Wind-feeding self-propelled orchard precision pesticide spraying robot

Abstract

This invention relates to the field of wind-driven spraying equipment technology, specifically to a wind-driven self-propelled precision pesticide spraying robot for orchards. It includes a main frame, a track assembly mounted on the lower part of the main frame, a liquid tank installed inside one end of the main frame, a power assembly installed inside the other end of the main frame, a control assembly mounted on one side of one end of the main frame, an image recognition assembly mounted at the center of the top of the main frame, an unmanned driving assembly fixed to the top of the main frame, and a spraying mechanism mounted at the other end of the main frame. In this invention, the wind-driven self-propelled precision pesticide spraying robot for orchards can identify the shape of fruit trees and the distribution of pests and diseases through the image recognition assembly. This allows the control assembly to adjust the spraying range of the spraying assembly, enabling precision spraying operations tailored to different tree shapes and fruit tree areas, reducing pesticide waste and contamination, and improving application efficiency.

Description

Technical Field

[0001] This invention relates to the field of wind-driven spraying equipment technology, specifically to a wind-driven self-propelled precision pesticide spraying robot for orchards. Background Technology

[0002] Because citrus trees are mostly planted in hilly and mountainous areas, daily management is greatly limited. Spraying pesticides to treat diseases and pests in citrus orchards is a frequent task, usually done manually, which is time-consuming, labor-intensive, and has a significant impact on the health of workers. Currently, traditional orchard pesticide spraying machines are extremely scarce. Even when machines are used, they lack adaptability to fruit trees of different sizes, resulting in poor spraying quality, serious pesticide pollution, low pesticide utilization, and ineffective disease and pest control. Summary of the Invention

[0003] To overcome the aforementioned technical problems, the present invention aims to provide a wind-driven self-propelled orchard precision pesticide spraying robot. Through an image recognition component, it can identify the shape of fruit trees and the distribution of pests and diseases. By controlling the spraying component, it can adjust the spraying range of the spraying component, thereby carrying out corresponding precision spraying operations according to different tree shapes and different fruit tree areas, reducing pesticide waste and pollution, and improving the application effect.

[0004] The objective of this invention can be achieved through the following technical solutions:

[0005] A pneumatically driven, self-propelled precision pesticide spraying robot for orchards includes a main frame with a track assembly mounted on its underside. A liquid tank is installed inside one end of the main frame, and a power assembly is installed inside the other end. A control assembly is mounted on one side of one end of the main frame, and an image recognition assembly is mounted at the center of the top of the main frame. An unmanned driving assembly is fixedly connected to the top of the main frame. A spraying mechanism is mounted at the other end of the main frame, including a fan disc fixedly mounted to the other end of the main frame. Fan blades are located inside one side of the fan disc, and a drive shaft is fixedly sleeved at the center of the fan blades. The drive shaft is connected to the power assembly for transmission. The fan disc has an annular groove on one outer side wall. Spraying components are provided on both sides of the fan disc. Each spraying component includes an adjustment component and seven equally spaced rotating shafts. The rotating shafts are rotatably sleeved with one inner side wall of the fan disc. A guide plate is fixedly sleeved on one end of each rotating shaft, and a spray pipe is provided between two adjacent rotating shafts. The spray pipe is rotatably sleeved with one outer side wall of the fan disc, and a nozzle is fixedly connected to the other end of the spray pipe. The adjustment component is used to drive the multiple spray pipes and rotating shafts on the corresponding side to rotate. The image recognition component identifies the plants on both sides, thereby adjusting the spray range of the spraying components through the control component, so as to carry out corresponding precision spraying operations according to different tree shapes and different fruit tree areas.

[0006] Furthermore, the image recognition component includes two depth cameras, which are located on opposite sides of the top of the main frame. The image recognition component uses a trained recognition method to identify the shape of the fruit tree and the degree of pests and diseases, and then transmits the identified data to the control component to control the spraying mechanism.

[0007] Furthermore, the autonomous driving component includes a positioning antenna and a signal antenna, which are fixedly installed at the top center of the main frame. Several ultrasonic radars are fixedly installed around the main frame, and a lidar is fixedly installed at one end face of the main frame. The multiple ultrasonic radars are used to detect surrounding obstacles, and the lidar, in conjunction with SLAM technology, provides a map building module for autonomous driving.

[0008] Furthermore, a drive gear one is fixedly sleeved at the other end of the rotating shaft. An arc-shaped toothed plate is provided on one side of the drive gear one. A slider is fixedly connected to one side wall of the arc-shaped toothed plate. The slider is slidably connected to the annular groove. A drive gear two is fixedly sleeved on the outer wall of the other end of the nozzle. Both the drive gear two and the drive gear one mesh with the adjacent arc-shaped toothed plate. The outer diameters of the drive gear two and the drive gear one are the same, so that the guide plates located adjacent to the bottom of the nozzle have the same angle, thereby making the airflow direction consistent with the spray direction of the nozzle after being guided by the guide plates on both sides.

[0009] Furthermore, the adjusting component includes a fixed plate, which is fixedly connected to the outer wall of the fan disc. An arc-shaped outer wall of the fixed plate is slidably connected to arc-tooth rod one and arc-tooth rod two. The arc-shaped toothed plate at the lowest position in the same spray assembly is fixedly connected to arc-tooth rod two, and the arc-shaped toothed plate at the highest position in the same spray assembly is fixedly connected to arc-tooth rod one. One side wall of the remaining five arc-shaped toothed plates is fixedly connected to a fixing member. The fixing member has a transmission gear set inside, which is transmissionly connected to arc-tooth rod one and arc-tooth rod two. By adjusting the angles of multiple guide plates and nozzles through the adjusting component, the spray range of the spray assembly can be adjusted.

[0010] Furthermore, two venting slots are provided on the other side wall of the fixed plate, and connecting seats are fixedly connected to the other side walls of the first and second arc toothed rods. An electric telescopic rod is rotatably connected between one end of the connecting seat and one outer side wall of the fan plate, and the first and second arc toothed rods are moved by the electric telescopic rod.

[0011] Furthermore, the transmission gear set includes a transmission gear one and a transmission gear four. The transmission gear one is rotatably connected to one inner wall of the fixed member, and the transmission gear four is rotatably connected to the other inner wall of the fixed member. The transmission gear one meshes with an arc-tooth rod one, and the transmission gear four meshes with an arc-tooth rod two. A transmission gear two is fixedly connected to one side wall of the transmission gear one, and a transmission gear three is fixedly connected to one side wall of the transmission gear four. The transmission gear three meshes with the transmission gear two. The ratio of the linear velocities of the transmission gear one and the transmission gear four is N, and N in the five transmission gear sets is 0.2, 0.5, 1, 2, and 5 from top to bottom. Taking the transmission gear set at the bottom position as an example, since the transmission gear one and the transmission gear four mesh... The linear velocity ratio N between the four gears is 5. When the first arc tooth rod remains stationary, the second arc tooth rod slides downwards by 6 units, causing the transmission gear set to slide downwards by 5 units. That is, the second arc tooth rod moves down one unit relative to the transmission gear set, and the first arc tooth rod moves up 5 units relative to the transmission gear set. Therefore, when the second arc tooth rod slides down 6 units, the multiple transmission gear sets move down 1, 2, 3, 4, and 5 units from top to bottom in sequence. This ensures that when the angle of the bottom guide plate is changed, the angles of the multiple guide plates change in an arithmetic sequence from bottom to top, while the angle of the top guide plate remains unchanged. This ensures that the angles between the multiple guide plates are always evenly distributed, achieving uniform spraying within the spray range.

[0012] Furthermore, the second drive gear has the same outer diameter as the first drive gear, and the other end of the nozzle is fixedly fitted with a wind duct. The wind duct is coaxial with the nozzle, and the airflow is constrained by the wind duct to reduce the dispersion of the airflow and improve the blowing effect of the powder mist near the nozzle.

[0013] The identification method includes the following steps:

[0014] S1. Obtain the original image and perform image resolution enhancement processing on the original image;

[0015] S2. The image in S1 is processed by a median filter to reduce influencing factors in the image and to identify pests. The principle of the median filter is similar to that of the mean filter. The pixel output of the mean filter is the average value in the corresponding pixel neighborhood, while the pixel output of the median filter is the median value in the corresponding pixel neighborhood. Compared with the mean filter, the median filter is not sensitive to outliers. Therefore, the median filter can reduce the influence of outliers without reducing the image contrast and improve the pest identification rate.

[0016] S3. Use the MCNN neural network to count the pests in the image. MCNN is based on a multi-column deep neural network.

[0017] S4. For diseases that show significant differences on the leaves, DeepLabv3+ is used for disease segmentation. DeepLabv3+ uses a deep convolutional neural network to classify each pixel in the image. In addition, a multi-scale feature fusion method is used to combine feature information at different scales, thereby further improving the accuracy and robustness of the model and obtaining a more accurate distribution of the types and densities of pests and diseases.

[0018] The beneficial effects of this invention are:

[0019] 1. The image recognition component can identify the shape of fruit trees and the distribution of pests and diseases, thereby adjusting the spray range of the spray component through the control component, so as to carry out corresponding precision spraying operations according to different tree shapes and different fruit tree areas;

[0020] 2. By configuring the spray assembly, when adjusting the spray range, the second arc-tooth rod slides, driving multiple transmission gear sets to move in the same direction, with the distance increasing sequentially from top to bottom. This ensures that when the angle of the bottom guide plate is changed, the angles of the multiple guide plates change in an arithmetic sequence from bottom to top, while the angle of the top guide plate remains constant. Similarly, when the first arc-tooth rod is driven to change the angle of the top guide plate, the angles of the other guide plates (excluding the bottom guide plate) change sequentially, making the angle difference between adjacent guide plates the same. This achieves a uniform distribution of nozzle angles. The toothed rod controls the angle of the lowest guide plate and nozzle, thereby controlling the downward spray range of the spray assembly. The arc toothed rod controls the angle of the highest guide plate, thereby controlling the upward spray range. Multiple guide plates in the middle are evenly distributed between the guide plates at both ends (specifically referring to angle), achieving uniform spraying within the spray range. This allows control of the spray range of the spray assembly by controlling the angle of the guide plates at both ends, simplifying the operation of adjusting the nozzle and airflow direction. It enables the spray range of the spray assembly to be flexibly changed as needed, facilitating application of pesticides based on tree shape and the distribution of pests and diseases. Attached Figure Description

[0021] The invention will now be further described with reference to the accompanying drawings.

[0022] Figure 1 This is a schematic diagram of the overall front view of the present invention;

[0023] Figure 2 This is a schematic diagram of the overall top view structure of this invention;

[0024] Figure 3 This is a schematic diagram of the overall right-side structure in this invention;

[0025] Figure 4 This is a schematic diagram of the spraying mechanism in this invention;

[0026] Figure 5 This is a schematic diagram of the internal structure of the wind plate in this invention;

[0027] Figure 6 This is a schematic diagram of the spray assembly structure in this invention;

[0028] Figure 7 yes Figure 6 A magnified view of part A;

[0029] Figure 8 This is a schematic diagram of the fixing plate structure in this invention;

[0030] Figure 9 This is a schematic diagram of the arc-shaped toothed plate and guide plate structure in this invention;

[0031] Figure 10 This is a schematic diagram of the structure of multiple transmission gear sets in this invention;

[0032] Figure 11 This is a diagram showing the density counting effect of MCNN in this invention.

[0033] In the diagram: 100, Main frame; 110, Track assembly; 120, Liquid tank; 130, Depth camera; 140, Power assembly; 150, Positioning antenna; 160, Ultrasonic radar; 170, Signal antenna; 180, LiDAR; 200, Spraying mechanism; 210, Wind turbine; 211, Annular groove; 220, Fan blade; 230, Rotating shaft; 231, Guide plate; 232, Drive gear one; 240, Nozzle; 241 242. Drive gear 2; 250. Air duct; 251. Transmission gear set; 252. Transmission gear 1; 253. Transmission gear 2; 254. Transmission gear 3; 255. Transmission gear 4; 260. Adjustment assembly; 261. Arc tooth rod 1; 262. Arc tooth rod 2; 263. Fixing plate; 264. Venting slot; 265. Connecting seat; 266. Electric telescopic rod; 270. Arc toothed plate; 271. Slider; 280. Fixing component. Detailed Implementation

[0034] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0035] Please see Figure 1-11As shown, the wind-driven self-propelled precision pesticide spraying robot for orchards includes a main frame 100, a track assembly 110 mounted on the lower part of the main frame 100, a liquid tank 120 installed inside one end of the main frame 100, a power assembly 140 installed inside the other end of the main frame 100, a control assembly mounted on one side of one end of the main frame 100, an image recognition assembly mounted at the middle of the top of the main frame 100, an unmanned driving assembly fixedly connected to the top of the main frame 100, and a spraying mechanism 200 mounted on the other end of the main frame 100. The spraying mechanism 200 includes a fan disc 210, which is fixedly mounted to the other end of the main frame 100. A fan blade 220 is provided inside one side of the fan disc 210, and a drive shaft is fixedly sleeved at the middle of the fan blade 220. The drive shaft is connected to the power assembly 140 for transmission. The fan plate 210 has an annular groove 211 on one outer wall. Spraying components are provided on both sides of the fan plate 210. The spraying components include an adjusting component 260 and seven equidistant rotating shafts 230. The rotating shafts 230 are rotatably sleeved with one inner wall of the fan plate 210. A guide plate 231 is fixedly sleeved on one end of the rotating shaft 230. A spray pipe 240 is provided between two adjacent rotating shafts 230. The spray pipe 240 is rotatably sleeved with one outer wall of the fan plate 210. The other end of the spray pipe 240 is fixedly connected to a nozzle. The adjusting component 260 is used to drive the multiple spray pipes 240 and rotating shafts 230 on the corresponding side to rotate. The image recognition component identifies the plants on both sides, thereby adjusting the spray range of the spraying components through the control component, so as to carry out corresponding precision spraying operations according to different tree shapes and different fruit tree areas.

[0036] The image recognition component includes two depth cameras 130, which are located on opposite sides of the top of the main frame 100. The image recognition component uses a trained recognition method to identify the shape of the fruit trees and the degree of pests and diseases, and then transmits the identified data to the control component to control the spraying mechanism 200. The autonomous driving component includes a positioning antenna 150 and a signal antenna 170, which are fixedly installed at the top center of the main frame 100. Several ultrasonic radars 160 are fixedly installed around the main frame 100, and a lidar 180 is fixedly installed at one end of the main frame 100. The multiple ultrasonic radars 160 are used to detect surrounding obstacles, and the lidar 180 provides a map building module for autonomous driving by combining with SLAM technology.

[0037] A drive gear 232 is fixedly sleeved at the other end of the rotating shaft 230. An arc-shaped toothed plate 270 is provided on one side of the drive gear 232. A slider 271 is fixedly connected to one side wall of the arc-shaped toothed plate 270. The slider 271 is slidably connected to the annular groove 211. A drive gear 241 is fixedly sleeved on the outer wall of the other end of the nozzle 240. Both the drive gear 241 and the drive gear 232 mesh with the adjacent arc-shaped toothed plate 270. The outer diameters of the drive gear 241 and the drive gear 232 are the same, so that the guide plate 231 located below the nozzle 240 has the same angle. This makes the direction of the airflow after being guided by the guide plates 231 on both sides consistent with the spray direction of the nozzle.

[0038] The adjusting assembly 260 includes a fixed plate 263, which is fixedly connected to an outer wall of the fan disc 210. An arc-shaped outer wall of the fixed plate 263 is slidably connected to an arc-shaped toothed rod 261 and an arc-shaped toothed rod 262. The lowermost arc-shaped toothed plate 270 in the same spray assembly is fixedly connected to the arc-shaped toothed rod 262, and the uppermost arc-shaped toothed plate 270 in the same spray assembly is fixedly connected to the arc-shaped toothed rod 261. One side wall of the remaining five arc-shaped toothed plates 270 is fixedly connected to a fixing member 280. A transmission gear set 250 is provided inside the fixing member 280. The moving gear assembly 250 is connected to the first arc tooth rod 261 and the second arc tooth rod 262. The angle of multiple guide plates 231 and nozzles can be adjusted by adjusting the adjustment component 260, thereby adjusting the spray range of the spray assembly. Two venting slots 264 are opened on the other side wall of the fixed plate 263. The other side walls of the first arc tooth rod 261 and the second arc tooth rod 262 are fixedly connected to the connecting seat 265. An electric telescopic rod 266 is rotatably connected between one end of the connecting seat 265 and one outer side wall of the fan disc 210. The electric telescopic rod 266 drives the first arc tooth rod 261 and the second arc tooth rod 262 to move.

[0039] The transmission gear set 250 includes a first transmission gear 251 and a fourth transmission gear 254. The first transmission gear 251 is rotatably connected to one inner wall of the fixed member 280, and the fourth transmission gear 254 is rotatably connected to the other inner wall of the fixed member 280. The first transmission gear 251 meshes with a first arc tooth rod 261, and the fourth transmission gear 254 meshes with a second arc tooth rod 262. A second transmission gear 252 is fixedly connected to one side wall of the first transmission gear 251, and a third transmission gear 253 is fixedly connected to one side wall of the fourth transmission gear 254. The third transmission gear 253 meshes with the second transmission gear 252. The ratio of the linear velocities of the first transmission gear 251 and the fourth transmission gear 254 is N, and N in the five transmission gear sets 250 is 0.2, 0.5, 1, 2, and 5 from top to bottom. Taking the transmission gear set 250 at the bottom position as an example, since the first transmission gear 251 is connected to the first transmission gear 261 and the fourth transmission gear 262, the first transmission gear 251 is rotatably connected to the second transmission gear 262. The fourth transmission gear 254 is rotatably connected to the first transmission gear 262. The fifth transmission gear 251 is rotatably connected to the second transmission gear 262. The sixth transmission gear 254 is rotatably connected to the first transmission gear 262. The seventh transmission gear 251 is rotatably connected to the first transmission gear 262. The fifth transmission gear 254 is rotatably connected to the first transmission gear 262. The sixth transmission gear 252 is rotatably connected to the first transmission gear 262. The seventh transmission gear 252 is rotatably connected to the first transmission gear 262. The fifth transmission gear 2 The linear velocity ratio N between gears 254 is 5. When the first arc tooth 261 remains stationary, the second arc tooth 262 slides downward by 6 units, causing the transmission gear set 250 to slide downward by 5 units. That is, the second arc tooth 262 moves down one unit relative to the transmission gear set 250, and the first arc tooth 261 moves up 5 units relative to the transmission gear set 250. Therefore, when the second arc tooth 262 slides down 6 units, the multiple transmission gear sets 250 move down 1, 2, 3, 4, and 5 units from top to bottom in sequence. This ensures that when the angle of the bottom guide plate 231 is changed, the angles of the multiple guide plates 231 change in an arithmetic sequence from bottom to top, while the angle of the top guide plate 231 remains unchanged. This ensures that the angles of the multiple guide plates 231 are always evenly distributed, achieving uniform spraying within the spray range.

[0040] The second drive gear 241 has the same outer diameter as the first drive gear 232. The other end of the nozzle 240 is fixedly sleeved with a blower 242. The blower 242 is coaxial with the nozzle. The blower 242 constrains the airflow, reduces the dispersion of the airflow, and improves the blowing effect of the drug mist near the nozzle.

[0041] The identification method includes the following steps:

[0042] S1. Obtain the original image and perform image resolution enhancement processing on the original image;

[0043] S2. The image in S1 is processed by a median filter to reduce influencing factors in the image and to identify pests. The principle of the median filter is similar to that of the mean filter. The pixel output of the mean filter is the average value in the corresponding pixel neighborhood, while the pixel output of the median filter is the median value in the corresponding pixel neighborhood. Compared with the mean filter, the median filter is not sensitive to outliers. Therefore, the median filter can reduce the influence of outliers without reducing the image contrast and improve the pest identification rate.

[0044] S3. Use the MCNN neural network to count the pests in the image. MCNN is based on a multi-column deep neural network.

[0045] S4. For diseases that show significant differences on the leaves, DeepLabv3+ is used for disease segmentation. DeepLabv3+ uses a deep convolutional neural network to classify each pixel in the image. In addition, a multi-scale feature fusion method is used to combine feature information at different scales, thereby further improving the accuracy and robustness of the model and obtaining a more accurate distribution of the types and densities of pests and diseases.

[0046] Working principle: When in use, the automatic driving component and the track component 110 enable the device to move along a predetermined route. The two liquid tanks 120 take pictures of the plants on both sides to obtain the shape of the plants and the distribution of pest and disease density. The control component then controls the spraying mechanism 200 to spray the pesticide precisely according to the shape of the plants and the distribution of pests and diseases.

[0047] By setting the spray assembly, when controlling the spray range of the spray assembly, an electric telescopic rod 266 is controlled to drive the arc tooth rod 262 to move and slide down along the fixed plate 263. The arc tooth rod 262 directly drives the lowest arc tooth plate 270 to move down. When the arc tooth plate 270 moves down, it drives the corresponding guide plate 231 and nozzle 240 to rotate through the drive gear 1 232 and drive gear 241, thereby changing the air outlet angle between two adjacent guide plates 231 and the angle between the nozzle and the air duct 242, thereby changing the spray angle of a single nozzle. For the five arc tooth plates 270 located in the middle, when the arc tooth rod 262 slides down, it drives the transmission gear 4 254 to rotate. The transmission gear 4 254 drives the transmission gear 1 251 to rotate through the transmission gear 3 253 and transmission gear 252.

[0048] Taking the transmission gear set 250 at the bottom position as an example, since the ratio N of the linear velocity between transmission gear 1 251 and transmission gear 4 254 is 5, when the arc tooth rod 1 261 remains stationary, the arc tooth rod 262 slides down 6 units, causing the transmission gear set 250 to slide down 5 units. That is, the arc tooth rod 262 moves down 1 unit relative to the transmission gear set 250, and the arc tooth rod 261 moves up 5 units relative to the transmission gear set 250.

[0049] Therefore, when the second arc tooth rod 262 slides downward by 6 units, the multiple transmission gear sets 250 move downward by 1, 2, 3, 4, and 5 units from top to bottom respectively. This results in the angles of the multiple guide plates 231 changing in an arithmetic sequence from bottom to top when the angle of the lowest guide plate 231 is changed, while the angle of the highest guide plate 231 remains unchanged. Similarly, when the first arc tooth rod 261 is driven to change the angle of the highest guide plate 231, the angles of the other multiple guide plates 231, except for the lowest guide plate 231, change sequentially, making the angle difference between adjacent guide plates 231 the same. This achieves a uniform distribution of nozzle angles, thereby controlling the fan-shaped range of the spray assembly by controlling the angles of the guide plates 231 at both ends. This facilitates targeted application of pesticides based on tree shape and pest distribution, improving the application effect.

[0050] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0051] The above description is merely an example and illustration 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 invention or exceed the scope defined in the claims, they should all fall within the protection scope of the present invention.

Claims

1. A pneumatically driven self-propelled precision pesticide spraying robot for orchards, comprising a main frame (100), a track assembly (110) mounted below the main frame (100), a liquid tank (120) installed inside one end of the main frame (100), a power assembly (140) installed inside the other end of the main frame (100), a control assembly installed on one side of one end of the main frame (100), and an image recognition assembly installed at the top center of the main frame (100), characterized in that, An unmanned driving component is fixedly connected to the top of the main frame (100). A spraying mechanism (200) is installed at the other end of the main frame (100). The spraying mechanism (200) includes a fan disc (210). The fan disc (210) is fixedly installed to the other end of the main frame (100). A fan blade (220) is provided inside one side of the fan disc (210). A drive shaft is fixedly sleeved at the middle position of the fan blade (220). The drive shaft is connected to the power component (140). An annular groove (211) is provided on one outer side wall of the fan disc (210). Both sides of the fan disc (210) are provided with... The spray assembly includes an adjustment component (260) and seven equidistant rotating shafts (230). The rotating shafts (230) are rotatably sleeved with one side inner wall of the fan disc (210). One end of the rotating shaft (230) is fixedly sleeved with a guide plate (231). A spray pipe (240) is provided between two adjacent rotating shafts (230). The spray pipe (240) is rotatably sleeved with one side outer wall of the fan disc (210). The other end of the spray pipe (240) is fixedly connected to a nozzle. The adjustment component (260) is used to drive the multiple spray pipes (240) and rotating shafts (230) on the corresponding side to rotate. The other end of the rotating shaft (230) is fixedly sleeved with a drive gear one (232). An arc-shaped toothed plate (270) is provided on one side of the drive gear one (232). A slider (271) is fixedly connected to one side wall of the arc-shaped toothed plate (270). The slider (271) is slidably connected to the annular groove (211). The other side wall of the nozzle (240) is fixedly sleeved with a drive gear two (241). Both the drive gear two (241) and the drive gear one (232) mesh with the adjacent arc-shaped toothed plate (270). The adjustment assembly (260) includes a fixed plate (263), which is fixedly connected to an outer wall of the fan disc (210). An arc-shaped outer wall of the fixed plate (263) is slidably connected to an arc toothed rod (261) and an arc toothed rod (262). The arc toothed plate (270) located at the lowest position in the same spray assembly is fixedly connected to the arc toothed rod (262). The arc toothed plate (270) located at the highest position in the same spray assembly is fixedly connected to the arc toothed rod (261). A fixing member (280) is fixedly connected to one side wall of the remaining five arc toothed plates (270). A transmission gear set (250) is provided inside the fixing member (280). The transmission gear set (250) is connected to the arc toothed rod (261) and the arc toothed rod (262) in a transmission connection. Two venting slots (264) are provided on the other side wall of the fixed plate (263). Connecting seats (265) are fixedly connected to the other side walls of the first arc tooth rod (261) and the second arc tooth rod (262). An electric telescopic rod (266) is rotatably connected between one end of the connecting seat (265) and one outer side wall of the fan plate (210). The transmission gear set (250) includes a first transmission gear (251) and a fourth transmission gear (254). The first transmission gear (251) is rotatably connected to one inner wall of the fixed member (280), and the fourth transmission gear (254) is rotatably connected to the other inner wall of the fixed member (280). The first transmission gear (251) meshes with a first arc tooth rod (261), and the fourth transmission gear (254) meshes with a second arc tooth rod (262). A second transmission gear (252) is fixedly connected to one side wall of the first transmission gear (251), and a third transmission gear (253) is fixedly connected to one side wall of the fourth transmission gear (254). The third transmission gear (253) meshes with the second transmission gear (252). The ratio of the linear velocities of the first transmission gear (251) and the fourth transmission gear (254) is N, and the N values ​​of the five transmission gear sets (250) from top to bottom are 0.2, 0.5, 1, 2, and 5.

2. The pneumatically driven self-propelled orchard precision pesticide spraying robot according to claim 1, characterized in that, The image recognition component includes two depth cameras (130), which are located on both sides of the top of the main frame (100). The image recognition component uses a trained recognition method to identify the shape of the fruit tree and the degree of pests and diseases, and then transmits the identified data to the control component to control the spraying mechanism (200).

3. The pneumatically driven self-propelled orchard precision pesticide spraying robot according to claim 1, characterized in that, The unmanned driving component includes a positioning antenna (150) and a signal antenna (170). The positioning antenna (150) and the signal antenna (170) are fixedly installed at the top center of the main frame (100). Several ultrasonic radars (160) are fixedly installed around the main frame (100). A lidar (180) is fixedly installed at one end face of the main frame (100).

4. The pneumatically driven self-propelled orchard precision pesticide spraying robot according to claim 1, characterized in that, The second drive gear (241) has the same outer diameter as the first drive gear (232). The other end of the nozzle (240) is fixedly sleeved with a blower (242), and the blower (242) is coaxial with the nozzle.

Images