotate together. When the device swings downwards, the rotating frame 2104 comes into contact with the limiting plate II 2109. The limiting plate II 2109 compresses the spring II 2108, ensuring the downward swing position of the rotating frame 2104. The swing of the rotating frame 2104 drives the support plate II 2110. The electric actuator fixed on the support plate II 2110 pushes the rack I 2113. The rack I 2113 meshes with the gear II 2114. The gear II 2114 drives the connecting shaft III 2115 to rotate. The connecting shaft III 2115 drives the rotating frame 2116 and the brush rod 2117 to rotate, so that the brush rod 2117 comes into close contact with the groove of the rail 11. During the previous movement of the device, the foreign objects in the groove are cleaned again to prevent the foreign objects in the groove from jamming the device.

[0052] The road cleaning mechanism 104 includes an electric push rod II 3101, a rotating connecting seat 3106, a rotating shaft 3107, a connecting plate II 3108, and a clearing scraper 3109. The electric push rod II 3101 is fixed to the lower part of the chassis 14. The top end of the electric push rod II 3101 is connected to a push block 3103. The push block 3103 is disposed in a limiting slide groove II 3102 on the support plate I 102. A connecting rod I 3104 is provided on the push block 3103. The push block 3103 is rotatably connected to the connecting rod I 3104. The connecting rod I 3104 is rotatably connected to the connecting rod II 3105 through a pin. The connecting rod II 3105 is rotatably connected to the rotating shaft 3107. The rotating shaft 3107 is disposed in the rotating connecting seat 3106 and rotatably connected to the rotating connecting seat 3106. The rotating connecting seat 3107 is rotatably connected to the rotating connecting seat 3106. 06 is fixed on both sides of the support plate I102. The upper part of the rotating shaft 3107 is provided with a connecting plate II3108. The front end of the connecting plate II3108 is provided with a clearing scraper 3109. The electric push rod II3101 pushes the push block 3103 forward along the limiting slide groove II3102. The push block 3103 drives the connecting rod I3104 and the connecting rod II3105 to move forward. The connecting rod II3105 drives the rotating shaft 3107 to rotate. The rotating shaft 3107 drives the connecting plate II3108 to rotate. The connecting plate II3108 drives the clearing scraper 3109 to rotate. The opening and closing angle of the clearing scrapers 3109 on both sides is controlled by the electric push rod II3101 to clear large foreign objects on both sides of the road and tree branches on the crossbeam on the steel rail 11, so as to prevent the device from being jammed by large foreign objects during the movement.

[0053] The rotating spray arm 23 includes a motor II 202, a robotic arm I 203, a motor III 204, a robotic arm II 206, a lifting mechanism 207, a locking mechanism 208, a spray arm I 209, a lifting arm 210, a spray arm II 215, and a transmission mechanism 219. The rotating base II 201 is located on the upper part of the control box 13. The rotating base II 201 is equipped with a motor II 202, the output end of which is connected to the robotic arm I 203. The robotic arm I 203 is equipped with a motor III 204 and a hose reel 205, which is connected to a water pipe 51. 11 connects to water pump 22. The output end of motor III 204 is connected to robotic arm II 206. Robotic arm II 206 is equipped with lifting mechanism 207. A locking mechanism 208 is located at the lower part of lifting mechanism 207. The locking mechanism 208 cooperates with lifting mechanism 207. Lifting mechanism 207 is connected to transmission mechanism 219. A spray arm I 209 is located on one side of transmission mechanism 219. Lifting mechanism 207 is also connected to lifting arm 210. An angle stepper motor I 211 is located at the top of lifting arm 210. The output end of angle stepper motor I 211 is connected to gear III 212. Gear III... 212 meshing gears IV and IV are fixed on rotating base III and III, which are rotatably connected to lifting arm 210. Spraying arm II and II are mounted on rotating base III and III. Lifting mechanism 207, locking mechanism 208, and transmission mechanism 219 are all housed within protective cover I and II. Rotating base II and II control the rotation of robotic arm I and II, motor II and II control the rotation of robotic arm I and II, and motor III and III on robotic arm I and II control the rotation of robotic arm II and II. Water is supplied through hose reel 205. The lifting mechanism 207 set in II206 controls the lifting arm 210 to rise and fall. At the same time, the lifting mechanism 207 drives the spraying arm I 209 to rise and fall through the transmission mechanism 219. After rising and falling to a suitable height, the locking mechanism 208 locks the lifting mechanism 207 to ensure the height of the lifting arm 210 and ensure that the spraying work can be carried out stably. The angle stepper motor I 211 controls the gear III 212 to rotate. The gear III 212 meshes with the gear IV 213. The gear IV 213 drives the rotating seat III 214 to rotate. The rotating seat III 214 drives the spraying arm II 215 to rotate and swing up and down.

[0054] The lifting mechanism 207 includes a motor IV 4101, a positioning plate III 4110, a positioning plate IV 4116, a transmission shaft IV 4117, and a positioning plate V 4118. The motor IV 4101 is mounted on a motor mounting bracket I 4102, which is fixed to the robotic arm II 206. The output end of the motor IV 4101 is connected to a gear V 4103, which meshes with a gear VI 4104. The gear VI 4104 is mounted on the transmission shaft II 4105, which is positioned between the positioning plates V 4118. The positioning plates V 4118 are fixed... Mounted on robotic arm II 206, sprocket I 4106 is mounted on drive shaft II 4105. Sprocket I 4106 and sprocket II 4108 are connected by chain I 4107. Sprocket II 4108 is mounted on drive shaft III 4109. Gear VII 4111 and sprocket III 4113 are mounted on drive shaft III 4109. Drive shaft III 4109 is positioned between positioning plates III 4110. Positioning plates III 4110 are fixed to robotic arm II 206. Gear VII 4111 meshes with rack II 4112. Rack II 4112 is fixed to one side of lifting arm 210. Sprocket III 4106... 113 is connected to sprocket IV4115 via chain II4114. Sprocket IV4115 is mounted on drive shaft IV4117, which is positioned between positioning plates IV4116. Positioning plates IV4116 are fixed to robotic arm II206. Motor IV4101 controls gear V4103 to rotate. Gear V4103 meshes with gear VI4104, which drives drive shaft II4105 to rotate. Drive shaft II4105 drives sprocket I4106 to rotate, and sprocket I4106 drives sprocket II4108 to rotate via chain I4107. Sprocket II 4108 drives drive shaft III 4109 to rotate, drive shaft III 4109 drives gear VII 4111 to rotate, gear VII 4111 meshes with rack II 4112, rack II 4112 drives lifting arm 210 to rise and fall, adjusting the spraying height of lifting arm 210 and spraying arm II 215. At the same time, drive shaft III 4109 drives sprocket III 4113 to rotate, sprocket III 4113 drives sprocket IV 4115 to rotate through chain II 4114, sprocket IV 4115 drives drive shaft IV 4117 to rotate, drive shaft IV 4117 provides power to transmission mechanism 219.

[0055] The transmission mechanism 219 includes a helical gear I 5101, a transmission shaft V 5103, a positioning plate VI 5104, a lifting frame 5108, a limiting shaft III 5109, and a three-way connector 5110. The helical gear I 5101 is mounted on the transmission shaft IV 4117, and meshes with helical gear II 5102. The helical gear II 5102 is mounted on the transmission shaft V 5103, which is positioned on the positioning frame VI 5108. Positioning plate VI 5104 is fixed to robotic arm II 206 between plates VI 5104. Helical gear III 5105 is mounted on drive shaft V 5103 and meshes with helical gear IV 5106. Helical gear IV 5106 is mounted on lead screw 5107, which is positioned between positioning plates VII 5112. Positioning plate VII 5112 is fixed to robotic arm II 206. Lifting frame 5108 is connected to lead screw 5107. The lifting frame 5108 is slidably connected to the limiting shaft Ⅲ 5109. The lifting frame 5108 is equipped with a three-way connector 5110, through which the water pipe 5111 is fixed and diverted. The drive shaft Ⅳ 4117 of the lifting mechanism 207 rotates, driving the helical gear Ⅰ 5101 to rotate. The helical gear Ⅰ 5101 meshes with the helical gear Ⅱ 5102. The helical gear Ⅱ 5102 drives the drive shaft Ⅴ 5103 to rotate. The drive shaft Ⅴ 5103 drives the helical gear Ⅲ 5105 to rotate. The helical gear Ⅲ 5105 meshes with the helical gear Ⅳ 5106. The helical gear Ⅳ 5106 drives the lead screw 5107 to rotate. The rotation of the lead screw 5107 drives the lifting frame 5108 to rise and fall. The lifting frame 5108 drives the three-way connector 5110 and the lifting arm 210 to rise and fall simultaneously, avoiding the water pipe 5111 from getting tangled during the lifting process. At the same time, it drives the spray arm Ⅰ 209 to rise and fall.

[0056] The spray arm I 209 includes an angle stepper motor II 6101, an angle stepper motor III 6106, a robotic arm III 6107, an electric actuator III 6108, and a robotic arm IV 6109. Angle stepper motor II 6101 is mounted on a motor mounting bracket II 6102, which is fixed to a lifting frame 5108. The output end of angle stepper motor II 6101 is connected to helical gear V 6103, which meshes with helical gear VI 6104. Helical gear VI 6104 is located at the lower part of a rotating base IV 6105, which is rotatably connected to the lifting frame 5108. Angle stepper motor III 6106 is mounted on the rotating base IV 6105, and its output end is connected to robotic arm III 6107. III6107 connects to robotic arm IV6109. An electric actuator III6108 is installed between robotic arm III6107 and robotic arm IV6109. A nozzle is installed at the front end of robotic arm IV6109. An angle stepper motor II6101 controls the rotation of helical gear V6103. Helical gear V6103 meshes with helical gear VI6104. Helical gear VI6104 drives the rotating seat IV6105 to rotate. An angle stepper motor III6106 installed on the rotating seat IV6105 controls the rotation of robotic arm III6107. The electric actuator III6108 controls the opening and closing angle between robotic arm III6107 and robotic arm IV6109. The spray arm I209 compensates for the dead angles generated during the spraying process, enabling precise spraying of the middle and lower layers of the forest area and improving the overall spraying efficiency.

[0057] The locking mechanism 208 includes an angle stepper motor IV 7101, a support circular plate 7105, a worm gear plate 7106, push rods 7107, limiting gears 7108, and a fixed housing 7109. The angle stepper motor IV 7101 is mounted on the fixed housing 7109, which is fixed to the robotic arm II 206. The output end of the angle stepper motor IV 7101 is connected to a helical gear VII 7102, which meshes with a helical gear VIII 7103. The helical gear VIII 7103 is located at the lower part of the worm gear plate 7106 and is rotatably connected to the support circular plate 7105. The support circular plate 7105 is fixed inside the fixed housing 7109. The worm gear plate 7106 has three sets of push rods 7107. The lower part of the push rod 7107 cooperates with the worm groove on the worm gear plate 7106. The front end of the push rod 7107 is provided with a limiting gear 7108. Gear VIII 7104 is located in the middle of the positioning gear 7108. Gear VIII 7104 is fixed on the transmission shaft II 4105. The slide plate 7110 is set on the upper part of the fixed housing 7109. The angle stepper motor IV 7101 controls the rotation of helical gear VII 7102. Helical gear VII 7102 meshes with helical gear VIII 7103. The rotation of helical gear VIII 7103 drives the worm plate 7106 to rotate. The rotation of worm plate 7106 drives the III group of push rods. When 7107 moves, push rod 7107 of group III drives limit gear 7108 to approach or move away from gear VIII 7104 at the center. When limit gear 7108 approaches gear VIII 7104 and meshes with gear VIII 7104, the transmission shaft II 4105 of lifting mechanism 207 stops rotating due to the limit of limit gear 7108, realizing the height locking function of lifting mechanism 207, ensuring spraying height, and improving stability during spraying.

[0058] In the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing this invention and simplifying the description, and are not intended to 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 of this invention.

[0059] In summary, the electronic or electrical components, including but not limited to motors, electric actuators, angle stepper motors, water pumps, switching valves, and cameras, are existing components that were custom-made or purchased. The electrical connections between these components are conventional circuit or electrical connections in the prior art and are not within the scope of protection of this invention.

[0060] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the structure of the invention or exceed the scope defined in the claims, all of which should fall within the protection scope of the present invention.

Claims

1. A forestry autonomous operation track type cruise protection monitoring device, comprising a steel rail, a track drive system, a control box, a chassis, an obstacle clearing mechanism, a water tank, a pesticide tank, a camera, a water pump and a rotating spray arm; characterized in that The steel rail is laid according to the unmanned aerial vehicle survey and GIS planning, so as to ensure that the route can efficiently cover the key protection areas of the forest area, optimize the path in the flat area to expand the coverage, control the slope in the slope area within the equipment capacity and set zigzag extension lines or super-high curves, build simple bridges or culvert reinforcement to cross gullies and rivers, and realize the through connection of the whole route; the control box is provided with a track drive system on both sides, a chassis is arranged at the lower part of the control box, a barrier removing mechanism is arranged at the lower part of the chassis, the barrier removing mechanism is arranged at the front end of the control box, a water tank and a chemical tank are arranged at the upper part of the control box, the water tank and the chemical tank are connected with a switching valve through a conveying pipe, the switching valve is connected with a water pump through the conveying pipe, a rotary spraying arm is arranged at the front end of the upper part of the control box, the water pump is connected with the rotary spraying arm through the conveying pipe, a protective cover I is arranged on the rotary spraying arm, the protective cover I protects the structure arranged on the rotary spraying arm, two groups of rotary seats I and cameras are arranged, one group is arranged at the upper part of the water tank, and the other group is arranged at the front end of the upper part of the control box; The barrier removing mechanism comprises a connecting frame, a supporting plate I, a road surface cleaning mechanism, a steel rail cleaning mechanism and a guide mechanism; the connecting frame is fixed at the lower part of the chassis, the supporting plate I is fixed on the connecting frame, sliding wheels I are arranged at the front end of the lower part of the supporting plate I and are in sliding cooperation with the steel rail, the road surface cleaning mechanism is arranged at the front end of the upper part of the supporting plate I, the steel rail cleaning mechanism is arranged at the rear end of the upper part of the supporting plate I, the guide mechanism is arranged at the rear end of the steel rail cleaning mechanism, and the steel rail cleaning mechanism and the guide mechanism are in cooperation with the steel rail.

2. The forestry autonomous work track type cruising guard monitoring device according to claim 1, characterized in that The rotary spraying arm comprises a motor II, a mechanical arm I, a motor III, a mechanical arm II, a lifting mechanism, a locking mechanism, a spraying arm I, a lifting arm, a spraying arm II and a transmission mechanism; the rotary seat II is arranged at the upper part of the control box, the motor II is arranged on the rotary seat II, the output end of the motor II is connected with the mechanical arm I, the mechanical arm I is provided with the motor III and a hose reel, the hose reel is connected with the water pump through a water conveying pipe, the output end of the motor III is connected with the mechanical arm II, the mechanical arm II is provided with the lifting mechanism, the locking mechanism is arranged at the lower part of the lifting mechanism, the locking mechanism is in cooperation with the lifting mechanism, the lifting mechanism is connected with the transmission mechanism, the transmission mechanism is provided with the spraying arm I on one side, the lifting mechanism is connected with the lifting arm, the top end of the lifting arm is provided with an angle stepping motor I, the output end of the angle stepping motor I is connected with a gear III, the gear III is engaged with a gear IV, the gear IV is fixed on a rotary seat III, the rotary seat III is rotationally connected with the lifting arm, the rotary seat III is provided with the spraying arm II, and the lifting mechanism, the locking mechanism and the transmission mechanism are arranged in the protective cover I.

3. The self-operated track type patrolling and protecting monitoring device for forestry according to claim 1, characterized in that The guide mechanism comprises a limiting shaft I, a limiting plate I, a spring I, a conical wheel, a pulley frame and sliding wheels II; the limiting shaft I penetrates through the chassis to connect the supporting plate I, the limiting plate I is arranged at the upper part of the limiting shaft I, the spring I is arranged between the chassis and the supporting plate I and is sleeved on the limiting shaft I, a connecting shaft I is fixed at the lower part of the supporting plate I, the connecting shaft I is provided with a connecting plate I and is rotationally connected with the connecting plate I, the connecting plate I is provided with connecting shafts II on both sides and is rotationally connected with the connecting shafts II, the connecting shaft II is provided with the conical wheel at the lower part, the connecting shaft I is further provided with the pulley frame at the lower part, and a plurality of groups of sliding wheels II are arranged in the pulley frame.

4. The self-operated track type patrolling and protecting monitoring device for forestry according to claim 1, characterized in that The rail cleaning mechanism comprises a motor I, a positioning plate I, a transmission shaft I, a rotating frame, a positioning plate II, an electric push rod I, a rotating frame, a brush rod; The motor I is installed on the positioning plate I, the positioning plate I is fixed on the support plate I, the output end of the motor I is connected with the transmission shaft I, the transmission shaft I is arranged between the two groups of positioning plates I, the rotating frame is arranged on the transmission shaft I, the other end of the transmission shaft I is also provided with a gear I, the two groups of gears I are engaged with each other, the two groups of gears I are arranged in the protective cover III, the protective cover III is fixed on the support plate I, the lower part of the rotating frame is provided with a support plate II, the electric push rod I is fixed on the support plate II, the top end of the electric push rod I is connected with a rack I, the rack I is arranged in the limiting sliding groove I on the support plate II, the rack I is engaged with a gear II, the gear II is arranged on a connecting shaft III, the lower part of the connecting shaft III is provided with a rotating frame, one side of the rotating frame is provided with a brush rod, the electric push rod I, the rack I and the gear II are arranged in the protective cover IV, the protective cover IV is fixed on the support plate II, the positioning plate II is arranged on the lower part of the support plate I, a limiting shaft II is arranged through the limiting plate II and is fixed on the positioning plate II, a spring II is arranged between the limiting plate II and the positioning plate II and is sleeved on the limiting shaft II, the limiting plate II is matched with the rotating frame.

5. The self-sufficient track-based patrolling guard monitoring device for forestry according to claim 1, characterized in that The road surface cleaning mechanism comprises an electric push rod II, a rotating connecting seat, a rotating shaft, a connecting plate II and an obstacle cleaning scraper; the electric push rod II is fixed on the lower part of the chassis, the top end of the electric push rod II is connected with a push block, the push block is arranged in the limiting sliding groove II on the support plate I, the push block is provided with a connecting rod I, the push block is rotatably connected with the connecting rod I, the connecting rod I is rotatably connected with a connecting rod II through a pin shaft, the connecting rod II is rotatably connected with the rotating shaft, the rotating shaft is arranged in the rotating connecting seat and is rotatably connected with the rotating connecting seat, the rotating connecting seat is fixed on the two sides of the support plate I, the upper part of the rotating shaft is provided with the connecting plate II, the front end of the connecting plate II is provided with the obstacle cleaning scraper.

6. The self-sufficient track-based patrolling guard monitoring device for forestry according to claim 2, characterized in that The lifting mechanism comprises a motor IV, a positioning plate III, a positioning plate IV, a transmission shaft IV and a positioning plate V; the motor IV is installed on the motor mounting bracket I, the motor mounting bracket I is fixed on the mechanical arm II, the output end of the motor IV is connected with a gear V, the gear V is engaged with a gear VI, the gear VI is arranged on a transmission shaft II, the transmission shaft II is arranged between the positioning plates V, the positioning plates V are fixed on the mechanical arm II, a sprocket I is arranged on the transmission shaft II, the sprocket I is connected with a sprocket II through a chain I, the sprocket II is arranged on a transmission shaft III, a gear VII and a sprocket III are arranged on the transmission shaft III, the transmission shaft III is arranged between the positioning plates III, the positioning plates III are fixed on the mechanical arm II, the gear VII is engaged with a rack II, the rack II is fixed on one side of the lifting arm, the sprocket III is connected with a sprocket IV through a chain II, the sprocket IV is arranged on a transmission shaft IV, the transmission shaft IV is arranged between the positioning plates IV, the positioning plates IV are fixed on the mechanical arm II. The locking mechanism comprises an angle stepping motor IV, a supporting circular plate, a worm plate, a push rod, a limiting gear, and a fixed shell; the angle stepping motor IV is installed on the fixed shell, the fixed shell is fixed on the mechanical arm II, the output end of the angle stepping motor IV is connected with a bevel gear VII, the bevel gear VII meshes with a bevel gear VIII, the bevel gear VIII is arranged at the lower part of the worm plate and is rotationally connected with the supporting circular plate, the supporting circular plate is fixed in the fixed shell, three groups of push rods are arranged on the worm plate, the lower part of the push rod is matched with a worm-shaped sliding groove on the worm plate, a limiting gear is arranged at the front end of the push rod, a gear VIII is arranged in the middle of the three groups of limiting gears, the gear VIII is fixed on a transmission shaft II, and a sliding groove plate is arranged on the upper part of the fixed shell.

7. The self-sufficient track-based patrolling guard monitoring device for forestry according to claim 2, characterized in that The transmission mechanism comprises a bevel gear I, a transmission shaft V, a positioning plate VI, a lifting frame, a limiting shaft III, and a three-way connecting piece; the bevel gear I is arranged on the transmission shaft IV, the bevel gear I meshes with a bevel gear II, the bevel gear II is arranged on the transmission shaft V, the transmission shaft V is arranged between the positioning plates VI, the positioning plates VI are fixed on the mechanical arm II, a bevel gear III is arranged on the transmission shaft V, the bevel gear III meshes with a bevel gear IV, the bevel gear IV is arranged on a lead screw, the lead screw is arranged between positioning plates VII, the positioning plates VII are fixed on the mechanical arm II, the lifting frame is connected with the lead screw in a matched mode, the lifting frame is slidably connected with the limiting shaft III, the three-way connecting piece is arranged on the lifting frame, and a water pipe is fixed and branched through the three-way connecting piece.

8. The self-sufficient track-based patrolling guard monitoring device for forestry according to claim 2, characterized in that The spraying arm I comprises an angle stepping motor II, an angle stepping motor III, a mechanical arm III, an electric push rod III, and a mechanical arm IV; the angle stepping motor II is installed on a motor mounting rack II, the motor mounting rack II is fixed on the lifting frame, the output end of the angle stepping motor II is connected with a bevel gear V, the bevel gear V meshes with a bevel gear VI, the bevel gear VI is arranged at the lower part of a rotating seat IV, the rotating seat IV is rotationally connected with the lifting frame, the angle stepping motor III is arranged on the rotating seat IV, the output end of the angle stepping motor III is connected with the mechanical arm III, the mechanical arm III is connected with the mechanical arm IV, the electric push rod III is arranged between the mechanical arm III and the mechanical arm IV, and a spraying head is arranged at the front end of the mechanical arm IV.

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