Pineapple intelligent precise flowering spraying management device and method

Abstract

The application discloses a pineapple intelligent precise flower-inducing pesticide spraying management device and method, which comprises a walking mechanism and an automatic pesticide spraying terminal. The automatic pesticide spraying terminal comprises a pesticide spraying mechanism, an adjusting mechanism and a visual identification module. The pesticide spraying mechanism comprises a pesticide box and a pesticide spraying assembly. The pesticide spraying assembly comprises a spraying head, a main spraying pipe and movable branch spraying pipes. The main spraying pipe is connected between the pesticide box and the branch spraying pipes. The branch spraying pipes and the spraying head are both provided with a plurality of pipes. The spraying head is connected with the branch spraying pipes. The adjusting mechanism comprises an adjusting moving frame and an adjusting driving mechanism. The adjusting moving frame is provided with a plurality of frames and is connected with the plurality of spraying heads respectively. The visual identification module comprises a camera and an image processor. The camera is provided with a plurality of cameras. The arrangement direction of the plurality of cameras is parallel to the arrangement direction of the plurality of spraying heads. Each camera corresponds to a different spraying head. The application can automatically complete the pesticide spraying work, effectively improves the work efficiency and ensures the consistency of the spraying amount.

Description

TECHNICAL FIELD

[0001] The present application relates to agricultural spraying device and method, specifically relates to a pineapple intelligent precise flowering spraying management device and method. BACKGROUND

[0002] Pineapple is a famous tropical fruit, has been cultivated for more than 400 years in China, because of the attractive flavor, unique taste and consumer love, domestic pineapple production is also the world's sixth, is one of the world's top ten pineapple producing countries.

[0003] Pineapple flowering spraying is a very important process in the process of pineapple cultivation management, its important purpose is to control the flowering period and fruiting period of pineapple, so that the same period of pineapple is batch flowering, which is beneficial to unified field management and improves production efficiency. At present, pineapple flowering spraying still mainly relies on artificial spraying, which not only consumes time and effort, but also cannot achieve consistent spraying amount, and the efficiency is extremely low. SUMMARY

[0004] The purpose of the present application is to overcome the above-mentioned problems, provide a pineapple intelligent precise flowering spraying management device, which can automatically complete the spraying work, not only effectively improve the work efficiency, but also can achieve consistent spraying amount.

[0005] Another purpose of the present application is to provide a pineapple intelligent precise flowering spraying management method.

[0006] The purpose of the present application is realized by the following technical scheme:

[0007] A pineapple intelligent precise flowering spraying management device, comprising a walking mechanism and an automatic spraying terminal arranged on the walking mechanism;

[0008] The automatic spraying terminal comprises a spraying mechanism, an adjusting mechanism for adjusting the spraying position, and a visual identification module for acquiring the image of the pineapple;

[0009] The spraying mechanism comprises a medicine box and a spraying assembly, the spraying assembly comprises a spray head, a main spray pipe and a movable branch spray pipe; the main spray pipe is connected between the medicine box and the branch spray pipe; the branch spray pipe and the spray head are provided with a plurality of, the spray head is connected with the branch spray pipe; the horizontal arrangement direction of the plurality of spray heads is perpendicular to the forward direction of the walking mechanism;

[0010] The adjusting mechanism comprises an adjusting moving frame and an adjusting driving mechanism for driving the adjusting moving frame to move, the adjusting moving frame is provided with a plurality of and is connected with the plurality of spray heads respectively;

[0011] The visual recognition module comprises a camera and an image processor, the camera is provided with a plurality of cameras, the arrangement direction of the plurality of cameras is parallel to the arrangement direction of the plurality of spray heads; each camera corresponds to a different spray head; along the advancing direction of the walking mechanism, the camera is located in front of the spray head; the image processor is electrically connected with the camera and the controller of the adjusting driving mechanism.

[0012] In one preferred scheme of the present application, along the advancing direction of the walking mechanism, the spray head and the adjusting moving frame are both provided with two rows. In this way, when one row of spray head and adjusting moving frame performs the pesticide spraying operation, the other row of spray head and adjusting moving frame can be adjusted according to the position of the next round of pineapple, and the two rows of spray head and adjusting moving frame can alternately perform the pesticide spraying operation, which is beneficial to improve the work efficiency.

[0013] In one preferred scheme of the present application, the spray pipe comprises a fixed pipe and a movable hose, and the movable hose is connected with the spray head.

[0014] In one preferred scheme of the present application, the pesticide spraying assembly is provided with three groups and is arranged along a direction perpendicular to the advancing direction of the walking mechanism.

[0015] The main spray pipes of the middle pesticide spraying assembly are communicated with the main spray pipes of the pesticide spraying assemblies on both sides through transition hoses; and the main spray pipes of the pesticide spraying assemblies on both sides are rotationally connected to the mounting frame.

[0016] Further, the adjusting mechanism further comprises a fixedly arranged mounting guide frame; and the adjusting moving frame is horizontally slidably connected to the mounting guide frame.

[0017] Further, the adjusting driving mechanism comprises an adjusting driving motor and an adjusting transmission assembly, the adjusting transmission assembly comprises an adjusting belt and an adjusting pulley; the adjusting moving frame is provided with a locking electromagnet; the adjusting moving frame is provided with an avoiding groove for avoiding the adjusting belt; and in the locking state, the iron core of the locking electromagnet pushes the adjusting belt against the groove wall of the avoiding groove. In this way, the adjusting belt can be driven to reciprocate by the adjusting driving motor, and when the spray head needs to be adjusted and moved, the locking electromagnet on the corresponding adjusting moving frame is locked with the adjusting belt, so that the adjusting moving frame can be driven to move horizontally until the corresponding spray head moves to the specified position, at which time the locking electromagnet on the adjusting moving frame releases the adjusting belt, that is, the connection relationship with the adjusting belt is released, so that the spray head stays at the current position. Through the above structure, one driving mechanism is shared, and according to the actual situation, the position adjustment of different lengths of different spray heads can be simultaneously completed, and the structure is very ingenious and compact.

[0018] Further, the adjusting pulleys are provided with two groups, each group of adjusting pulleys comprises two adjusting pulleys; the two adjusting pulleys of one group are respectively rotationally connected to the two ends of one of the main spray pipes of the spray assemblies located on the two sides, and one of the adjusting pulleys is coaxial with the rotation center of the one of the main spray pipes; the two adjusting pulleys of the other group are respectively rotationally connected to the two ends of the other main spray pipe of the spray assemblies located on the two sides, and one of the adjusting pulleys is coaxial with the rotation center of the other main spray pipe.

[0019] The adjusting belts are provided with three; one adjusting belt is connected between the two adjusting pulleys of one group of adjusting pulleys close to the adjusting pulleys of the other group; the other two adjusting belts are respectively connected between the two adjusting pulleys of the two groups of adjusting pulleys. Through the above structure, a common driving mechanism can not only complete the adjusting operation of the three groups of spray heads at the same time, but also has a very compact structure, and will not hinder the folding and stretching of the main spray pipes located on the two sides, which is very ingenious.

[0020] Further, the automatic spray terminal further comprises a folding driving mechanism, the folding driving mechanism comprises a folding driving motor and a folding transmission assembly; the folding transmission assembly comprises a synchronous gear assembly and a folding belt assembly, the synchronous gear assembly comprises two synchronous wheels; the folding belt assembly is provided with two groups, each group of folding belt assembly comprises a folding belt and two folding pulleys; one of the synchronous wheels is coaxially connected with the output shaft of the folding driving motor, the other synchronous wheel is coaxially connected with one of the folding pulleys of one group of folding belt assembly, the other folding pulley of the one group of folding belt assembly is coaxial with the rotation center of one of the main spray pipes of the spray assemblies located on the two sides; one of the folding pulleys of the other group of folding belt assembly is coaxially connected with the output shaft of the folding driving motor, the other folding pulley of the other group of folding belt assembly is coaxial with the rotation center of the other main spray pipe of the spray assemblies located on the two sides. Through the above structure, under the driving of the folding driving motor, the folding belts of the two groups of folding belt assemblies can respectively pull the main spray pipes located on the two sides to rotate around the corresponding mounting frames, so as to automatically fold or unfold the main spray pipes located on the two sides, preventing the main spray pipes located on the two sides from interfering with other objects during transportation.

[0021] A pineapple intelligent precise flowering spray management method, comprising the following steps:

[0022] The automatic spray terminal is moved to the field where the pineapple seedlings are planted by the walking mechanism;

[0023] The automatic pesticide spraying terminal is driven to scan above the pineapple seedling by the walking mechanism; in the process, the image of the pineapple seedling below is acquired by the camera first, and the image is transmitted to the image processor, the image of the pineapple seedling is processed by the image processor, and the relative position of the leaf center of the pineapple seedling is obtained; the corresponding driving instruction is sent to the adjusting driving mechanism by the controller, the adjusting moving frame is driven to move in the corresponding direction by the adjusting driving mechanism, so that the spray head is moved to the specified position in the transverse direction, and then the spray head is driven to move forward to the top of the leaf center of the pineapple seedling by the walking mechanism.

[0024] The liquid medicine in the medicine box is delivered to the spray head through the main spray pipe and the branch spray pipe, the liquid medicine is sprayed on the leaf center of the pineapple seedling below by the spray head, and the pesticide spraying task of the pineapple seedling is completed.

[0025] According to the above operation, the pesticide spraying work of the pineapple in the same row is completed first, and then the automatic pesticide spraying terminal is driven to move down by the walking mechanism, and the pesticide spraying work of the pineapple in other rows is continued.

[0026] Compared with the prior art, the present application has the following advantages:

[0027] 1. The pineapple intelligent precise flowering induction pesticide spraying management device can automatically complete the pesticide spraying work, effectively improves the work efficiency, and ensures the consistency of the pesticide spraying amount.

[0028] 2. By arranging the visual recognition module and the adjusting mechanism, the image of the pineapple seedling below is acquired by the camera first, and then the image of the pineapple seedling is processed by the image processor to obtain the relative position of the leaf center of the pineapple seedling; the spray head is driven to move to the specified position in the transverse direction by the adjusting driving mechanism, and then the spray head is driven to move forward to the top of the leaf center of the pineapple seedling by the walking mechanism, so that the position of the leaf center of the pineapple seedling can be determined, and the liquid medicine can be sprayed into the corresponding leaf center of the pineapple seedling accurately, thereby ensuring the flowering induction effect. BRIEF DESCRIPTION OF DRAWINGS

[0029] Fig. 1-2 It is a perspective view of the pineapple intelligent precise flowering induction pesticide spraying management device in two different states.

[0030] Fig. 3 It is a top view of the automatic pesticide spraying terminal.

[0031] Fig. 4 It is a perspective view of the automatic pesticide spraying terminal.

[0032] Fig. 5 It is an enlarged view of X in Fig. 4

[0033] Fig. 6 It is an enlarged view of Y in Fig. 4 ​​ DETAILED DESCRIPTION

[0034] In order for those skilled in the art to well understand the technical solutions of the present application, the present application will be further described below in combination with embodiments and drawings, but the embodiments of the present application are not limited thereto.

[0035] Referring to Fig. 1-4 The pineapple intelligent precise flower-pushing pesticide spraying management device of the present embodiment comprises a walking mechanism and an automatic pesticide spraying terminal arranged on the walking mechanism; the automatic pesticide spraying terminal comprises a pesticide spraying mechanism, an adjusting mechanism for adjusting the position of pesticide spraying, and a visual recognition module for acquiring images of pineapples; the pesticide spraying mechanism comprises a pesticide tank 1 and a pesticide spraying assembly, the pesticide spraying assembly comprises a plurality of spray heads 2, a main spray pipe 3, and movable branch spray pipes 4; the main spray pipe 3 is connected between the pesticide tank 1 and the branch spray pipes 4; the branch spray pipes 4 and the spray heads 2 are both provided in multiple numbers, and the spray heads 2 are connected with the branch spray pipes 4; the horizontal arrangement direction of the multiple spray heads 2 is perpendicular to the advancing direction of the walking mechanism.

[0036] Referring to Fig. 3-5 The adjusting mechanism comprises a mounting guide frame 5, an adjusting moving frame 6, and an adjusting driving mechanism for driving the adjusting moving frame 6 to move, and the mounting guide frame 5 is fixedly arranged; the adjusting moving frame 6 is horizontally slidably connected to the mounting guide frame 5; the adjusting moving frame 6 is provided in multiple numbers and is connected with the multiple spray heads 2 respectively.

[0037] Referring to Fig. 1-4 The visual recognition module comprises a camera 7 and an image processor, the camera 7 is provided in multiple numbers, the arrangement direction of the multiple cameras 7 is parallel to the arrangement direction of the multiple spray heads 2; each camera 7 corresponds to a different spray head 2; along the advancing direction, the camera 7 is located in front of the spray head 2; the image processor is electrically connected with the camera 7 and the controller of the adjusting driving mechanism. Specifically, the image processor and the controller can refer to the existing related technologies.

[0038] Referring to Fig. 1-4 Along the advancing direction of the walking mechanism, the spray heads 2 and the adjusting moving frames 6 are both provided in two rows. In this way, when one row of spray heads 2 and adjusting moving frames 6 are performing the pesticide spraying operation, the other row of spray heads 2 and adjusting moving frames 6 can be adjusted according to the position of the next round of pineapples, and the two rows of spray heads 2 and adjusting moving frames 6 can take turns to perform the pesticide spraying operation, which is conducive to improving the work efficiency.

[0039] Referring to Fig. 3-4 The branch spray pipe 4 comprises a fixed pipe and a movable hose, and the movable hose is connected with the spray head 2.

[0040] Referring to Fig. 1-4The spraying assembly is provided with three groups and arranged along the direction perpendicular to the advancing direction of the walking mechanism; the main spraying pipe 3 of the spraying assembly in the middle communicates with the main spraying pipes 3 of the spraying assemblies on the two sides through the transition hose 14; and the main spraying pipes 3 of the spraying assemblies on the two sides are respectively rotationally connected to the mounting racks 8.

[0041] Referring to Fig. 5-6 The adjusting drive mechanism comprises an adjusting drive motor 9 and an adjusting transmission assembly, the adjusting transmission assembly comprises an adjusting belt 10 and adjusting pulleys; the adjusting moving rack 6 is provided with a locking electromagnet 11; the adjusting moving rack 6 is provided with an avoiding groove for avoiding the adjusting belt 10; in the locking state, the iron core of the locking electromagnet 11 pushes the adjusting belt 10 against the groove wall of the avoiding groove. In this way, the adjusting belt 10 can be driven to reciprocate by the adjusting drive motor 9, if any spraying head 2 needs to be adjusted and moved, the locking electromagnet 11 on the corresponding adjusting moving rack 6 is locked with the adjusting belt 10, so that the adjusting moving rack 6 can be driven to move horizontally until the corresponding spraying head 2 moves to the designated position, at this time, the locking electromagnet 11 on the adjusting moving rack 6 releases the adjusting belt 10, that is, the connection relationship with the adjusting belt 10 is released, so that the spraying head 2 stays at the current position. Through the above structure, one driving mechanism is shared, and according to the actual situation, the position adjustment of different lengths of multiple different spraying heads 2 can be completed at the same time, and the structure is very ingenious and compact.

[0042] Referring to Fig. 1-4 The adjusting pulleys are provided with two groups, each group of adjusting pulleys comprises two adjusting pulleys; the two adjusting pulleys of one group are respectively rotationally connected to the two ends of one of the main spraying pipes 3 of the spraying assemblies on the two sides, and one of the adjusting pulleys is coaxial with the rotation center of the main spraying pipe 3; the two adjusting pulleys of the other group are respectively rotationally connected to the two ends of the other main spraying pipe 3 of the spraying assemblies on the two sides, and one of the adjusting pulleys is coaxial with the rotation center of the main spraying pipe 3; the adjusting belt 10 is provided with three; one of the adjusting belts 10 is connected between the two adjusting pulleys of the two groups of adjusting pulleys close to each other; the other two adjusting belts 10 are respectively connected between the two adjusting pulleys of the two groups of adjusting pulleys. Through the above structure, one driving mechanism is shared, not only the adjustment operation of the three groups of spraying heads 2 can be completed at the same time, the structure is very compact, but also the folding and stretching of the main spraying pipes 3 on the two sides are not hindered, which is very ingenious.

[0043] Referring to Fig. 1-4 and Fig. 6The automatic pesticide spraying terminal further comprises a folding driving mechanism, the folding driving mechanism comprising a folding driving motor 12 and a folding transmission assembly; the folding transmission assembly comprising a synchronous gear assembly and a folding belt assembly, the synchronous gear assembly comprising two synchronous gears; the folding belt assembly being provided with two groups, each group of the folding belt assembly comprising a folding belt 13 and two folding belt gears; one of the synchronous gears is coaxially connected with an output shaft of the folding driving motor 12, the other synchronous gear is coaxially connected with one of the folding belt gears of one group of the folding belt assembly, the other folding belt gear of the one group of the folding belt assembly is coaxially connected with the rotation center of one of the main spray pipes 3 of the pesticide spraying assembly located on the two sides; one of the folding belt gears of the other group of the folding belt assembly is coaxially connected with the output shaft of the folding driving motor 12, the other folding belt gear of the other group of the folding belt assembly is coaxially connected with the rotation center of the other main spray pipe 3 of the pesticide spraying assembly located on the two sides. Through the above structure, under the driving of the folding driving motor 12, the folding belts 13 of the two groups of the folding belt assembly can respectively pull the main spray pipes 3 located on the two sides to rotate around the corresponding mounting frames 8, so as to automatically fold or unfold the main spray pipes 3 located on the two sides, thereby preventing the main spray pipes 3 located on the two sides from interfering with other objects during transportation.

[0044] Referring to Fig. 1-5 The pineapple intelligent precise flowering and pesticide spraying management method comprises the following steps:

[0045] The automatic pesticide spraying terminal is moved to the field where the pineapple seedlings are planted by the walking mechanism.

[0046] Along the direction of the pineapple seedling planting, the walking mechanism drives the automatic pesticide spraying terminal to sweep above the pineapple seedlings; in this process, the image of the pineapple seedling below is first acquired by the camera 7 (the distance between the cameras 7 is equal to the distance set when the pineapple is planted), and the image is transmitted to the image processor, and the image of the pineapple seedling is processed by the image processor (the specific recognition algorithm can adopt the prior art), to obtain the relative position (mainly including the relative horizontal distance) of the leaf center of the pineapple seedling; the corresponding driving instruction is sent to the adjusting driving mechanism by the controller, and the adjusting moving frame 6 is driven by the adjusting driving mechanism to move in the corresponding direction, so that the spray head 2 is transversely moved to the specified position, and then the spray head 2 is moved forward to the above of the leaf center of the pineapple seedling by the walking mechanism.

[0047] The pesticide liquid in the pesticide box 1 is delivered to the spray head 2 by the main spray pipe 3 and the branch spray pipe 4, and finally the pesticide liquid is sprayed on the leaf center of the pineapple seedling below by the spray head 2, so as to complete the pesticide spraying task of the pineapple seedling.

[0048] According to the above operation, the pesticide spraying work of the pineapples in the same row is first completed at the same time, and then the automatic pesticide spraying terminal is moved downward by the walking mechanism to continue the pesticide spraying work of the pineapples in other rows.

[0049] The above is the preferred embodiment of the present application, but the embodiments of the present application are not limited by the above, and any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present application should be equivalent replacement methods, and are included in the protection scope of the present application.

Claims

1. A pineapple intelligent precise flowering spraying management device, characterized in that, The automatic pesticide spraying terminal is arranged on the walking mechanism. The automatic pesticide spraying terminal comprises a pesticide spraying mechanism, an adjusting mechanism for adjusting the position of the pesticide spraying terminal, and a visual identification module for obtaining images of the pineapple. The pesticide spraying mechanism comprises a pesticide box and a pesticide spraying assembly, the pesticide spraying assembly comprises a plurality of spraying heads, a main spraying pipe and a plurality of movable branch spraying pipes, the main spraying pipe is connected between the pesticide box and the branch spraying pipes, the branch spraying pipes and the spraying heads are arranged in multiple numbers, the spraying heads are connected with the branch spraying pipes, and the horizontal arrangement direction of the spraying heads is perpendicular to the advancing direction of the walking mechanism. The adjusting mechanism comprises an adjusting moving frame and an adjusting driving mechanism for driving the adjusting moving frame to move, the adjusting moving frame is arranged in multiple numbers and connected with the spraying heads respectively. The visual identification module comprises a plurality of cameras and an image processor, the cameras are arranged in multiple numbers and arranged in parallel with the spraying heads, each camera corresponds to a spraying head, and the cameras are located in front of the spraying heads along the advancing direction. The pesticide spraying assembly is arranged in three groups and arranged in a direction perpendicular to the advancing direction of the walking mechanism, the main spraying pipes of the middle pesticide spraying assembly are communicated with the main spraying pipes of the pesticide spraying assemblies on the two sides through transition hoses, and the main spraying pipes of the pesticide spraying assemblies on the two sides are rotatably connected to the mounting frame. The adjusting driving mechanism comprises an adjusting driving motor and an adjusting transmission assembly, the adjusting transmission assembly comprises an adjusting belt and adjusting pulleys, the adjusting moving frame is provided with a locking electromagnet, the adjusting moving frame is provided with an avoiding groove for avoiding the adjusting belt, and the iron core of the locking electromagnet is arranged on the adjusting belt in the locking state. The adjusting pulleys are arranged in two groups, each group of the adjusting pulleys comprises two adjusting pulleys, one group of the two adjusting pulleys is rotatably connected to two ends of one of the main spraying pipes of the pesticide spraying assemblies on the two sides, one adjusting pulley is coaxial with the rotation center of the main spraying pipe, and the other group of the two adjusting pulleys is rotatably connected to two ends of the other main spraying pipe of the pesticide spraying assemblies on the two sides. The adjusting belt is arranged in three groups, one adjusting belt is connected between the two adjusting pulleys of one group of the adjusting pulleys close to the other adjusting pulleys, and the other two adjusting belts are connected between the two adjusting pulleys of the other group of the adjusting pulleys.

2. The pineapple intelligent precise flowering and spraying management device according to claim 1, characterized in that, The spraying heads and the adjusting moving frame are arranged in two rows along the advancing direction of the walking mechanism.

3. The pineapple intelligent precise flowering and spraying management device according to claim 1, characterized in that, The branch spraying pipe comprises a fixed pipe and a movable hose, and the movable hose is connected with the spraying head.

4. The pineapple intelligent precise flowering and spraying management device according to claim 1, characterized in that, The adjusting mechanism further comprises a fixedly arranged mounting guide frame, and the adjusting moving frame is horizontally and slidingly connected to the mounting guide frame.

5. The pineapple intelligent precise flowering and spraying management device according to claim 1, characterized in that, The automatic pesticide spraying terminal further comprises a folding driving mechanism, which comprises a folding driving motor and a folding transmission assembly; the folding transmission assembly comprises a synchronous gear assembly and a folding belt assembly, the synchronous gear assembly comprises two synchronous wheels; the folding belt assembly is provided with two groups, each of which comprises a folding belt and two folding belt wheels; one of the synchronous wheels is coaxially connected with the output shaft of the folding driving motor, the other synchronous wheel is coaxially connected with one of the folding belt wheels of one of the folding belt assemblies, the other folding belt wheel of the one of the folding belt assemblies is coaxially connected with the rotation center of one of the main spray pipes of the pesticide spraying assembly on the two sides; one of the folding belt wheels of the other folding belt assembly is coaxially connected with the output shaft of the folding driving motor, the other folding belt wheel of the other folding belt assembly is coaxially connected with the rotation center of the other main spray pipe of the pesticide spraying assembly on the two sides.

6. A method for the pineapple intelligent precise flowering and spraying management device according to any one of claims 1-5, characterized in that, The method comprises the following steps: The automatic pesticide spraying terminal is carried by the walking mechanism and moved to the field where the pineapple seedlings are planted; The automatic pesticide spraying terminal is driven by the walking mechanism to move above the pineapple seedlings; in this process, the image of the pineapple seedlings below is first acquired by the camera and transmitted to the image processor, and the image of the pineapple seedlings is processed by the image processor to obtain the relative position of the leaf center of the pineapple seedlings; the corresponding driving instruction is sent to the adjusting driving mechanism by the controller, and the adjusting moving frame is driven by the adjusting driving mechanism to move in the corresponding direction, so that the spray head moves transversely to the specified position, and then the spray head is driven by the walking mechanism to move forward to the top of the leaf center of the pineapple seedlings; The pesticide liquid in the pesticide box is delivered to the spray head by the main spray pipe and the branch spray pipe, and the pesticide liquid is sprayed on the leaf center of the pineapple seedlings below by the spray head, thereby completing the pesticide spraying task of the pineapple seedlings; According to the above operation, the pesticide spraying work of the pineapple in the same row is first completed, and then the automatic pesticide spraying terminal is driven by the walking mechanism to move downward to continue the pesticide spraying work of the pineapple in other rows.

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