Charging and pesticide supplementing system and method for crawler-type pesticide spraying robot and control system

Abstract

The invention relates to a charging and pesticide supplementing system and method for a crawler-type pesticide spraying robot and a control system. The charging and pesticide supplementing system comprises an automatic charging device and an automatic pesticide supplementing device. The automatic charging device comprises a fixed guide frame and a charging pile fixedly connected to the guide frame, a caterpillar band guide groove is formed in one side of the guide frame, an elastic limiting baffle located at the bottom of the caterpillar band guide groove is installed on the guide frame, a proximity switch is installed on the elastic limiting baffle, a charging plug is installed on the charging pile, and the charging plug is connected with the caterpillar band guide groove. The pesticide spraying robot is provided with a charging socket; the automatic pesticide supplementing device comprises a liquid storage tank, the liquid storage tank is connected with a conveying pipeline, the pesticide spraying robot can automatically detect the electric quantity and the pesticide amount, and when the electric quantity or the pesticide amount is about to be used up, the pesticide spraying robot can reach a designated position to automatically complete charging or pesticide supplementing and return to continue operation; the operation continuity and the overall operation efficiency are effectively improved, meanwhile, the additional labor management cost is saved, and the agricultural unmanned level is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural intelligent equipment, and in particular to a charging and replenishing system, method and control system for a crawler-type spraying robot. Background Art

[0002] Pest and disease problems are important factors affecting crop yield and quality. Chemical control methods are widely used because of their fast action, good effect, convenience, and no restrictions on regional seasonality. They are an important means of preventing and controlling pests and diseases. Among them, the use of pesticides in the form of spraying is the most commonly used method at this stage.

[0003] With the improvement of agricultural mechanization and the strengthening of the integration of agricultural machinery and agronomy, various automated spraying equipment have begun to emerge and gradually replaced traditional manual spraying equipment. Among the many automated spraying equipment, self-propelled spraying robots have the advantages of high pesticide utilization rate, good uniformity of application, strong target performance, and high operating efficiency, and have become the mainstream research direction at this stage. Due to the loose soil and easy deformation of working environments such as fields, orchards, and greenhouses, spraying robots often use crawler walking mechanisms to enhance stability and safety during movement, thereby improving the uniformity of spraying and operating accuracy. In addition, due to the problems of low energy utilization, serious exhaust pollution, high noise, and low speed control flexibility of traditional oil-powered machinery, spraying robots often use electric drive. Especially when facing crawler walking mechanisms, dual-motor differential drive can more flexibly realize operations such as turning in place and changing lines.

[0004] However, when crawler-type electric spraying robots encounter large areas of farmland, orchards, and greenhouse parks, they need to be frequently charged and replenished due to limited battery capacity and drug loading. This not only seriously affects the continuity of operations and reduces overall operation efficiency, but also increases additional labor management costs. Although some spraying robots currently have a certain level of intelligence, they still cannot achieve automatic charging and automatic replenishment. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a charging and replenishing system, method and control system for a tracked spraying robot, which can enable the spraying robot to automatically detect the depletion of power and medicine, automatically complete charging and replenishing medicine and return to continue working.

[0006] The present invention is achieved through the following technical scheme, which provides a charging and replenishing system for a tracked spraying robot, including an automatic charging device and an automatic replenishing device; the automatic charging device includes a fixed guide frame and a charging pile fixed to the guide frame, a track guide groove is opened on one side of the guide frame, an elastic limit baffle is installed on the guide frame at the bottom of the track guide groove, a proximity switch is installed on the elastic limit baffle, a charging plug is installed on the charging pile facing the opening direction of the track guide groove, and a charging socket is installed on the spraying robot; the automatic replenishing device includes a liquid storage tank, a conveying pipeline is connected to the liquid storage tank, and the liquid outlet of the conveying pipeline is arranged above the automatic charging device.

[0007] The track guide groove in this scheme guides the track of the spraying robot, thereby correcting the posture of the spraying robot, and buffering and limiting the spraying robot through the elastic limit baffle. After the spraying robot reaches the specified position through the proximity switch, the charging plug of the charging pile is inserted into the charging socket on the spraying robot to charge the spraying robot, and the liquid storage tank replenishes the spraying robot through the delivery pipeline.

[0008] As an optimization, a stirring motor is installed on the top of the liquid storage tank, and a stirring rod extending into the liquid storage tank is fixedly connected to the output shaft of the stirring motor. The stirring motor in this solution drives the stirring rod to automatically mix the medicine, and automatically stirs the liquid medicine before each replenishment to prevent the precipitation of pesticides.

[0009] As an optimization, the bottom of the liquid storage tank is connected to a delivery pipeline, and an electric water pump is connected to the delivery pipeline. The electric water pump in this solution is used to suck the medicine liquid from the bottom of the liquid storage tank for replenishing the medicine.

[0010] As an optimization, the automatic medicine replenishment device also includes an upper liquid level sensor and a lower liquid level sensor distributed on the medicine barrel of the medicine spraying robot. This solution detects the content of the medicine liquid in the medicine barrel of the medicine spraying robot through the two liquid level sensors distributed above and below. When both the upper and lower liquid level sensors cannot detect the medicine liquid, it is judged that the medicine liquid is exhausted; when both the upper and lower liquid level sensors detect the medicine liquid, it is judged that the medicine liquid is full.

[0011] As an optimization, two track guide grooves are provided and arranged in parallel, and the two track guide grooves are respectively adapted to the two tracks of the track-type spraying robot. In this solution, the two tracks of the spraying robot are guided by the two track guide grooves, so as to correct the posture of the spraying robot so that the charging socket is aligned with the charging pile.

[0012] As an optimization, the charging pile is equipped with a steering gear, a tubular cylindrical cam is fixedly connected to the rotating shaft of the steering gear, the charging plug is located in the cylindrical cam and is slidably connected to the charging pile front and back, a threaded groove is opened on the cylindrical cam, and a cylindrical follower inserted into the threaded groove is fixedly connected to the side of the charging plug. The steering gear in this solution drives the cylindrical cam to rotate, and the charging plug is slidably connected to the charging pile front and back and can only move forward and backward. When the threaded groove rotates, the charging plug is driven to move forward and backward through the cylindrical follower.

[0013] As an optimization, the charging pile is fixed with a charging head stopper located on the side of the cylindrical cam, and the charging head stopper is provided with a groove extending forward and backward, and the cylindrical follower is inserted into the groove. The groove in this solution cooperates with the cylindrical follower to achieve the front-to-back sliding connection between the charging plug and the charging pile.

[0014] A charging method for a crawler-type spraying robot comprises the following steps: S1. When the spraying robot detects that the battery power is lower than the set value, it determines whether there is a replenishment instruction issued; if not, it issues a charging instruction; if so, it waits for the replenishment instruction to end before issuing a charging instruction; after issuing the charging instruction, the spraying robot records the current working status and stops working, and marks the current position as the charging reset point; S2. The spraying robot navigates to the charging point and adjusts its direction so that the end with the charging socket faces the charging pile; S3, the spraying robot enters the track guide groove after posture correction, so that the charging socket and the charging plug are aligned; S4, the spraying robot moves a fixed distance along the track guide groove and then stops moving, and uses an elastic limit baffle to buffer and limit the track; S5. When the proximity switch detects that the crawler reaches the specified position, the servo controls the cylindrical cam to rotate a certain angle, the charging plug extends and inserts into the charging socket, and the spraying robot starts charging; S6. During the charging process, the spraying robot detects the battery power in real time. When it detects that the battery power is full, the spraying robot starts to move and exits the track guide groove; at the same time, the proximity switch detects that the track is moving away, the steering gear controls the cylindrical cam to rotate in the opposite direction, and the charging plug is retracted; S7. After the spraying robot exits the crawler guide groove, it navigates to the charging reset point and reads the last recorded working status, ends the charging instruction, and the spraying robot continues to work.

[0015] A method for replenishing medicine for a crawler-type spraying robot comprises the following steps: a. When the upper liquid level sensor and the lower liquid level sensor of the spraying robot cannot detect the liquid medicine, it is determined whether there is a charging instruction issued at present; if not, a replenishing medicine instruction is issued; if so, the replenishing medicine instruction is issued after waiting for the charging instruction to end; after issuing the replenishing medicine instruction, the spraying robot records the current working status and stops working, and marks the current position as the replenishing medicine reset point; b. The spraying robot navigates to the replenishing point and adjusts its direction so that the crawler track is initially aligned with the crawler track guide groove; c. The spraying robot enters the track guide groove after posture correction; d. The spraying robot moves a fixed distance along the track guide groove and then stops moving, and uses an elastic limit baffle to buffer and limit the track; e. When the proximity switch detects that the crawler has reached the specified position, the stirring motor starts working first to evenly mix the medicine in the liquid storage tank, and then the electric water pump starts working, and the liquid medicine is injected from the liquid storage tank into the medicine barrel of the spraying robot from above through the conveying pipe; f. When both the upper liquid level sensor and the lower liquid level sensor detect the liquid medicine, the spraying robot starts to move and exits the crawler guide groove; at the same time, the proximity switch detects that the crawler is moving away, and the electric water pump stops working immediately; g. After the spraying robot exits the crawler guide groove, it navigates to the replenishing reset point and reads the last recorded working status; the replenishing instruction ends and the spraying robot continues to work.

[0016] A charging and replenishing control system for a crawler-type spraying robot, comprising a navigation module, a driving module, a power detection module, a liquid level detection module, a state recording module, an instruction issuing module, a charging control module and a replenishing control module; The navigation module is provided in the spraying robot and is used to receive the position information of the charging point, the replenishing point, the charging reset point and the replenishing reset point, and calculate and publish the navigation information; The driving module is arranged in the spraying robot and is used to receive information related to the movement of the spraying robot and control the movement of the spraying robot; The power detection module is arranged in the spraying robot and is used to detect and publish the current power information of the battery of the spraying robot; The liquid level detection module is arranged in the medicine spraying robot and is used to receive the liquid level sensor signal and publish the current liquid level information of the medicine barrel of the medicine spraying robot; The state recording module is provided in the spraying robot and is used to record the current working state and position information of the spraying robot; The instruction issuing module is arranged in the spraying robot and is used to issue and terminate charging instructions and replenishing instructions; The charging control module is arranged in the automatic charging device and is used to receive the proximity switch signal and control the operation of the steering gear; The medicine replenishment control module is arranged in the automatic medicine replenishment device, and is used to receive the proximity switch signal and control the operation of the stirring motor and the electric water pump.

[0017] The beneficial effects of the present invention are: (1) The present invention enables the spraying robot to automatically detect the power level and the amount of medicine. When the power level or the amount of medicine is about to run out, the spraying robot can reach the designated location to automatically complete charging or replenishing medicine and return to continue working, effectively improving the continuity of work and overall work efficiency, while saving additional labor management costs and further improving the level of unmanned agriculture. (2) The present invention provides an auxiliary positioning device for a crawler walking mechanism, which can guide and accurately position the crawler walking mechanism, thereby solving the problem that the current navigation technology has limited accuracy and cannot meet the requirements of high-precision posture alignment for automatic charging and medicine replenishment.

[0018] (3) The present invention provides a plug-in charging mechanism with high fault tolerance during docking and stable connection, which can be applied to most self-propelled spraying robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the automatic charging device of the present invention; Figure 2 It is a front view of the automatic medicine replenishing device of the present invention; Figure 3 A top view of the automatic medicine replenishing device of the present invention; Figure 4 It is a partial structural schematic diagram of the automatic charging device of the present invention; Figure 5 It is a schematic diagram of the structure of the charging plug and the charging socket of the present invention; Figure 6 is a schematic diagram of the charging plug of the present invention when it is not extended; Figure 7 This is a schematic diagram of the charging plug of the present invention when it is extended; Figure 8 This is a schematic diagram of the installation position of the charging socket on the spraying robot of the present invention; Fig. 9 This is a schematic diagram of the installation position of the liquid level sensor on the medicine barrel of the medicine spraying robot of the present invention; Fig.10 This is a schematic diagram of the spraying robot of the present invention when automatically charging; Fig.11 This is a schematic diagram of the spraying robot of the present invention when automatically replenishing medicine; As shown in the figure: 1. Track guide groove, 2. Elastic limit baffle, 3. Proximity switch, 4. Charging pile, 41. Charging plug, 42. Cylindrical cam, 43. Cylindrical follower, 44. Servo, 45. Charging head limit plate, 5. Liquid storage tank, 51. Conveying pipeline, 52. Stirring motor, 53. Electric water pump, 6. Charging socket, 7. Upper liquid level sensor, 8. Lower liquid level sensor. DETAILED DESCRIPTION

[0020] In order to clearly illustrate the technical features of this solution, this solution is described below through a specific implementation method.

[0021] like Figures 1 to 11 As shown in FIG. 1 , a charging and replenishing system for a crawler-type spraying robot of the present invention includes an automatic charging device and an automatic replenishing device. The automatic charging device includes a fixed guide frame and a charging pile 4 fixed to the guide frame. The guide frame is fixed on the ground. Figure 1 As shown, a horizontal plate is provided on the guide frame, and a track guide groove 1 is opened on one side of the guide frame. The track guide groove 1 is arranged at the edge of the horizontal plate. Two track guide grooves 1 are provided and arranged in parallel. The two track guide grooves 1 are respectively adapted to the two tracks of the crawler spraying robot. Specifically, the center distance of the two track guide grooves 1 is equal to the center distance of the two tracks.

[0022] The crawler guide groove 1 is composed of two parallel strip edge parts, the opposite side of the strip edge part is a smooth surface, the distance between the two smooth surfaces is the width of the spray robot track, and the front end of the strip edge part is also provided with a smooth arc surface tangent to the smooth surface, which means that the opening position of the crawler guide groove 1 is a bell mouth.

[0023] The guide frame is provided with an elastic limit baffle 2 located at the bottom of the crawler guide groove 1. The elastic limit baffle 2 is vertically arranged and made of elastic materials such as rubber. The elastic limit baffle 2 is used to buffer and limit the spraying robot.

[0024] The elastic limit baffle 2 is provided with a proximity switch 3. After the proximity switch detects that the spraying robot reaches the designated position, the automatic charging device or the automatic medicine replenishing device starts to work.

[0025] The charging pile 4 is provided with a charging plug 41 facing the opening direction of the crawler guide groove 1, and the spraying robot is provided with a charging socket 6; the main body of the charging plug 41 is cylindrical and has a circular hole on the surface, and the height of the charging socket 6 from the ground is equal to that of the charging plug 41. Figure 5 As shown, the socket of the charging socket 6 is also provided with a smooth arc surface with a concave curve in cross section, and the connection between the contact end of the charging plug 41 and the main body is also provided with a smooth arc surface with a concave curve in cross section.

[0026] The charging pile 4 is equipped with a steering gear 44, and a tubular cylindrical cam 42 is fixedly connected to the rotating shaft of the steering gear 44. Specifically, a steering plate is fixedly connected to the rotating shaft of the steering gear 44, and the steering plate of the steering gear 44 is fixedly connected to the end surface of the cylindrical cam 42. The steering plate of the steering gear 44 is also provided with a round hole for the cable of the charging plug 41 to pass through.

[0027] The charging plug 41 is located in the cylindrical cam 42 and is slidably connected to the charging pile 4 in front and back, so the charging plug 41 can only move forward and backward in the cylindrical cam 42. A thread groove is formed on the cylindrical cam 42, and a cylindrical follower 43 inserted into the thread groove is fixedly connected to the side of the charging plug 41. The cylindrical follower 43 is a cylindrical pin fixedly connected to the side of the charging plug 41, and the diameter of the cylindrical pin is equal to the width of the thread groove.

[0028] In order to guide the charging plug 41 to slide forward and backward, the charging pile 4 is fixedly connected with a charging head limit plate 45 located on the side of the cylindrical cam 42. The charging head limit plate 45 is provided with a groove extending forward and backward, and the cylindrical follower 43 is inserted into the groove.

[0029] The automatic medicine replenishing device includes a liquid storage tank 5, and the liquid storage tank 5 is connected to a delivery pipe 51. In this embodiment, the bottom of the liquid storage tank 5 is connected to the delivery pipe 51, and the delivery pipe 51 is connected to an electric water pump 53. The liquid outlet of the delivery pipe 51 is arranged above the automatic charging device, and the opening faces downward.

[0030] A stirring motor 52 is mounted on the top of the liquid storage tank 5 , and a stirring rod extending into the interior of the liquid storage tank 5 is fixedly connected to the output shaft of the stirring motor 52 .

[0031] The automatic medicine replenishing device also includes an upper liquid level sensor 7 and a lower liquid level sensor 8 which are distributed on the medicine barrel of the medicine spraying robot. The two liquid level sensors are used to detect the content of the medicine liquid in the medicine barrel of the medicine spraying robot. When the upper and lower liquid level sensors cannot detect the medicine liquid, it is determined that the medicine liquid is exhausted; when the upper and lower liquid level sensors both detect the medicine liquid, it is determined that the medicine liquid is full.

[0032] Refer to the attached Figure 8-11 , the figure illustrates a crawler-type spray boom spraying robot to which the present invention can be applied. Figure 8 This is a schematic diagram of the installation position of the charging socket on the spraying robot in this embodiment; Fig. 9 Schematic diagram of the installation position of the liquid level sensor on the medicine barrel of the spraying robot in this embodiment, the liquid level sensor includes an upper liquid level sensor 7 and a lower liquid level sensor 8 distributed on the surface of the medicine barrel; Fig.10 and Fig.11 They are schematic diagrams of the spraying robot in this embodiment using the present invention for automatic charging and automatic replenishment of medicine.

[0033] A charging and replenishing control system for a crawler-type spraying robot, comprising a navigation module, a driving module, a power detection module, a liquid level detection module, a state recording module, an instruction issuing module, a charging control module and a replenishing control module; The navigation module is provided in the spraying robot and is used to receive the position information of the charging point, the replenishing point, the charging reset point and the replenishing reset point, and calculate and publish the navigation information; The driving module is arranged in the spraying robot and is used to receive information related to the movement of the spraying robot and control the movement of the spraying robot; The power detection module is arranged in the spraying robot and is used to detect and publish the current power information of the battery of the spraying robot; The liquid level detection module is arranged in the medicine spraying robot and is used to receive the liquid level sensor signal and publish the current liquid level information of the medicine barrel of the medicine spraying robot; The state recording module is provided in the spraying robot and is used to record the current working state and position information of the spraying robot; The instruction issuing module is arranged in the spraying robot, and is used to issue and terminate the charging instruction and the replenishing instruction; wherein, the charging instruction will issue the position information of the charging point and the charging reset point, and the replenishing instruction will issue the position information of the replenishing point and the replenishing reset point; The charging control module is arranged in the automatic charging device and is used to receive the proximity switch signal and control the operation of the steering gear; The medicine replenishment control module is arranged in the automatic medicine replenishment device, and is used to receive the proximity switch signal and control the operation of the stirring motor and the electric water pump.

[0034] A charging method for a crawler-type spraying robot comprises the following steps: S1. When the spraying robot detects that the battery power is lower than the set value, which is generally 10%-30%, and 20% is used in this embodiment, it is determined whether there is a replenishment instruction issued at present; if not, a charging instruction is issued; if so, a charging instruction is issued after the replenishment instruction is completed; after issuing the charging instruction, the spraying robot records the current working status and stops working, and marks the current position as the charging reset point; S2. The spraying robot navigates to the charging point and adjusts its direction so that the end with the charging socket faces the charging pile; S3, the spraying robot enters the track guide groove after posture correction through contact between the track and the smooth arc surface, so that the charging socket and the charging plug are aligned; S4, the spraying robot slowly moves along the track guide groove for a fixed distance and then stops, and uses an elastic limit baffle to buffer and limit the track; S5. When the proximity switch detects that the crawler reaches the specified position, the servo controls the cylindrical cam to rotate a certain angle, the charging plug extends and inserts into the charging socket, and the spraying robot starts charging; S6. During the charging process, the spraying robot detects the battery power in real time. When it detects that the battery power is full, the spraying robot starts to move and exits the track guide groove; at the same time, the proximity switch detects that the track is moving away, the steering gear controls the cylindrical cam to rotate in the opposite direction to the corresponding angle, and the charging plug is retracted; S7. After the spraying robot exits the crawler guide groove, it navigates to the charging reset point and reads the last recorded working status, ends the charging instruction, and the spraying robot continues to work.

[0035] A method for replenishing medicine for a crawler-type spraying robot comprises the following steps: a. When the upper liquid level sensor and the lower liquid level sensor of the spraying robot cannot detect the liquid medicine, it is determined whether there is a charging instruction issued at present; if not, a replenishing medicine instruction is issued; if so, the replenishing medicine instruction is issued after waiting for the charging instruction to end; after issuing the replenishing medicine instruction, the spraying robot records the current working status and stops working, and marks the current position as the replenishing medicine reset point; b. The spraying robot navigates to the replenishing point and adjusts its direction so that the crawler track is initially aligned with the crawler track guide groove; c. The spraying robot enters the track guide groove after the track contacts the smooth curved surface for posture correction; d. The spraying robot moves slowly along the track guide groove for a fixed distance and then stops, using the elastic limit baffle to buffer and limit the track; e. When the proximity switch detects that the crawler has reached the designated position, the stirring motor starts working first to evenly mix the medicine in the liquid storage tank, and then the electric water pump starts working, and the liquid medicine is injected from the liquid storage tank into the medicine barrel of the spraying robot from the top through the delivery pipeline; the electric water pump will gradually reduce the output flow after working for a period of time; f. When both the upper liquid level sensor and the lower liquid level sensor detect the liquid medicine, the spraying robot starts to move and exits the crawler guide groove; at the same time, the proximity switch detects that the crawler is moving away, and the electric water pump stops working immediately; g. After the spraying robot exits the crawler guide groove, it navigates to the replenishing reset point and reads the last recorded working status; the replenishing instruction ends and the spraying robot continues to work.

[0036] Of course, the above description is not limited to the above examples. Technical features not described in the present invention can be achieved by or by using existing technologies, which will not be described here. The above embodiments and drawings are only used to illustrate the technical scheme of the present invention and are not limitations of the present invention. The present invention is described in detail with reference to the preferred implementation methods. Ordinary technicians in this field should understand that changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention do not depart from the purpose of the present invention, and should also fall within the scope of protection of the claims of the present invention.

Claims

1. A charging and replenishing system for a crawler-type spraying robot, characterized in that: The invention comprises an automatic charging device and an automatic medicine replenishing device; the automatic charging device comprises a fixed guide frame and a charging pile (4) fixedly connected to the guide frame, a crawler guide groove (1) is opened on one side of the guide frame, an elastic limit baffle (2) located at the bottom of the crawler guide groove (1) is installed on the guide frame, a proximity switch (3) is installed on the elastic limit baffle (2), a charging plug (41) facing the opening direction of the crawler guide groove (1) is installed on the charging pile (4), and a charging socket (6) is installed on the medicine spraying robot; the automatic medicine replenishing device comprises a liquid storage tank (5), a conveying pipeline (51) is connected to the liquid storage tank (5), and the liquid outlet of the conveying pipeline (51) is arranged above the automatic charging device.

2. A charging and replenishing system for a crawler-type spraying robot according to claim 1, characterized in that: A stirring motor (52) is mounted on the top of the liquid storage tank (5), and a stirring rod extending into the interior of the liquid storage tank (5) is fixedly connected to the output shaft of the stirring motor (52).

3. A charging and replenishing system for a crawler-type spraying robot according to claim 1, characterized in that: The bottom of the liquid storage tank (5) is connected to a delivery pipeline (51), and an electric water pump (53) is connected to the delivery pipeline (51).

4. A charging and replenishing system for a crawler-type spraying robot according to claim 1, characterized in that: The automatic medicine replenishing device further comprises an upper liquid level sensor (7) and a lower liquid level sensor (8) which are distributed vertically on the medicine barrel of the medicine spraying robot.

5. The charging and replenishing system for a crawler-type spraying robot according to claim 1, characterized in that: The crawler guide grooves (1) are provided with two tracks and are arranged in parallel, and the two crawler guide grooves (1) are respectively adapted to the two crawlers of the crawler-type spraying robot.

6. The charging and replenishing system for a crawler-type spraying robot according to claim 1, characterized in that: The charging pile (4) is equipped with a steering gear (44), a tubular cylindrical cam (42) is fixedly connected to the rotating shaft of the steering gear (44), the charging plug (41) is located in the cylindrical cam (42) and is slidably connected to the charging pile (4) in front and back, a thread groove is formed on the cylindrical cam (42), and a cylindrical follower (43) inserted into the thread groove is fixedly connected to the side of the charging plug (41).

7. A charging and replenishing system for a crawler-type spraying robot according to claim 6, characterized in that: The charging pile (4) is fixedly connected with a charging head limiting plate (45) located on the side of the cylindrical cam (42), and the charging head limiting plate (45) is provided with a groove extending forward and backward, and the cylindrical follower (43) is inserted into the groove.

8. A charging method using the charging and replenishing medicine system according to claim 1, characterized in that: The steps include: S1. When the spraying robot detects that the battery power is lower than the set value, it determines whether there is a replenishment instruction issued; if not, it issues a charging instruction; if so, it waits for the replenishment instruction to end before issuing a charging instruction; after issuing the charging instruction, the spraying robot records the current working status and stops working, and marks the current position as the charging reset point; S2. The spraying robot navigates to the charging point and adjusts its direction so that the end with the charging socket faces the charging pile; S3, the spraying robot enters the track guide groove after posture correction, so that the charging socket and the charging plug are aligned; S4, the spraying robot moves a fixed distance along the track guide groove and then stops moving, and uses an elastic limit baffle to buffer and limit the track; S5. When the proximity switch detects that the crawler reaches the specified position, the servo controls the cylindrical cam to rotate a certain angle, the charging plug extends and inserts into the charging socket, and the spraying robot starts charging; S6. During the charging process, the spraying robot detects the battery power in real time. When it detects that the battery power is full, the spraying robot starts to move and exits the track guide groove; at the same time, the proximity switch detects that the track is moving away, the steering gear controls the cylindrical cam to rotate in the opposite direction, and the charging plug is retracted; S7. After the spraying robot exits the crawler guide groove, it navigates to the charging reset point and reads the last recorded working status, ends the charging instruction, and the spraying robot continues to work.

9. A medicine replenishing method using the charging medicine replenishing system according to claim 1, characterized in that: The following steps are involved: a. When the upper liquid level sensor and the lower liquid level sensor of the spraying robot cannot detect the liquid medicine, it is determined whether there is a charging instruction issued at present; if not, a replenishing medicine instruction is issued; if so, the replenishing medicine instruction is issued after waiting for the charging instruction to end; after issuing the replenishing medicine instruction, the spraying robot records the current working status and stops working, and marks the current position as the replenishing medicine reset point; b. The spraying robot navigates to the replenishing point and adjusts its direction so that the crawler track is initially aligned with the crawler track guide groove; c. The spraying robot enters the track guide groove after posture correction; d. The spraying robot moves a fixed distance along the track guide groove and then stops moving, and uses an elastic limit baffle to buffer and limit the track; e. When the proximity switch detects that the crawler has reached the specified position, the stirring motor starts working first to evenly mix the medicine in the liquid storage tank, and then the electric water pump starts working, and the liquid medicine is injected from the liquid storage tank into the medicine barrel of the spraying robot from above through the conveying pipe; f. When both the upper liquid level sensor and the lower liquid level sensor detect the liquid medicine, the spraying robot starts to move and exits the crawler guide groove; at the same time, the proximity switch detects that the crawler is moving away, and the electric water pump stops working immediately; g. After the spraying robot exits the crawler guide groove, it navigates to the replenishing reset point and reads the last recorded working status; the replenishing instruction ends and the spraying robot continues to work.

10. A charging and replenishing control system for a crawler-type spraying robot, characterized in that: It includes a navigation module, a driving module, a power detection module, a liquid level detection module, a status recording module, an instruction issuing module, a charging control module and a medicine replenishment control module; The navigation module is provided in the spraying robot and is used to receive the position information of the charging point, the replenishing point, the charging reset point and the replenishing reset point, and calculate and publish the navigation information; The driving module is arranged in the spraying robot and is used to receive information related to the movement of the spraying robot and control the movement of the spraying robot; The power detection module is arranged in the spraying robot and is used to detect and publish the current power information of the battery of the spraying robot; The liquid level detection module is arranged in the medicine spraying robot and is used to receive the liquid level sensor signal and publish the current liquid level information of the medicine barrel of the medicine spraying robot; The state recording module is provided in the spraying robot and is used to record the current working state and position information of the spraying robot; The instruction issuing module is arranged in the spraying robot and is used to issue and terminate charging instructions and replenishing instructions; The charging control module is arranged in the automatic charging device and is used to receive the proximity switch signal and control the operation of the steering gear; The medicine replenishment control module is arranged in the automatic medicine replenishment device, and is used to receive the proximity switch signal and control the operation of the stirring motor and the electric water pump.

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