An intelligent orchard weeding robot

Abstract

An intelligent orchard weeding robot relates to the technical field of intelligent agricultural machinery equipment and includes a weeding robot body. A telescopic mechanism is installed on the inner base of the weeding robot body. A blower pipe is rotatably connected through a bearing on the telescopic part of the telescopic mechanism. A housing cleaning head is fixedly connected and communicated at the end of the blower pipe. 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 blower pipe through a rotary joint. This intelligent orchard weeding robot can repeatedly clean the dust on the surface of the weeding robot body shell, avoiding the adverse impact on the use effect of some sensing elements caused by dust adhering to its surface. At the same time, it avoids the formation of scale due to dust adhering to the shell surface for a long time and the trouble of subsequent cleaning. It blows away the dust near the camera to prevent dust from adhering to the camera surface and affecting its information acquisition ability, thus ensuring that the weeding robot can operate normally.

Description

Technical Field

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

[0002] In the weeding operation of orchards, the traditional manual weeding method has low efficiency and high labor intensity, and cannot meet the weeding needs of large-scale orchards. Moreover, with the development of social economy and the aggravation of population aging, the cost of agricultural labor has increased rapidly, and even faces the situation of no available labor, seriously affecting agricultural production. The traditional mechanical weeding machine is operated by a professional operator using agricultural implements, and the inter-row weeding in the orchard is achieved by rotary tillage and soil loosening. This weeding method cannot remove the weeds between plants, has a low weeding rate, damages the surface structure of the soil, and is easy to damage the roots of fruit trees in the shallow soil layer. In addition, this mechanical weeding requires a high level of proficiency from the operator, has a high labor intensity for the operator, and does not have the ability of intelligent autonomous operation;

[0003] Although chemical weeding is fast and efficient, when using chemical herbicides for weeding in orchard weeding operations, the residues of chemical agents will cause environmental pollution and soil structure degradation. When the herbicides penetrate into the soil and reach the roots of fruit trees or splash onto the fruit trees, it will affect the growth of fruit trees, cause damage to fruits, and affect the quality of fruits. Especially the residues of some harmful chemical agents will cause unpredictable harm;

[0004] When the weeding robot collects image information through a camera during operation, a large amount of dust will be generated when using mechanical weeding. At the same time, the dust adheres to the camera, resulting in a decline in its information collection ability. In addition, the positioning and sensors of the weeding robot will be installed on its housing, and the dust adhering to the housing has an adverse effect on the use effect of these components. In addition, the long-term adhesion of dust on the housing of the weeding robot will cause scaling, making its subsequent cleaning more troublesome. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the existing defects and provide an intelligent orchard weeding robot, which can repeatedly clean the dust on the surface of the housing of the weeding robot body, avoid the adverse effect of dust adhesion on the use effect of some sensing components, and at the same time, avoid the scaling caused by the long-term adhesion of dust on the housing surface, and avoid the trouble of subsequent cleaning. It blows away the dust near the camera to prevent the dust from adhering to the camera surface and affecting its information collection ability, so as to ensure the normal operation of the weeding robot, and can effectively solve the problems in the background art.

[0006] In order to achieve the above-mentioned invention purpose, the present invention adopts the following technical solutions:

[0007] An intelligent orchard weeding robot, comprising a weeding robot body. An expansion mechanism is installed on the inner base of the weeding robot body. A blower pipe is rotatably connected through a bearing on the expansion part of the expansion mechanism. A housing cleaning head is fixedly connected and communicated at the end of the blower pipe. A connecting pipe is fixed on the rear bracket of the expansion part of the expansion mechanism. The end of the connecting pipe is rotatably connected with the blower pipe through a rotary joint. And a blower pipe driving mechanism for driving the blower pipe to rotate is installed on the expansion part of the expansion mechanism. A ventilation pipe is fixedly connected and communicated in the middle of the connecting pipe. A camera cleaning module is fixedly connected and communicated at the end of the ventilation pipe. A camera is installed inside the camera cleaning module. A ventilator is installed inside the housing of the weeding robot body. The air inlet of the ventilator is communicated with the inside of the battery compartment in the weeding robot body through an air extraction pipe. The air outlet of the ventilator is fixedly connected and communicated with the connecting pipe through an expansion pipe. A first flow regulating valve is assembled on the connecting pipe. A second flow regulating valve is assembled on the ventilation pipe. The ventilator, the camera, the first flow regulating valve and the second flow regulating valve are all electrically connected to the controller inside the weeding robot body.

[0008] Further, the connecting pipe is a "U"-shaped pipe. The ventilation pipe fixedly connected and communicated in the middle of the connecting pipe is a finned pipe. The expansion pipe fixedly connected and communicated in the middle of the connecting pipe is a corrugated pipe.

[0009] Further, the expansion mechanism includes an electric push rod and a mounting bracket. The electric push rod is installed on the inner base of the weeding robot body. The mounting bracket is fixed at the expansion end of the electric push rod. The connecting pipe is fixed on the rear bracket of the mounting bracket. The electric push rod is electrically connected to the controller inside the weeding robot body.

[0010] Further, the blower 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 blower pipe. The torsion spring is sleeved on the blower pipe. One end of the torsion spring is fixedly connected to the transmission wheel. The other end of the torsion spring is fixedly connected to the side of the cross beam of the mounting bracket.

[0011] Further, the blower pipe driving mechanism further includes a fixing pin. One end of the connecting belt is fixed on the transmission wheel through the fixing pin.

[0012] Further, the blower pipe driving mechanism further includes a fixing block, a telescopic rod and a connecting head. The fixing block is fixed in the middle of the cross beam of the mounting bracket. The telescopic rod is assembled on the fixing block. The connecting head is fixed at the expansion end of the telescopic rod. The other end of the connecting belt is fixedly connected to the connecting head.

[0013] Further, the air duct driving mechanism further includes a servo motor, a connecting block, a transmission nut and a bidirectional lead screw. There are two connecting blocks, and the two connecting blocks are symmetrically fixed on the sides of the cross beam of the mounting frame. The bidirectional lead 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 lead 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 lead screw.

[0014] Further, the housing cleaning head includes a connecting seat and a nozzle. The connecting seat is of a hollow structure and is fixedly connected to the end of the air duct. The nozzle is assembled on the connecting seat.

[0015] Further, the camera cleaning module includes a mounting seat and air blowing holes. The mounting seat is fixed to the end of the ventilation pipe. The camera is assembled inside the mounting seat. There are several air blowing holes, and the several air blowing holes are arranged in a rotational array on the mounting seat. The air blowing holes communicate with the inside of the ventilation pipe.

[0016] Further, the air blowing holes are strip-shaped holes, and the air outlet of the air blowing holes is of a narrow opening structure. The air outlet of the air blowing holes is arranged facing the surface of the camera.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: The intelligent weeding robot for orchards of the present invention has the following advantages:

[0018] 1. The housing cleaning head is reciprocally swung by the air duct driving mechanism, so as to repeatedly blow air on the surface of the body housing of the weeding robot. It can repeatedly clean the dust on the surface of the body housing of the weeding robot, avoid the adverse effects of dust adhering to its surface on the use effects of some sensing elements, and at the same time, avoid the formation of scale due to long-term dust adhesion on the surface of the housing, and avoid the trouble of subsequent cleaning.

[0019] 2. The surface of the camera is blown by the camera cleaning module, so as to blow away the dust on the surface of the camera. By blowing away the dust near the camera, it avoids the dust adhering to the surface of the camera and affecting its information acquisition ability, so as to ensure the normal operation of the weeding robot.

[0020] 3. The flowing air required for dust cleaning is generated by the ventilator. While dissipating heat from the battery in the battery compartment, it can also utilize the flowing air, so as to achieve the effect of energy saving and avoid the energy consumption caused by the need for additional power to generate the flowing air. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0022] Figure 2 is a partial structural schematic diagram of the cleaning assembly of the present invention;

[0023] Figure 3 Schematic diagram of the partial side structure of the cleaning component of the present invention;

[0024] Figure 4 For the present invention Figure 3 Schematic diagram of the sectional structure at A-A of the present invention;

[0025] Figure 5 For the present invention Figure 4 Schematic diagram of the enlarged structure at B of the present invention;

[0026] Figure 6 Schematic diagram of the partial structure of the air duct driving mechanism of the present invention.

[0027] In the figure: 1 - Weeding robot body, 2 - Camera, 3 - Housing cleaning head, 31 - Connecting seat, 32 - Air nozzle, 4 - Air duct driving mechanism, 41 - Torsion spring, 42 - Servo motor, 43 - Connecting block, 44 - Transmission nut, 45 - Bidirectional lead screw, 46 - Fixed block, 47 - Telescopic rod, 48 - Connecting head, 49 - Connecting belt, 410 - Fixed pin, 411 - Transmission wheel, 5 - Camera cleaning module, 51 - Mounting seat, 52 - Air holes, 6 - Telescopic mechanism, 61 - Electric push rod, 62 - Mounting frame, 7 - Telescopic tube, 8 - Connecting tube, 9 - Rotary joint, 10 - Air duct, 11 - First flow regulating valve, 12 - Blower, 13 - Exhaust duct, 14 - Bearing, 15 - Second flow regulating valve, 16 - Ventilation duct. Detailed implementation manners

[0028] The present invention can be explained in detail through the following embodiments. The purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention.

[0029] Please refer to Figures 1-6, this embodiment provides a technical solution: an intelligent orchard weeding robot, including a weeding robot body 1. An expansion mechanism 6 is installed on the inner base of the weeding robot body 1. A blower pipe 10 is rotatably connected to the expansion part of the expansion mechanism 6 through a bearing 14. A housing cleaning head 3 is fixedly connected and communicated at the end of the blower pipe 10. A connecting pipe 8 is fixed on the rear side bracket of the expansion part of the expansion mechanism 6. The end of the connecting pipe 8 is rotatably connected to the blower pipe 10 through a rotary joint 9. And a blower pipe driving mechanism 4 for driving the blower pipe 10 to rotate is installed on the expansion part of the expansion mechanism 6. A ventilation pipe 16 is fixedly connected and communicated in the middle of the connecting pipe 8. A camera cleaning module 5 is fixedly connected and communicated at the end of the ventilation pipe 16. A camera 2 is installed inside the camera cleaning module 5. A ventilator 12 is installed inside the housing of the weeding robot body 1. The air inlet of the ventilator 12 is communicated with the inside of the battery compartment in the weeding robot body 1 through an air extraction pipe 13. The air outlet of the ventilator 12 is fixedly connected and communicated with the connecting pipe 8 through an expansion pipe 7. A first flow regulating valve 11 is assembled on the connecting pipe 8. A second flow regulating valve 15 is assembled 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 from the connecting pipe 8 to the blower pipe 10 is regulated through the first flow regulating valve 11. The ventilation volume of the ventilation pipe 16 is regulated through the second flow regulating valve 15. When the dust amount on the surface of the weeding robot body 1 is relatively 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 decreased. When the blower pipe 10 makes a deflection movement, the end of the blower pipe 10 rotates relative to the connecting pipe 8 through the rotary joint 9. The flowing air required for its dust cleaning is generated by the ventilator 12. It can utilize the flowing air while dissipating heat from the battery in the battery compartment, thus achieving an energy-saving effect and avoiding the energy consumption generated by the need for additional power to generate the flowing air.

[0030] The connecting pipe 8 is a "U" - shaped pipe. The ventilation pipe 16 fixedly connected and communicated with the middle of the connecting pipe 8 is a finned pipe. The expansion pipe 7 fixedly connected and communicated with the middle of the connecting pipe 8 is a corrugated pipe. The expansion pipe 7 is a corrugated pipe, so as to perform expansion compensation when the connecting pipe 8 moves back and forth. The ventilation pipe 16 is a finned pipe, so as to cool the flowing air and avoid the air temperature blown to the camera 2 from being too high.

[0031] The telescopic mechanism 6 includes an electric push rod 61 and a mounting bracket 62. The electric push rod 61 is installed on the inner base of the weeding robot body 1, and the mounting bracket 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 bracket 62. The electric push rod 61 is electrically connected to the controller inside the weeding robot body 1. The telescopic end of the electric push rod 61 drives the mounting bracket 62 to perform telescopic movement, so that the camera 2 and the housing cleaning head 3 extend to the outside of the housing of the weeding robot body 1, and when not in use, they can be retracted into the housing of the weeding robot body 1, thus avoiding accidental collision and damage to the camera 2.

[0032] The blast pipe 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 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 transmission wheel 411, and the other end of the torsion spring 41 is fixedly connected to the side surface of the cross beam of the mounting bracket 62. The blast pipe driving mechanism 4 further includes a fixing pin 410. One end of the connecting belt 49 is fixed on the transmission wheel 411 through the fixing pin 410. The blast pipe driving mechanism 4 further includes a fixing block 46, a telescopic rod 47 and a connecting head 48. The fixing block 46 is fixed in the middle of the cross beam of the mounting bracket 62. The telescopic rod 47 is assembled on the fixing block 46. The connecting head 48 is fixed at the telescopic end of the telescopic rod 47. The other end of the connecting belt 49 is fixedly connected to the connecting head 48. The blast pipe driving mechanism 4 further includes a servo motor 42, a connecting block 43, a transmission nut 44 and a bidirectional lead screw 45. There are two connecting blocks 43, and the two connecting blocks 43 are symmetrically fixed on the side surface of the cross beam of the mounting bracket 62. The bidirectional lead 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 lead screw 45. The servo motor 42 is installed on the side surface of one of the connecting blocks 43. The output shaft of the servo motor 42 is fixedly connected to the end of the bidirectional lead screw 45. The housing cleaning head 3 includes a connecting seat 31 and a nozzle 32. The connecting seat 31 is of a hollow structure and is connected and fixed to the end of the blast pipe 10. The nozzle 32 is assembled on the connecting seat 31. The connecting pipe 8 conveys the flowing air to the inside of the connecting seat 31 through the blast pipe 10. The air in the connecting seat 31 is blown onto the surface of the housing of the weeding robot body 1 through the nozzle 32, so as to blow away the dust on the surface of the housing of the weeding robot body 1. The output shaft of the servo motor 42 drives the bidirectional lead screw 45 to rotate. The bidirectional lead screw 45 is in threaded transmission with the transmission nut 44. The transmission nut 44 drives the connecting head 48 to move. The connecting head 48 drives the telescopic end of the telescopic rod 47 to perform telescopic movement. The connecting head 48 pulls the connecting belt 49. The connecting belt 49 pulls the transmission wheel 411 to deflect. The transmission wheel 411 drives the housing cleaning head 3 to deflect through the blast pipe 10, so as to increase the blowing area of the nozzle 32. When the bidirectional lead screw 45 rotates in the reverse direction, the torsion spring 41 that has been twisted returns to its original position. The elastic force of the torsion spring 41 acts on the transmission wheel 411, so that the transmission wheel 411 drives the blast pipe 10 to reverse, so that the housing cleaning head 3 can return to its original position. Repeating the above operation makes the housing cleaning head 3 perform reciprocating swing, so as to blow the surface of the housing of the weeding robot body 1 repeatedly. It can repeatedly clean the dust on the surface of the housing of the weeding robot body 1, avoid the adverse effect on the use effect of some sensing elements caused by the attachment of dust on its surface, and at the same time, avoid the formation of scale due to the long-term attachment of dust on the surface of the housing, and avoid the trouble of subsequent cleaning.

[0033] The camera cleaning module 5 includes a mounting base 51 and air blowing holes 52. The mounting base 51 is fixed at the end of the ventilation pipe 16. The camera 2 is assembled inside the mounting base 51. There are several air blowing holes 52, and the several air blowing holes 52 are rotationally arrayed on the mounting base 51. The air blowing holes 52 are internally connected to the ventilation pipe 16. The air blowing holes 52 are strip-shaped holes, and the air outlet of the air blowing hole 52 is a narrow opening structure. The air outlet of the air blowing hole 52 is arranged facing the surface of the camera 2. The ventilator 12 extracts the air in the battery compartment through the extraction pipe 13 to dissipate heat from the battery in the battery compartment by accelerating the air flow. The flowing air is transported into the connecting pipe 8 through the telescopic pipe 7. The connecting pipe 8 transports the flowing air into the air blowing holes 52 on the mounting base 51 through the ventilation pipe 16. The air blowing holes 52 blow air on 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 pipe to cool the flowing air, thereby avoiding the air temperature blowing towards the camera 2 being too high. At the same time, the heat generated by the camera 2 during operation is taken away by the air flow, thereby cooling the camera 2. It blows away the dust near the camera 2 to prevent 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.

[0034] The working principle of an orchard intelligent weeding robot provided by the present invention is as follows: The ventilator 12 extracts the air in the battery compartment through the extraction pipe 13 to dissipate heat from the battery in the battery compartment by accelerating the air flow. The flowing air is transported into the connecting pipe 8 through the telescopic pipe 7. The connecting pipe 8 transports the flowing air into the air blowing holes 52 on the mounting base 51 through the ventilation pipe 16. The air blowing holes 52 blow air on 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 pipe to cool the flowing air, thereby avoiding the air temperature blowing towards the camera 2 being too high. At the same time, the heat generated by the camera 2 during operation is taken away by the air flow, thereby cooling the camera 2;

[0035] 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 housing cleaning head 3 extend to the outside of the housing of the weeding robot body 1, and when not in use, they can be retracted into the housing of the weeding robot body 1. The telescopic pipe 7 is a corrugated pipe to perform telescopic compensation when the connecting pipe 8 moves back and forth;

[0036] The connecting pipe 8 conveys the flowing air to the inside of the connecting seat 31 through the air duct 10. The air in the connecting seat 31 is blown onto the surface of the housing of the weeding robot body 1 through the air nozzle 32, thereby blowing away the dust on the surface of the housing of the weeding robot body 1. The output shaft of the servo motor 42 drives the bidirectional lead screw 45 to rotate. The bidirectional lead screw 45 is in threaded transmission with the transmission nut 44. The transmission nut 44 drives the connecting head 48 to move. The connecting head 48 drives the telescopic end of the telescopic rod 47 to perform telescopic motion. The connecting head 48 pulls the connecting belt 49. The connecting belt 49 pulls the transmission wheel 411 to deflect. The transmission wheel 411 drives the housing cleaning head 3 to deflect through the air duct 10, so as to increase the blowing area of the air nozzle 32. When the bidirectional lead screw 45 rotates in the reverse direction, the torsion spring 41 that has been twisted returns to its original position. The elastic force of the torsion spring 41 acts on the transmission wheel 411, so that the transmission wheel 411 drives the air duct 10 to reverse, so that the housing cleaning head 3 can return to its original position. Repeating the above operation makes the housing cleaning head 3 swing reciprocally, so as to blow the surface of the housing of the weeding robot body 1 repeatedly;

[0037] The air volume conveyed by the connecting pipe 8 to the air duct 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. When the dust amount on the surface of the housing of the weeding robot body 1 is large, the air volume conveyed by the connecting pipe 8 to the air duct 10 is appropriately increased, and then the ventilation volume of the ventilation pipe 16 is appropriately decreased. When the air duct 10 performs a deflection movement, the end of the air duct 10 rotates relative to the connecting pipe 8 through the rotary joint 9.

[0038] It should be noted that the components disclosed in the above embodiments are all common standard components or components known to those skilled in the art. Their structures and principles can all be known to those skilled in the art through technical manuals or obtained through conventional experimental methods.

[0039] In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium. It can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations. For example, a rotational connection can be a rotational connection through a bearing.

[0040] The parts not detailed in the present invention are prior arts. Although the present invention is specifically shown and introduced in combination with preferred embodiments, there are many methods and ways to specifically implement this technical solution. The above is only the preferred embodiment of the present invention. However, those skilled in the art should understand that various changes can be made to the present invention in terms of form and details without departing from the spirit and scope of the present invention defined by the appended claims, and all of them fall within the protection scope 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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