Intelligent targeted spraying robot capable of autonomously identifying diseases and insect pests

Abstract

The invention discloses an intelligent targeted spraying robot capable of autonomously identifying plant diseases and insect pests in the technical field of plant protection equipment, and the intelligent targeted spraying robot comprises a robot mechanism and a targeted spraying mechanism, and the targeted spraying mechanism is fixedly mounted at the upper part of the robot mechanism; the robot mechanism comprises a bearing plate, a protective cover is mounted on the bearing plate, an obstacle avoidance radar is fixedly mounted in the middle of the front end of the protective cover, and an identification camera is fixedly mounted on one side of the front end of the protective cover; according to the invention, sensing, decision making and execution integrated precise operation is constructed; through a high-stability chassis and a three-level distributed control framework, stable recognition, rapid decision making and three-dimensional accurate spraying of pest and disease damage targets are achieved; high reliability and high adaptability in a complex farmland environment are taken into consideration, and an efficient and convenient operation and maintenance concept, such as a quick disassembly pesticide box and a convenient access door, throughout the whole life cycle is integrated, so that the long-term operation cost is greatly reduced while the utilization rate of pesticide liquid is increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of plant protection equipment, in particular to a spraying robot, and relates to an intelligent targeted spraying robot capable of autonomously identifying pests and diseases. BACKGROUND

[0002] With the development of agricultural automation and intelligence, traditional chemical spraying methods not only may cause pollution to the environment, but also may lead to drug resistance of pests and diseases in the long term, and have gradually failed to meet the needs of modern agriculture. Therefore, developing environmentally friendly and efficient plant protection methods has become a research hotspot. Most of the existing spraying equipment adopts wide-area or fixed-height spraying, which is limited due to low utilization rate of pesticide solution and insufficient spraying precision.

[0003] However, the existing intelligent plant protection equipment still has some deficiencies, such as being unable to adapt to the real-time change of the height of target crops or pests and diseases, so that the pesticide solution cannot accurately act on the target, and the pesticide solution drifts seriously. At the same time, many robot chassis have poor stability, and vibration during driving affects the recognition accuracy of the vision system. Therefore, a robot with high stability and vertical targeting positioning capability is needed to solve the above problems. SUMMARY

[0004] An object of the present application is to provide a new technical solution of an intelligent targeted spraying robot capable of autonomously identifying pests and diseases.

[0005] According to a first aspect of the present application, an intelligent targeted spraying robot capable of autonomously identifying pests and diseases is provided, comprising a robot mechanism and a targeted spraying mechanism, the targeted spraying mechanism being fixedly installed on the upper part of the robot mechanism;

[0006] The robot mechanism comprises a bearing plate, a protective cover is installed on the bearing plate, an obstacle avoidance radar is fixedly installed in the middle of the front end of the protective cover, and an identification camera is fixedly installed on one side of the front end of the protective cover;

[0007] The targeted spraying mechanism comprises a vertical slide rail installed on the bearing plate, a pesticide solution supply tank is installed at the tail of the bearing plate, a micro water pump is detachably installed on the bearing plate, one side of the micro water pump is communicated with the pesticide solution supply tank through a water suction pipeline, the other side of the micro water pump is connected with a spraying head through an extension pipeline, a lifting and rotating block is slidingly installed on the vertical slide rail, the spraying head is installed on the lifting and rotating block, a lifting motor is arranged at the bottom of the vertical slide rail, and the output end of the lifting motor is in transmission connection with the bottom end of the vertical slide rail, for controlling the lifting and adjusting the lifting and rotating block.

[0008] Optionally, the lower part of the bearing plate is provided with a plurality of independent suspension frames, the bottom of the independent suspension frame is connected with a mounting plate and a drive motor, the output end of the drive motor is connected with a wheel through a speed reducer, the two sides of the speed reducer are respectively provided with shock absorbers, and the upper ends of the shock absorbers are fixedly connected with the bottom surface of the bearing plate.

[0009] Optionally, a targeting execution controller and a stepping motor driving plate are further fixedly installed on the bearing plate, the targeting execution controller is electrically connected with the micro water pump and the stepping motor driving plate, and the stepping motor driving plate is electrically connected with the lifting motor.

[0010] Optionally, a chassis controller, a main controller and a battery pack are fixedly installed on the mounting plate, the battery pack is electrically connected with the main controller, the micro water pump, the lifting motor, the drive motor, the main controller and the chassis controller, the targeting execution controller, the stepping motor driving plate, the obstacle avoidance radar and the identification camera.

[0011] Optionally, the bottom end of the vertical slide rail is fixedly connected with a fixing frame, the bottom end of the fixing frame is fixedly installed on the bearing plate, and the uppermost end and the lowest end of the vertical slide rail are provided with limit switches for feeding back signals to the targeting execution controller.

[0012] Optionally, a plurality of buckle connecting pieces are fixedly arranged at the edge of the bearing plate, and the bottom end of the protective cover is fixedly connected with the bearing plate through the plurality of buckle connecting pieces.

[0013] Optionally, an L-shaped opening is formed in one side of the protective cover, the vertical slide rail is located in the inside of the L-shaped opening, an L-shaped protective sliding baffle is slidably installed on one side of the L-shaped opening, and a handle is fixedly installed on the L-shaped protective sliding baffle.

[0014] Optionally, the identification camera is installed on an independent support frame at the top of the front end of the protective cover in a two-dimensional holder structure; the two-dimensional holder structure comprises a shielding cover and a circular mounting disc, the shielding cover is fixedly installed on the protective cover; the identification camera is arranged in the inside of the shielding cover; the identification camera is installed on the circular mounting disc, two rudders are installed on the circular mounting disc, and the two rudders are electrically connected with the targeting execution controller.

[0015] Optionally, an interactive panel is fixedly installed on one side of the protective cover, a power switch, an emergency stop switch and a charging interface are arranged on the interactive panel, the charging interface is electrically connected with the battery pack, and the power switch and the emergency stop switch are electrically connected with the main controller.

[0016] Optionally, the bottom of the liquid medicine supply tank is detachably installed with the bearing plate through a buckle connector, and a rubber pad is arranged between the bearing plate and the liquid medicine supply tank.

[0017] Advantages of the present application:

[0018] The present application realizes stable and accurate identification of pest targets in complex environments by using a high-stability independent suspension chassis to carry a two-dimensional gimbal camera; uses a main control, chassis and target three-level distributed controller architecture to efficiently analyze visual information and quickly generate operation instructions; and finally drives the spray head on the vertical slide rail to accurately position and spray in the three-dimensional space, thereby improving the utilization rate of liquid medicine and reducing environmental pollution.

[0019] The independent suspension and damping system of the present application overcomes the interference of terrain bumps on visual accuracy; a protective cover, obstacle avoidance radar and limit switch constitute multiple physical and electronic safety protections, ensuring stable operation of the core components; the distributed control architecture improves the fault tolerance and response speed of the system; and the robust work platform can perform tasks reliably, safely and for a long time in rugged and variable real field conditions.

[0020] While pursuing performance, the present application highly focuses on user experience and maintenance cost; the modular controller simplifies system expansion and troubleshooting; and the L-shaped sliding maintenance door and integrated interactive panel greatly simplify the processes of liquid medicine supply, daily maintenance and emergency operation; the extreme pursuit of operation efficiency reduces the use threshold and long-term operation cost of the robot, and has commercial feasibility for large-scale popularization and application.

[0021] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, which description should be taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on the provided drawings.

[0023] Figure 1 A schematic diagram of the overall structure of an intelligent target spraying robot capable of autonomously identifying pests and diseases in an embodiment.

[0024] Figure 2 A schematic diagram of the target spraying mechanism of an intelligent target spraying robot capable of autonomously identifying pests and diseases in an embodiment.

[0025] Figure 3A schematic diagram of a robot mechanism of an intelligent target spraying robot capable of autonomously identifying pests and diseases in an embodiment.

[0026] Figure 4 A schematic diagram of a robot mechanism of an intelligent target spraying robot capable of autonomously identifying pests and diseases in an embodiment.

[0027] The symbols in the figure are as follows: 1, robot mechanism; 101, bearing plate; 102, stepper motor drive board; 103, target execution controller; 104, buckle connector; 105, independent suspension frame; 106, mounting plate; 107, chassis controller; 108, main controller; 109, battery pack; 110, drive motor; 111, speed reducer; 112, wheel; 113, shock absorber; 2, target spraying mechanism; 201, fixed frame; 202, vertical slide rail; 203, liquid supply tank; 204, micro water pump; 205, water suction pipeline; 206, telescopic pipeline; 207, lifting rotating block; 208, spraying head; 209, lifting motor; 3, protective cover; 4, L-shaped protective sliding baffle; 5, shielding cover; 6, identification camera; 7, obstacle avoidance radar. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some 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 of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0029] As Figures 1-4 shown, an intelligent target spraying robot capable of autonomously identifying pests and diseases includes a robot mechanism 1 and a target spraying mechanism 2, and the target spraying mechanism 2 is fixedly installed on the upper part of the robot mechanism 1.

[0030] The robot mechanism 1 includes a bearing plate 101, and the bearing plate 101 is installed with a protective cover 3, the front end of the protective cover 3 is fixedly installed with an obstacle avoidance radar 7 in the middle, and the front end of the protective cover 3 is fixedly installed with an identification camera 6 on one side.

[0031] The target spraying mechanism 2 comprises a vertical slide rail 202 mounted on a carrying plate 101, a liquid supply tank 203 is mounted at the tail of the carrying plate 101, a micro water pump 204 is detachably mounted on the carrying plate 101, one side of the micro water pump 204 is communicated with the liquid supply tank 203 through a water suction pipeline 205, the other side of the micro water pump 204 is connected with a spraying head 208 through an extension pipeline 206, a lifting rotary block 207 is slidingly mounted on the vertical slide rail 202, the spraying head 208 is mounted on the lifting rotary block 207, a lifting motor 209 is arranged at the bottom of the vertical slide rail 202, and the output end of the lifting motor 209 is drivingly connected with the bottom end of the vertical slide rail 202, so as to control the lifting of the lifting rotary block 207.

[0032] In the embodiment, preferably, the lower part of the carrying plate 101 is provided with a plurality of independent suspension frames 105, the bottom of each independent suspension frame 105 is connected with a mounting plate 106 and a driving motor 110, the output end of the driving motor 110 is connected with a wheel 112 through a speed reducer 111, and the two sides of the speed reducer 111 are respectively provided with shock absorbers 113, and the upper ends of the shock absorbers 113 are fixedly connected with the bottom surface of the carrying plate 101.

[0033] It should be noted that the chassis design of the independent suspension frame 105, the speed reducer 111 and the shock absorber 113 solves the problem of robot shaking caused by uneven farmland terrain, and endows the robot with excellent driving stability and terrain adaptability, effectively absorbs and suppresses the bumping and vibration in driving, not only protects the internal precision electronic elements, but more importantly, provides a stable shooting platform for the identification camera 6, thereby ensuring the accuracy and reliability of the visual identification algorithm.

[0034] In the embodiment, preferably, the carrying plate 101 is further fixedly provided with a target execution controller 103 and a stepping motor driving board 102, the target execution controller 103 is electrically connected with the micro water pump 204 and the stepping motor driving board 102, and the stepping motor driving board 102 is electrically connected with the lifting motor 209.

[0035] It should be noted that by setting up a special target execution controller 103, the bottom layer control of the spraying action is separated from the upper layer decision, and the spraying action includes water pump starting and lifting of the lifting rotary block 207, so that the fast response and high precision control of the execution task are realized, and it is ensured that the spraying instruction can be accurately executed in milliseconds without delay, and high dynamic response capability is realized.

[0036] In the embodiment, preferably, the mounting plate 106 is fixedly installed with the chassis controller 107, the main controller 108 and the battery pack 109, the battery pack 109 is electrically connected with the main controller 108, the micro water pump 204, the lifting motor 209, the driving motor 110, the main controller 108 is electrically connected with the chassis controller 107, the targeting execution controller 103, the stepping motor driving board 102, the obstacle avoidance radar 7 and the identification camera 6.

[0037] It should be noted that a three-level distributed control architecture is adopted; the main controller 108, the chassis controller 107 and the targeting execution controller 103 each perform its own function and work cooperatively through an efficient CAN bus; the efficiency, stability and scalability of the system in processing complex tasks are improved, which is the core electronic basis for realizing high intelligence and reliability of the robot.

[0038] In the embodiment, preferably, the bottom end of the vertical slide rail 202 is fixedly connected with the fixing frame 201, the bottom end of the fixing frame 201 is fixedly installed on the bearing plate 101, and the uppermost end and the lowest end of the vertical slide rail 202 are provided with limit switches for feeding back signals to the targeting execution controller 103.

[0039] It should be noted that the limit switches are arranged at the two ends of the vertical slide rail 202, which constructs a closed-loop feedback and safety protection system for the lifting movement of the spraying head 208; whether the spraying head 208 reaches the limit position can be fed back to the targeting execution controller 103 in real time, which effectively prevents the motor overload and mechanical damage caused by program errors or accidental conditions; the running reliability and durability of the spraying head 208 are greatly enhanced, and the long-term stable operation of the equipment is ensured.

[0040] In the embodiment, preferably, the edge of the bearing plate 101 is fixedly provided with a plurality of buckle connecting pieces 104, and the bottom end of the protective cover 3 is fixedly connected with the bearing plate 101 through the plurality of buckle connecting pieces 104.

[0041] It should be noted that the buckle connecting piece 104 is adopted to fix the protective cover 3, so that quick maintenance is realized; the daily inspection and maintenance of the internal electronic elements and mechanical structures are greatly facilitated, the downtime during equipment failure is effectively shortened, and the overall maintainability and attendance rate of the robot are improved.

[0042] In the embodiment, preferably, an L-shaped opening is formed in one side of the protective cover 3, the vertical slide rail 202 is located inside the L-shaped opening, an L-shaped protective sliding baffle 4 is slidingly installed on one side of the L-shaped opening, and a handle is fixedly installed on the L-shaped protective sliding baffle 4.

[0043] It should be noted that the L-shaped protective sliding baffle 4 is a clever and convenient maintenance window design; allows maintenance personnel to quickly and conveniently access the internal core moving parts for debugging and maintenance without disassembling the entire protective cover 3; not only improves the maintenance efficiency, but also reduces the complexity and safety risk of maintenance operation.

[0044] In this embodiment, preferably, the identification camera 6 is installed on the independent support frame at the top of the front end of the protective cover 3 in a two-dimensional holder structure; the two-dimensional holder structure includes a shielding cover 5 and a circular mounting disc, the shielding cover 5 is fixedly installed on the protective cover 3; the identification camera 6 is arranged inside the shielding cover 5; the identification camera 6 is installed on the circular mounting disc, and two steering engines are installed on the circular mounting disc, and the two steering engines are electrically connected with the target execution controller 103 respectively;

[0045] It should be noted that installing the identification camera 6 on the two-dimensional holder gives the visual system an active detection capability independent of the vehicle body posture; the identification camera 6 can quickly rotate to expand the search range and track dynamic targets without frequent adjustment of the entire robot vehicle body; greatly improving the target search efficiency and locking accuracy, so that the robot can also realize fast scanning and accurate identification of the surrounding environment when it is stationary or moving slowly.

[0046] In this embodiment, preferably, an interactive panel is fixedly installed on one side of the protective cover 3, the interactive panel is provided with a power switch, an emergency stop switch and a charging interface, the charging interface is electrically connected with the battery pack 109, and the power switch and the emergency stop switch are electrically connected with the main controller 108;

[0047] It should be noted that the integrated interactive panel provides an intuitive and convenient man-machine interface for the operator; the power supply, emergency stop and charging functions are concentrated in one place, which simplifies the operation process and provides the highest priority safety guarantee for on-site operation with the existence of the emergency stop switch; so that the equipment is highly autonomous, but still controllable and safe.

[0048] In this embodiment, preferably, the bottom of the liquid medicine supply tank 203 is detachably installed with the bearing plate 101 through the buckle connector 104, and a rubber pad is arranged between the bearing plate 101 and the liquid medicine supply tank 203;

[0049] It should be noted that the buckle connector 104 quick-release design of the liquid medicine supply tank 203 improves the endurance operation capability and operation efficiency of the robot; makes the liquid medicine replenishment or replacement operation become rapid, greatly shortens the supply downtime; cooperates with the use of the rubber pad to ensure the stability and safety of the connection, which ensures that the robot can work continuously for a long time and at high intensity.

[0050] The specific operation process of the present application is as follows:

[0051] The operator starts the power supply through the interactive panel on one side of the protective cover 3; the main controller 108 is powered on and starts system self-checking, confirming that all controllers (including the chassis controller 107, the target execution controller 103, the step motor drive board 102), sensors (including the obstacle avoidance radar 7, the identification camera 6) and execution mechanisms (including the drive motor 110, the lifting motor 209, the micro water pump 204, the lifting rotating block 207) are in the normal standby state;

[0052] The operator sets the work area or plans the cruise path for the main controller 108 through the interactive panel or external equipment; the main controller 108 issues a moving instruction to the chassis controller 107; the chassis controller 107 controls the drive motor 110 to start driving in the farmland through the speed reducer 111 and the wheels 112; in this process, the chassis system composed of the independent suspension frame 105 and the shock absorber 113 effectively absorbs the bumps on the ground, ensures the smooth driving of the robot mechanism 1, and provides a stable working platform for the identification and spraying tasks of the upper part;

[0053] In the driving process, the obstacle avoidance radar 7 installed at the front continuously detects the front obstacles and feeds back the data to the main controller 108 in real time; the main controller 108 dynamically adjusts the path according to the radar data to realize autonomous and safe obstacle avoidance; while the robot is moving, the identification camera 6 installed on the two-dimensional holder starts to work; under the control of the main controller 108, the servo on the holder drives the identification camera 6 to rotate flexibly, actively expands the search field of view, and collects images of crops in a large range and from multiple angles;

[0054] The main controller 108 receives and analyzes the high-definition image stream returned by the identification camera 6, uses the built-in visual recognition algorithm to detect and identify the pest targets in the image in real time; once the identification is successful, the main controller 108 will immediately calculate the accurate coordinates of the target in the three-dimensional space, including the horizontal position and the vertical height; the main controller 108 sends the calculated three-dimensional coordinates of the target to the target execution controller 103 as an execution instruction; the target execution controller 103 controls the rotation of the lifting motor 209 through the step motor drive board 102; the lifting motor 209 drives the lifting rotating block 207 to slide up and down along the vertical slide rail 202 until the height completely matches the vertical height of the target; the whole process is protected by the limit switches at both ends of the slide rail; at the same time, the target execution controller 103 directly controls the micro motor installed inside the lifting rotating block 207 to drive the spraying head 208 to rotate and accurately aim at the horizontal position of the target;

[0055] After the three-dimensional accurate aiming is completed, the targeting execution controller 103 immediately sends a start signal to the micro water pump 204; the micro water pump 204 starts, draws the pesticide from the pesticide supply tank 203 through the water drawing pipeline 205, and pressurizes the pesticide to be delivered to the spray head 208 through the telescopic pipeline 206; the spray head 208 accurately sprays the pesticide on the locked pest target in a set dose and mode;

[0056] After a single spraying task is completed, the targeting execution controller 103 stops the micro water pump 204; the main controller 108 records the processed target, and instructs the robot to continue driving along the predetermined path, and repeatedly performs the searching, identifying, aiming, and spraying operations until the inspection work in all areas is completed;

[0057] After the work is completed, the robot automatically returns to the standby point; if the pesticide is depleted, the operator can quickly disassemble the pesticide supply tank 203 for replenishment by using the buckle connecting piece 104; if maintenance is needed, the internal mechanism can be conveniently maintained by sliding the L-shaped protective sliding baffle 4 or disassembling the protective cover 3.

[0058] The above description of the embodiments is only used to help understand the method of the present application and its core idea. It should be noted that, for those skilled in the art, without departing from the principles of the present application, the present application can be improved and modified in several ways, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. An intelligent targeted spraying robot capable of autonomously identifying pests and diseases, characterized in that: It includes a robot mechanism (1) and a targeted spraying mechanism (2), wherein the targeted spraying mechanism (2) is fixedly installed on the upper part of the robot mechanism (1); The robot mechanism (1) includes a support plate (101), a protective cover (3) is installed on the support plate (101), an obstacle avoidance radar (7) is fixedly installed in the middle of the front end of the protective cover (3), and an identification camera (6) is fixedly installed on one side of the front end of the protective cover (3). The targeted spraying mechanism (2) includes a vertical slide rail (202) mounted on the support plate (101). A liquid supply tank (203) is installed at the tail of the support plate (101). A micro water pump (204) is also detachably mounted on the support plate (101). One side of the micro water pump (204) is connected to the liquid supply tank (203) through a water pumping pipe (205). The other side of the micro water pump (204) is connected to a spray head (208) through a telescopic pipe (206). A lifting rotating block (207) is slidably mounted on the vertical slide rail (202). The spray head (208) is mounted on the lifting rotating block (207). A lifting motor (209) is provided at the bottom of the vertical slide rail (202). The output end of the lifting motor (209) is connected to the bottom end of the vertical slide rail (202) for transmission, and is used to control the lifting and adjusting of the lifting rotating block (207).

2. The intelligent targeted spraying robot capable of autonomously identifying pests and diseases according to claim 1, characterized in that: The lower part of the support plate (101) is provided with several independent suspension brackets (105). The bottom of the independent suspension brackets (105) is connected to a mounting plate (106) and a drive motor (110). The output end of the drive motor (110) is connected to a wheel (112) through a reducer (111). Shock absorbers (113) are installed on both sides of the reducer (111). The upper end of the shock absorber (113) is fixedly connected to the bottom surface of the support plate (101).

3. The intelligent targeted spraying robot capable of autonomously identifying pests and diseases according to claim 2, characterized in that: The target execution controller (103) and the stepper motor drive board (102) are also fixedly installed on the support plate (101). The target execution controller (103) is electrically connected to the micro water pump (204) and the stepper motor drive board (102). The stepper motor drive board (102) is electrically connected to the lifting motor (209).

4. The intelligent targeted spraying robot capable of autonomously identifying pests and diseases according to claim 3, characterized in that: The mounting plate (106) is fixedly mounted with a chassis controller (107), a main controller (108), and a battery pack (109). The battery pack (109) is electrically connected to the main controller (108), the micro water pump (204), the lifting motor (209), and the drive motor (110). The main controller (108) is electrically connected to the chassis controller (107), the target execution controller (103), the stepper motor drive board (102), the obstacle avoidance radar (7), and the recognition camera (6).

5. The intelligent targeted spraying robot capable of autonomously identifying pests and diseases according to claim 4, characterized in that: The bottom end of the vertical slide rail (202) is fixedly connected to a fixing frame (201), and the bottom end of the fixing frame (201) is fixedly installed on the bearing plate (101). The uppermost and lowermost ends of the vertical slide rail (202) are provided with limit switches that provide feedback signals to the target execution controller (103).

6. The intelligent targeted spraying robot capable of autonomously identifying pests and diseases according to claim 5, characterized in that: The edge of the support plate (101) is fixedly provided with several snap-fit ​​connectors (104), and the bottom end of the protective cover (3) is fixedly connected to the support plate (101) through several snap-fit ​​connectors (104).

7. The intelligent targeted spraying robot capable of autonomously identifying pests and diseases according to claim 6, characterized in that: The protective cover (3) has an L-shaped opening on one side, the vertical slide rail (202) is inside the L-shaped opening, and an L-shaped protective sliding baffle (4) is slidably installed on one side of the L-shaped opening. A handle is fixedly installed on the L-shaped protective sliding baffle (4).

8. The intelligent targeted spraying robot capable of autonomously identifying pests and diseases according to claim 7, characterized in that: The identification camera (6) is mounted on an independent support frame at the top front end of the protective cover (3) using a two-dimensional gimbal structure. The two-dimensional gimbal structure includes a shield (5) and a circular mounting plate. The shield (5) is fixedly mounted on the protective cover (3). The identification camera (6) is located inside the shield (5). The identification camera (6) is mounted on the circular mounting plate, and two servos are mounted on the circular mounting plate. The two servos are electrically connected to the target execution controller (103) respectively.

9. The intelligent targeted spraying robot capable of autonomously identifying pests and diseases according to claim 8, characterized in that: An interactive panel is fixedly installed on one side of the protective cover (3). The interactive panel is equipped with a power switch, an emergency stop switch and a charging interface. The charging interface is electrically connected to the battery pack (109). The power switch and the emergency stop switch are electrically connected to the main controller (108).

10. The intelligent targeted spraying robot capable of autonomously identifying pests and diseases according to claim 9, characterized in that: The bottom of the liquid supply tank (203) is detached and installed from the support plate (101) via a snap fastener (104), and a rubber pad is provided between the support plate (101) and the liquid supply tank (203).

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