Robot continuous large-area pesticide spraying system applied to orchard pesticide spraying

Abstract

The invention discloses a robot continuous large-area pesticide spraying system applied to orchard pesticide spraying. The robot continuous large-area pesticide spraying system comprises a pesticide spraying robot, a pipeline system arranged on an orchard field ridge and a pesticide supply system for providing pesticide for the pipeline system. The pesticide spraying robot comprises a robot body, a pipeline storage system is arranged in the robot body, when the robot walks and sprays pesticide in an orchard, the robot pulls a pipeline, the pipeline storage system releases the pipeline to stretch out or retract from a pipeline opening, and a lifting pesticide spraying system is arranged on the pesticide spraying robot. The lifting pesticide spraying system is connected with a pipeline in the pipeline storage system; according to the scheme, the pesticide spraying robot is used for spraying pesticide in a plantation area of an orchard, the robot pulls the pesticide conveying pipeline to reach a field ridge of the orchard, pesticide dispensing operation is conducted through the carried pesticide spraying nozzle, the pesticide spraying robot does not need to bear heavy pesticide to walk in the orchard, and the cruising ability of the pesticide spraying robot is greatly improved.

Description

Technical Field

[0001] The invention relates to the field of orchard spraying, and in particular to a robot continuous large-area spraying system used for orchard spraying. Background Art

[0002] With the development of intelligent agriculture, more and more robots are used to replace manual labor in agricultural planting processes, which helps to improve labor efficiency and reduce labor costs of farmers. Especially in the field of agricultural spraying, there are various spraying robots in the prior art.

[0003] In the prior art, most spraying robots are backpack-type, with a pesticide storage box installed on the robot. Before the start of the pesticide dispensing, the pesticide storage box is filled up and then carried into the orchard for spraying. However, this design has poor sustainability. After the pesticide is consumed, it needs to return to the starting point to add pesticide, which will increase energy consumption and reduce spraying efficiency; and the heavy weight of the pesticide carried by the robot will also increase energy consumption and reduce the spraying area of ​​the spraying robot in a single time. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a robot continuous large-area spraying system for orchard spraying.

[0005] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is:

[0006] Provided is a robot continuous large-area spraying system for orchard spraying, which includes a spraying robot, a pipeline system arranged on the ridges of the orchard, and a pesticide supply system for supplying pesticides to the pipeline system;

[0007] The spraying robot includes a robot body, a pipe storage system is arranged in the robot body, the pipe in the pipe storage system extends through a pipe opening arranged at the rear of the robot body and is connected to the pipe system, when the robot walks in the orchard to spray medicine, the robot pulls the pipe, and the pipe storage system releases the pipe to extend from the pipe opening or retract it, and the spraying robot is provided with a lifting spraying system, which is connected to the pipe in the pipe storage system;

[0008] The pesticide supply system includes a pesticide storage tank, which is connected to a booster pump, a delivery pump and a water distributor in sequence through a delivery pipeline. The water distribution joints of the water distributor are respectively connected to branch pipes of the pipeline system. The ends of the branch pipes are provided with pipe joints connected to the pipes on the spraying robot, and valves are provided on the branch pipes.

[0009] Further, the pipe storage system includes a first pipe winding machine arranged in the robot body, a driving gear is arranged on the rotating shaft of the first pipe winding machine, the pipe winding machine is installed on the frame, and a pipe arrangement mechanism is arranged above the pipe winding machine;

[0010] The pipe arrangement mechanism comprises a movable block, a pipe hole for the pipe to pass through is arranged in the movable block, a first connecting block and a second connecting block are arranged on both sides of the movable block, a threaded hole is arranged in the first connecting block to be connected with a threaded rod, a polished rod is arranged parallel to the threaded rod, a sliding hole is arranged in the second connecting block to be slidably connected with the polished rod, and the axial directions of the threaded rod, the polished rod and the first pipe winding machine are parallel;

[0011] A driven gear is arranged on the threaded rod, and the driven gear is connected to the driving gear through an intermediate gear, and the driven gear is meshed with the intermediate gear, and the driving gear is meshed with the intermediate gear.

[0012] Furthermore, the movable block and the first connecting block, as well as the movable block and the second connecting block, are connected via a movable telescopic rod. The movable block can move between the first connecting block and the second connecting block, and a limit spring is provided between the movable block and the first connecting block, as well as between the movable block and the second connecting block to limit the movement of the movable block.

[0013] Furthermore, a rubber sleeve is provided at the upper end of the pipe hole, a support ring is provided at the upper end of the rubber sleeve, the pipe passes through the rubber sleeve and the support ring, a swing support spring is provided on the outer cover of the rubber sleeve, and a guiding mechanism is provided above the support seat to guide the pipe from the pipe mouth into the rubber sleeve.

[0014] Further, the guiding mechanism comprises a guiding frame installed above the supporting ring, the guiding frame comprises two arc-shaped guiding plates, a plurality of guiding support wheels are rotatably arranged between the two guiding plates, the plurality of guiding support wheels are arranged in the form of inverted hooks on the guiding plates, so that an inverted hook-shaped pipe guiding channel is formed between the two guiding plates, a concave, arc-shaped guiding groove is arranged in the middle of the guiding support wheel, and a traction mechanism is arranged between the guiding frame and the pipe opening;

[0015] The traction mechanism includes two traction wheels, which are also provided with concave, arc-shaped guide grooves. The pipeline passes through the gap between the two traction wheels. The two traction wheels are vertically rotatably arranged on a mounting frame, which is fixed on the side wall of the robot body. The rotating shafts of the two traction wheels are provided with speed sensors. During the pulling and moving process of the robot, the pipeline drives the two traction wheels to rotate.

[0016] The pipeline enters the guiding mechanism from the pipeline opening through the traction of the traction mechanism, enters the pipeline hole through the guidance of the guiding mechanism, and is wound on the first pipeline winding machine.

[0017] Furthermore, the lifting spraying system includes a spraying support seat arranged on the head of the spraying robot, a first-level support frame is arranged on the upper end of the spraying support seat, a second-level support frame is arranged on the upper end of the first-level support frame, a first linear motion module is vertically arranged on the first-level support frame, a second linear motion module is vertically arranged on the second-level support frame, a first-level spraying pipe and a second-level spraying pipe are respectively fixed on the sliders of the first linear motion module and the second linear motion module through pipe buckles, and a plurality of spray nozzles are installed on the first-level spraying pipe and the second-level spraying pipe;

[0018] The head of the spraying robot is equipped with a first-level pipe winding machine and a second-level pipe winding machine. The first-level pipe winding machine, the second-level pipe winding machine and the first pipe winding machine have the same structure. The pipe on the first pipe winding machine is pulled out through a water distribution component arranged on the head of the spraying robot. The water distribution component is respectively connected to a first-level water distribution pipe and a second-level water distribution pipe. The first-level water distribution pipe and the second-level water distribution pipe are respectively connected to a first-level winding pipe and a second-level winding pipe wound on the first-level pipe winding machine and the second-level pipe winding machine. The first-level winding pipe and the second-level winding pipe are respectively connected to the first-level spraying pipe and the second-level spraying pipe through a first-level traction wheel and a second-level traction wheel.

[0019] Furthermore, the working process of the spraying robot controlling the first pipe winding machine during the movement includes:

[0020] The speed V of the current spraying robot walking in the orchard is collected in real time, and the motor speed n of the first pipe winding machine is calculated according to the speed V; Wherein, r is the winding radius of the first pipe winding machine;

[0021] When the pipeline is being pulled and moved, the speed sensor collects the speeds N1 and N2 of the two traction wheels in real time; compares the speeds N1 and N2 to obtain the maximum value N between the speeds N1 and N2. max , calculate the maximum value N max The corresponding pipeline traction moving speed v; r′ is the minimum radius of the traction wheel;

[0022] Calculate the difference between the pipeline pulling speed v and the speed V, Δv = |Vv|, and compare it with the set pulling speed error threshold Δv 阈值 Make comparisons;

[0023] If Δv≤Δv 阈值 , then the first pipe winding machine maintains the motor speed n to work;

[0024] If Δv>Δv 阈值 , the first pipe winding machine maintains the motor speed n to work, then the motor speed of the first pipe winding machine is corrected and the motor speed is adjusted to n′;

[0025] The beneficial effects of the present invention are as follows: the present solution is used for spraying pesticides in an orchard plantation area. The robot pulls the pipeline for transporting pesticides to the field ridges of the orchard, and performs the dispensing operation through the carried spray nozzle. The spray robot does not need to carry heavy pesticides to walk in the park, which greatly improves the endurance of the spray robot. The pipeline winding machine designed inside the spray robot is used to store the pipeline, and the spray robot is used to retract and release the pipeline at different positions to avoid entanglement and knotting of the pipeline. The extended or tightened length of the pipeline can adapt to the walking speed of the spray robot. At the same time, the height of the nozzle can be adjusted during the spraying process to adapt to the spraying of fruit trees of different heights. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A side view of a robot spraying pesticides.

[0027] Figure 2 This is a structural diagram of the first pipe winding machine.

[0028] Figure 3 This is the structural diagram of the traction mechanism and the guide mechanism.

[0029] Figure 4 This is the structural diagram of the drainage mechanism.

[0030] Figure 5 Schematic diagram of the pesticide supply system.

[0031] Among them, 1. robot body, 2. pipe mouth, 3. pipe, 4. spray support seat, 5. second-level spray pipe, 6. second linear motion module, 7. second-level support frame, 8. second-level traction wheel, 9. first-level support frame, 10. first-level pipe winding machine, 11. first-level traction wheel, 12. first pipe winding machine, 13. driving gear, 14. intermediate gear, 15. driven gear, 16. first connecting block, 17. guiding mechanism, 18. movable block, 19. second connecting block, 20. limiting spring, 21. guide support wheel, 22. traction wheel, 23. speed sensor, 24. support ring, 25. guide plate. DETAILED DESCRIPTION

[0032] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0033] like Figure 1-Figure 5As shown, a robot continuous large-area spraying system for orchard spraying includes a spraying robot, a pipeline 3 system arranged on the ridges of the orchard, and a pesticide supply system for providing pesticides to the pipeline 3 system.

[0034] The spraying robot includes a robot body 1, in which a pipe 3 storage system is arranged. The pipe 3 in the pipe 3 storage system extends through a pipe opening 2 arranged at the rear of the robot body 1 and is connected to the pipe 3 system. When the robot walks in the orchard to spray pesticides, the robot pulls the pipe 3, and the pipe 3 storage system releases the pipe 3 to extend from or retract the pipe opening 2. A lifting spraying system is arranged on the spraying robot, and the lifting spraying system is connected to the pipe 3 in the pipe 3 storage system.

[0035] The pesticide supply system includes a pesticide storage tank, which is connected to the booster pump, the delivery pump and the water distributor in sequence through the delivery pipe 3. The water distribution joints of the water distributor are respectively connected to the branch pipes 3 of the pipe 3 system. The ends of the branch pipes 3 are provided with pipe 3 joints connected to the pipe 3 on the spraying robot, and valves are provided on the branch pipes 3. The valves are used to control the shutoff of each branch pipe 3. One branch pipe 3 corresponds to one ridge. When the spraying robot sprays pesticides on the corresponding ridge, it opens the valve on the corresponding branch pipe 3, and the other valves are closed.

[0036] This solution is used for spraying in the orchard plantation area. The robot pulls the pipeline 3 for transporting pesticides to the field ridges of the orchard, and performs the dispensing operation through the carried spray nozzle. The spray robot does not need to carry heavy pesticides to walk in the park, which greatly improves the endurance of the spray robot. In addition, the pipeline 3 is stored by the pipeline 3 winding machine designed inside the spray robot, and the pipeline 3 is retracted and released at different positions in cooperation with the spray robot to avoid entanglement and knotting of the pipeline 3. The extended or tightened length of the pipeline 3 can adapt to the walking speed of the spray robot. At the same time, the height of the nozzle can be adjusted during the spraying process to adapt to the spraying of fruit trees of different heights.

[0037] In this embodiment, the pipe 3 storage system includes a first pipe winding machine 12 arranged in the robot body 1, a driving gear 13 is arranged on the rotating shaft of the first pipe winding machine 12, the pipe 3 winding machine is installed on the frame, and a pipe discharge mechanism is arranged above the pipe 3 winding machine.

[0038] The pipe arrangement mechanism includes a movable block 18, in which a pipe 3 hole for the pipe 3 to pass through is provided, and a first connecting block 16 and a second connecting block 19 are provided on both sides of the movable block 18. A threaded hole is provided in the first connecting block 16 to be connected to a threaded rod, and a smooth rod is provided parallel to the threaded rod. A sliding hole is provided in the second connecting block 19 to be slidably connected to the smooth rod, and the threaded rod, the smooth rod and the first pipe winding machine 12 are axially parallel.

[0039] A driven gear 15 is disposed on the threaded rod. The driven gear 15 is connected to the driving gear 13 via an intermediate gear 14 , and the driven gear 15 and the intermediate gear 14 are meshed with each other, and the driving gear 13 and the intermediate gear 14 are meshed with each other.

[0040] The pipe 3 is retracted and extended by rotating the motor on the first pipe winder 12 to adapt to the distance the spraying robot moves. During the rotation of the drum of the first pipe winder 12, the threaded rod rotates to drive the movable block 18 to move left and right, ensuring that the pipe 3 on the drum is stored more evenly.

[0041] In this embodiment, the movable block 18 is connected to the first connection block 16 and the second connection block 19 through a movable telescopic rod, and the movable block 18 can move between the first connection block 16 and the second connection block 19, and a limit spring 20 is provided between the movable block 18 and the first connection block 16 and the movable block 18 and the second connection block 19 to limit the movement of the movable block 18. When the movable block 18 drives the pipeline 3 to move left and right, the movable block 18 has a certain front and rear movement space to avoid hard pulling on the pipeline 3 and damage to the pipeline 3 or jamming, and the limit spring 20 provides a rebound force to improve the overall stability.

[0042] A rubber sleeve is provided at the upper end of the hole of the pipe 3, a support ring 24 is provided at the upper end of the rubber sleeve, the pipe 3 passes through the rubber sleeve and the support ring 24, a swing support spring is provided on the outer cover of the rubber sleeve, and a guide mechanism 17 for guiding the pipe 3 from the pipe opening 2 into the rubber sleeve is provided above the support seat. The rubber sleeve provides a soft transition for the pipe 3 and provides a certain support resilience to prevent the pipe 3 from bending.

[0043] In this embodiment, the guiding mechanism 17 includes a guiding frame installed above the supporting ring 24, and the guiding frame includes two arc-shaped guiding plates 25. A plurality of guiding support wheels 21 are rotatably arranged between the two guiding plates 25. The plurality of guiding support wheels 21 are arranged in the form of inverted hooks on the guiding plates 25, so that an inverted hook-shaped guiding channel for the pipeline 3 is formed between the two guiding plates 25. A concave, arc-shaped guiding groove is provided in the middle of the guiding support wheel 21, and a traction mechanism is provided between the guiding frame and the pipeline opening 2.

[0044] The traction mechanism includes two traction wheels 22, and the two traction wheels 22 are also provided with concave, arc-shaped guide grooves. The pipeline 3 passes through the gap between the two traction wheels 22. The two traction wheels 22 are vertically rotatably arranged on a mounting frame, and the mounting frame is fixed on the side wall of the robot body 1. The rotating shafts of the two traction wheels 22 are provided with speed sensors 23. During the traction movement of the robot, the pipeline 3 drives the two traction wheels 22 to rotate.

[0045] The pipe 3 enters the guide mechanism 17 from the pipe opening 2 through the traction of the traction mechanism, enters the hole of the pipe 3 through the guidance of the guide mechanism 17 , and is wound on the first pipe winding machine 12 .

[0046] Through the cooperation of the guiding mechanism 17 and the traction mechanism, the pipe 3 between the pipe opening 2 and the first pipe winding machine 12 is guided and supported, ensuring that the pipe 3 entering from the pipe opening 2 can be smoothly received by the first pipe winding machine 12, the retraction and release of the pipe 3 is smoother, and the retracted and released length of the pipe 3 can also be detected.

[0047] In this embodiment, the lifting spraying system includes a spraying support seat 4 arranged on the head of the spraying robot, a first-level support frame 9 is arranged on the upper end of the spraying support seat 4, a second-level support frame 7 is arranged on the upper end of the first-level support frame 9, a first linear motion module is vertically arranged on the first-level support frame 9, and a second linear motion module 6 is vertically arranged on the second-level support frame 7. The first-level spraying pipe 3 and the second-level spraying pipe 5 are respectively fixed on the sliders of the first linear motion module and the second linear motion module 6 through the pipe 3 buckle, and a plurality of spray nozzles are installed on the first-level spraying pipe 3 and the second-level spraying pipe 5.

[0048] The head of the spraying robot is equipped with a first-level pipe winding machine 10 and a second-level pipe 3 winding machine. The first-level pipe winding machine 10, the second-level pipe 3 winding machine and the first pipe winding machine 12 have the same structure, and the second-level pipe 3 winding machine and the first pipe winding machine 12 are installed horizontally and controlled separately. The pipe 3 on the first pipe winding machine 12 is pulled out through a water distribution component set on the head of the spraying robot. The water distribution component is respectively connected to the first-level water distribution pipe and the second-level water distribution pipe. The first-level water distribution pipe and the second-level water distribution pipe are respectively connected to the first-level winding pipe and the second-level winding pipe wound on the first-level pipe winding machine 10 and the second-level pipe 3 winding machine. The first-level winding pipe and the second-level winding pipe are respectively connected to the first-level spraying pipe 3 and the second-level spraying pipe 5 through the first-level traction wheel 11 and the second-level traction wheel 8.

[0049] When the first linear moving module and the second linear moving module 6 respectively drive the spray nozzle to rise or fall, the first-stage pipe winding machine 10 and the second-stage pipe 3 winding machine respectively cooperate to convey or tighten the pipe 3 to ensure that the lifting process is not affected.

[0050] In this embodiment, the working process of the spraying robot controlling the first pipe winding machine 12 during movement includes:

[0051] The speed V of the current spraying robot walking in the orchard is collected in real time, and the motor speed n of the first pipe winding machine 12 is calculated according to the speed V; Among them, r is the winding radius of the first pipe winder 12; according to the walking speed of the spraying robot, it is necessary to accurately control the speed of the first pipe winder 12 to release or recover the pipe 3. If the pipe 3 is not released in time, pulling will occur, and if the pipe 3 is not recovered in time, the pipe 3 will be knotted or entangled.

[0052] During the process of the pipeline 3 being towed and moved, the speed sensor 23 collects the speeds N1 and N2 of the two traction wheels 22 in real time; compares the speeds N1 and N2 to obtain the maximum value N between the speeds N1 and N2. max , calculate the maximum value N max The corresponding pipeline 3 traction movement speed v; r′ is the minimum radius of the traction wheel 22;

[0053] When the movable block 18 drives the pipeline 3 to move left and right, it will swing left and right, and the bending direction between the two traction wheels 22 will change. The actual moving distance of the pipeline 3 is determined by taking the traction wheel 22 with the maximum speed. The traction wheel 22 with the maximum speed indicates the best contact with the pipeline 3. The pipeline 3 will drive the traction wheel 22 to rotate during its movement.

[0054] Calculate the difference Δv=|Vv| between the traction speed v and the speed V of pipeline 3, and compare it with the set traction speed error threshold Δv 阈值 Make comparisons;

[0055] If Δv≤Δv 阈值 , the first pipe winding machine 12 maintains the motor speed n to work;

[0056] If Δv>Δv 阈值 , the first pipe winding machine 12 maintains the motor speed n to work, then the motor speed of the first pipe winding machine 12 is corrected and the motor speed is adjusted to n′;

Claims

1. A robot continuous large-area spraying system for orchard spraying, characterized in that: It includes a spraying robot, a pipeline system laid on the ridges of the orchard, and a pesticide supply system that supplies pesticides to the pipeline system; The spraying robot comprises a robot body, a pipe receiving system is arranged in the robot body, the pipe in the pipe receiving system extends out through a pipe opening arranged at the rear of the robot body and is connected to the pipe system, when the robot walks in the orchard to spray medicine, the robot pulls the pipe, and the pipe receiving system releases the pipe to extend from the pipe opening or retract it, the spraying robot is provided with a lifting spraying system, and the lifting spraying system is connected to the pipe in the pipe receiving system; The pesticide supply system includes a pesticide storage tank, which is connected to a booster pump, a delivery pump and a water distributor in sequence through a delivery pipeline. The water diversion joints of the water distributor are respectively connected to branch pipes of the pipeline system. The ends of the branch pipes are provided with pipe joints connected to the pipes on the spraying robot, and valves are provided on the branch pipes.

2. The robot continuous large-area spraying system for orchard spraying according to claim 1 is characterized in that: The pipe storage system comprises a first pipe winding machine arranged in the robot body, a driving gear is arranged on the rotating shaft of the first pipe winding machine, the pipe winding machine is installed on a frame, and a pipe discharging mechanism is arranged above the pipe winding machine; The pipe arrangement mechanism comprises a movable block, wherein a pipe hole for the pipe to pass through is arranged in the movable block, and a first connecting block and a second connecting block are arranged on both sides of the movable block, wherein a threaded hole is arranged in the first connecting block and connected with a threaded rod, and a smooth rod is arranged parallel to the threaded rod, and a sliding hole is arranged in the second connecting block and slidably connected with the smooth rod, and the threaded rod, the smooth rod and the first pipe winding machine are axially parallel; The threaded rod is provided with a driven gear, the driven gear is connected to the driving gear via an intermediate gear, and the driven gear is meshed with the intermediate gear, and the driving gear is meshed with the intermediate gear.

3. The robot continuous large-area spraying system for orchard spraying according to claim 2 is characterized in that: The movable block is connected to the first connecting block, and the movable block is connected to the second connecting block through a movable telescopic rod. The movable block can move between the first connecting block and the second connecting block, and a limit spring is provided between the movable block and the first connecting block, and between the movable block and the second connecting block to limit the movement of the movable block.

4. The robot continuous large-area spraying system for orchard spraying according to claim 2 is characterized in that: A rubber sleeve is provided at the upper end of the pipe hole, a support ring is provided at the upper end of the rubber sleeve, the pipe passes through the rubber sleeve and the support ring, a swing support spring is provided on the outer cover of the rubber sleeve, and a guiding mechanism for guiding the pipe from the pipe opening into the rubber sleeve is provided above the support seat.

5. The robot continuous large-area spraying system for orchard spraying according to claim 4 is characterized in that: The guide mechanism comprises a guide frame installed above the support ring, the guide frame comprises two arc-shaped guide plates, a plurality of guide support wheels are rotatably arranged between the two guide plates, the plurality of guide support wheels are arranged in an inverted hook shape on the guide plate, so that an inverted hook-shaped pipeline guide channel is formed between the two guide plates, a concave, arc-shaped guide groove is arranged in the middle of the guide support wheel, and a traction mechanism is arranged between the guide frame and the pipeline opening; The traction mechanism includes two traction wheels, and the two traction wheels are also provided with concave, arc-shaped guide grooves. The pipeline passes through the gap between the two traction wheels. The two traction wheels are vertically rotatably arranged on a mounting frame, and the mounting frame is fixed on the side wall of the robot body. The rotating shafts of the two traction wheels are provided with speed sensors. The pipeline drives the two traction wheels to rotate during the traction movement of the robot. The pipeline enters the guiding mechanism from the pipeline opening through the traction of the traction mechanism, enters the pipeline hole through the guidance of the guiding mechanism, and is wound on the first pipeline winding machine.

6. The robot continuous large-area spraying system for orchard spraying according to claim 5 is characterized in that: The lifting spraying system comprises a spraying support seat arranged on the head of the spraying robot, a first-level support frame is arranged on the upper end of the spraying support seat, a second-level support frame is arranged on the upper end of the first-level support frame, a first linear motion module is vertically arranged on the first-level support frame, a second linear motion module is vertically arranged on the second-level support frame, a first-level spraying pipeline and a second-level spraying pipeline are respectively fixed on the sliders of the first linear motion module and the second linear motion module through pipeline buckles, and a plurality of spray nozzles are installed on the first-level spraying pipeline and the second-level spraying pipeline; The head of the spraying robot is equipped with a first-level pipe winding machine and a second-level pipe winding machine. The first-level pipe winding machine, the second-level pipe winding machine and the first pipe winding machine have the same structure. The pipe on the first pipe winding machine is pulled out through a water distribution component arranged on the head of the spraying robot. The water distribution component is respectively connected to a first-level water distribution pipe and a second-level water distribution pipe. The first-level water distribution pipe and the second-level water distribution pipe are respectively connected to a first-level winding pipe and a second-level winding pipe wound on the first-level pipe winding machine and the second-level pipe winding machine. The first-level winding pipe and the second-level winding pipe are respectively connected to the first-level spraying pipe and the second-level spraying pipe through a first-level traction wheel and a second-level traction wheel.

7. The robot continuous large-area spraying system for orchard spraying according to claim 6 is characterized in that: The working process of the spraying robot controlling the first pipe winding machine during movement includes: The speed V of the current spraying robot walking in the orchard is collected in real time, and the motor speed n of the first pipe winding machine is calculated according to the speed V; Wherein, r is the winding radius of the first pipe winding machine; During the process of the pipeline being towed, the speed sensor collects the speeds N1 and N2 of the two traction wheels in real time; compares the speeds N1 and N2 to obtain the maximum value N between the speeds N1 and N2. max , calculate the maximum value N max The corresponding pipeline traction moving speed v; r′ is the minimum radius of the traction wheel; Calculate the difference between the pipeline pulling speed v and the speed V, Δv = |Vv|, and compare it with the set pulling speed error threshold Δv 阈值 Make comparisons; If Δv≤Δv 阈值 , then the first pipe winding machine maintains the motor speed n to work; If Δv>Δv 阈值 , the first pipe winding machine maintains the motor speed n to work, then the motor speed of the first pipe winding machine is corrected and the motor speed is adjusted to n′;

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