Autonomous cruise type targeted pesticide application robot for diseases and insect pests in orchard and working method of robot

Abstract

The invention relates to the technical field of robots, in particular to an orchard autonomous cruise type pest and disease damage targeted pesticide applying robot and a working method thereof.The orchard autonomous cruise type pest and disease damage targeted pesticide applying robot comprises a movable vehicle body, a rotary table is rotationally installed on the movable vehicle body, a rotary seat is rotationally installed in the rotary table, and a fixing frame is installed on the rotary seat; a lifting frame is installed in the fixing frame in a lifting sliding mode, a lifting base is installed in the lifting frame in a lifting sliding mode, and a mechanical arm mechanism is installed on the lifting base. A fixed arm, a movable arm and a movable swing arm of the mechanical arm mechanism can stretch out and draw back and can be adjusted at multiple angles, the specific positions of plant diseases and insect pests are recognized through a detection head, the mechanical arm mechanism with multiple degrees of freedom is matched, a spray head can accurately extend into a tree crown, and fixed-point targeted pesticide application is achieved; the situation that a large amount of pesticide drifts to air, soil and non-target crops in a traditional spraying mode is avoided, and environmental pollution and pesticide residues are remarkably reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, and in particular to a target pesticide spraying robot for orchard autonomous cruise and a working method thereof. BACKGROUND

[0002] Orchard pest control is a key link to ensure the yield and quality of fruits. At present, the pesticide application in orchards in China mainly relies on the following two ways:

[0003] Traditional manual pesticide application: the operator uses a backpack or handheld sprayer to spray. This method has the problems of high labor intensity, low efficiency, high risk of poisoning, etc. More importantly, the utilization rate of pesticides is very low, and a large amount of pesticide solution is scattered to non-target areas, which not only causes serious environmental pollution and pesticide residues, but also makes it difficult to effectively control the pests hidden in the interior of the tree crown and the back of the leaves.

[0004] Large-scale mechanized pesticide application: large-scale air-assisted sprayers are used, which are towed or mounted on tractors. Although the efficiency is improved, it still belongs to the extensive and full-coverage spraying mode. The disadvantages are:

[0005] Poor targeting: unable to identify the specific location of pests and diseases, indiscriminately spraying the entire area, resulting in serious waste of pesticides.

[0006] Insufficient penetration: strong airflow may cause damage to the fruit trees, and the pesticide solution is difficult to adhere uniformly to the leaves in the interior of the tree crown.

[0007] Poor adaptability: high requirements for orchard topography and planting patterns (such as dwarf and dense planting), poor passability and operation effect in complex terrain or shaped old orchards.

[0008] With the development of automation and intelligent technology, orchard pesticide application robots or autonomous cruise devices have emerged. However, the existing technology still faces many technical bottlenecks:

[0009] Insufficient navigation and positioning accuracy: robots relying on GPS or visual navigation have unstable positioning accuracy in the environment with orchard canopy shielding and varying light, resulting in deviation of the cruise path and easy occurrence of re-spraying or missed spraying.

[0010] Insufficient flexibility of mechanical arm: some robots with mechanical arms have simple arm structure, few degrees of freedom, and limited movement space, which cannot flexibly and deeply enter the interior of the dense and complex tree crown, making it difficult to achieve real "targeted" pesticide application.

[0011] Pipeline management problem: the hose supplying pesticide to the mechanical arm is easily entangled, pulled and worn during complex movement of the mechanical arm, affecting the movement range, reliability and service life of the mechanical arm. SUMMARY

[0012] The problem solved by the present application is to provide an orchard autonomous cruise type disease and pest targeting pesticide application robot and working method thereof, which solves the above technical problems.

[0013] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0014] An orchard autonomous cruise type disease and pest targeting pesticide application robot, comprising a mobile vehicle body, a rotary table is rotatably installed on the mobile vehicle body, a rotary seat is rotatably installed in the rotary table, a fixing frame is installed on the rotary seat, a lifting frame is slidably installed in the fixing frame, a lifting seat is slidably installed in the lifting frame, and a mechanical arm mechanism is installed on the lifting seat.

[0015] The mechanical arm mechanism comprises a first rotating block, two fixed arms are symmetrically and parallel installed on the first rotating block, a first translation block is slidably installed in the fixed arm, an active arm is rotatably installed between the two first translation blocks, a second translation block is rotatably installed on both sides of the outer end of the active arm, two second translation blocks are slidably installed in two symmetrically parallel active swing arms, and the active swing arm and the fixed arm are vertically arranged, a second rotating block is rotatably installed in the outer end of the active swing arm, an installation disc is installed on the second rotating block, a spray head and a detection head are installed on the installation disc.

[0016] Two rotating arms are installed in the mobile vehicle body at the same speed and in opposite directions, a C-shaped seat is installed at the end of one of the rotating arms, a C-shaped telescopic arm is slidably installed in the C-shaped seat, a permanent magnet rod is attached to the end of the C-shaped telescopic arm, and the connecting rope connected to the permanent magnet rod is wound on a winding machine in the mobile vehicle body, and an electric clamping jaw is installed at the end of the other rotating arm.

[0017] Preferably, a first motor is installed in the mobile vehicle body, the output end of the first motor is connected with the rotary table, a second motor is installed on the side wall of the rotary table, and the output end of the second motor is connected with the rotary seat.

[0018] Preferably, a third motor is installed in the rotary seat, screw rods are symmetrically installed inside the fixing frame, the screw rods are threadedly connected with the lifting frame, synchronous wheels are installed at the bottom ends of the two screw rods in the rotary seat, the two synchronous wheels are connected through a synchronous belt, and the output end of the third motor is connected with one of the synchronous wheels.

[0019] Guide wheels are symmetrically installed on the top of the lifting frame, lifting ropes are symmetrically installed on the top of the fixing frame, the lifting ropes are connected with the lifting seat through the guide wheels, and the lifting seat is slidably installed with the sliding rails in the lifting frame.

[0020] Preferably, a first side groove is formed on the fixed arm, a second side groove is formed on the movable swing arm, a wheel groove is formed on one side of the first side groove and the second side groove, and a guide rail is arranged on the other side of the first side groove and the second side groove.

[0021] Rollers are respectively arranged in the first translation block and the second translation block and roll along the wheel groove, the rollers are connected through a connecting shaft, the fifth motor drives the roller of the first translation block to rotate, and the seventh motor drives the roller of the second translation block to rotate.

[0022] A sixth motor is arranged on the first translation block and drives the movable arm to rotate, an eighth motor is arranged on the second translation block and drives the second translation block and the movable swing arm to rotate.

[0023] A ninth motor is arranged on the movable swing arm and drives the second rotating block to rotate.

[0024] Preferably, two rotating teeth are respectively arranged at the bottom of the rotating arms, the two rotating teeth are engaged, and one of the rotating teeth is connected with the output end of the tenth motor.

[0025] Preferably, an arc-shaped groove is formed in the C-shaped seat and is matched with the C-shaped telescopic arm, an electromagnet is arranged inside the outer end of the C-shaped telescopic arm, an outer tooth is arranged on the outer side of the C-shaped telescopic arm, an eleventh motor is arranged at the outer end of the C-shaped seat, and a driving tooth engaged with the outer tooth is arranged at the output end of the eleventh motor.

[0026] Preferably, a liquid tank is arranged on the moving vehicle body, a water pump is arranged on the liquid tank, a storage box is arranged on the liquid tank, a rotating pipe is rotatably arranged in the storage box, baffles are arranged at both ends of the rotating pipe, the rotating pipe is a hollow structure, the rotating pipe is connected with a connecting pipe through a rotary joint, and the connecting pipe is connected with the water pump.

[0027] Preferably, guide rings are arranged on the rotating seat, the fixed frame, the first rotating block and the movable swing arm, the connecting pipe is connected with one end of a conveying hose, and the other end of the conveying hose is connected with a spray head through the guide rings.

[0028] A working method of an orchard autonomous cruise type disease and pest targeting pesticide application robot, and specific operation steps of the working method are as follows.

[0029] Step one: the mobile vehicle body moves in the orchard, at this time the fixed frame, lifting frame and mechanical arm mechanism are in the folded and flat state, when the mobile vehicle body moves to the vicinity of the diseased and insect-infested fruit tree, the tenth motor works, the two rotating gears mesh to drive the two rotating arms to rotate, covering the C-shaped seat outside the fruit tree, the eleventh motor drives the driving gear to rotate, cooperating with the meshed external gear, driving the C-shaped telescopic arm to move out of the arc-shaped slot until the C-shaped telescopic arm moves the permanent magnet rod to the electric clamp jaw, the electric clamp jaw clamps the permanent magnet rod, the electromagnet is de-energized, the C-shaped telescopic arm is retracted into the C-shaped seat, the connecting rope is wound around the outside of the fruit tree, the rotating arm rotates and the C-shaped seat is stored in the mobile vehicle body, the mobile vehicle body moves to the outside of the tree crown, and the winding machine releases the connecting rope;

[0030] Step two: the second motor works to rotate the fixed frame and lifting frame to the vertical state, and the first motor works to drive the rotating table to rotate, the mechanical arm mechanism is directed towards the fruit tree, the third motor works, the synchronous wheel and synchronous belt drive the threaded rod to rotate, and then drive the lifting frame connected by threads to rise, when the lifting frame rises, the lifting rope pulls the lifting seat to rise synchronously, adjusting the height of the mechanical arm mechanism, when the mobile vehicle body moves, the fixed length of the connecting rope guides the movement of the mobile vehicle body, driving the mobile vehicle body to rotate with the fruit tree as the center;

[0031] Step three: the detection head detects, the fourth motor works to adjust the up-down angle of the mechanical arm mechanism, the fifth motor works to drive the roller to rotate, and then drive the first translation block to move in the first side slot, realizing the telescopic movement of the movable arm, at the same time, the sixth motor works to adjust the up-down angle of the movable arm, the seventh motor works to drive the roller to rotate, and then drive the second translation block to move in the second side slot, pushing the telescopic movement of the movable swing arm, at the same time, the eighth motor works to adjust the left-right angle of the movable arm, the ninth motor works to realize the left-right swing of the second rotating block, through the telescopic and angle adjustment of the mechanical arm mechanism, the installation disc and the spray head are moved to the inside of the tree crown, and are aligned with the position of the fruit tree disease and insect pests for pesticide spraying, at the same time, the position of the spray head is adjusted by the mechanical arm mechanism, and the height of the lifting frame and lifting seat is adjusted to move the vehicle body in a circular motion, which can realize full pesticide spraying of the fruit tree and precise targeted pesticide application;

[0032] Step four: the twelfth motor works to rotate the rotating pipe, and then the conveying hose is wound and unwound, which is convenient for use when the device is folded and unfolded, the water pump works to convey the pesticide in the liquid tank to the spray head through the conveying hose;

[0033] Step five: after the pesticide application is completed, the permanent magnet rod clamped by the electric clamp jaw is adsorbed by rotating and telescopic movement of the C-shaped seat and C-shaped telescopic arm, and then rotated to the initial state, and the rotating seat, fixed frame, lifting frame, lifting seat and mechanical arm mechanism are rotated and stored.

[0034] The beneficial effects of the present application are that the fixed arm, the movable arm and the movable swing arm of the mechanical arm mechanism can be both telescoped and adjusted at multiple angles, the specific position of the pest and disease is identified through the detection head, the spray head can be accurately extended into the inside of the tree crown by cooperating with the mechanical arm mechanism with multiple degrees of freedom, the point targeting pesticide application is realized, the large amount of pesticide scattered in the air, soil and non-target crops under the traditional spraying mode is avoided, and the environmental pollution and pesticide residue are significantly reduced;

[0035] The mobile vehicle body of autonomous cruise is combined with the unique tree-circulating guiding design, the automatic cruising around the tree can be realized without manual driving, from positioning the fruit trees, surrounding, lifting the mechanical arm to precise spraying, the whole process is automated, the labor intensity and labor cost of the fruit farmers are greatly reduced, and the health risk of personnel contacting the pesticide is avoided;

[0036] The combination type operation scheme of the "vehicle body circulating" and "mechanical arm multi-degree of freedom stretching" is adopted, the mobile vehicle body moves around the tree to cover the periphery of the fruit trees, the comprehensive spraying of the periphery of the fruit trees is realized, the mechanical arm can deeply enter the inside of the dense tree crown, the effective pesticide application is carried out on the areas such as the back of the leaf and the branch gap which are difficult to reach by the traditional pesticide spraying, and the prevention and treatment effect is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 It is a first structure schematic diagram of the whole application;

[0038] Figure 2 It is a second structure schematic diagram of the whole application;

[0039] Figure 3 It is a first structure schematic diagram of the mechanical arm mechanism of the application;

[0040] Figure 4 It is a second structure schematic diagram of the mechanical arm mechanism of the application;

[0041] Figure 5 It is a sectional view of the mobile vehicle body of the application;

[0042] Figure 6 It is a sectional view of the C-shaped seat of the application.

[0043] LEGEND:

[0044] 1, mobile car body; 2, rotating table; 3, rotating seat; 4, fixed frame; 5, lifting frame; 6, lifting seat; 7, mechanical arm mechanism; 8, first rotating block; 9, fixed arm; 10, first translation block; 11, movable arm; 12, second translation block; 13, movable swing arm; 14, second rotating block; 15, mounting disc; 16, spray head; 17, probe head; 18, rotating arm; 19, C-shaped seat; 20, electric clamping jaw; 21, C-shaped telescopic arm; 22, permanent magnet rod; 23, connecting rope; 24, winding machine; 25, first motor; 26, second motor; 27, third motor; 28, synchronous wheel; 29, synchronous belt; 30, threaded rod; 31, guide wheel; 32, lifting rope; 33, fourth motor; 34, first side groove; 35, second side groove; 36, wheel groove; 37, guide rail; 38, fifth motor; 39, sixth motor; 40, seventh motor; 41, eighth motor; 42, roller; 43, connecting shaft; 44, ninth motor; 45, tenth motor; 46, rotating tooth; 47, arc-shaped groove; 48, outer tooth; 49, electromagnet; 50, eleventh motor; 51, driving tooth; 52, liquid tank; 53, water pump; 54, storage box; 55, rotating pipe; 56, baffle; 57, rotary joint; 58, connecting pipe; 59, twelfth motor. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0046] Specific embodiments are given below.

[0047] Reference is made to Figures 1-6The utility model provides a kind of orchard autonomous cruise type disease and pest targeting pesticide application robot, including mobile car body 1, rotatingly installed with rotating platform 2 on mobile car body 1, first motor 25 is installed in mobile car body 1, and first motor 25 output is connected with rotating platform 2, second motor 26 is installed in the side wall of rotating platform 2, and second motor 26 output is connected with rotating seat 3, rotating seat 3 is rotatably installed in rotating platform 2, fixed frame 4 is installed on rotating seat 3, and lifting frame 5 is slidably installed in fixed frame 4, lifting seat 6 is slidably installed in lifting frame 5, mechanical arm mechanism 7 is installed on lifting seat 6, third motor 27 is installed in rotating seat 3, screw rod 30 is symmetrically installed in fixed frame 4, and screw rod 30 is screw-connected with lifting frame 5, and the bottom of two screw rods 30 is located in rotating seat 3 and is installed with synchronous wheel 28, two synchronous wheels 28 are connected by synchronous belt 29, and third motor 27 output is connected with one of synchronous wheel 28, lifting frame 5 top is symmetrically installed with guide wheel 31, lifting rope 32 is symmetrically installed on fixed frame 4 top, and lifting rope 32 is connected with lifting seat 6 by guide wheel 31, and lifting seat 6 is slidably installed with slide rail in lifting frame 5;

[0048] Third motor 27 works to realize that two screw rods 30 realize synchronous rotation, lifting frame 5 is vertically lifted along fixed frame 4, and the lifting or lowering of lifting frame 5 is realized by lifting rope 32 cooperation guide wheel 31 lifting seat 6 is lifted, and the movement stroke of lifting seat 6 is twice the movement stroke of lifting frame 5, expands work range, realizes full coverage, can be reduced to lower branch, also can easily reach higher crown, perfectly adapt to different height fruit trees, eliminate pesticide application blind area, in non-working state, lifting seat 6 can be reduced to the lowest point, and the whole mechanical arm mechanism 7 is folded and stored, so that the overall height of equipment is minimized, and stable movement and storage in low fruit tree row are facilitated.

[0049] The mechanical arm mechanism 7 comprises a first rotating block 8, two fixed arms 9 are symmetrically and parallel installed on the first rotating block 8, a first translation block 10 is slidingly installed in the fixed arm 9, an active arm 11 is rotatably installed between the two first translation blocks 10, a second translation block 12 is rotatably installed on the outer end of the active arm 11 on both sides, the two second translation blocks 12 are slidingly installed in two symmetric and parallel active swing arms 13, the active swing arm 13 is vertically arranged with the fixed arm 9, a second rotating block 14 is rotatably installed in the outer end of the active swing arm 13, an installation disc 15 is installed on the second rotating block 14, a spray head 16 and a detection head 17 are installed on the installation disc 15, a first side groove 34 is formed on the fixed arm 9, a second side groove 35 is formed on the active swing arm 13, a wheel groove 36 is formed on one side of the first side groove 34 and the second side groove 35, and a guide rail 37 is arranged on the other side of the first side groove 34 and the second side groove 35, a roller 42 is rotatably installed in the first translation block 10 and the second translation block 12 along the wheel groove 36, and the rollers 42 are connected by a connecting shaft 43, a fifth motor 38 drives the roller 42 of the first translation block 10 to rotate, a seventh motor 40 drives the roller 42 of the second translation block 12 to rotate, a sixth motor 39 is installed on the first translation block 10 and drives the active arm 11 to rotate, an eighth motor 41 is installed on the second translation block 12 and drives the second translation block 12 and the active swing arm 13 to rotate,

[0050] A ninth motor 44 is installed on the active swing arm 13 and drives the second rotating block 14 to rotate;

[0051] The fifth motor 38 drives the roller 42 in the first translation block 10 to roll in the wheel groove 36 of the first side groove 34, drives the whole first translation block 10 to slide along the fixed arm 9, realizes the extension or retraction of the active arm 11, the seventh motor 40 drives the roller 42 in the second translation block 12 to roll in the second side groove 35, drives the second translation block 12 to slide along the active swing arm 13, the sixth motor 39 installed on the first translation block 10 directly drives the active arm 11 to rotate up and down relative to the fixed arm 9, the ninth motor 44 installed on the active swing arm 13 drives the second rotating block 14 to rotate, thereby directly adjusting the pitch angle of the installation disc 15 and the spray head 16, the eighth motor 41 installed on the second translation block 12 drives the second translation block 12 to rotate, since the second translation block 12 is slidingly connected with the active swing arm 13, the whole active swing arm 13 will be swung in the left and right directions, so that the mechanical arm end can swing left and right in the horizontal plane, so as to bypass the obstacles and accurately position the disease and pest points on both sides of the fruit trees;

[0052] Through the combined movement of "translation + rotation", the end spray head 16 can be flexibly and accurately positioned in front and back, up and down, left and right in the three-dimensional space of the fruit trees.

[0053] Two rotating arms 18 are installed in the mobile vehicle body 1 and rotate at the same speed in opposite directions, one end of one rotating arm 18 is provided with a C-shaped seat 19, the C-shaped seat 19 is slidably installed in the C-shaped telescopic arm 21, and the end of the C-shaped telescopic arm 21 is adsorbed and installed with a permanent magnet rod 22, and the connecting rope 23 connected with the permanent magnet rod 22 is wound on the winding machine 24 in the mobile vehicle body 1, the other rotating arm 18 is provided with an electric clamp 20, the bottoms of the two rotating arms 18 are respectively provided with rotating teeth 46, and the two rotating teeth 46 are engaged, one of the rotating teeth 46 is connected with the output end of the tenth motor 45, the C-shaped seat 19 is provided with an arc-shaped groove 47 matched with the C-shaped telescopic arm 21, the outer end of the C-shaped telescopic arm 21 is internally provided with an electromagnet 49, the outer side of the C-shaped telescopic arm 21 is provided with external teeth 48, the outer end of the C-shaped seat 19 is provided with an eleventh motor 50, and the output end of the eleventh motor 50 is provided with a driving tooth 51 engaged with the external teeth 48;

[0054] The tenth motor 45 is started to drive one rotating tooth 46, and the two rotating arms 18 rotate at the same speed in opposite directions through the two engaged rotating teeth 46, like opening arms, the C-shaped seat 19 and the electric clamp 20 are sent to both sides of the fruit tree, the eleventh motor 50 is started to drive the driving tooth 51 to rotate, and the external teeth 48 on the C-shaped telescopic arm 21 are engaged to push the C-shaped telescopic arm 21 out of the arc-shaped groove 47 of the C-shaped seat 19, so that it surrounds the fruit tree, when the permanent magnet rod 22 at the end of the C-shaped telescopic arm 21 is delivered in front of the electric clamp 20, the electromagnet 49 at the end of the C-shaped telescopic arm 21 is powered off to lose magnetic force, the permanent magnet rod 22 is released, the electric clamp 20 acts to firmly clamp the permanent magnet rod 22, one end of the connecting rope 23 is fixed on one rotating arm 18, and the other end is located on the winding machine 24, the electromagnet 49 remains powered off, the eleventh motor 50 is reversed to drive the C-shaped telescopic arm 21 to retract into the C-shaped seat 19 along the arc-shaped groove 47, the tenth motor 45 is reversed, and the two rotating arms 18 are retracted into the mobile vehicle body 1, the winding machine 24 releases the connecting rope 23, and the mobile vehicle body 1 starts to move, because the length of the connecting rope 23 is fixed, the vehicle body will naturally perform circular motion with the fruit tree as the center and the rope length as the radius, after the pesticide application is completed, the vehicle body returns, the winding machine 24 winds the connecting rope 23, the rotating arm 18 is unfolded again, the C-shaped arm 20 is extended, the electromagnet 49 is powered on to reabsorb the permanent magnet rod 22, the electric clamp 20 is loosened, and the system returns to the initial state.

[0055] A liquid tank 52 is installed on the mobile vehicle body 1, a water pump 53 is installed on the liquid tank 52, a storage box 54 is installed on the liquid tank 52, a rotating pipe 55 is rotatably installed in the storage box 54, and baffles 56 are installed at both ends of the rotating pipe 55, the rotating pipe 55 is a hollow structure, the rotating pipe 55 is connected with a connecting pipe 58 through a rotary joint 57, and the connecting pipe 58 is connected with the water pump 53;

[0056] Rotary seat 3, fixed frame 4, first rotating block 8 and movable swing arm 13 are provided with guide rings, connecting pipe 58 is connected with one end of conveying hose, and the other end of conveying hose is connected with spray head 16 through guide rings;

[0057] When the mechanical arm is retracted or folded, the conveying hose will be lengthened and relaxed, and the excess conveying hose is neatly wound on rotating pipe 55 by rotating the rotating pipe 55, and the baffle plates 56 on both sides prevent the hose from slipping off, and when the mechanical arm is unfolded, the conveying hose is unwound, and the guide ring limits the hose in a safe path to avoid friction or interference with moving parts.

[0058] Working principle: the mobile vehicle body 1 moves in the orchard, at this time the fixed frame 4, the lifting frame 5 and the mechanical arm mechanism 7 are in a folded and flat state, when the mobile vehicle body 1 moves to the vicinity of the diseased and insect-infested fruit trees, the tenth motor 45 works, the two rotating teeth 46 mesh to drive the two rotating arms 18 to rotate, covering the C-shaped seat 19 outside the fruit trees, the eleventh motor 50 drives the driving gear 51 to rotate, cooperating with the meshed external gear 48, driving the C-shaped telescopic arm 21 to move out of the arc-shaped slot 47, until the C-shaped telescopic arm 21 moves the permanent magnet rod 22 to the electric clamping jaw 20, the electric clamping jaw 20 clamps the permanent magnet rod 22, the electromagnet 49 is de-energized, the C-shaped telescopic arm 21 is retracted into the C-shaped seat 19, the connecting rope 23 is wound around the outside of the fruit trees, the rotating arm 18 rotates and the C-shaped seat 19 is stored in the mobile vehicle body 1, the mobile vehicle body 1 moves to the outside of the tree crown, and the winding machine 24 unwinds the connecting rope 23;

[0059] The second motor 26 works to rotate the fixed frame 4 and the lifting frame 5 to the vertical state, and the first motor 25 works to rotate the rotating table 2, the mechanical arm mechanism 7 is directed towards the fruit trees, the third motor 27 works, the synchronous wheel 28 and the synchronous belt 29 drive the threaded rod 30 to rotate, and then drive the threaded lifting frame 5 to rise, when the lifting frame 5 rises, the lifting rope 32 pulls the lifting seat 6 to move synchronously, adjusting the height of the mechanical arm mechanism 7, when the mobile vehicle body 1 moves, the fixed length of the connecting rope 23 guides the mobile vehicle body 1 to rotate around the fruit trees as the center;

[0060] The detection head 17 detects, the fourth motor 33 works to realize the up-down angle adjustment of the mechanical arm mechanism 7, the fifth motor 38 works to drive the rotating roller 42 to rotate, and then drive the first translation block 10 to move in the first side groove 34, realize the telescopic movement of the movable arm 11, at the same time, the sixth motor 39 works to realize the up-down angle adjustment of the movable arm 11, the seventh motor 40 works to drive the rotating roller 42 to rotate, and then drive the second translation block 12 to move in the second side groove 35, push the telescopic movement of the movable swing arm 13, at the same time, the eighth motor 41 works to realize the left-right angle adjustment of the movable arm 11, and the ninth motor 44 realizes the left-right swing of the second rotating block 14, through the telescopic and angle adjustment of the mechanical arm mechanism 7, the mounting disc 15 and the spray head 16 are moved to the inside of the tree crown, and are adjusted to the position of the fruit tree disease and insect pest to spray pesticide, at the same time, the position of the spray head 16 is adjusted through the mechanical arm mechanism 7, the height adjustment of the lifting frame 5 and the lifting seat 6 is matched to move the vehicle body 1 to realize the circular motion, which can realize the full pesticide spraying of the fruit tree and also can realize the precise targeted pesticide application;

[0061] The twelfth motor 59 is used to realize the rotation of the rotating pipe 55, and then the conveying hose is wound and unwound, which is convenient for use when the device is folded and unfolded, and the water pump 53 is used to convey the pesticide in the liquid tank 52 to the spray head 16 through the conveying hose;

[0062] After the pesticide application is completed, the permanent magnet rod 22 is adsorbed by rotating and telescopic moving the C-shaped seat 19 and the C-shaped telescopic arm 21, and then the permanent magnet rod 22 is released from the electric clamping jaw 20, and then the rotating seat 3, the fixed frame 4, the lifting frame 5, the lifting seat 6 and the mechanical arm mechanism 7 are rotated and folded.

[0063] The fixed arm 9, the movable arm 11 and the movable swing arm 13 of the mechanical arm mechanism 7 can be telescopic and multi-angle adjusted, the specific position of the disease and insect pest is identified through the detection head 17, the spray head 16 can be accurately extended to the inside of the tree crown through the mechanical arm mechanism 7 with multiple degrees of freedom, the fixed point targeted pesticide application is realized, the traditional spraying mode is avoided, the pesticide is not scattered to the air, the soil and the non-target crops, the environmental pollution and the pesticide residue are significantly reduced;

[0064] The self-cruise mobile vehicle body 1 is combined with the unique tree-encircling guiding design, can realize the automatic cruising around the tree, does not need manual driving, from positioning the fruit tree, encircling, lifting the mechanical arm to precise spraying, the whole process is automatic, the labor intensity and the human cost of the fruit farmers are greatly reduced, and the health risk of the personnel contacting the pesticide is avoided;

[0065] The combination type operation scheme of “vehicle body encircling” and “mechanical arm multi-degree of freedom stretching” is adopted, the mobile vehicle body 1 moves around the tree to cover the periphery of the fruit tree, realizes the full spraying of the periphery of the fruit tree, the mechanical arm can deeply enter the inside of the dense tree crown, effectively applies pesticide to the areas such as the back of the leaf and the branch gap which are difficult to reach by the traditional pesticide spraying, and ensures the prevention and treatment effect.

[0066] The above merely provides the preferred embodiments of the application, and the protection scope of the application is not limited thereto, and any modification, equivalent replacement or change made by those skilled in the art within the technical scope disclosed by the application and the inventive concept thereof should be covered within the protection scope of the application.

Claims

1. An orchard autonomous cruise-type targeted pesticide application robot, characterized in that, The system includes a mobile vehicle body (1), on which a turntable (2) is rotatably mounted, a rotating seat (3) is rotatably mounted inside the turntable (2), a fixed frame (4) is mounted on the rotating seat (3), and a lifting frame (5) is slidably mounted inside the fixed frame (4), a lifting seat (6) is slidably mounted inside the lifting frame (5), and a robotic arm mechanism (7) is mounted on the lifting seat (6). The robotic arm mechanism (7) includes a first rotating block (8), on which two fixed arms (9) are symmetrically and parallelly mounted. A first translation block (10) is slidably mounted inside the fixed arm (9). A movable arm (11) is rotatably mounted between the two first translation blocks (10). A second translation block (12) is rotatably mounted on both sides of the outer end of the movable arm (11). The two second translation blocks (12) slide in two symmetrical and parallel movable swing arms (13), and the movable swing arms (13) and the fixed arms (9) are perpendicularly arranged. A second rotating block (14) is rotatably mounted inside the outer end of the movable swing arm (13). A mounting plate (15) is mounted on the second rotating block (14). A nozzle (16) and a probe (17) are mounted on the mounting plate (15). The mobile vehicle body (1) has two rotating arms (18) installed in opposite directions at the same speed. One of the rotating arms (18) has a C-shaped seat (19) installed at its end. A C-shaped telescopic arm (21) is slidably installed in the C-shaped seat (19). A permanent magnet rod (22) is attached to the end of the C-shaped telescopic arm (21). The connecting rope (23) connected to the permanent magnet rod (22) is wound on a winding machine (24) inside the mobile vehicle body (1). An electric gripper (20) is installed at the end of the other rotating arm (18).

2. The orchard autonomous cruise-type targeted pest and disease application robot according to claim 1, characterized in that, The mobile vehicle body (1) is equipped with a first motor (25), the output end of which is connected to the turntable (2). A second motor (26) is installed on the side wall of the turntable (2), and the output end of the second motor (26) is connected to the rotating seat (3).

3. The orchard autonomous cruise-type targeted pest and disease application robot according to claim 2, characterized in that, A third motor (27) is installed inside the rotating seat (3). Threaded rods (30) are symmetrically installed inside the fixed frame (4), and the threaded rods (30) are threadedly connected to the lifting frame (5). The bottom ends of the two threaded rods (30) are located inside the rotating seat (3) and are equipped with synchronous pulleys (28). The two synchronous pulleys (28) are connected by a synchronous belt (29). The output end of the third motor (27) is connected to one of the synchronous pulleys (28). The top of the lifting frame (5) is symmetrically equipped with guide wheels (31), and the top of the fixed frame (4) is symmetrically equipped with lifting ropes (32). The lifting ropes (32) are connected to the lifting seat (6) through the guide wheels (31), and the lifting seat (6) is slidably installed with the slide rail inside the lifting frame (5).

4. The orchard autonomous cruise-type targeted pest and disease application robot according to claim 3, characterized in that, The fixed arm (9) is provided with a first side groove (34), the movable swing arm (13) is provided with a second side groove (35), a wheel groove (36) is provided on one side of the first side groove (34) and the second side groove (35), and a guide rail (37) is provided on the other side of the first side groove (34) and the second side groove (35). The first translation block (10) and the second translation block (12) are respectively equipped with rollers (42) that roll along the wheel groove (36), and the rollers (42) are connected by a connecting shaft (43). The fifth motor (38) drives the rollers (42) of the first translation block (10) to rotate, and the seventh motor (40) drives the rollers (42) of the second translation block (12) to rotate. The first translation block (10) is equipped with a sixth motor (39), and the sixth motor (39) drives the movable arm (11) to rotate. The second translation block (12) is equipped with an eighth motor (41), and the eighth motor (41) drives the second translation block (12) and the movable swing arm (13) to rotate. The movable swing arm (13) is equipped with a ninth motor (44), and the ninth motor (44) drives the second rotating block (14) to rotate.

5. The orchard autonomous cruise-type targeted pest and disease application robot according to claim 4, characterized in that, The bottom of each of the two rotating arms (18) is equipped with a rotating tooth (46), and the two rotating teeth (46) mesh with each other. One of the rotating teeth (46) is connected to the output end of the tenth motor (45).

6. The orchard autonomous cruise-type targeted pest and disease application robot according to claim 4, characterized in that, The C-shaped base (19) has an arc-shaped groove (47) adapted to the C-shaped telescopic arm (21). An electromagnet (49) is installed inside the outer end of the C-shaped telescopic arm (21). An external tooth (48) is provided on the outer side of the C-shaped telescopic arm (21). An eleventh motor (50) is installed on the outer end of the C-shaped base (19), and an active tooth (51) that meshes with the external tooth (48) is installed at the output end of the eleventh motor (50).

7. The orchard autonomous cruise-type targeted pest and disease application robot according to claim 6, characterized in that, A liquid tank (52) is installed on the mobile vehicle body (1). A water pump (53) is installed on the liquid tank (52). A storage box (54) is installed on the liquid tank (52). A rotating pipe (55) is rotatably installed inside the storage box (54). Baffles (56) are installed at both ends of the rotating pipe (55). The rotating pipe (55) has a hollow structure. The end of the rotating pipe (55) is connected to a connecting pipe (58) through a rotary joint (57). The connecting pipe (58) is connected to the water pump (53).

8. The orchard autonomous cruise-type targeted pest and disease application robot according to claim 7, characterized in that, Guide rings are installed on the rotating seat (3), the fixed frame (4), the first rotating block (8) and the movable swing arm (13). The connecting pipe (58) is connected to one end of the conveying hose, and the other end of the conveying hose is connected to the nozzle (16) through the guide ring.

9. The working method of an orchard autonomous cruise-type targeted pest and disease application robot according to claim 8, characterized in that, The specific operational steps of this working method are as follows: Step 1: The mobile vehicle (1) moves within the orchard. At this time, the fixed frame (4), lifting frame (5), and mechanical arm mechanism (7) are folded and laid flat. When the mobile vehicle (1) moves to the vicinity of the diseased fruit trees, the tenth motor (45) operates, and the two rotating teeth (46) mesh and drive the two rotating arms (18) to rotate, covering the C-shaped seat (19) on the outside of the fruit trees. The eleventh motor (50) drives the active tooth (51) to rotate, which cooperates with the meshing external tooth (48) to drive the C-shaped telescopic arm (21). Move out of the arc groove (47) until the C-type telescopic arm (21) moves the permanent magnet rod (22) to the electric gripper (20). The electric gripper (20) clamps the permanent magnet rod (22), the electromagnet (49) is de-energized, the C-type telescopic arm (21) retracts into the C-type seat (19), the connecting rope (23) is wrapped around the outside of the fruit tree, the rotating arm (18) rotates and the C-type seat (19) is stored in the moving vehicle (1), the moving vehicle (1) moves to the outside of the tree canopy, and at the same time the winding machine (24) releases the connecting rope (23); Step 2: The second motor (26) rotates the fixed frame (4) and the lifting frame (5) to a vertical position. At the same time, the first motor (25) drives the turntable (2) to rotate, and the robotic arm mechanism (7) faces the fruit tree. The third motor (27) drives the synchronous wheel (28) and the synchronous belt (29) to drive the threaded rod (30) to rotate, which in turn drives the threaded lifting frame (5) to rise. When the lifting frame (5) rises, the lifting rope (32) pulls the lifting seat (6) to move up synchronously, and adjusts the height of the robotic arm mechanism (7). When the moving vehicle (1) moves, the moving vehicle (1) is guided by the fixed length connecting rope (23), and the moving vehicle (1) rotates around the fruit tree. Step 3: The probe head (17) performs detection. The fourth motor (33) operates to adjust the vertical angle of the robotic arm mechanism (7). The fifth motor (38) drives the roller (42) to rotate, which in turn drives the first translation block (10) to move within the first side groove (34), thus realizing the telescopic movement of the movable arm (11). At the same time, the sixth motor (39) operates to adjust the vertical angle of the movable arm (11). The seventh motor (40) operates to drive the roller (42) to rotate, which in turn drives the second translation block (12) to move within the second side groove (35), thus pushing the extension of the movable swing arm (13). The arm is moved while the eighth motor (41) works to adjust the left and right angles of the movable arm (11), and the ninth motor (44) swings the second rotating block (14) left and right. Through the extension and angle adjustment of the mechanical arm mechanism (7), the mounting plate (15) and the nozzle (16) are moved into the canopy and sprayed with pesticides at the location of the fruit tree pests and diseases. At the same time, the position of the nozzle (16) is adjusted by the mechanical arm mechanism (7), and the height of the lifting frame (5) and the lifting seat (6) is adjusted to move the vehicle body (1) in a circular motion. This can achieve both comprehensive pesticide spraying of the fruit tree and precise targeted pesticide application. Step 4: The twelfth motor (59) is used to rotate the tube (55), thereby winding up the delivery hose for easy use when the device is folded and unfolded. The water pump (53) is used to transport the agent in the liquid tank (52) to the nozzle (16) through the delivery hose. Step 5: After the application of the medicine is completed, the permanent magnet rod (22) released by the electric gripper (20) is attracted by the rotation and extension of the C-shaped seat (19) and the C-shaped telescopic arm (21). Then, it is rotated to the initial state, and the rotating seat (3), the fixed frame (4), the lifting frame (5), the lifting seat (6) and the mechanical arm mechanism (7) are rotated and folded.

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