A mountain orchard spraying operation robot

Abstract

The present invention discloses a spraying operation robot for mountain orchards, which relates to the technical field of plant protection equipment and includes: a walking unit, a folding robotic arm, a spraying unit, a medicine storage unit, and an environmental feature acquisition unit. The walking unit has a bearing function and can move; the folding robotic arm is arranged on the walking unit, and the folding robotic arm includes multiple segments of foldable robotic arms connected in sequence; the spraying unit is used for spraying medicine on plants; the spraying unit is arranged at the driving end of the folding robotic arm; the medicine storage unit is arranged on the walking unit and stores liquid medicine, and can provide the liquid medicine to the spraying unit; the environmental feature acquisition unit is arranged on the walking unit, and the environmental feature acquisition unit is used for acquiring the environmental information, plant position information, plant height and branch bifurcation information around the device, and transmitting the acquired information to the control system. The solution provided by the present invention has an active obstacle avoidance function and is suitable for mountainous areas with complex terrains.

Description

Technical Field

[0001] The present invention relates to the technical field of plant protection equipment, and particularly to a spraying operation robot for mountain orchards. Background Art

[0002] At present, the methods for preventing and controlling fruit tree diseases and pests are mainly divided into four categories: agricultural control, physical control, chemical control, and biological control. Chemical control is to use chemical substances such as fungicides or insecticides; physical control is to use physical energy such as light or rays, or to build barriers; tillage control is to change crop varieties, cultivation time or environment to reduce damage; biological control is mainly to utilize natural enemies, etc. Among them, chemical control is widely used due to its good use effect and economic performance. Spraying pesticides is the most common chemical control method, and this process is also the main link in the fruit production chain. So far, most orchards in China still use backpack sprayers for manual pesticide spraying. This spraying method has good flexibility and adaptability to orchards, but has poor spraying uniformity, high labor intensity of plant protection workers, great harm to the human body caused by pesticide volatilization, and is easy to form liquid medicine sediment droplets, resulting in a large amount of liquid medicine penetrating into the soil, reducing the number of soil microbial communities, losing soil fertility, and reducing the cultivation years. To solve the problems existing in the above-mentioned manual pesticide spraying, in recent years, many experts and scholars at home and abroad have carried out research on automated pesticide spraying. The main purpose is to improve the spraying quality, reduce the labor intensity and environmental pollution, and some orchard sprayers have been put into production and application. Although innovative improvements have been made on the traditional manual backpack spraying, the functions are uneven, and it does not have the functions of autonomous navigation and active obstacle avoidance, so the scope of use is limited and it can only move on specific straight lines or designated routes, such as greenhouse greenhouses. Based on this, there is an urgent need for a new type of pesticide spraying robot to solve the above problems. Summary of the Invention

[0003] The purpose of the present invention is to provide a spraying operation robot for mountain orchards to solve the problems existing in the above-mentioned prior art, with the function of active obstacle avoidance and suitable for mountainous areas with complex terrain.

[0004] To achieve the above purpose, the present invention provides the following solutions:

[0005] The present invention provides a spraying operation robot for mountain orchards, including:

[0006] A walking unit, which has a carrying function and can move;

[0007] A folding robotic arm, arranged on the walking unit, and the folding robotic arm includes multiple segments of foldable robotic arms connected in sequence;

[0008] A spraying unit for spraying plants; the spraying unit is arranged at the driving end of the folding robotic arm;

[0009] A medicine storage unit is arranged on the walking unit, stores liquid medicine, and can supply the liquid medicine to the medicine spraying unit.

[0010] An environmental feature acquisition unit is arranged on the walking unit and is used for acquiring the environmental information, plant position information, plant height and branch bifurcation information around the device, and transmitting the acquired information to the control system. The control system locates the relative position between the walking unit and the plant according to the environmental information and the plant position information, and controls the walking unit to move to the position set by the control system. The control system controls the folding robotic arm to drive the medicine spraying unit to adjust the height and the medicine spraying angle according to the plant height and branch bifurcation information.

[0011] Preferably, the walking unit is a crawler-type walking mechanism.

[0012] Preferably, a leveling device is further included. The leveling device includes a plurality of first electric push rods arranged vertically. The medicine storage box in the medicine storage unit is arranged on the plurality of first electric push rods. The control system controls the elongation and shortening of the first electric push rods according to the environmental information to ensure that the included angle between the medicine storage box and the horizontal plane does not exceed the set threshold value.

[0013] Preferably, a translation driving mechanism and a rotation driving mechanism are further included. The translation driving mechanism is arranged on the walking unit, and the rotation driving mechanism is arranged at the driving end of the translation driving mechanism. The translation driving mechanism can drive the rotation driving mechanism to move along the width direction of the walking unit. The folding robotic arm is arranged at the driving end of the rotation driving mechanism, and the rotation driving mechanism can drive the folding robotic arm to rotate around the vertical axis.

[0014] After the translation driving mechanism drives the rotation driving mechanism to one side of the translation guide rail, the rotation driving mechanism can drive the folding robotic arm to rotate to directly above the translation guide rail, and the folding robotic arm can be stacked on the upper surface of the translation guide rail.

[0015] Preferably, the environmental feature acquisition unit includes a front camera arranged at the front end of the walking unit, ultrasonic sensors located on both sides of the front camera, and an end camera at the end of the folding robotic arm.

[0016] Preferably, the medicine spraying unit includes a medicine spraying rod driving mechanism and a deployable and retractable medicine spraying rod, and the medicine spraying rod driving mechanism can drive the medicine spraying rod to deploy and retract.

[0017] Preferably, the spraying unit includes two arc-shaped spraying rods and a rod receiving cavity. The spraying rods can be retracted into the rod receiving cavity. When spraying is required, the spraying rod driving mechanism drives the spraying rods to extend from the rod receiving cavity. When unfolded, the two spraying rods move in opposite directions, and the two spraying rods in the unfolded state can at least jointly surround the plant for half a week. A plurality of spraying nozzles are sequentially arranged along the length direction of the inner side of the spraying rod.

[0018] Preferably, it further includes a docking unit. A drug delivery channel is arranged in the docking unit. The drug delivery channel is connected to the drug delivery pipe of the drug storage unit. Two first docking ports are also arranged on the drug delivery channel. The two first docking ports respectively correspond to the two spraying rods. Normally, the first docking port is separated from the second docking port on the drug cavity in the spraying rod. When spraying is required, the docking unit docks the first docking port onto the second docking port.

[0019] Preferably, the multiple segments of the robotic arm are connected to each other by connecting members, and each robotic arm is pushed and rotated by a second electric push rod to achieve folding and unfolding.

[0020] Preferably, the spraying unit is rotatably arranged at the driving end of the folding robotic arm around a horizontal axis and can be driven to rotate by a third electric push rod.

[0021] The present invention has achieved the following technical effects compared with the prior art:

[0022] 1. The mountain orchard spraying operation robot provided by the present invention is provided with an environmental feature acquisition unit for acquiring the environmental information around the device. The control system controls the walking unit to actively avoid obstacles according to the environmental information, and thus is applicable to mountainous and hilly areas.

[0023] 2. Compared with tires, the crawler-type walking mechanism can easily walk and move even in rugged and complex terrains such as mountains and hills. At the same time, a suspension beam and a spring are respectively fixed between the crawler structure support and the driven wheel structure support. Therefore, the crawler-type walking mechanism provided by the present invention can ensure the stability of the robot's center of gravity during walking on rugged and complex terrains, so that each mechanism arranged on the crawler-type walking mechanism can work normally.

[0024] 3. The spraying robot for mountain orchards provided by the present invention adopts a folding robotic arm, which can be adjusted according to the height and growth width of the plants during the working process to cooperate with each other, so as to adjust to the most suitable position for spraying; during non-working periods, the folding robotic arm can be folded and retracted to save space as much as possible and prevent stacking; each segment of the robotic arm rod in the folding robotic arm uses a stepper motor electric push rod. Its advantage is that it is equipped with a built-in Hall encoder, which can accurately detect position movement. Compared with a hydraulic extension rod, the stepper motor electric push rod has the advantages of being light and flexible, not requiring the establishment of a hydraulic pumping station, reducing the negative pressure of the robotic arm, and having no noise, low resistance and long life; the electric push rod can operate stably when controlling the movement of the robotic arm, ensuring that the end can spray medicine smoothly from bottom to top.

[0025] 4. The medicine storage tank in the spraying robot for mountain orchards provided by the present invention is located at the rear end of the walking unit, and the bottom of the medicine storage tank is supported by four stepper motor electric push rods. The bottom end of the electric push rod is fixed to the bottom of the inner cavity of the walking unit. When the robot provided by the present invention walks on the mountain, the surrounding road conditions are detected by the ultrasonic sensors on both sides and the front camera, and the surrounding environmental conditions are fed back to the control system. The control system issues a control signal, and by adjusting the electric push rod, the center of gravity of the medicine storage tank can be stabilized without the risk of deviation or tipping over.

[0026] 5. The spraying robot for mountain orchards provided by the present invention is provided with a translation drive mechanism and a rotation drive mechanism. Its advantage is that when spraying medicine, through the signal issued by the control system, the translation drive mechanism and the rotation drive mechanism complete cooperation, and the most suitable horizontal translation distance and rotation angle for spraying can be achieved; when in the non-working period, the translation drive mechanism moves the rotation drive mechanism to one side, and the rotation drive mechanism drives the folding robotic arm to rotate parallel to the translation guide rail, so as to achieve the purpose of saving space and facilitating movement in the mountainous area with complex environment.

[0027] 6. The spraying robot for mountain orchards provided by the present invention sprays medicine on the plants in a surrounding manner, thereby improving the spraying effect and reducing waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0029] Figure 1 It is the working flow chart of the spraying robot for mountain orchards provided by the present invention;

[0030] Figure 2 Schematic diagram of the overall structure of the mountain orchard spraying operation robot provided by the present invention;

[0031] Figure 3 For Figure 2 Working deployment diagram of the mountain orchard spraying operation robot in

[0032] Figure 4 For Figure 3 Side view of

[0033] Figure 5 For Figure 3 Top view of

[0034] Figure 6 For Figure 3 Front view of

[0035] Figure 7 Schematic diagram of the structure after the spraying angle is changed;

[0036] Figure 8 Schematic diagram of the fixed path of the infusion tube;

[0037] Figure 9 Schematic diagram of the structure with the medicine storage tank arranged on the leveling device;

[0038] Figure 10 Schematic diagram of the spraying unit structure;

[0039] Figure 11 Schematic diagram of the docking unit structure;

[0040] Figure 12 For Figure 11 Schematic diagram of the structure after removing the accommodating part;

[0041] Figure 13 Schematic diagram of the reverse mechanism of the triangular misaligned gears in the end chassis;

[0042] Figure 14 Schematic diagram of the structure of a spraying rod;

[0043] Figure 15 Schematic diagram of the docking spraying end;

[0044] In the figure: 1 - medicine storage unit; 11 - medicine storage box; 12 - medicine delivery pipe; 13 - water pump; 14 - solenoid valve; 21 - translation drive mechanism; 22 - rotation drive mechanism; 23 - folding robotic arm; 24 - pipe fixture; 3 - environmental feature acquisition unit; 31 - ultrasonic sensor; 32 - front-end camera; 4 - spraying unit; 5 - electric push rod; 6 - control system; 7 - chassis; 71 - storage battery; 8 - walking unit; 9 - double-headed connector; 51 - first electric push rod; 52 - second electric push rod; 53 - third electric push rod; 231 - robotic arm base; 232 - robotic arm; 233 - first connector;; 41 - docking unit; 42 - travel switch; 421 - travel switch limit piece; 43 - medicine rod accommodation cavity; 44 - end chassis; 441 - first gear; 442 - second gear; 443 - third gear; 45 - end motor; 451 - motor bracket; 452 - coupling; 46 - end camera; 411 - docking frame; 412 - docking servo; 413 - docking frame; 414 - docking spraying end; 415 - first docking port; 416 - medicine inlet; 431 - spraying rod; 4311 - travel switch contact; 4312 - medicine cavity; 4313 - second docking port; 4314 - spraying nozzle. Detailed implementation manners

[0045] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0046] The purpose of the present invention is to provide a spraying operation robot for mountain orchards to solve the problems existing in the above-mentioned prior art, with an active obstacle avoidance function and suitable for mountainous areas with complex terrain.

[0047] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0048] The present invention provides a spraying operation robot for mountain orchards, as Figures 1 - 6 shown, including a walking unit 8, a folding robotic arm 23, a spraying unit 4, a medicine storage unit 1, an environmental feature acquisition unit 3, and a control system 6;

[0049] Among them, the traveling unit 8 has a carrying function and can move; the traveling unit 8 is preferably a crawler traveling mechanism. Compared with tires, the crawler traveling mechanism can easily move even on rugged and complex terrains such as mountains and hills. At the same time, a suspension beam and a spring can be respectively fixed between the crawler structure support and the driven wheel structure support, so as to ensure the stability of the robot's center of gravity during the process of walking on rugged and complex terrains, so that each mechanism arranged on the crawler traveling mechanism can work normally.

[0050] The folding robotic arm 23 is arranged on the traveling unit 8. The folding robotic arm 23 includes multiple segments of foldable robotic arms 232 connected in sequence; the multiple segments of robotic arms 232 are connected to each other by connecting members 233. In a preferred embodiment, each robotic arm 232 is driven to rotate by a second electric push rod to achieve folding and unfolding, so as to fold and contract the robotic arm 232 during the walking stage, reducing the occupied space, lowering the center of gravity and reducing the size of the entire device, thereby facilitating passing through narrow channels;

[0051] Such as Figure 10 , the spraying unit 4 is used to spray medicine on plants; the spraying unit 4 is arranged at the driving end of the folding robotic arm 23; preferably, the spraying unit 4 includes a spraying rod driving mechanism and a spraying rod 431 that can be unfolded and retracted. The structure of the spraying rod 431 is as Figure 14 , the spraying rod driving mechanism can drive the spraying rod 431 to unfold and retract, retract the spraying rod 431 during the walking stage, and unfold the spraying rod when spraying is required. More specifically, the spraying unit 4 includes two arc-shaped spraying rods 431 and a rod receiving cavity 43. The rod receiving cavity is formed in a receiving member. The spraying rod 431 can be retracted into the rod receiving cavity 43. When spraying is required, the spraying rod driving mechanism drives the spraying rod 431 to extend out of the rod receiving cavity 43. When unfolded, the two spraying rods 431 move in opposite directions, and the two spraying rods 431 in the unfolded state can at least jointly surround the plant for half a week. A plurality of spraying nozzles 4314 are sequentially arranged along the length direction of the inner side of the spraying rod 431, spraying the plant in a surrounding manner, thereby improving the spraying effect and reducing waste. In a more preferred embodiment, the spraying unit 4 is rotatably arranged at the driving end of the folding robotic arm 23 around a horizontal axis and can be driven to rotate by a third electric push rod 53. Before or during spraying, the spraying angle of the spraying unit 4 can be driven by controlling the extension and shortening of the third electric push rod 53, as Figure 7 shown, is a schematic diagram after the spraying angle is changed.

[0052] The medicine storage unit 1 is arranged on the traveling unit 8 and stores liquid medicine, and can supply the liquid medicine to the spraying unit 4; in a preferred embodiment, a leveling device is arranged on the traveling unit 8, such as Figure 9As shown in the figure, the leveling device includes a plurality of first electric push rods 51 vertically arranged. The medicine storage box 11 in the medicine storage unit 1 is arranged on the plurality of first electric push rods 51. The control system 6 controls the extension and shortening of the first electric push rods 51 according to the environmental information to ensure that the angle between the medicine storage box 11 and the horizontal plane does not exceed the set threshold at all times. When the walking unit 8 walks on the mountain, the environmental feature acquisition unit 3 detects the surrounding road conditions and feeds back the surrounding environmental conditions to the control system 6. The control system issues a control signal, and by adjusting the first electric push rods 51, the center of gravity of the medicine storage box 11 is stabilized, and risks such as deviation or rollover will not occur. In addition, a conventional leveling system in the prior art can also be used to achieve the leveling purpose. Preferably, it further includes a water pump 13 and a solenoid valve 14. Both the water pump 13 and the solenoid valve 14 are arranged on the medicine delivery pipe 12. The medicine delivery pipe 12 is fixed by a pipe fixing member 24, such as Figure 8 is a schematic diagram of the fixing path of the infusion tube.

[0053] The environmental feature acquisition unit 3 is arranged on the walking unit 8. The environmental feature acquisition unit 3 is used to collect the environmental information, plant position information, plant height and branch bifurcation information around the device, and transmit the collected information to the control system 6. The control system 6 locates the relative position between the walking unit 8 and the plant according to the environmental information and the plant position information and controls the walking unit 8 to move to the position set by the control system 6. The control system 6 controls the folding robotic arm 23 to drive the spraying unit 4 to adjust the height and spraying angle according to the plant height and branch bifurcation information. Preferably, the environmental feature acquisition unit 3 includes a front camera 32 arranged at the front end of the walking unit 8, ultrasonic sensors 31 arranged on both sides of the front camera 32, and a terminal camera 46 at the end of the folding robotic arm 23. The front camera 32 is used to obtain the image information of the front environment. The ultrasonic sensors 31 are used to detect whether there are obstacles on both sides and the distance of the obstacles so as to control the movement of the walking unit 8 according to the collected information. The terminal camera 46 obtains the height and branch bifurcation and other environmental conditions of the orchard plants, and transmits the plant information and other environmental conditions to the control system 6.

[0054] Therefore, the mountain orchard spraying operation robot provided by the present invention is provided with an environmental feature acquisition unit 3 for collecting the environmental information around the device. The control system 6 controls the walking unit 8 to actively avoid obstacles according to the environmental information, and thus is applicable to mountainous and hilly areas.

[0055] In some embodiments, the mountain orchard spraying operation robot provided in this embodiment further includes a translation drive mechanism 21 and a rotation drive mechanism 22. The translation drive mechanism 21 is disposed on the traveling unit 8, and the rotation drive mechanism 22 is disposed at the drive end of the translation drive mechanism 21. The translation drive mechanism 21 can drive the rotation drive mechanism 22 to move along the width direction of the traveling unit 8. The folding robotic arm 23 is disposed at the drive end of the rotation drive mechanism 22, and the rotation drive mechanism 22 can drive the folding robotic arm 23 to rotate around the vertical axis;

[0056] After the translation drive mechanism 21 drives the rotation drive mechanism 22 to one side of the translation guide rail, the rotation drive mechanism 22 can drive the folding robotic arm 23 to rotate to directly above the translation guide rail, and the folding robotic arm 23 can be stacked on the upper surface of the translation guide rail.

[0057] Among them, the translation drive mechanism 21 adopts a ball screw mechanism. The screw is the translation guide rail. The screw extends along the width direction of the traveling unit 8 and is disposed at the front side of the traveling unit 8. The rotation drive mechanism 22 is disposed on the slider of the ball screw mechanism and can translate along with the slider on the translation guide rail.

[0058] In some embodiments, the mountain orchard spraying operation robot provided in this embodiment further includes a docking unit 41. A medicine delivery channel is provided in the docking unit 41. The medicine delivery channel is formed in the docking spraying end 414. The structure of the docking spraying end 414 is as Figure 15 shown. The medicine delivery channel is connected to the medicine delivery pipe 12 of the medicine storage unit 1. Two first docking ports 415 are further provided on the medicine delivery channel. The two first docking ports 415 respectively correspond to the two spraying rods 431. Under normal conditions, the first docking port 415 is separated from the second docking port 4313 on the medicine cavity 4312 in the spraying rod 431. When spraying is required, the docking unit 41 docks the first docking port 415 to the second docking port 4313.

[0059] Among them, the docking unit 41 has a servo motor, and the docking is achieved by driving the servo motor. Since the spraying rod 431 is not a fixed component and its position is different during walking and spraying, the docking unit 41 is provided to supply the liquid medicine into the spraying rod 431.

[0060] In some embodiments, the spraying rod drive mechanism is driven by an end motor 45. The end motor 45 is installed above the end chassis, and a triangular misalignment gear reverse mechanism is used to achieve the effect that one end motor 45 drives the two spraying rods 431 to move in opposite directions as Figure 13, specifically, the first gear 441 on the power shaft meshes with the second gear 442 on the left shaft, and the second gear 442 on the left shaft meshes with the third gear 443 on the right shaft to form a large height difference, which is the reverse mechanism of the triangular misaligned gears. Meshing teeth are provided on the outer sides of both spraying rods 431 and mesh with the second gear 442 and the third gear 443 respectively. When the end motor 45 rotates, it drives the two spraying rods 431 to move in two opposite directions respectively. When the travel switch contact 4311 installed on the spraying rod 431 runs to the travel switch limit piece 421 (the travel switch 42 is installed in the accommodating part, see appendix Figure 12 ), the travel switch 42 sends a feedback signal to the control system 6, and the control system 6 issues a control to turn off the end motor 45. At this time, the second pair of interfaces 4313 on the spraying rod 431 are exactly opposite the center of the end chassis 44; at this time, the docking unit drives the first pair of interfaces to start docking with the second pair of interfaces 4313; at this time, the docking unit 41 starts to move, and the control system 6 issues a control signal to control the operation of several docking servos 412 on the docking rack 411 fixed to the end chassis 44, so that the first pair of interfaces 415 of the docking spraying end 414 are exactly opposite the center of the end chassis 44, and the first pair of interfaces 415 start to dock with the second pair of interfaces 4313; the liquid medicine enters the docking spraying end 414 from the medicine inlet 416 and enters the two spraying rods 431 through the first pair of interfaces 415 and the second pair of interfaces 4313, thus completing the surrounding spraying method (see appendix Figure 11 , 12 ).

[0061] The basic working process of the present invention

[0062] When the present invention is spraying the orchard plants, the front camera 32 of the chassis 7 and the ultrasonic sensors 31 fixed on both sides of the chassis 7 obtain the roadblock situation and other environmental situations in the forward direction of the traveling unit 8, and the front camera 32 and the ultrasonic sensors 31 transmit the obtained roadblock situation and surrounding environment information to the working control system 6. Through the internal chip processing and judgment of the control system 6, the obtained roadblock situation and surrounding environment information are processed and transmitted to the traveling unit 8, so as to control the robot to perform walking movements such as forward, backward, left deviation, and right deviation, so that the present invention can position the distance between the robot and the plants by controlling elements such as the forward direction and forward speed of the traveling unit 8, so as to accurately reach the optimal spraying position;

[0063] Meanwhile, the present invention obtains environmental conditions such as the height of orchard plants and the forking of branches through the end camera 46 fixed on the left side of the end chassis 44, and transmits the information of the plants and other environmental conditions to the control system 6. The control system 6 processes and judges the information and gives feedback, and issues an output signal to control the translation drive mechanism 21 and the rotation drive mechanism 22 to adjust the left and right horizontal movement distance of the folding robotic arm 23 and change the angle formed between it and the plant, and coordinates with the telescopic movement of the folding robotic arm 23 and a number of second electric push rods 52 (see attached Figure 3 and attached Figure 4 ), so as to adjust the telescopic length of the folding robotic arm 23, and further achieve the adjustment of the spraying height to adapt to plants of different heights for spraying; after adjusting the position of the robot and the plant through the above work, the control system 6 issues a control signal to control the working state of the end motor 45 on the end spraying unit 4. When spraying, the end motor 45 drives the internal gears to operate (see attached Figure 12 ), so as to drive the spraying rod 431 to move out from both ends of the rod accommodating cavity 4343. When the travel switch contact 4311 on the spraying rod 431 reaches the travel switch limit piece 421, the control system 6 issues a signal to stop the operation of the end motor 45. At this time, the docking unit 41 drives the first docking interface 415 to dock with the second docking interface 4313, so as to complete the end encircling spraying (see attached Figure 11 and 12 );

[0064] After completing a series of spraying operations, the control system 6 issues a control signal, and the end motor 45 starts to operate. Through the gear meshing effect, the two spraying rods 431 start to retract. After reaching the initial position, the end motor 45 stops operating; through the control of the control system 6, a number of second electric push rods 52 start to move, controlling the folding robotic arm 23 to return to the folded state, and the translation drive mechanism 21 carries the leftmost end of the rotation drive mechanism 22. The rotation drive mechanism 22 adjusts the angle of the spraying mechanism to make it parallel to the movement direction of the ball screw mechanism, as shown in Figure 2 .

[0065] Specific examples are applied in the present invention to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A mountain orchard spraying robot, characterized by: include: A walking unit, which has a load-bearing function and is movable; A folding mechanical arm is provided on the walking unit, and the folding mechanical arm comprises a plurality of foldable mechanical arms connected in sequence; A spraying unit, used for spraying medicine on plants; the spraying unit is arranged at the driving end of the folding mechanical arm; a medicine storage unit, which is provided on the walking unit and stores liquid medicine and can provide liquid medicine to the spraying unit; An environmental feature acquisition unit is provided on the walking unit and is used to collect environmental information, plant position information, plant height, and branch bifurcation information around the device, and transmit the collected information to the control system. The control system locates the relative position of the walking unit and the plant according to the environmental information and the plant position information and controls the walking unit to move to the position set by the control system. The control system controls the folding mechanical arm to drive the spraying unit to adjust the height and spraying angle according to the plant height and branch bifurcation information. The spraying unit includes a spraying rod driving mechanism and a deployable and retractable spraying rod. The spraying rod driving mechanism can drive the spraying rod to deploy and retract. The spraying unit includes two arc-shaped spraying rods and a rod accommodating cavity. The spraying rod can be retracted into the rod accommodating cavity. When spraying is required, the spraying rod driving mechanism drives the spraying rod to extend from the rod accommodating cavity. When deployed, the two spraying rods move in opposite directions and the two spraying rods in the deployed state can at least surround half of the plant together. The inner side of the spraying rod is sequentially provided with multiple spray nozzles along its own length direction. A docking unit is provided with a drug delivery channel, which is connected to the drug delivery tube of the drug storage unit. The drug delivery channel is also provided with two first pairs of interfaces, and the two first pairs of interfaces correspond to the two spray rods respectively. Under normal circumstances, the first pair of interfaces is separated from the second pair of interfaces on the drug chamber in the spray rod. When spraying is required, the docking unit docks the first pair of interfaces with the second pair of interfaces; the spray rod driving mechanism is driven by a terminal motor, which is installed above the terminal chassis and uses a triangular staggered gear reversing mechanism to achieve the effect of one terminal motor driving the two spray rods to move in opposite directions; the first gear on the power shaft is meshed with the second gear on the left shaft, and the second gear on the left shaft is meshed with the third gear on the right shaft to form a high position difference, that is, the triangular staggered gear reversing mechanism. The outer sides of the two spray rods are provided with meshing teeth, which are respectively meshed with the second gear and the third gear. When the terminal motor rotates, the two spray rods are driven to move in opposite directions respectively; when the second pair of interfaces on the spray rod is exactly at the center of the terminal chassis, the docking unit drives the first pair of interfaces to start docking with the second pair of interfaces.

2. The mountain orchard spraying robot according to claim 1, characterized in that: The walking unit is a crawler-type walking mechanism.

3. The mountain orchard spraying robot according to claim 1, characterized in that: It also includes a leveling device, which includes a plurality of upright first electric push rods. The medicine storage box in the medicine storage unit is set on the plurality of first electric push rods. The control system controls the extension and shortening of the first electric push rods according to environmental information to ensure that the angle between the medicine storage box and the horizontal plane does not exceed the set threshold at all times.

4. The mountain orchard spraying robot according to claim 1, characterized in that: The folding robot further comprises a translation drive mechanism and a rotation drive mechanism, wherein the translation drive mechanism is provided on the traveling unit, and the rotation drive mechanism is provided at a driving end of the translation drive mechanism, and the translation drive mechanism is capable of driving the rotation drive mechanism to move along the width direction of the traveling unit, and the folding robot arm is provided at a driving end of the rotation drive mechanism, and the rotation drive mechanism is capable of driving the folding robot arm to rotate around a vertical axis; After the translation drive mechanism drives the rotation drive mechanism to one side of the translation guide rail, the rotation drive mechanism can drive the folding robot arm to rotate to just above the translation guide rail, and the folding robot arm can be stacked on the upper surface of the translation guide rail.

5. The mountain orchard spraying robot according to claim 1, characterized in that: The environmental feature acquisition unit includes a front-end camera arranged at the front end of the walking unit, ultrasonic sensors located on both sides of the front-end camera, and an end camera at the end of the folding robotic arm.

6. The mountain orchard spraying robot according to claim 1, characterized in that: The multiple sections of the robotic arms are connected to each other through connecting pieces, and each of the robotic arms is driven to rotate and fold and unfold by a second electric push rod.

7. The mountain orchard spraying robot according to claim 1, characterized in that: The spraying unit is rotatably arranged at the driving end of the folding mechanical arm around a horizontal axis, and can be driven to rotate by a third electric push rod.

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