An adaptive contour-profiling orchard sprayer

Abstract

An adaptive profiling orchard sprayer comprises a three-dimensional radar, an ARM control unit, a vehicle body, a medicine box, an air collecting box, a connecting pipeline, a centrifugal fan, a left air-sending spray device and a right air-sending spray device; the three-dimensional radar and the ARM control unit are both installed at the front end of the vehicle body, the three-dimensional radar detects the canopy information and the position information of the fruit trees, and sends them to the ARM control unit; the medicine box is installed in the middle of the vehicle body, the air collecting box is installed on the centrifugal fan, the centrifugal fan is installed on the vehicle body, the left air-sending spray device and the right air-sending spray device are respectively installed on the left and right sides of the centrifugal fan, the airflow generated by the centrifugal fan enters the air collecting box, and is transported through the connecting pipeline, so that the airflow is finally discharged from the left air-sending spray device and the right air-sending spray device. The present invention achieves the requirements of precision spraying by effectively adjusting the distance between the nozzle and the fruit tree, the spray volume of the nozzle, and the wind direction and wind speed of the air outlet.

Description

Technical Field

[0001] The invention belongs to the field of agricultural machinery, and in particular relates to an adaptive contour-profiling orchard sprayer. Background Art

[0002] The fields in hilly and mountainous areas are small and irregular, with a large difference in ground slope. The fruit trees on both sides of the rows are tall, and the canopy shapes and densities are different. The wind speeds at the air outlets on both sides of the existing air-conveying spray devices are consistent, the wind direction is fixed, and the spray volume cannot be adjusted in real time. At the same time, due to differences in planting patterns, the row spacing of fruit trees is different, resulting in different distances between the sprinkler heads and the fruit trees, which cannot meet the requirements of precision spraying. Summary of the invention

[0003] The invention aims at the deficiencies in the prior art and provides an adaptive contour-profiling orchard sprayer.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] An adaptive contour-profiling orchard sprayer, characterized in that it comprises: a three-dimensional radar, an ARM control unit, a vehicle body, a medicine box, an air collecting box, a connecting pipe, a centrifugal fan, a left air-sending spray device and a right air-sending spray device; the three-dimensional radar and the ARM control unit are both installed at the front end of the vehicle body, the three-dimensional radar detects fruit tree canopy information and fruit tree position information, and sends them to the ARM control unit, and the three-dimensional radar comprises a left three-dimensional radar and a right three-dimensional radar that are symmetrically arranged; the medicine box is installed in the middle of the vehicle body, the air collecting box is installed on the centrifugal fan, the centrifugal fan is installed on the vehicle body, the left air-sending spray device and the right air-sending spray device are respectively installed on the left and right sides of the centrifugal fan, the airflow generated by the centrifugal fan enters the air collecting box, and is transported through the connecting pipe, so that the airflow is finally discharged from the left air-sending spray device and the right air-sending spray device.

[0006] To optimize the above technical solutions, the specific measures taken also include:

[0007] The left and right sides of the centrifugal fan are both equipped with risers, which are respectively marked as riser one and riser two. A plurality of left air-supply spray devices are installed on the riser one, and a plurality of right air-supply spray devices are installed on the riser two. An upper sleeve one and an upper sleeve two are installed between the top of the riser one and the top of the riser two, and a lower sleeve one, a lower sleeve two and a lower sleeve three are installed between the bottom of the riser one and the bottom of the riser two.

[0008] The left end of the upper sleeve one is fixedly connected to the standpipe one, the right end of the upper sleeve one extends into the upper sleeve two, the right end of the upper sleeve two is fixedly connected to the standpipe two, and the upper sleeve one can slide left and right in the upper sleeve two;

[0009] The lower casing three is fixed on the vehicle body, the left end of the lower casing one is fixedly connected to the vertical pipe one, the right end of the lower casing one extends into the lower casing three, the right end of the lower casing two is fixedly connected to the vertical pipe two, the left end of the lower casing two extends into the lower casing three, and the lower casing one and the lower casing two can slide left and right in the lower casing three;

[0010] Cylinder one is installed between lower casing three and riser one, and cylinder two is installed between lower casing three and riser two. The cylinder one drives the movement of upper casing one, lower casing one and riser one, and the cylinder two drives the movement of upper casing two, lower casing two and riser two. The strokes of cylinder one and cylinder two are controlled by an ARM control unit.

[0011] The left air-sending spray device and the right air-sending spray device have the same structure, and both include an electric steering push rod, an electric steering push rod rotating shaft, an electric steering upright, a spray head, a spray head fixing card, a round tube, a hose, an air outlet duct and an air outlet device;

[0012] One end of the circular tube is fixed on the vertical tube, and the circular tube and the vertical tube are connected. The vertical tube can transport the airflow generated by the centrifugal fan to the circular tube. The other end of the circular tube is connected with a hose, an air outlet pipe and an air outlet device in sequence. One end of the electric steering push rod is fixed on the vertical tube, and the other end of the electric steering push rod is connected to the electric steering vertical rod through the electric steering push rod rotating shaft. The electric steering vertical rod is fixed on the air outlet pipe. The air outlet pipe swings up and down through the extension and retraction of the electric steering push rod. The nozzle is fixed in the air outlet pipe through the nozzle fixing card.

[0013] The end of the air outlet duct connected to the air outlet device is rectangular, and the end of the air outlet duct connected to the hose is circular.

[0014] The air outlet device comprises an upper air outlet plate, a lower air outlet plate, a left air outlet plate and a right air outlet plate, wherein the upper air outlet plate and the lower air outlet plate are retractable soft plates, the left air outlet plate is rotatably connected to the air outlet duct via a left rotating shaft of the air outlet device, and the right air outlet plate is rotatably connected to the air outlet duct via a right rotating shaft of the air outlet device;

[0015] An electric pull rod, connecting rod one, connecting rod two, connecting rod three, a connecting rod left fixed plate and a connecting rod right fixed plate are installed on the air outlet device. One end of the electric pull rod is fixed to the air outlet duct through the electric pull rod fixing plate, and the other end of the electric pull rod is connected to connecting rod one, one end of the connecting rod two is connected to one end of the connecting rod one through the connecting rod left rotating shaft one, and the other end of the connecting rod two is connected to the connecting rod left fixed plate through the connecting rod left rotating shaft two, and the connecting rod left fixed plate is fixed to the left side plate of the air outlet, one end of the connecting rod three is connected to the other end of the connecting rod one through the connecting rod right rotating shaft one, and the other end of the connecting rod three is connected to the connecting rod right fixed plate through the connecting rod right rotating shaft two, and the connecting rod right fixed plate is fixed to the right side plate of the air outlet.

[0016] A flexible sealing pipe having the same size and shape as the air outlet device is installed inside the air outlet device. The flexible sealing pipe is arranged close to the air outlet device and is sealed and connected to the air outlet pipe.

[0017] The vehicle body is also equipped with a spray motor, a hydraulic motor integrated pump, a solenoid valve and a spray pump. The hydraulic motor integrated pump drives a centrifugal fan. The spray pump is driven by the spray motor to supply the pesticide in the medicine box to the spray head. The solenoid valve controls the flow of the spray head. The hydraulic motor integrated pump and the solenoid valve are controlled by an ARM control unit.

[0018] The hydraulic motor integrated pump is equipped with a lever mounting plate, a lever, a slider, a screw, a servo motor, a hydraulic pump fixed sleeve and a lever slide plate. The hydraulic pump fixed sleeve is installed at the hydraulic oil port, the lever slide plate is fixedly connected to the hydraulic pump fixed sleeve, a slide groove is opened on the lever slide plate, the lever is fixed on the lever mounting plate, the lever mounting plate is installed on the slide plate, and the slide plate is installed on the screw. The servo motor drives the screw to rotate, drives the slide plate to move, so that the lever automatically moves in the slide groove, drives the lever slide plate to rotate, and the lever slide plate drives the rotation of the hydraulic pump fixed sleeve to control the flow of the hydraulic oil port.

[0019] The beneficial effects of the present invention are: it is suitable for applying pesticides in hilly orchards, and according to different planting patterns and growth conditions, the wind speed on both sides of the sprayer can be controlled, the wind direction can be adjusted, the spray volume can be changed, and the distance from the nozzle to the crop is consistent. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is an overall side view of the present invention.

[0021] Figure 2 It is an overall rear view of the present invention.

[0022] Figure 3 It is an overall top view of the present invention.

[0023] Figure 4 It is a front view of the wind direction regulating device of the present invention.

[0024] Figure 5 It is a side view of the wind direction regulating device of the present invention.

[0025] Figure 6 It is a partial schematic diagram of the nozzle of the present invention.

[0026] Figure 7 It is a front view of the air outlet regulating device of the present invention.

[0027] Figure 8 It is a side view of the air outlet regulating device of the present invention.

[0028] Fig. 9It is a partial schematic diagram of the left fixing plate of the connecting rod of the present invention.

[0029] Fig.10 It is a front view of the centrifugal fan speed regulating device of the present invention.

[0030] Fig.11 It is a side view of the centrifugal fan speed regulating device of the present invention.

[0031] Fig.12 It is a schematic diagram of the change of nozzle angle and spray distance of the present invention.

[0032] Fig.13 It is a principle block diagram of the present invention.

[0033] The accompanying drawings are marked as follows: three-dimensional radar 1, vehicle body 2, medicine box 3, air collecting box 4, connecting pipe 5, centrifugal fan 6, left air delivery spray device 7, upper casing 1 8, upper casing 2 9, lower casing 3 10, lower casing 1 11, lower casing 2 12, vertical pipe 1 13, vertical pipe 2 14, oil cylinder 1 15, oil cylinder 2 16, spray motor 17, hydraulic motor integrated pump 18, solenoid valve 19, spray pump 20, electric steering push rod 21, electric steering push rod rotating shaft 22, electric steering vertical rod 23, connecting rod left fixing plate 24, nozzle 25, nozzle fixing card 26, round pipe 27, hose 28, air outlet duct 29, air outlet device 30, electric pull rod 3 1. Connecting rod left rotating shaft 1 32, connecting rod left rotating shaft 2 33, connecting rod right fixing plate 34, air outlet upper plate 35, air outlet lower plate 36, air outlet left plate 37, air outlet right plate 38, connecting rod 2 39, connecting rod 1 40, connecting rod 3 41, connecting rod right rotating shaft 2 42, air outlet device right rotating shaft 43, connecting rod right rotating shaft 1 44, air outlet device left rotating shaft 45, lever mounting plate 46, lever 47, slider 48, screw 49, servo motor 50, hydraulic pump fixing sleeve 51, lever slide plate 52, electric pull rod fixing plate 53, right air supply spray device 54, ARM control unit 55, left three-dimensional radar 56, right three-dimensional radar 57. DETAILED DESCRIPTION

[0034] The present invention will now be described in further detail with reference to the accompanying drawings.

[0035] like Figures 1 to 3 The adaptive contour-profiling orchard sprayer shown includes a three-dimensional radar 1, an ARM control unit 55, a vehicle body 2, a medicine box 3, an air collecting box 4, a connecting pipe 5, a centrifugal fan 6, a left air-supplied spray device 7, a right air-supplied spray device 54, a spray motor 17, a hydraulic motor integrated pump 18, a solenoid valve 19 and a spray pump 20.

[0036] The three-dimensional radar 1 and the ARM control unit 55 are both installed at the front end of the vehicle body 2. The three-dimensional radar 1 includes a left three-dimensional radar 56 and a right three-dimensional radar 57 which are symmetrically arranged. The medicine box 3 is installed in the middle of the vehicle body 2, and the air collecting box 4 is installed on the centrifugal fan 6. The centrifugal fan 6 is installed on the vehicle body 2. The left and right sides of the centrifugal fan 6 are respectively installed with a left air-sending spray device 7 and a right air-sending spray device 54. The airflow generated by the centrifugal fan 6 enters the air collecting box 4 and is transported through the connecting pipe 5, so that the airflow is finally discharged from the left and right air-sending spray devices 7 and 54. The spray pump 20 is driven by the spray hydraulic motor 17, the solenoid valve 19 is used to control the flow of the nozzle 25, and the hydraulic motor integrated pump 18 drives the centrifugal fan 6.

[0037] See also Figure 2 , both sides of the centrifugal fan 6 are equipped with risers, which are respectively denoted as riser one 13 and riser two 14. The left air-supply spray device 7 is installed on the riser one 13, and the right air-supply spray device 54 is installed on the riser two 14. The purpose of the air collecting box 4 is to stabilize (rectify) the airflow generated by the centrifugal fan 6 to ensure that the wind pressure and air volume delivered to the riser one 13 and the riser two 14 are uniform. An upper sleeve one 8 and an upper sleeve two 9 are installed between the tops of the riser one 13 and the riser two 14, and a lower sleeve one 11, a lower sleeve two 12 and a lower sleeve three 10 are installed between the bottoms. The left end of the upper sleeve one 8 is fixedly connected to the riser one 13, and the right end extends into the upper sleeve two 9. The right end of the upper sleeve two 9 is fixedly connected to the riser two 14, and the upper sleeve one 8 can slide left and right in the upper sleeve two 9. The lower sleeve three 10 is fixed on the vehicle body 2, the left end of the lower sleeve one 11 is fixedly connected to the vertical pipe one 13, and the right end extends into the lower sleeve three 10, the right end of the lower sleeve two 12 is fixedly connected to the vertical pipe two 14, and the left end extends into the lower sleeve three 10, and the lower sleeve one 11 and the lower sleeve two 12 can slide left and right in the lower sleeve three 10.

[0038] A cylinder 15 is installed between the lower casing three 10 and the riser one 13, and a cylinder two 16 is installed between the lower casing three 10 and the riser two 14. The cylinder 15 drives the movement of the upper casing one 8, the lower casing one 11 and the riser one 13, and the cylinder two 16 drives the movement of the upper casing two 9, the lower casing two 12 and the riser two 14.

[0039] When working, the three-dimensional radar 1 is used to detect the tree crown density index in real time, determine the position of the tree crown from the nozzle, and input the information into the ARM control unit 55 for calculation and analysis, and then control the wind speed, wind direction, spray volume and the distance from the nozzle to the crop respectively, as described below.

[0040] 1. Wind direction

[0041] When spraying in hilly areas, the heights of fruit trees on both sides are different, so the wind direction of the air outlet device needs to be adjusted. In the present invention, the wind direction of each left air-sending spray device 7 and the right air-sending spray device 54 can be individually controlled according to the size of the canopy. Figures 4 to 6 The wind direction adjustment device shown, the left air-delivery spray device 7 and the right air-delivery spray device 54 have the same structure, both including an electric steering push rod 21, an electric steering push rod rotating shaft 22, an electric steering upright 23, a nozzle 25, a nozzle fixing card 26, a round tube 27, a hose 28, an air outlet duct 29 and an air outlet device 30.

[0042] One end of the round tube 27 is fixed on the vertical pipe, and the other end is connected with a hose 28, an air outlet duct 29 and an air outlet device 30 in sequence. The nozzle 25 is fixed in the air outlet duct 29 through a nozzle fixing clamp 26. One end of the electric steering push rod 21 is fixed on the vertical pipe, and the other end is connected to the electric steering vertical rod 23 through the electric steering push rod rotating shaft 22. The electric steering vertical rod 23 is fixed on the air outlet duct 29. The air outlet duct 29 swings up and down through the extension and contraction of the electric steering push rod 21, thereby achieving the purpose of changing the wind direction.

[0043] 2. Wind speed

[0044] When the tree sizes on both sides are the same, the wind speed is mainly controlled by adjusting the rotation speed of the centrifugal fan 6, such as Fig.10 , Fig.11 The centrifugal fan speed regulating device shown in the figure has a hydraulic motor integrated pump 18 installed with a hydraulic pump fixed shaft sleeve 51, which is installed at the hydraulic oil port, and a lever slide plate 52 is fixedly connected to it. A slide groove is opened on the lever slide plate 52, and a lever 47 is fixed on a lever mounting plate 46. The lever mounting plate 46 is installed on a slider 48. The servo motor 50 drives the screw rod 49 to rotate, driving the slider 48 to move up and down, so that the lever 47 can move freely inside the slide groove, driving the lever slide plate 52 to rotate, and the lever slide plate 52 drives the rotation of the hydraulic pump fixed shaft sleeve 51, thereby controlling the flow rate of the hydraulic oil port, steplessly adjusting the output speed of the rotating shaft of the hydraulic motor integrated pump 18, and further controlling the speed of the centrifugal fan 6.

[0045] When the tree sizes on both sides are inconsistent, on the basis of adjusting the speed of the centrifugal fan, the different wind speeds can be further adjusted by controlling the size of each air outlet, such as Figures 7 to 9 The air outlet adjustment device shown in the figure, the air outlet device 30 includes an air outlet upper plate 35, an air outlet lower plate 36, an air outlet left plate 37 and an air outlet right plate 38. The air outlet upper plate 35 and the air outlet lower plate 36 are retractable soft plates. The air outlet left plate 37 is rotationally connected to the air outlet duct 29 through the left rotating shaft 45 of the air outlet device, and the air outlet right plate 38 is rotationally connected to the air outlet duct 29 through the right rotating shaft 43 of the air outlet device.

[0046] The air outlet device 30 is equipped with an electric pull rod 31, a connecting rod 1 40, a connecting rod 2 39, a connecting rod 3 41, a connecting rod left fixing plate 24 and a connecting rod right fixing plate 34. One end of the electric pull rod 31 is fixed to the air outlet duct 29 through an electric pull rod fixing plate 53, and the other end is connected to the connecting rod 1 40. The connecting rod 2 39 is connected to the connecting rod 1 40 and the connecting rod left fixing plate 24 through the connecting rod left rotating shaft 1 32 and the connecting rod left rotating shaft 2 33 respectively. The connecting rod left fixing plate 24 is fixed to the air outlet left plate 37. The air outlet left plate 37 is connected to one end of the air outlet duct 29 and can rotate along the left rotating shaft 45 of the air outlet device. The connecting rod three 41 is connected to the connecting rod one 40 and the connecting rod right fixed plate 34 through the connecting rod right rotating shaft one 44 and the connecting rod right rotating shaft two 42 respectively. The connecting rod right fixed plate 34 is fixed on the right air outlet plate 38. The right air outlet plate 38 is connected to one end of the air outlet duct 29 and can rotate along the right rotating shaft 43 of the air outlet device.

[0047] Among them, the end of the air outlet duct 29 connected to the air outlet device 30 is rectangular, and the end connected to the hose 28 is circular. The air outlet upper plate 35 and the air outlet lower plate 36 are retractable soft plates. At the same time, a flexible sealing duct with the same size and shape as the air outlet device 30 is installed inside the air outlet device 30 and is sealed and connected to the air outlet duct 29 to ensure that the airflow does not leak.

[0048] During operation, the opening sizes of the air outlet devices 30 on the left air-sending spray device 7 and the right air-sending spray device 54 are controlled separately according to the different sizes of the tree shapes on both sides, so as to achieve the purpose of changing the wind speed.

[0049] 3. Spray volume

[0050] Since the tree crowns are of different sizes, it is necessary to change the spray volume of each nozzle 25. According to the results of the tree crown density index detected by the three-dimensional radar 1, the switching time of the solenoid valve 19 is controlled through the calculation of the ARM control unit 55 to achieve the purpose of changing the spray volume of the nozzle 25. In the present invention, the solenoid valve 19 can control each nozzle 25 individually. At the same time, when the wind direction changes, the spray direction can be changed, and the nozzle 25 is fixed to the air outlet duct 29 by the nozzle fixing card 26. On the other hand, the driving speed is detected by the speed sensor, and the spray volume is further controlled according to the change of speed.

[0051] 4. Distance from sprinkler to crop

[0052] Due to different planting patterns and different spacings between fruit trees, it is necessary to change the distance between the nozzle 25 and the fruit tree. Taking the left side as an example, when the nozzle 25 is far away from the crop, according to the detection distance result of the three-dimensional radar 1, the ARM control unit 55 calculates and controls the stroke of the oil cylinder 15, so that the lower casing 11 and the upper casing 1 8 move along the lower casing 3 10 and the upper casing 2 9 respectively, so as to achieve the purpose of changing the distance.

[0053] Fig.12The schematic diagram showing the change of nozzle angle and spray distance during operation of the present invention is shown in FIG. Fig.13 The three-dimensional radar 1 collects the canopy information and the position information of the fruit trees, and sends them to the ARM control unit 55. The ARM control unit 55 controls the following units respectively according to the received information: sends instructions to the hydraulic motor integrated pump drive unit to drive the hydraulic motor integrated pump 18 to adjust the fan speed and change the wind speed; sends instructions to the electric pull rod drive unit to drive the electric pull rod 31 to adjust the opening of the air outlet device 30 and change the wind speed; sends instructions to the electric steering push rod drive unit to drive the electric steering push rod 21 to adjust the wind direction and the spray direction; sends instructions to the cylinder drive unit to drive the cylinder 1 15 and the cylinder 2 16 to adjust the distance between the nozzle 25 and the target; sends instructions to the solenoid valve drive unit to drive the solenoid valve 19 to adjust the spray volume.

[0054] It can be seen that the present invention is particularly suitable for spraying pesticides in hilly orchards. According to different planting patterns and growth conditions, the wind speed on both sides of the sprayer can be controlled, the wind direction can be adjusted, the spray volume can be variable, and the distance from the nozzle to the crop can be consistent.

[0055] It should be noted that the terms such as "upper", "lower", "left", "right", "front", "back", etc. cited in the invention are only for the convenience of description and are not used to limit the scope of implementation of the present invention. Changes or adjustments in their relative relationships should be regarded as the scope of implementation of the present invention without substantially changing the technical content.

[0056] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. An adaptive contour orchard sprayer, characterized in that: include: A three-dimensional radar (1), an ARM control unit (55), a vehicle body (2), a medicine box (3), an air collecting box (4), a connecting pipe (5), a centrifugal fan (6), a left air-sending spray device (7), and a right air-sending spray device (54); the three-dimensional radar (1) and the ARM control unit (55) are both installed at the front end of the vehicle body (2); the three-dimensional radar (1) detects fruit tree canopy information and fruit tree position information, and sends them to the ARM control unit (55); the three-dimensional radar (1) includes a left three-dimensional radar (56) and a right three-dimensional radar (57) which are symmetrically arranged. A three-dimensional radar (57); the medicine box (3) is installed in the middle of the vehicle body (2); the air collecting box (4) is installed on the centrifugal fan (6); the centrifugal fan (6) is installed on the vehicle body (2); a left air-sending spray device (7) and a right air-sending spray device (54) are installed on the left and right sides of the centrifugal fan (6), respectively; the airflow generated by the centrifugal fan (6) enters the air collecting box (4) and is transported through the connecting pipe (5), so that the airflow is finally discharged from the left air-sending spray device (7) and the right air-sending spray device (54); The centrifugal fan (6) is provided with vertical pipes on both sides, which are respectively referred to as vertical pipe one (13) and vertical pipe two (14); a plurality of left air-supply spray devices (7) are installed on vertical pipe one (13); a plurality of right air-supply spray devices (54) are installed on vertical pipe two (14); an upper sleeve one (8) and an upper sleeve two (9) are installed between the top of the vertical pipe one (13) and the top of the vertical pipe two (14); a lower sleeve one (11), a lower sleeve two (12) and a lower sleeve three (10) are installed between the bottom of the vertical pipe one (13) and the bottom of the vertical pipe two (14); The left end of the upper sleeve one (8) is fixedly connected to the standpipe one (13), the right end of the upper sleeve one (8) extends into the upper sleeve two (9), the right end of the upper sleeve two (9) is fixedly connected to the standpipe two (14), and the upper sleeve one (8) can slide left and right in the upper sleeve two (9); The lower sleeve three (10) is fixed on the vehicle body (2), the left end of the lower sleeve one (11) is fixedly connected to the vertical pipe one (13), the right end of the lower sleeve one (11) extends into the lower sleeve three (10), the right end of the lower sleeve two (12) is fixedly connected to the vertical pipe two (14), the left end of the lower sleeve two (12) extends into the lower sleeve three (10), and the lower sleeve one (11) and the lower sleeve two (12) can slide left and right in the lower sleeve three (10); A cylinder 1 (15) is installed between the lower casing 3 (10) and the riser 1 (13), and a cylinder 2 (16) is installed between the lower casing 3 (10) and the riser 2 (14). The cylinder 1 (15) drives the movement of the upper casing 1 (8), the lower casing 1 (11) and the riser 1 (13), and the cylinder 2 (16) drives the movement of the upper casing 2 (9), the lower casing 2 (12) and the riser 2 (14). The strokes of the cylinder 1 (15) and the cylinder 2 (16) are controlled by an ARM control unit (55); The left air-sending spray device (7) and the right air-sending spray device (54) have the same structure, and both comprise an electric steering push rod (21), an electric steering push rod rotating shaft (22), an electric steering upright (23), a spray head (25), a spray head fixing card (26), a round tube (27), a hose (28), an air outlet duct (29), and an air outlet device (30); One end of the circular tube (27) is fixed to the vertical tube, the circular tube (27) and the vertical tube are connected, the vertical tube can convey the airflow generated by the centrifugal fan (6) to the circular tube (27), the other end of the circular tube (27) is connected in sequence to a hose (28), an air outlet duct (29) and an air outlet device (30), one end of the electric steering push rod (21) is fixed to the vertical tube, the other end of the electric steering push rod (21) is connected to the electric steering vertical rod (23) via an electric steering push rod rotating shaft (22), the electric steering vertical rod (23) is fixed to the air outlet duct (29), the air outlet duct (29) swings up and down by the extension and retraction of the electric steering push rod (21), and the nozzle (25) is fixed in the air outlet duct (29) via a nozzle fixing clamp (26); The air outlet device (30) comprises an upper air outlet plate (35), a lower air outlet plate (36), a left air outlet plate (37) and a right air outlet plate (38); the upper air outlet plate (35) and the lower air outlet plate (36) are retractable soft plates; the left air outlet plate (37) is rotatably connected to the air outlet duct (29) via a left rotating shaft (45) of the air outlet device; and the right air outlet plate (38) is rotatably connected to the air outlet duct (29) via a right rotating shaft (43) of the air outlet device; An electric pull rod (31), a connecting rod 1 (40), a connecting rod 2 (39), a connecting rod 3 (41), a connecting rod left fixing plate (24) and a connecting rod right fixing plate (34) are installed on the air outlet device (30); one end of the electric pull rod (31) is fixed to the air outlet duct (29) via the electric pull rod fixing plate (53); the other end of the electric pull rod (31) is connected to the connecting rod 1 (40); one end of the connecting rod 2 (39) is connected to one end of the connecting rod 1 (40) via the connecting rod left rotating shaft 1 (32). The other end of the connecting rod 2 (39) is connected to the connecting rod left fixed plate (24) through the connecting rod left rotation axis 2 (33), and the connecting rod left fixed plate (24) is fixed on the air outlet left side plate (37); one end of the connecting rod 3 (41) is connected to the other end of the connecting rod 1 (40) through the connecting rod right rotation axis 1 (44), and the other end of the connecting rod 3 (41) is connected to the connecting rod right fixed plate (34) through the connecting rod right rotation axis 2 (42), and the connecting rod right fixed plate (34) is fixed on the air outlet right side plate (38); The vehicle body (2) is also equipped with a spray motor (17), a hydraulic motor integrated pump (18), a solenoid valve (19) and a spray pump (20). The hydraulic motor integrated pump (18) drives the centrifugal fan (6). The spray pump (20) is driven by the spray motor (17) to supply the pesticide in the medicine box (3) to the spray head (25). The solenoid valve (19) controls the flow rate of the spray head (25). The hydraulic motor integrated pump (18) and the solenoid valve (19) are controlled by an ARM control unit (55).

2. The adaptive contour orchard sprayer according to claim 1, characterized in that: The end of the air outlet duct (29) connected to the air outlet device (30) is rectangular, and the end of the air outlet duct (29) connected to the hose (28) is circular.

3. The adaptive contour-profiling orchard sprayer according to claim 1, characterized in that: A flexible sealing pipe having a size and shape consistent with the air outlet device (30) is installed inside the air outlet device (30); the flexible sealing pipe is arranged close to the air outlet device (30) and is sealedly connected to the air outlet pipe (29).

4. The adaptive contour orchard sprayer according to claim 1, characterized in that: The hydraulic motor integrated pump (18) is mounted with a lever mounting plate (46), a lever (47), a slider (48), a screw (49), a servo motor (50), a hydraulic pump fixed shaft sleeve (51) and a lever slide plate (52). The hydraulic pump fixed shaft sleeve (51) is mounted at the hydraulic oil port. The lever slide plate (52) is fixedly connected to the hydraulic pump fixed shaft sleeve (51). A slide groove is formed on the lever slide plate (52). The lever (47) is fixed on the lever mounting plate (46). The lever mounting plate (46) is mounted on the slider (48). The slider (48) is mounted on the screw (49). The servo motor (50) drives the screw (49) to rotate, driving the slider (48) to move, so that the lever (47) automatically moves in the slide groove, driving the lever slide plate (52) to rotate. The lever slide plate (52) drives the hydraulic pump fixed shaft sleeve (51) to rotate, thereby controlling the flow rate of the hydraulic oil port.

Images