Intelligent weeding robot for orchard

Abstract

An intelligent weeding robot for an orchard relates to the technical field of intelligent agricultural machinery equipment and comprises a weeding robot body, a telescopic mechanism is mounted on a base on the inner side of the weeding robot body, a blast pipe is rotatably connected to the telescopic portion of the telescopic mechanism through a bearing, and a shell cleaning head is fixedly communicated to the end of the blast pipe. A connecting pipe is fixed to a support on the rear side of a telescopic part of the telescopic mechanism, and the end of the connecting pipe is rotationally connected with a blast pipe through a rotating connector. The surface of the camera is prevented from being attached with dust to cause adverse influence on the use effect of some sensing elements, meanwhile, the dust is prevented from being attached to the surface of the shell for a long time to generate scale, the trouble of subsequent cleaning is avoided, and the dust near the camera is blown away to prevent the dust from being attached to the surface of the camera to influence the information acquisition capability of the camera. Therefore, normal operation of the weeding robot is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent agricultural machinery equipment, and in particular to an intelligent weeding robot for orchards. Background Art

[0002] In orchard weeding operations, traditional manual weeding methods are inefficient and labor-intensive, and cannot meet the weeding needs of large orchards. With the development of social economy and the aging of the population, agricultural labor costs have increased rapidly, and there is even a situation where there is no labor available, which seriously affects agricultural production. Traditional mechanical weeders are operated by professional operators, and use rotary tillage to loosen the soil to weed between rows in the orchard. This weeding method cannot remove weeds between plants, has a low removal rate, destroys the soil surface structure, and easily damages the roots of fruit trees in the shallow soil layer. In addition, this mechanical weeding method requires high proficiency of the operator, has high labor intensity, and does not have the ability to operate intelligently and autonomously. Although chemical weeding is fast and efficient, the use of chemical herbicides in orchard weeding operations will cause environmental pollution and soil structure degradation. Herbicides will penetrate into the soil and reach the roots of fruit trees or splash onto fruit trees, which will affect the growth of fruit trees, damage the fruit, and affect the quality of the fruit. In particular, some harmful chemical residues will cause unpredictable damage. The weeding robot collects image information through a camera during work. A large amount of dust will be generated when mechanical weeding is used. At the same time, the dust adheres to the camera, resulting in a decrease in its information collection ability. In addition, the positioning and sensors of the weeding robot will be installed on its shell. The dust adheres to the shell and has an adverse effect on the use of these components. In addition, dust adheres to the shell of the weeding robot for a long time and will cause scaling, which makes it more troublesome to clean up later. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide an orchard intelligent weeding robot, which can repeatedly clean the dust on the surface of the shell of the weeding robot body to prevent dust from adhering to its surface and causing adverse effects on the use of some sensor elements. At the same time, it prevents dust from adhering to the surface of the shell for a long time to form scale, and avoids the trouble of subsequent cleaning. It blows away the dust near the camera to prevent dust from adhering to the surface of the camera and affecting its information collection ability, thereby ensuring that the weeding robot can operate normally, and can effectively solve the problems in the background technology.

[0004] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical scheme: An orchard intelligent weeding robot comprises a weeding robot body, a telescopic mechanism is installed on the inner side base of the weeding robot body, a blast pipe is rotatably connected to the telescopic part of the telescopic mechanism through a bearing, the end of the blast pipe is connected and fixed with a shell cleaning head, a connecting pipe is fixed on the rear side bracket of the telescopic part of the telescopic mechanism, the end of the connecting pipe is rotatably connected to the blast pipe through a rotating joint, and a blast pipe driving mechanism for driving the blast pipe to rotate is installed on the telescopic part of the telescopic mechanism, a ventilation pipe is connected and fixed to the middle part of the connecting pipe, a camera cleaning module is connected and fixed to the end of the ventilation pipe, a camera is installed inside the camera cleaning module, a ventilator is installed inside the shell of the weeding robot body, the air inlet of the ventilator is connected to the inside of a battery compartment in the weeding robot body through an exhaust pipe, the air outlet of the ventilator is connected and fixed to the connecting pipe through the telescopic pipe, a first flow regulating valve is installed on the connecting pipe, a second flow regulating valve is installed on the ventilation pipe, and the ventilator, the camera, the first flow regulating valve and the second flow regulating valve are all electrically connected to a controller in the weeding robot body.

[0005] Furthermore, the connecting pipe is a "U"-shaped pipe, the ventilation pipe connected and fixed to the middle of the connecting pipe is a finned pipe, and the telescopic pipe connected and fixed to the middle of the connecting pipe is a corrugated pipe.

[0006] Furthermore, the telescopic mechanism includes an electric push rod and a mounting frame, the electric push rod is installed on the inner base of the weeding robot body, the mounting frame is fixed to the telescopic end of the electric push rod, the connecting pipe is fixed to the rear bracket of the mounting frame, and the electric push rod is electrically connected to the controller in the weeding robot body.

[0007] Furthermore, the blast pipe driving mechanism includes a torsion spring, a connecting belt and a transmission wheel, the connecting belt is wound around the transmission wheel, the transmission wheel is sleeved and fixed on the blast pipe, the torsion spring is sleeved on the blast pipe, one end of the torsion spring is fixedly connected to the transmission wheel, and the other end of the torsion spring is fixedly connected to the side of the crossbeam of the mounting frame.

[0008] Furthermore, the blast pipe driving mechanism also includes a fixing pin, and one end of the connecting belt is fixed to the transmission wheel through the fixing pin.

[0009] Furthermore, the blast tube driving mechanism also includes a fixed block, a telescopic rod and a connecting head, the fixed block is fixed to the middle of the crossbeam of the mounting frame, the telescopic rod is assembled on the fixed block, the connecting head is fixed to the telescopic end of the telescopic rod, and the other end of the connecting belt is fixedly connected to the connecting head.

[0010] Furthermore, the blast pipe driving mechanism also includes a servo motor, a connecting block, a transmission nut and a bidirectional screw. There are two connecting blocks, which are symmetrically fixed on the side of the crossbeam of the mounting frame. The bidirectional screw is rotatably installed between the two connecting blocks. The transmission nut is fixed on the connecting head and is threadedly connected to the bidirectional screw. The servo motor is installed on the side of one of the connecting blocks, and the output shaft of the servo motor is fixedly connected to the end of the bidirectional screw.

[0011] Furthermore, the shell cleaning head includes a connecting seat and an air nozzle, the connecting seat is a hollow structure and is connected and fixed to the end of the air blast pipe, and the air nozzle is assembled on the connecting seat.

[0012] Furthermore, the camera cleaning module includes a mounting seat and an air blast hole. The mounting seat is fixed at the end of the ventilation pipe. The camera is assembled on the inner side of the mounting seat. A plurality of air blast holes are provided. A rotating array of the air blast holes is opened on the mounting seat. The air blast holes are connected to the inside of the ventilation pipe.

[0013] Furthermore, the blast hole is a strip-shaped hole, the air outlet of the blast hole is a narrow structure, and the air outlet of the blast hole is arranged toward the surface of the camera.

[0014] Compared with the prior art, the beneficial effects of the present invention are: the orchard intelligent weeding robot has the following advantages: 1. The shell cleaning head is made to swing back and forth through the blast pipe driving mechanism, so as to blow air repeatedly to the surface of the shell of the weeding robot body, which can repeatedly clean the dust on the surface of the shell of the weeding robot body to avoid the dust adhering to the surface and causing adverse effects on the use of some sensor components. At the same time, it avoids the dust from adhering to the shell surface for a long time to form scale, and avoids the trouble of subsequent cleaning.

[0015] 2. The camera cleaning module is used to blow air on the surface of the camera to blow away the dust on the camera surface. By blowing away the dust near the camera, dust is prevented from adhering to the surface of the camera and affecting its information collection capability, thereby ensuring that the weeding robot can operate normally.

[0016] 3. The flowing air required for cleaning is generated by a ventilator, which can dissipate the heat of the batteries in the battery compartment while utilizing the flowing air, thereby achieving energy-saving effects and avoiding the energy consumption caused by the additional power required to generate flowing air. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the partial structure of the cleaning component of the present invention; Figure 3It is a schematic diagram of the partial side structure of the cleaning component of the present invention; Figure 4 For the present invention Figure 3 Schematic diagram of the cross-sectional structure at AA; Figure 5 For the present invention Figure 4 A schematic diagram of the enlarged structure at B; Figure 6 It is a schematic diagram of the partial structure of the blast tube driving mechanism of the present invention.

[0018] In the figure: 1-weeding robot body, 2-camera, 3-shell cleaning head, 31-connecting seat, 32-nozzle, 4-blast pipe driving mechanism, 41-torsion spring, 42-servo motor, 43-connecting block, 44-transmission nut, 45-bidirectional screw, 46-fixing block, 47-telescopic rod, 48-connecting head, 49-connecting belt, 410-fixing pin, 411-transmission wheel, 5-camera cleaning module, 51-mounting seat, 52-blast hole, 6-telescopic mechanism, 61-electric push rod, 62-mounting frame, 7-telescopic tube, 8-connecting tube, 9-rotating joint, 10-blast pipe, 11-first flow regulating valve, 12-ventilator, 13-exhaust pipe, 14-bearing, 15-second flow regulating valve, 16-ventilation pipe. DETAILED DESCRIPTION

[0019] The present invention can be explained in detail by the following examples, and the purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention.

[0020] See also Figure 1-6, the present embodiment provides a technical solution: an orchard intelligent weeding robot, comprising a weeding robot body 1, a telescopic mechanism 6 is installed on the inner base of the weeding robot body 1, a blast pipe 10 is rotatably connected to the telescopic part of the telescopic mechanism 6 through a bearing 14, and the end of the blast pipe 10 is connected and fixed with a shell cleaning head 3, a connecting pipe 8 is fixed on the rear bracket of the telescopic part of the telescopic mechanism 6, the end of the connecting pipe 8 is rotatably connected to the blast pipe 10 through a rotating joint 9, and a blast pipe driving mechanism 4 for driving the blast pipe 10 to rotate is installed on the telescopic part of the telescopic mechanism 6, a ventilation pipe 16 is connected and fixed to the middle part of the connecting pipe 8, a camera cleaning module 5 is connected and fixed to the end of the ventilation pipe 16, and a camera 2 is installed on the inner side of the camera cleaning module 5, a ventilator 12 is installed inside the shell of the weeding robot body 1, the air inlet of the ventilator 12 is connected to the inside of the battery compartment in the weeding robot body 1 through an exhaust pipe 13, and the air outlet of the ventilator 12 is connected to the connecting pipe 8 through a telescopic pipe 7. The connecting pipe 8 is fixed, a first flow regulating valve 11 is installed on the connecting pipe 8, and a second flow regulating valve 15 is installed on the ventilation pipe 16. The ventilator 12, the camera 2, the first flow regulating valve 11 and the second flow regulating valve 15 are all electrically connected to the controller in the weeding robot body 1. The air volume delivered to the blast pipe 10 by the connecting pipe 8 is adjusted by the first flow regulating valve 11, and the ventilation volume of the ventilation pipe 16 is adjusted by the second flow regulating valve 15. When the amount of dust on the shell surface of the weeding robot body 1 is large, the air volume delivered to the blast pipe 10 by the connecting pipe 8 is appropriately increased, and then the ventilation volume of the ventilation pipe 16 is appropriately reduced. When the blast pipe 10 deflects, the end of the blast pipe 10 rotates relative to the connecting pipe 8 through the rotating joint 9, and the flowing air required for cleaning is generated by the ventilator 12, which can dissipate the heat of the battery in the battery compartment while utilizing the flowing air, thereby achieving energy-saving effects and avoiding the energy consumption caused by the need for additional power to generate flowing air.

[0021] The connecting tube 8 is a "U"-shaped tube, the ventilation tube 16 connected and fixed to the middle part of the connecting tube 8 is a fin tube, the telescopic tube 7 connected and fixed to the middle part of the connecting tube 8 is a bellows, and the telescopic tube 7 is a bellows, so that telescopic compensation is performed when the connecting tube 8 moves forward and backward. The ventilation tube 16 is a fin tube, so as to cool the flowing air, thereby preventing the air temperature blowing to the camera 2 from being too high.

[0022] The telescopic mechanism 6 includes an electric push rod 61 and a mounting frame 62. The electric push rod 61 is installed on the inner base of the weeding robot body 1, and the mounting frame 62 is fixed to the telescopic end of the electric push rod 61. The connecting pipe 8 is fixed to the rear bracket of the mounting frame 62. The electric push rod 61 is electrically connected to the controller in the weeding robot body 1. The telescopic end of the electric push rod 61 drives the mounting frame 62 to perform telescopic movement, so that the camera 2 and the shell cleaning head 3 are extended to the outside of the shell of the weeding robot body 1. When not in use, they can be retracted into the inside of the shell of the weeding robot body 1, thereby preventing the camera 2 from being damaged by accidental collision.

[0023] The blast tube driving mechanism 4 includes a torsion spring 41, a connecting belt 49 and a transmission wheel 411, the connecting belt 49 is wound around the transmission wheel 411, the transmission wheel 411 is sleeved and fixed on the blast tube 10, the torsion spring 41 is sleeved on the blast tube 10, one end of the torsion spring 41 is fixedly connected to the transmission wheel 411, and the other end of the torsion spring 41 is fixedly connected to the side of the crossbeam of the mounting frame 62, the blast tube driving mechanism 4 also includes a fixing pin 410, one end of the connecting belt 49 is fixed to the transmission wheel 411 through the fixing pin 410, the blast tube driving mechanism 4 also includes a fixing block 46, a telescopic rod 47 and a connector 48, the fixing block 46 is fixed to the middle of the crossbeam of the mounting frame 62, the telescopic rod 47 is assembled on the fixing block 46, and the connector 48 is fixed on the telescopic end of the telescopic rod 47, and the other end of the connecting belt 49 is fixedly connected to the connecting head 48. The blast tube driving mechanism 4 also includes a servo motor 42, a connecting block 43, a transmission nut 44 and a bidirectional screw 45. There are two connecting blocks 43, and the two connecting blocks 43 are symmetrically fixed on the side of the crossbeam of the mounting frame 62. The bidirectional screw 45 is rotatably installed between the two connecting blocks 43. The transmission nut 44 is fixed on the connecting head 48 and is threadedly connected to the bidirectional screw 45. The servo motor 42 is installed on the side of one of the connecting blocks 43, and the output shaft of the servo motor 42 is fixedly connected to the end of the bidirectional screw 45. The shell cleaning head 3 includes a connecting seat 31 and a wind nozzle 32. The connecting seat 31 is a hollow structure and is connected and fixed. At the end of the blast pipe 10, the air nozzle 32 is assembled on the connecting seat 31, and the connecting pipe 8 conveys the flowing air to the connecting seat 31 through the blast pipe 10, and the air in the connecting seat 31 is blown to the shell surface of the weeding robot body 1 through the air nozzle 32, so as to blow away the dust on the shell surface of the weeding robot body 1, and the output shaft of the servo motor 42 drives the bidirectional screw rod 45 to rotate, and the bidirectional screw rod 45 and the transmission nut 44 are threadedly transmitted, and the transmission nut 44 drives the connecting head 48 to move, and the connecting head 48 drives the telescopic end of the telescopic rod 47 to perform telescopic movement, and the connecting head 48 pulls the connecting belt 49, and the connecting belt 49 pulls the transmission wheel 411 to deflect, and the transmission wheel 411 drives the shell cleaning head 3 through the blast pipe 10. The deflection is performed to increase the blowing area of ​​the air nozzle 32. When the bidirectional screw rod 45 rotates in the opposite direction, the twisted torsion spring 41 returns to its original position, and the elastic force of the torsion spring 41 acts on the transmission wheel 411, so that the transmission wheel 411 drives the air blower 10 to reverse, so that the shell cleaning head 3 can return to its original position, and the above operation is repeated to make the shell cleaning head 3 swing back and forth, thereby repeatedly blowing air on the surface of the shell of the weeding robot body 1, which can repeatedly clean the dust on the surface of the shell of the weeding robot body 1 to avoid dust adhering to its surface and causing adverse effects on the use of some sensor elements. At the same time, it avoids the dust from adhering to the shell surface for a long time to form scale, and avoids the trouble of subsequent cleaning.

[0024] The camera cleaning module 5 includes a mounting seat 51 and an air blast hole 52. The mounting seat 51 is fixed at the end of the ventilation pipe 16. The camera 2 is assembled on the inner side of the mounting seat 51. A plurality of air blast holes 52 are provided. The plurality of air blast holes 52 are arranged in a rotating array on the mounting seat 51. The air blast holes 52 are connected to the inside of the ventilation pipe 16. The air blast holes 52 are strip-shaped holes. The air outlet of the air blast holes 52 is a narrow structure. The air outlet of the air blast holes 52 is arranged toward the surface of the camera 2. The ventilator 12 extracts the air in the battery compartment through the exhaust pipe 13, and heats the battery in the battery compartment by accelerating the air flow. The flowing air is transported through the telescopic tube 7. To the connecting pipe 8, the connecting pipe 8 transports the flowing air to the blowing hole 52 on the mounting base 51 through the ventilation pipe 16, and the blowing hole 52 blows air to the surface of the camera 2, thereby blowing away the dust on the surface of the camera 2. The ventilation pipe 16 is a finned tube, which cools down the flowing air, thereby preventing the air temperature blown to the camera 2 from being too high. At the same time, the heat generated by the camera 2 during the operation is taken away by the air flow, thereby cooling the camera 2. It blows away the dust near the camera 2 to prevent the dust from adhering to the surface of the camera 2 and affecting its information collection ability, thereby ensuring that the weeding robot can operate normally.

[0025] The working principle of the orchard intelligent weeding robot provided by the present invention is as follows: the ventilator 12 extracts the air in the battery compartment through the exhaust pipe 13, and dissipates the heat of the battery in the battery compartment by accelerating the air flow. The flowing air is transported to the connecting pipe 8 through the telescopic tube 7. The connecting pipe 8 transports the flowing air to the blast hole 52 on the mounting seat 51 through the ventilation pipe 16. The blast hole 52 blows air to the surface of the camera 2, thereby blowing away the dust on the surface of the camera 2. The ventilation pipe 16 is a finned tube, so as to cool the flowing air, thereby preventing the air temperature blowing to the camera 2 from being too high. At the same time, the heat generated by the camera 2 during the working process is taken away by the air flow, thereby cooling the camera 2. The telescopic end of the electric push rod 61 drives the mounting frame 62 to perform telescopic movement, so that the camera 2 and the shell cleaning head 3 are extended to the outside of the shell of the weeding robot body 1, and can be retracted into the inside of the shell of the weeding robot body 1 when not in use. The telescopic tube 7 is a bellows, so that telescopic compensation is performed when the connecting tube 8 moves forward and backward; The connecting pipe 8 conveys the flowing air to the connecting seat 31 through the blast pipe 10, and the air in the connecting seat 31 is blown to the shell surface of the weeding robot body 1 through the air nozzle 32, so as to blow away the dust on the shell surface of the weeding robot body 1, and the output shaft of the servo motor 42 drives the bidirectional screw rod 45 to rotate, and the bidirectional screw rod 45 and the transmission nut 44 are threadedly transmitted, and the transmission nut 44 drives the connecting head 48 to move, and the connecting head 48 drives the telescopic end of the telescopic rod 47 to perform telescopic movement, and the connecting head 48 pulls the connecting belt 49, and the connecting belt 49 pulls The driving wheel 411 is deflected, and the driving wheel 411 drives the shell cleaning head 3 to deflect through the blast pipe 10, thereby increasing the blowing area of ​​the air nozzle 32. When the bidirectional screw rod 45 rotates in the opposite direction, the torsion spring 41 that is twisted returns to its original position, and the elastic force of the torsion spring 41 acts on the driving wheel 411, so that the driving wheel 411 drives the blast pipe 10 to reverse, so that the shell cleaning head 3 can return to its original position, and the above operation is repeated to make the shell cleaning head 3 swing back and forth, so as to repeatedly blow air on the surface of the shell of the weeding robot body 1; The air volume delivered from the connecting pipe 8 to the blower pipe 10 is adjusted by the first flow regulating valve 11, and the ventilation volume of the ventilation pipe 16 is adjusted by the second flow regulating valve 15. For example, when the amount of dust on the shell surface of the weeding robot body 1 is large, the air volume delivered from the connecting pipe 8 to the blower pipe 10 is appropriately increased, and then the ventilation volume of the ventilation pipe 16 is appropriately reduced. When the blower pipe 10 deflects, the end of the blower pipe 10 rotates relative to the connecting pipe 8 through the rotating joint 9.

[0026] It is worth noting that the components disclosed in the above embodiments are all universal standard parts or components known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods.

[0027] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances, for example, the rotational connection can be a rotational connection through a bearing.

[0028] The parts of the present invention that are not described in detail are prior art. Although the present invention is specifically demonstrated and introduced in conjunction with the preferred implementation scheme, there are many methods and approaches to specifically implement the technical solution. The above is only a preferred implementation scheme of the present invention, but technical personnel in the relevant field should understand that various changes can be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined in the attached claims, and all of them are within the scope of protection of the present invention.

Claims

1. An orchard intelligent weeding robot, comprising a weeding robot body (1), characterized in that: A telescopic mechanism (6) is installed on the inner base of the weeding robot body (1), and a blast pipe (10) is rotatably connected to the telescopic portion of the telescopic mechanism (6) via a bearing (14), and the end of the blast pipe (10) is connected and fixed to a shell cleaning head (3), and a connecting pipe (8) is fixed to the rear bracket of the telescopic portion of the telescopic mechanism (6), and the end of the connecting pipe (8) is rotatably connected to the blast pipe (10) via a rotating joint (9), and a blast pipe driving mechanism (4) for driving the blast pipe (10) to rotate is installed on the telescopic portion of the telescopic mechanism (6), and a ventilation pipe (16) is connected and fixed to the middle of the connecting pipe (8), and the end of the ventilation pipe (16) is connected and fixed to a camera cleaning module (5). ), a camera (2) is installed on the inner side of the camera cleaning module (5), a ventilator (12) is installed inside the shell of the weeding robot body (1), the air inlet of the ventilator (12) is connected to the inside of the battery compartment in the weeding robot body (1) through an exhaust pipe (13), the air outlet of the ventilator (12) is connected and fixed to a connecting pipe (8) through a telescopic pipe (7), the connecting pipe (8) is equipped with a first flow regulating valve (11), the ventilation pipe (16) is equipped with a second flow regulating valve (15), and the ventilator (12), the camera (2), the first flow regulating valve (11) and the second flow regulating valve (15) are all electrically connected to a controller in the weeding robot body (1).

2. The orchard intelligent weeding robot according to claim 1, characterized in that: The connecting pipe (8) is a "U"-shaped pipe, the ventilation pipe (16) connected and fixed to the middle of the connecting pipe (8) is a finned pipe, and the telescopic pipe (7) connected and fixed to the middle of the connecting pipe (8) is a corrugated pipe.

3. The orchard intelligent weeding robot according to claim 1, characterized in that: The telescopic mechanism (6) comprises an electric push rod (61) and a mounting frame (62); the electric push rod (61) is mounted on an inner base of a weeding robot body (1); the mounting frame (62) is fixed to the telescopic end of the electric push rod (61); the connecting pipe (8) is fixed to a rear bracket of the mounting frame (62); and the electric push rod (61) is electrically connected to a controller in the weeding robot body (1).

4. An orchard intelligent weeding robot according to claim 1 or 3, characterized in that: The blast pipe driving mechanism (4) comprises a torsion spring (41), a connecting belt (49) and a driving wheel (411); the connecting belt (49) is wound around the driving wheel (411); the driving wheel (411) is sleeved and fixed on the blast pipe (10); the torsion spring (41) is sleeved on the blast pipe (10); one end of the torsion spring (41) is fixedly connected to the driving wheel (411); and the other end of the torsion spring (41) is fixedly connected to a side surface of a crossbeam of a mounting frame (62).

5. The orchard intelligent weeding robot according to claim 4, characterized in that: The blast pipe driving mechanism (4) further comprises a fixing pin (410), and one end of the connecting belt (49) is fixed to the driving wheel (411) via the fixing pin (410).

6. The orchard intelligent weeding robot according to claim 4, characterized in that: The blast tube driving mechanism (4) further comprises a fixed block (46), a telescopic rod (47) and a connecting head (48), wherein the fixed block (46) is fixed to the middle of the crossbeam of the mounting frame (62), the telescopic rod (47) is mounted on the fixed block (46), the connecting head (48) is fixed to the telescopic end of the telescopic rod (47), and the other end of the connecting belt (49) is fixedly connected to the connecting head (48).

7. The orchard intelligent weeding robot according to claim 6, characterized in that: The blast pipe drive mechanism (4) further comprises a servo motor (42), a connecting block (43), a transmission nut (44) and a bidirectional screw rod (45); two connecting blocks (43) are provided, and the two connecting blocks (43) are fixed symmetrically to the side of the crossbeam of the mounting frame (62); the bidirectional screw rod (45) is rotatably mounted between the two connecting blocks (43); the transmission nut (44) is fixed to the connecting head (48) and is threadedly connected to the bidirectional screw rod (45); the servo motor (42) is mounted on the side of one of the connecting blocks (43); and the output shaft of the servo motor (42) is fixedly connected to the end of the bidirectional screw rod (45).

8. The orchard intelligent weeding robot according to claim 1, characterized in that: The shell cleaning head (3) comprises a connecting seat (31) and an air nozzle (32); the connecting seat (31) is a hollow structure and is connected and fixed to the end of the air blast pipe (10); and the air nozzle (32) is assembled on the connecting seat (31).

9. The orchard intelligent weeding robot according to claim 1, characterized in that: The camera cleaning module (5) comprises a mounting seat (51) and an air blast hole (52); the mounting seat (51) is fixed to the end of the ventilation pipe (16); the camera (2) is mounted on the inner side of the mounting seat (51); a plurality of air blast holes (52) are provided; the plurality of air blast holes (52) are arranged in a rotating array on the mounting seat (51); and the air blast holes (52) are in communication with the interior of the ventilation pipe (16).

10. The orchard intelligent weeding robot according to claim 9, characterized in that: The blast hole (52) is a strip-shaped hole, the air outlet of the blast hole (52) is a narrow structure, and the air outlet of the blast hole (52) is arranged toward the surface of the camera (2).

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