Landform plant height and row spacing self-adaptive canopy profiling surrounding synergistic three-dimensional pesticide application device

Abstract

The invention relates to the technical field of intelligent orchard plant protection equipment, in particular to a terrain plant height and row spacing self-adaptive canopy profiling surrounding synergistic three-dimensional pesticide applying device. The multi-source environment sensing and positioning system is used for acquiring fruit tree plant height, tree row spacing, canopy boundary, topographic relief and carrier pose information; the intelligent control system is used for respectively controlling the plant height self-adaptive adjusting mechanism, the left and right side row spacing self-adaptive adjusting mechanism and the left and right side topographic self-adaptive leveling mechanism to act based on a sensing result; the left side canopy surrounding rotation driving mechanism and the right side canopy surrounding rotation driving mechanism respectively drive the corresponding side canopy profiling three-dimensional pesticide applying mechanisms to conduct surrounding rotation operation along the outer edges of fruit tree canopies, and the multiple telescopic pesticide applying arms, the multiple rotation joint mechanisms and the multiple air mist pesticide applying assemblies are arranged in a layered mode and work cooperatively. The device can adapt to different terrains, different plant heights, different tree line spacing and different canopy forms, and can adapt to tree form matching, canopy fitting operation, surrounding synergistic pesticide application and multi-wind-source combined disturbance to break through leaf walls.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural equipment and orchard plant protection machinery, specifically to a terrain-adaptive, canopy-following, surround-coordinated three-dimensional spraying device.

[0002] This invention is applicable to plant protection operations for fruit trees with distinct canopy structures, such as apples, pears, peaches, jujubes, and grapes. It can be used for precise canopy application, wind-assisted spraying, and three-dimensional plant protection operations under different tree shapes, tree heights, row spacings, and terrain undulations. Background Technology

[0003] Pest and disease control in orchards is a crucial aspect of fruit tree production management, and spraying remains one of the most important technical methods for pest and disease control. As modern orchards develop towards large-scale, standardized, and intelligent operations, higher demands are placed on spraying equipment in terms of operational adaptability, spraying precision, terrain adaptability, and canopy deposition uniformity.

[0004] Existing orchard spraying equipment mostly uses fixed nozzles, single-sided spray booms, or single-plane spraying structures. While these structures can complete basic spraying operations, they still have significant shortcomings in complex orchard environments.

[0005] On the one hand, there are significant differences in the height of fruit trees, the spacing between rows, and the shape of the canopy. Existing spraying equipment usually lacks the ability to synchronously and adaptively adjust the height of trees and the spacing between rows, making it difficult to quickly match with different fruit tree canopies.

[0006] When the tree is tall and the canopy is wide, fixed spraying structures are prone to insufficient coverage at the top and edges; when the tree is short or the canopy is narrow, it is easy to cause waste of pesticide and increased drift.

[0007] On the other hand, the hilly and mountainous orchards have obvious topographical undulations, and the operating vehicles are prone to pitching, rolling and yaw disturbances during the operation.

[0008] Most existing pesticide application systems lack active leveling functions, resulting in unstable spraying posture and displacement of spraying components relative to the canopy, which affects the quality of the operation.

[0009] In addition, most existing spraying devices can only spray one side or a certain height range of the canopy, making it difficult to continuously adhere to the actual contour of the canopy, and also making it difficult to carry out coordinated three-dimensional application of medicine to different layers such as the top, middle and bottom.

[0010] For canopies with dense foliage forming leaf walls, the penetration ability of spraying from a single wind source or in a single direction is limited, making it difficult for the pesticide solution to enter the interior of the canopy, resulting in poor pesticide coverage on the back of the leaves and poor uniformity of deposition inside the canopy.

[0011] Therefore, there is an urgent need to develop an orchard spraying device that can adapt to changes in terrain, plant height, row spacing, and canopy shape, and can perform canopy contouring, wrap-around application, and multi-wind source coordinated disturbance three-dimensional spraying, in order to solve the problems of insufficient adaptability of existing technologies, low canopy fit, and poor three-dimensional deposition effect under complex orchard conditions. Summary of the Invention

[0012] In view of the above-mentioned shortcomings in the existing technology, the purpose of this invention is to provide a terrain-adaptive, canopy-contour-encircling, coordinated three-dimensional pesticide application device.

[0013] The device can adaptively adjust according to the height of the fruit trees, the spacing between tree rows, the terrain undulations and the canopy boundaries. Through the coordinated operation of the multi-joint, multi-telescopic spraying arm and the multi-layer wind mist spraying component, it can achieve precise spraying in the canopy, such as close contact, surrounding and three-dimensional spraying, thereby improving the spraying quality and operational adaptability in complex orchard environments.

[0014] To achieve the above objectives, the present invention adopts the following technical solution.

[0015] A terrain-adaptive, plant height and row spacing canopy-following, surround-coordinated three-dimensional pesticide application device includes a plant height adaptive adjustment mechanism, a multi-source environmental sensing and positioning system, an intelligent control system, and a pesticide application box, all mounted on a mobile carrier platform.

[0016] The top side of the plant height adaptive adjustment mechanism is equipped with a right row spacing adaptive adjustment mechanism, a right terrain adaptive leveling mechanism, a right canopy circling and rotating drive mechanism, and a right canopy contour-following three-dimensional spraying mechanism; the other side is symmetrically equipped with a left row spacing adaptive adjustment mechanism, a left terrain adaptive leveling mechanism, a left canopy circling and rotating drive mechanism, and a left canopy contour-following three-dimensional spraying mechanism.

[0017] The multi-source environmental perception and positioning system is used to acquire information on fruit tree height, row spacing, canopy boundary, terrain undulation, and carrier pose.

[0018] The intelligent control system is electrically connected to the plant height adaptive adjustment mechanism, the right row spacing adaptive adjustment mechanism, the left row spacing adaptive adjustment mechanism, the right terrain adaptive leveling mechanism, the left terrain adaptive leveling mechanism, the right canopy surround rotation drive mechanism, the left canopy surround rotation drive mechanism, the right canopy contour-following three-dimensional spraying mechanism, the left canopy contour-following three-dimensional spraying mechanism, and the multi-source environmental perception and positioning system, respectively, and is used to control the actions of each actuator based on the perception information.

[0019] The plant height adaptive adjustment mechanism is used to adjust the overall height of the left and right application systems in the vertical direction. The right row spacing adaptive adjustment mechanism and the left row spacing adaptive adjustment mechanism are used to adjust the lateral spacing of the corresponding application systems to adapt to different tree row spacings and the width of the left and right canopy outer edges.

[0020] The right-side terrain adaptive leveling mechanism and the left-side terrain adaptive leveling mechanism are used to compensate for attitude changes caused by terrain disturbances and maintain the stable attitude of the left and right application systems relative to the fruit tree canopy.

[0021] The right canopy circling rotation drive mechanism and the left canopy circling rotation drive mechanism are used to drive the corresponding side canopy contour-following three-dimensional spraying mechanism to circling around the outer edge of the fruit tree canopy.

[0022] The right canopy contour-following three-dimensional spraying mechanism and the left canopy contour-following three-dimensional spraying mechanism are used to unfold according to the outer contour of the fruit tree canopy and perform three-dimensional coordinated spraying operations.

[0023] Furthermore, the plant height adaptive adjustment mechanism includes a plant height fixing base section, a plant height intermediate expansion joint, and a plant height end expansion joint connected in sequence.

[0024] A plant height intermediate expansion joint is provided with a plant height gear and rack drive assembly, which is used to drive the plant height intermediate expansion joint to perform a first-stage lifting and telescopic movement relative to the plant height fixed base joint.

[0025] It also includes a plant height auxiliary sprocket and chain drive assembly and a plant height sprocket and chain drive assembly; the plant height sprocket and chain drive assembly cooperates with the plant height auxiliary sprocket and chain drive assembly to drive the plant height end expansion joint to perform a two-stage lifting and extending movement relative to the plant height middle expansion joint;

[0026] The plant height gear and rack drive assembly and the plant height sprocket and chain drive assembly are driven by the plant height gear and rack drive motor and the plant height sprocket and chain drive motor, respectively.

[0027] Furthermore, the right-side row spacing adaptive adjustment mechanism includes a right-side fixed base section, a right-side intermediate telescopic section, and a right-side end telescopic section that are connected in sequence.

[0028] It also includes a right-side gear and rack drive assembly for driving the right-side intermediate telescopic joint to perform a first-stage lateral telescopic movement relative to the right-side fixed base joint;

[0029] It also includes a right-side auxiliary sprocket and chain drive assembly and a right-side sprocket and chain drive assembly, which are used to drive the right-side end telescopic joint to perform a two-stage lateral telescopic movement relative to the right-side middle telescopic joint;

[0030] The right-side rack and pinion drive assembly and the right-side sprocket and chain drive assembly are driven by the right-side rack and pinion drive motor and the right-side sprocket and chain drive motor, respectively.

[0031] The left-side row spacing adaptive adjustment mechanism includes a left-side fixed base section, a left-side middle telescopic section, and a left-side end telescopic section that are connected in sequence.

[0032] It also includes a left-side gear and rack drive assembly, which is used to drive the left-side intermediate telescopic joint to perform a first-stage lateral telescopic movement relative to the left-side fixed base joint;

[0033] It also includes a left auxiliary sprocket and chain drive assembly and a left sprocket and chain drive assembly, which are used to drive the left end telescopic joint to perform a two-stage lateral telescopic movement relative to the left middle telescopic joint;

[0034] The left-side rack and pinion drive assembly and the left-side sprocket and chain drive assembly are driven by the left-side rack and pinion drive motor and the left-side sprocket and chain drive motor, respectively.

[0035] Furthermore, the right-side terrain adaptive leveling mechanism includes a right-side leveling IMU mounted on the right-side row spacing adaptive adjustment mechanism, used to detect pitch, roll, and yaw attitude changes of the right-side row spacing adaptive adjustment mechanism.

[0036] It also includes a right attitude linkage frame, which connects the right upper gear transmission assembly, the right middle gear transmission assembly and the right lower gear transmission assembly.

[0037] It also includes a right-side three-way gear transmission assembly, which is equipped with a right-side first drive motor, a right-side second drive motor, and a right-side third drive motor.

[0038] The three-way gear transmission assembly on the right side cooperates with the upper gear transmission assembly, the middle gear transmission assembly, and the lower gear transmission assembly on the right side, respectively. The first drive motor, the second drive motor, and the third drive motor on the right side drive the upper gear transmission assembly, the middle gear transmission assembly, and the lower gear transmission assembly on the right side, respectively, to achieve multi-degree-of-freedom attitude compensation of the right attitude linkage frame.

[0039] The left-side terrain adaptive leveling mechanism includes a left-side leveling IMU mounted on the left-side row spacing adaptive adjustment mechanism, used to detect pitch, roll, and yaw attitude changes of the left-side row spacing adaptive adjustment mechanism.

[0040] It also includes a left attitude linkage frame, which connects the left upper gear transmission assembly, the left middle gear transmission assembly, and the left lower gear transmission assembly.

[0041] It also includes a left-side three-way gear transmission assembly, which is equipped with a left-side first drive motor, a left-side second drive motor, and a left-side third drive motor;

[0042] The three gear transmission components on the left side cooperate with the upper gear transmission component, the middle gear transmission component, and the lower gear transmission component on the left side, respectively. The first drive motor, the second drive motor, and the third drive motor on the left side drive the upper gear transmission component, the middle gear transmission component, and the lower gear transmission component on the left side, respectively, to achieve multi-degree-of-freedom attitude compensation of the left attitude linkage frame.

[0043] Furthermore, the right canopy circumferential rotary drive mechanism includes a right fixed mounting bracket, on which a right upper housing is provided. Inside the right upper housing, a right rotary internal gear ring is installed via a right central support seat. The right rotary internal gear ring meshes with a right circumferential drive gear, which is driven by a right circumferential rotary drive motor. A right application arm connecting seat is connected to the right rotary internal gear ring.

[0044] The left canopy circumferential rotary drive mechanism includes a left fixed mounting frame and a left central support base. The left fixed mounting frame is provided with a left upper housing. The left upper housing is equipped with a left rotary internal gear ring through the left central support base. The left rotary internal gear ring meshes with the left circumferential drive gear. The left circumferential drive gear is driven by the left circumferential rotary drive motor. The left rotary internal gear ring is connected to a left application arm connecting seat.

[0045] The circumferential drive motor meshes with the circumferential drive gear and the circumferential internal gear ring, thereby driving the corresponding drug application arm assembly to perform circumferential circumferential motion along the outer edge of the canopy.

[0046] Furthermore, the right canopy contour-following three-dimensional drug application mechanism includes a right first telescopic drug application arm, the upper end of which is connected to a right drug application arm connecting seat on the right canopy circumferential rotation drive mechanism; the lower end of the right first telescopic drug application arm is connected to a right second telescopic drug application arm via a right first rotary joint mechanism; the right second telescopic drug application arm is connected to a right third telescopic drug application arm via a right second rotary joint mechanism; the right third telescopic drug application arm is connected to a right fourth telescopic drug application arm via a right third rotary joint mechanism; and the right fourth telescopic drug application arm is connected to a right fifth telescopic drug application arm via a right fourth rotary joint mechanism; the right canopy top fogging drug application component, the right canopy upper middle fogging drug application component, the right canopy middle fogging drug application component, the right canopy lower middle fogging drug application component, and the right canopy bottom fogging drug application component are respectively installed on the right first telescopic drug application arm, the right second telescopic drug application arm, the right third telescopic drug application arm, the right fourth telescopic drug application arm, and the right fifth telescopic drug application arm;

[0047] The left canopy contour-following three-dimensional drug application mechanism includes a left first telescopic drug application arm, the upper end of which is connected to a left drug application arm connecting seat on a left canopy circumferential rotation drive mechanism; the lower end of the left first telescopic drug application arm is connected to a left second telescopic drug application arm via a left first rotary joint mechanism; the left second telescopic drug application arm is connected to a left third telescopic drug application arm via a left second rotary joint mechanism; the left third telescopic drug application arm is connected to a left fourth telescopic drug application arm via a left third rotary joint mechanism; and the left fourth telescopic drug application arm is connected to a left fifth telescopic drug application arm via a left fourth rotary joint mechanism; the left canopy top fogging drug application component, the left canopy upper middle fogging drug application component, the left canopy middle fogging drug application component, the left canopy lower middle fogging drug application component, and the left canopy bottom fogging drug application component are respectively installed on the left first telescopic drug application arm, the left second telescopic drug application arm, the left third telescopic drug application arm, the left fourth telescopic drug application arm, and the left fifth telescopic drug application arm;

[0048] Adjacent telescopic spraying arms are connected by corresponding rotary joint mechanisms to form a multi-joint spraying arm chain that can be extended along the outer contour of the fruit tree canopy.

[0049] The right-side first rotary joint mechanism, right-side second rotary joint mechanism, right-side third rotary joint mechanism, right-side fourth rotary joint mechanism, and left-side first rotary joint mechanism, left-side second rotary joint mechanism, left-side third rotary joint mechanism, and left-side fourth rotary joint mechanism have the same or substantially the same structure. Figure 12 Only one type of rotary joint mechanism and its connection structure with the corresponding telescopic application arm are shown.

[0050] Furthermore, the right first telescopic application arm, right second telescopic application arm, right third telescopic application arm, right fourth telescopic application arm, right fifth telescopic application arm, left first telescopic application arm, left second telescopic application arm, left third telescopic application arm, left fourth telescopic application arm, and left fifth telescopic application arm have the same structure and are all telescopic application arms.

[0051] The right canopy top wind-mist spraying components, right canopy upper-middle wind-mist spraying components, right canopy middle wind-mist spraying components, right canopy lower-middle wind-mist spraying components, right canopy bottom wind-mist spraying components, left canopy top wind-mist spraying components, left canopy upper-middle wind-mist spraying components, left canopy middle wind-mist spraying components, left canopy lower-middle wind-mist spraying components, and left canopy bottom wind-mist spraying components have the same structure and are all wind-mist spraying components;

[0052] The telescopic spraying arm includes a double rack synchronous telescopic assembly, which is driven by a double rack synchronous telescopic drive motor for length adjustment; one end of the telescopic spraying arm is equipped with a rotary joint mechanism drive motor, and the telescopic spraying arm is also equipped with an axial adjustment slide rail assembly and a radial adjustment slide rail assembly for installing the fog spraying assembly and adjusting the position of the fog spraying assembly along the extension direction of the spraying arm and the distance of the fog spraying assembly relative to the telescopic spraying arm;

[0053] The mist spraying assembly includes a mist spray nozzle, which is connected to a pitch adjustment electric push rod mechanism and a mist spray nozzle swing adjustment mechanism. The pitch adjustment electric push rod mechanism is used to adjust the pitch angle of the mist spray nozzle, and the mist spray nozzle swing adjustment mechanism is used to adjust the swing direction or sweeping angle of the mist spray nozzle.

[0054] It also includes a liquid spray pump that connects to the mist spray nozzle.

[0055] The right canopy contour-following three-dimensional spraying mechanism and the left canopy contour-following three-dimensional spraying mechanism respectively include multiple layers of wind-mist spraying components at the top, upper middle, middle, lower middle and bottom. The wind-mist spraying components at each layer work together to form a three-dimensional spray field with multiple layers, multiple directions and multiple wind sources jointly disturbing the air.

[0056] Furthermore, the multi-source environmental perception and positioning system includes a right-view lidar, a right-view depth camera, a front-view lidar, a front-view depth camera, a left-view lidar, a left-view depth camera, a front GNSS antenna, and a rear GNSS antenna, used to acquire information on fruit tree canopy boundaries, tree height, tree row spacing, terrain undulations, and carrier positioning and attitude determination.

[0057] When using the device provided by this invention to perform terrain-adaptive, canopy-contour-based, synergistic, three-dimensional pesticide application, the following steps are included:

[0058] S1: The mobile carrier platform moves along the rows of fruit trees. The multi-source environmental perception and positioning system collects information on the height of the fruit trees, row spacing, canopy boundary, terrain undulation and carrier pose in real time, and transmits the relevant data to the intelligent control system.

[0059] S2: The intelligent control system controls the action of the plant height adaptive adjustment mechanism based on the plant height information, so that the whole machine spraying system matches the target fruit tree height in the vertical direction;

[0060] S3: The intelligent control system controls the right row spacing adaptive adjustment mechanism and the left row spacing adaptive adjustment mechanism based on the information of the fruit tree row spacing and the left and right canopy boundaries, so that the left and right spraying systems match the target fruit tree canopy in the lateral distance.

[0061] S4: The right-side leveling IMU and the left-side leveling IMU detect the attitude changes of the left and right application systems in real time. The intelligent control system controls the right-side terrain adaptive leveling mechanism and the left-side terrain adaptive leveling mechanism to perform active attitude compensation.

[0062] S5: The intelligent control system controls the right canopy circumferential rotation drive mechanism and the left canopy circumferential rotation drive mechanism to drive the left and right canopy contour-following three-dimensional drug application mechanism into the target canopy circumferential operation position;

[0063] S6: The intelligent control system controls the movement of the double rack synchronous telescopic components of each telescopic application arm and each rotary joint mechanism, so that multiple telescopic application arms can be deployed along the outer contour of the target canopy.

[0064] S7: The top, upper-middle, middle, lower-middle and bottom wind mist spraying components spray synchronously or in stages according to different layers. Each wind mist spray nozzle is matched with the local boundary of the canopy through pitch adjustment, swing adjustment and installation position adjustment, thereby forming a three-dimensional spray field with multi-layer, multi-directional and multi-wind source coordinated disturbance.

[0065] S8: During the operation, the multi-source environmental perception and positioning system continuously provides feedback on environmental changes and operation status, and the intelligent control system makes real-time corrections to each actuator, thereby realizing continuous adaptive pesticide application operations for different terrains, different tree heights, different tree row spacings and different canopy morphologies.

[0066] In step S6, multiple telescopic application arms form a continuous application arm chain that conforms to the outer contour of the coronal layer through the coordinated action of multiple rotary joint mechanisms and double rack synchronous telescopic components, so as to realize coronal application operation, circumferential operation or wave-like operation.

[0067] In step S7, multiple layers of wind-mist spraying components at the top, upper middle, middle, lower middle and bottom are sprayed together, and a complex turbulent airflow is formed between the wind sources at different layers to enhance the penetration ability of the blade wall and increase the spraying rate on both sides of the blade.

[0068] In steps S4 to S8, the intelligent control system performs closed-loop coordinated control of the plant height adaptive adjustment mechanism, row spacing adaptive adjustment mechanism, terrain adaptive leveling mechanism, canopy circling rotation drive mechanism, and canopy contour-following three-dimensional spraying mechanism based on the carrier posture information, canopy boundary information, and spatial relative position information acquired in real time by the multi-source environmental perception and positioning system.

[0069] Compared with the prior art, the present invention has at least the following beneficial effects.

[0070] 1. This invention, through the coordinated setting of the plant height adaptive adjustment mechanism and the left and right row spacing adaptive adjustment mechanism, can simultaneously adapt to different tree heights, different row spacings, and different canopy lateral widths, thereby achieving rapid adaptive matching of the pesticide application system in both vertical and horizontal directions.

[0071] 2. Through the synergistic effect of the left and right terrain adaptive leveling mechanism and the multi-source environmental perception and positioning system, this invention can actively compensate for carrier posture disturbances in hilly orchards, maintain the stable posture of the spraying mechanism relative to the canopy, and improve the operational stability under complex terrain conditions.

[0072] 3. This invention combines an internal toothed ring rotating drive mechanism with a multi-joint, multi-telescopic application arm, enabling it to perform close-fitting and circling operations along the outer contour of the canopy, making the application path closer to the actual tree canopy shape, thereby reducing missed spraying and over-spraying.

[0073] 4. This invention achieves simultaneous spraying of multiple layers of the canopy through a three-dimensional arrangement of multiple mist spraying components at the top, upper middle, middle, lower middle and bottom, which can cover the liquid with pesticides in the outer, top and inner spatial layers of the canopy.

[0074] 5. This invention uses a multi-wind-source coordinated disturbance design to enable multiple wind-mist spraying components to form a composite wind field during the spraying process, which is beneficial for breaking through the leaf wall barrier, improving the spraying rate on both sides of the leaves and the uniformity of deposition inside the canopy.

[0075] 6. This invention integrates environmental perception, spatial adaptive adjustment, active leveling, canopy surround contouring, and multi-wind source coordinated spraying into one system, forming a complete closed-loop operation system from perception to execution, which has a high degree of automation and adaptability to complex orchard operations. Attached Figure Description

[0076] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0077] In the attached diagram:

[0078] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0079] Figure 2 This is a schematic diagram of the plant height adaptive adjustment mechanism;

[0080] Figure 3 This is an exploded view of the plant height adaptive adjustment mechanism.

[0081] Figure 4 This is a schematic diagram of the right-side row spacing adaptive adjustment mechanism and the terrain adaptive leveling mechanism.

[0082] Figure 5 This is a schematic diagram of the left-side row spacing adaptive adjustment mechanism and the terrain adaptive leveling mechanism.

[0083] Figure 6 This is one of the exploded structural diagrams of a terrain-adaptive leveling mechanism;

[0084] Figure 7 The second exploded structural diagram of the terrain adaptive leveling mechanism;

[0085] Figure 8 This is one of the structural schematic diagrams of the canopy circumferential rotary drive mechanism and the canopy contour-following three-dimensional drug delivery mechanism;

[0086] Figure 9 This is the second structural schematic diagram of the canopy circumferential rotary drive mechanism and the canopy contour-following three-dimensional drug delivery mechanism;

[0087] Figure 10 One of the exploded structural diagrams of a canopy-encircling rotary drive mechanism;

[0088] Figure 11 The second exploded structural diagram of the canopy-encircling rotary drive mechanism;

[0089] Figure 12 This is an exploded structural diagram of the first telescopic application arm on the right and the first rotary joint mechanism on the right.

[0090] Figure 13 This is a schematic diagram of the structure of the wind-mist spraying component at the top of the right canopy;

[0091] Figure 14 This is a schematic diagram of a carrier-based multi-source environmental perception and positioning system.

[0092] In the diagram: 1-Plant height adaptive adjustment mechanism, 2-Right row spacing adaptive adjustment mechanism, 3-Left row spacing adaptive adjustment mechanism, 4-Right terrain adaptive leveling mechanism, 5-Left terrain adaptive leveling mechanism, 6-Right canopy circling rotary drive mechanism, 7-Left canopy circling rotary drive mechanism, 8-Right canopy contour-following three-dimensional spraying mechanism, 9-Left canopy contour-following three-dimensional spraying mechanism, 10-Multi-source environmental perception and positioning system, 11-Intelligent control system, 12-Spraying box, 13-Mobile carrier platform, 14-Plant height fixed base section, 15-Plant height intermediate expansion joint, 16-Plant height end expansion joint, 17-Plant height gear and rack drive assembly, 18-Plant height auxiliary sprocket and chain transmission assembly, 19-Plant height sprocket and chain drive assembly 20-Plant height gear and rack drive motor, 21-Plant height sprocket and chain drive motor, 22-Right side leveling IMU, 23-Right side fixed base section, 24-Right side intermediate expansion joint, 25-Right side end expansion joint, 26-Right side gear and rack drive assembly, 27-Right side auxiliary sprocket and chain transmission assembly, 28-Right side sprocket and chain drive assembly, 29-Right side gear and rack drive motor, 30-Right side sprocket and chain drive motor, 31-Left side leveling IMU, 32-Left side fixed base section, 33-Left side intermediate expansion joint, 34-Left side end expansion joint, 35-Left side gear and rack drive assembly, 36-Left side auxiliary sprocket and chain transmission assembly, 37-Left side sprocket and chain drive assembly, 38-Left side gear and rack drive motor, 39-Left side gear and rack drive motor, Side sprocket chain drive motor, 40-Right side attitude linkage frame, 41-Right upper gear transmission assembly, 42-Right middle gear transmission assembly, 43-Right lower gear transmission assembly, 44-Right three-way gear transmission assembly, 45-Right first drive motor, 46-Right second drive motor, 47-Right third drive motor, 48-Left side attitude linkage frame, 49-Left upper gear transmission assembly, 50-Left middle gear transmission assembly, 51-Left lower gear transmission assembly, 52-Left three-way gear transmission assembly, 53-Left first drive motor, 54-Left second drive motor, 55-Left third drive motor, 56-Right first telescopic spraying arm, 57-Right second telescopic spraying arm, 58-Right third... Telescopic spraying arm, 59-Right fourth telescopic spraying arm, 60-Right fifth telescopic spraying arm, 61-Right first rotary joint mechanism, 62-Right second rotary joint mechanism, 63-Right third rotary joint mechanism, 64-Right fourth rotary joint mechanism, 65-Right canopy top fogging spraying assembly, 66-Right upper-middle canopy fogging spraying assembly, 67-Right middle canopy fogging spraying assembly, 68-Right lower-middle canopy fogging spraying assembly, 69-Right bottom canopy fogging spraying assembly, 70-Left first telescopic spraying arm, 71-Left second telescopic spraying arm, 72-Left third telescopic spraying arm, 73-Left fourth telescopic spraying arm, 74-Left fifth telescopic spraying arm, 75-Left first rotary joint mechanism76-Left second rotary joint mechanism, 77-Left third rotary joint mechanism, 78-Left fourth rotary joint mechanism, 79-Left canopy top fogging application assembly, 80-Left upper-middle fogging application assembly, 81-Left middle-middle fogging application assembly, 82-Left lower-middle fogging application assembly, 83-Left bottom fogging application assembly, 84-Right fixed mounting bracket, 85-Right application arm connecting seat, 86-Right upper housing, 87-Right circumferential rotary drive motor, 88-Right central support seat, 89-Right circumferential drive gear, 90-Right rotary internal gear ring, 91-Left fixed mounting bracket, 92-Left application arm connecting seat, 93-Left upper housing, 94-Left circumferential rotary drive motor 95-Left-side center support, 96-Left-side circular drive gear, 97-Left-side rotary internal gear ring, 98-Axial adjustment slide rail assembly for the fog cannon, 99-Radial adjustment slide rail assembly for the fog cannon, 100-Double rack synchronous telescopic assembly, 101-Double rack synchronous telescopic drive motor, 102-Rotary joint mechanism drive motor, 103-Fog cannon nozzle, 104-Pitch adjustment electric push rod mechanism, 105-Application liquid pump, 106-Fog cannon swing adjustment mechanism, 107-Right-view lidar, 108-Right-view depth camera, 109-Front-view lidar, 110-Front-view depth camera, 111-Left-view lidar, 112-Left-view depth camera, 113-Front GNSS antenna, 114-Rear GNSS antenna. Detailed Implementation

[0093] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0094] I. Overall Structure of the Machine

[0095] like Figure 1 As shown, the present invention provides a terrain-adaptive, plant height and row spacing adaptive canopy contour-following, coordinated three-dimensional pesticide application device, including a mobile carrier platform 13, a pesticide application box 12, an intelligent control system 11, a multi-source environmental perception and positioning system 10, a plant height adaptive adjustment mechanism 1, a right row spacing adaptive adjustment mechanism 2, a left row spacing adaptive adjustment mechanism 3, a right terrain adaptive leveling mechanism 4, a left terrain adaptive leveling mechanism 5, a right canopy contour-following rotary drive mechanism 6, a left canopy contour-following rotary drive mechanism 7, a right canopy contour-following three-dimensional pesticide application mechanism 8, and a left canopy contour-following three-dimensional pesticide application mechanism 9.

[0096] The mobile carrier platform 13 is used to carry the whole machine and move along the rows of fruit trees. The spraying box 12 is used to store the liquid to be sprayed. The intelligent control system 11 is used to receive sensing information and output control commands. The multi-source environmental sensing and positioning system 10 is used to acquire environmental, positioning and operation object information.

[0097] The plant height adaptive adjustment mechanism 1 is located in the middle or upper part of the whole machine and is used to adjust the overall working height of the left and right spraying systems.

[0098] The right row spacing adaptive adjustment mechanism 2 and the left row spacing adaptive adjustment mechanism 3 are respectively set on the corresponding sides to adjust the lateral spacing between the left and right application systems and the mobile carrier platform 13.

[0099] The right-side terrain adaptive leveling mechanism 4 and the left-side terrain adaptive leveling mechanism 5 are respectively located between the left and right application systems and the corresponding row spacing adjustment mechanisms, and are used to actively level and compensate for the attitude of the application system.

[0100] The right canopy circumferential rotation drive mechanism 6 and the left canopy circumferential rotation drive mechanism 7 are respectively installed on the corresponding leveling mechanism to drive the corresponding side canopy contour-following three-dimensional drug delivery mechanism to circumferentially rotate.

[0101] The right canopy contour-following three-dimensional pesticide application mechanism 8 and the left canopy contour-following three-dimensional pesticide application mechanism 9 are respectively set at the outermost end of the corresponding side, and are used to apply pesticides to the fruit tree canopy in a close-fitting, surrounding and three-dimensional manner.

[0102] II. Plant Height Adaptive Adjustment Mechanism

[0103] like Figure 2 and Figure 3 As shown, the plant height adaptive adjustment mechanism 1 includes a plant height fixed base section 14, a plant height intermediate telescopic section 15, and a plant height end telescopic section 16 connected in sequence. A plant height gear and rack drive assembly 17 is provided at the plant height intermediate telescopic section 15. The plant height gear and rack drive assembly 17 is used to drive the plant height intermediate telescopic section 15 to perform a first-stage lifting and telescopic movement relative to the plant height fixed base section 14. It also includes a plant height auxiliary sprocket and chain transmission assembly 18 and a plant height sprocket and chain drive assembly 19. The plant height sprocket and chain drive assembly 19 cooperates with the plant height auxiliary sprocket and chain transmission assembly 18 to drive the plant height end telescopic section 16 to perform a second-stage lifting and telescopic movement relative to the plant height intermediate telescopic section 15. The plant height gear and rack drive assembly 17 and the plant height sprocket and chain drive assembly 19 are driven by a plant height gear and rack drive motor 20 and a plant height sprocket and chain drive motor 21, respectively.

[0104] The plant height fixing base section 14 is fixedly connected to the main structure of the whole machine.

[0105] The plant height intermediate expansion joint 15 can perform a first-order lifting and lowering movement relative to the plant height fixed base joint 14.

[0106] The plant height end expansion joint 16 can perform a two-stage lifting and lowering motion relative to the plant height middle expansion joint 15.

[0107] Among them, the plant height gear and rack drive motor 20 drives the plant height gear and rack drive assembly 17 to work, so as to drive the intermediate expansion joint 15 of plant height to move up and down in one stage along the plant height fixed base joint 14.

[0108] The plant height sprocket and chain drive motor 21 drives the plant height sprocket and chain drive assembly 19 to work, and drives the plant height end expansion joint 16 to perform two-stage lifting and lowering relative to the plant height middle expansion joint 15 through the plant height auxiliary sprocket and chain transmission assembly 18.

[0109] Through the above two-level telescopic coordination, the overall operating height of the left and right application systems can be adjusted in stages to adapt to the canopy height of fruit trees of different heights.

[0110] III. Adaptive Adjustment Mechanism for Left and Right Row Spacing

[0111] like Figure 4 As shown, the right-side row spacing adaptive adjustment mechanism 2 includes a right-side fixed base section 23, a right-side intermediate telescopic section 24, and a right-side end telescopic section 25 connected in sequence; it also includes a right-side gear and rack drive assembly 26 for driving the right-side intermediate telescopic section 24 to perform a first-stage lateral telescopic movement relative to the right-side fixed base section 23; it also includes a right-side auxiliary sprocket and chain transmission assembly 27 and a right-side sprocket and chain drive assembly 28 for driving the right-side end telescopic section 25 to perform a second-stage lateral telescopic movement relative to the right-side intermediate telescopic section 24; the right-side gear and rack drive assembly 26 and the right-side sprocket and chain drive assembly 28 are respectively driven by a right-side gear and rack drive motor 29 and a right-side sprocket and chain drive motor 30;

[0112] like Figure 5 As shown, the left-side row spacing adaptive adjustment mechanism 3 includes a left-side fixed base section 32, a left-side intermediate telescopic section 33, and a left-side end telescopic section 34 connected in sequence; it also includes a left-side gear and rack drive assembly 35, which drives the left-side intermediate telescopic section 33 to perform a first-stage lateral telescopic movement relative to the left-side fixed base section 32; it also includes a left-side auxiliary sprocket and chain transmission assembly 36 and a left-side sprocket and chain drive assembly 37, which drive the left-side end telescopic section 34 to perform a second-stage lateral telescopic movement relative to the left-side intermediate telescopic section 33; the left-side gear and rack drive assembly 35 and the left-side sprocket and chain drive assembly 37 are driven by a left-side gear and rack drive motor 38 and a left-side sprocket and chain drive motor 39, respectively.

[0113] Both the right and left side line spacing adaptive adjustment mechanisms adopt a multi-stage telescopic structure.

[0114] The first-stage telescopic movement is driven by a gear and rack, while the second-stage telescopic movement is driven by a sprocket, chain, and auxiliary sprocket.

[0115] The intelligent control system 11 controls the right and left row spacing adaptive adjustment mechanisms according to the perceived row spacing, canopy outer edge width and left and right tree boundary information, so that the left and right spraying systems can be extended outward or retracted inward respectively, to adapt to different orchard row spacing and different tree width conditions.

[0116] IV. Adaptive Leveling Mechanism for Left and Right Terrain

[0117] like Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the right terrain adaptive leveling mechanism 4 includes a right leveling IMU22 mounted on the right row spacing adaptive adjustment mechanism 2, which is used to detect pitch, roll and yaw attitude changes of the right row spacing adaptive adjustment mechanism 2.

[0118] It also includes a right attitude linkage frame 40, which connects the right upper gear transmission assembly 41, the right middle gear transmission assembly 42 and the right lower gear transmission assembly 43.

[0119] It also includes a right-side three-way gear transmission assembly 44, which is equipped with a right-side first drive motor 45, a right-side second drive motor 46, and a right-side third drive motor 47.

[0120] The right-side three-way gear transmission assembly 44 cooperates with the right-side upper gear transmission assembly 41, the right-side middle gear transmission assembly 42, and the right-side lower gear transmission assembly 43 respectively. The right-side first drive motor 45, the right-side second drive motor 46, and the right-side third drive motor 47 drive the right-side upper gear transmission assembly 41, the right-side middle gear transmission assembly 42, and the right-side lower gear transmission assembly 43 respectively, thereby realizing the right-side attitude linkage frame with more than 40 degrees of freedom attitude compensation.

[0121] The left-side terrain adaptive leveling mechanism 5 includes a left-side leveling IMU31 mounted on the left-side row spacing adaptive adjustment mechanism 3, used to detect pitch, roll and yaw attitude changes of the left-side row spacing adaptive adjustment mechanism 3.

[0122] It also includes a left attitude linkage frame 48, which connects the left upper gear transmission assembly 49, the left middle gear transmission assembly 50 and the left lower gear transmission assembly 51.

[0123] It also includes a left-side three-way gear transmission assembly 52, which is equipped with a left-side first drive motor 53, a left-side second drive motor 54, and a left-side third drive motor 55.

[0124] The left three-way gear transmission assembly 52 cooperates with the left upper gear transmission assembly 49, the left middle gear transmission assembly 50 and the left lower gear transmission assembly 51 respectively. The left first drive motor 53, the left second drive motor 54 and the left third drive motor 55 drive the left upper gear transmission assembly 49, the left middle gear transmission assembly 50 and the left lower gear transmission assembly 51 respectively, so as to realize the multi-degree-of-freedom attitude compensation of the left attitude linkage frame 48.

[0125] When the ground undulates, the carrier tilts or turns, the intelligent control system 11 controls the corresponding terrain adaptive leveling mechanism to output compensation actions based on the detection results of the leveling IMU, so that the corresponding side of the spraying system maintains a relatively stable posture, thereby reducing the spraying deviation caused by terrain disturbance.

[0126] V. Canopy Circulation Rotation Drive Mechanism

[0127] like Figure 8 , Figure 9 , Figure 10 and Figure 11 As shown, the right canopy circumferential rotary drive mechanism 6 includes a right fixed mounting bracket 84, on which a right upper housing 86 is provided. Inside the right upper housing 86, a right rotary internal gear ring 90 is mounted via a right central support seat 88. The right rotary internal gear ring 90 meshes with a right circumferential drive gear 89, which is driven by a right circumferential rotary drive motor 87. A right application arm connecting seat 85 is connected to the right rotary internal gear ring 90.

[0128] The left canopy circumferential rotary drive mechanism 7 includes a left fixed mounting frame 91 and a left central support 95. The left fixed mounting frame 91 is provided with a left upper housing 93. The left upper housing 93 is equipped with a left rotary internal gear ring 97 through the left central support 95. The left rotary internal gear ring 97 meshes with a left circumferential drive gear 96, which is driven by a left circumferential rotary drive motor 94. A left application arm connecting seat 92 is connected to the left rotary internal gear ring 97.

[0129] After the circumferential rotary drive motor outputs power, it drives the corresponding circumferential drive gear to rotate. The circumferential drive gear meshes with the corresponding rotary internal gear ring, thereby driving the application arm connecting seat and the connected canopy contour three-dimensional application mechanism to rotate around the predetermined center.

[0130] This structure allows the drug delivery arm assembly to rotate around the outer edge of the canopy, providing rotational freedom for canopy envelope drug delivery.

[0131] VI. Canopy-based contour-following three-dimensional spraying mechanism

[0132] like Figure 8 , Figure 9 and Figure 12 As shown, the right canopy contour-guided three-dimensional drug delivery mechanism 8 includes a right first telescopic drug delivery arm 56. The upper end of the right first telescopic drug delivery arm 56 is connected to the right drug delivery arm connecting seat 85 on the right canopy circumferential rotary drive mechanism 6. The lower end of the right first telescopic drug delivery arm 56 is connected to the right second telescopic drug delivery arm 57 through the right first rotary joint mechanism 61. The right second telescopic drug delivery arm 57 is connected to the right third telescopic drug delivery arm 58 through the right second rotary joint mechanism 62. The right third telescopic drug delivery arm 58 is connected to the right fourth telescopic drug delivery arm 58 through the right third rotary joint mechanism 63. The right fourth telescopic application arm 59 is connected to the right fifth telescopic application arm 60 via the right fourth rotary joint mechanism 64; the right canopy top wind fog application component 65, the right canopy upper middle wind fog application component 66, the right canopy middle wind fog application component 67, the right canopy lower middle wind fog application component 68, and the right canopy bottom wind fog application component 69 are respectively installed on the right first telescopic application arm 56, the right second telescopic application arm 57, the right third telescopic application arm 58, the right fourth telescopic application arm 59, and the right fifth telescopic application arm 60;

[0133] The left coronal contour-guided three-dimensional drug delivery mechanism 9 includes a left first telescopic drug delivery arm 70, the upper end of which is connected to a left drug delivery arm connecting seat 92 on the left coronal circumferential rotation drive mechanism 7; the lower end of the left first telescopic drug delivery arm 70 is connected to a left second telescopic drug delivery arm 71 via a left first rotation joint mechanism 75; the left second telescopic drug delivery arm 71 is connected to a left third telescopic drug delivery arm 72 via a left second rotation joint mechanism 76; and the left third telescopic drug delivery arm 72 is connected to a left fourth telescopic drug delivery arm 72 via a left third rotation joint mechanism 77. The fourth telescopic drug application arm 73 on the left is connected to the fifth telescopic drug application arm 74 on the left via the fourth rotary joint mechanism 78 on the left. The top wind-mist drug application component 79, the upper middle wind-mist drug application component 80, the middle wind-mist drug application component 81, the lower middle wind-mist drug application component 82, and the bottom wind-mist drug application component 83 on the left are respectively installed on the first telescopic drug application arm 70, the second telescopic drug application arm 71, the third telescopic drug application arm 72, the fourth telescopic drug application arm 73, and the fifth telescopic drug application arm 74 on the left.

[0134] The structure of the left canopy contour-following three-dimensional drug delivery mechanism 9 is the same as that of the corresponding mechanism on the right, only the installation position and spatial orientation are opposite.

[0135] The right first telescopic application arm 56, right second telescopic application arm 57, right third telescopic application arm 58, right fourth telescopic application arm 59, right fifth telescopic application arm 60, left first telescopic application arm 70, left second telescopic application arm 71, left third telescopic application arm 72, left fourth telescopic application arm 73, and left fifth telescopic application arm 74 have the same structure and are all telescopic application arms.

[0136] The telescopic spraying arm includes a double-rack synchronous telescopic assembly 100, which is driven by a double-rack synchronous telescopic drive motor 101 for length adjustment. One end of the telescopic spraying arm is equipped with a rotary joint mechanism drive motor 102, used to drive the corresponding rotary joint mechanism to change the included angle between adjacent telescopic spraying arms. The telescopic spraying arm also includes an axial adjustment slide rail assembly 98 and a radial adjustment slide rail assembly 99 for mounting the fogging spraying component and adjusting the position of the fogging spraying component along the extension direction of the spraying arm and the distance between the fogging spraying component and the telescopic spraying arm.

[0137] Through the coordinated action of multiple telescopic spraying arms and multiple rotary joint mechanisms, the canopy contour-following three-dimensional spraying mechanism can continuously unfold and partially bend according to the boundary contour of the target canopy, so that the entire spraying arm chain fits the outer edge of the fruit tree canopy, forming a circumferential or wave-like canopy fitting operation trajectory.

[0138] VII. Fog spraying components

[0139] like Figure 8 , Figure 9 and Figure 13 As shown, the right canopy top wind-mist spraying component 65, the right canopy upper middle wind-mist spraying component 66, the right canopy middle wind-mist spraying component 67, the right canopy lower middle wind-mist spraying component 68, the right canopy bottom wind-mist spraying component 69, the left canopy top wind-mist spraying component 79, the left canopy upper middle wind-mist spraying component 80, the left canopy middle wind-mist spraying component 81, the left canopy lower middle wind-mist spraying component 82, and the left canopy bottom wind-mist spraying component 83 have the same structure and are all wind-mist spraying components;

[0140] The mist spraying assembly includes a mist spray nozzle 103, which is connected to a pitch adjustment electric push rod mechanism 104 and a mist spray nozzle swing adjustment mechanism 106. The pitch adjustment electric push rod mechanism 104 is used to adjust the pitch angle of the mist spray nozzle 103, and the mist spray nozzle swing adjustment mechanism 106 is used to adjust the swing direction or sweeping angle of the mist spray nozzle 103.

[0141] It also includes a spray liquid pump 105 connected to the mist spray nozzle 103.

[0142] The pesticide pump 105 is used to deliver the pesticide solution to the mist spray nozzle 103. The mist spray nozzle 103 is used to output the air-driven spray flow. The pitch adjustment electric push rod mechanism 104 is used to adjust the pitch angle of the mist spray nozzle. The mist spray nozzle swing adjustment mechanism 106 is used to adjust the swing direction or sweep angle of the mist spray nozzle in a local range.

[0143] The other fog spraying components at each level have the same or basically the same structure, only differing in installation height, installation position, and orientation.

[0144] When multiple layers of wind-mist spraying components work together, they can form multi-directional and multi-layer joint spraying at the top, upper, middle and lower parts of the canopy. Through the superposition and disturbance between different wind sources, the penetration ability of mist droplets inside the canopy and the spraying effect on the front and back of the leaves are improved.

[0145] VIII. Multi-source environmental sensing and positioning system

[0146] like Figure 14 As shown, the multi-source environmental perception and positioning system 10 includes a right-view lidar 107, a right-view depth camera 108, a front-view lidar 109, a front-view depth camera 110, a left-view lidar 111, a left-view depth camera 112, a front GNSS antenna 113, and a rear GNSS antenna 114.

[0147] Among them, the front and rear GNSS antennas are used to acquire the carrier's positioning and heading information, while the left, right and forward lidar and depth camera are used to detect the fruit tree canopy boundary, tree height, tree row spacing, terrain undulation, obstacles and relative spatial relationships.

[0148] After the multi-source sensing information is input into the intelligent control system 11, it can be used to generate control targets for each adaptive adjustment mechanism, leveling mechanism, rotary drive mechanism, and drug application arm contouring mechanism.

[0149] IX. Overall Machine Working Process

[0150] The device of the present invention can operate according to the following procedure during actual operation.

[0151] Step S1: The mobile carrier platform 13 moves along the rows of fruit trees. The multi-source environmental perception and positioning system 10 collects information on the height of the fruit trees, row spacing, canopy boundaries, terrain undulations and carrier pose in real time, and transmits the relevant data to the intelligent control system 11.

[0152] Step S2: The intelligent control system 11 controls the action of the tree height adaptive adjustment mechanism 1 based on the collected tree height information, so that the whole machine application system matches the target fruit tree height in the vertical direction.

[0153] Step S3: Based on the row spacing and left and right canopy width information of the fruit trees, the intelligent control system 11 controls the right row spacing adaptive adjustment mechanism 2 and the left row spacing adaptive adjustment mechanism 3 respectively, so that the left and right spraying systems match the target fruit tree canopy in the lateral distance.

[0154] Step S4: When the carrier passes over slopes, ditches, or uneven ground, the right-side leveling IMU22 and the left-side leveling IMU31 detect the attitude changes of the left and right application mechanisms in real time. The intelligent control system 11 controls the right-side terrain adaptive leveling mechanism 4 and the left-side terrain adaptive leveling mechanism 5 to perform active compensation, so that the left and right application systems maintain a relatively stable operating attitude.

[0155] Step S5: After the height, lateral position and attitude compensation are completed, the intelligent control system 11 controls the right canopy circumferential rotation drive mechanism 6 and the left canopy circumferential rotation drive mechanism 7 to move, driving the left and right canopy contour-following three-dimensional drug application mechanisms to unfold towards the target canopy and enter the circumferential operation position.

[0156] Step S6: The intelligent control system 11 continues to control the movement of the double rack synchronous telescopic components and the rotary joint mechanisms of each telescopic application arm, so that multiple telescopic application arms can be deployed along the outer contour of the target canopy to form a conforming, continuous and enveloping operation path.

[0157] Step S7: The top, upper-middle, middle, lower-middle and bottom mist spraying components spray synchronously or in stages according to different layers. Each mist spray nozzle is matched with the local boundary of the canopy through pitch adjustment, swing adjustment and installation position adjustment, thereby forming a three-dimensional spray field with multi-layer, multi-directional and multi-wind source coordinated disturbance.

[0158] Step S8: During the operation, the multi-source environmental perception and positioning system 10 continuously feeds back environmental changes and operation status, and the intelligent control system 11 makes real-time corrections to each actuator, thereby realizing continuous adaptive pesticide application operations for different terrains, different tree heights, different tree row spacings and different canopy morphologies.

Claims

1. A terrain-adaptive, canopy-mimicking, surround-assisted, three-dimensional pesticide application device, characterized in that, It includes a plant height adaptive adjustment mechanism (1) set on a mobile carrier platform (13), a multi-source environmental sensing and positioning system (10), an intelligent control system (11) and a spraying box (12). The top side of the plant height adaptive adjustment mechanism (1) is provided with a right row spacing adaptive adjustment mechanism (2), a right terrain adaptive leveling mechanism (4), a right canopy circling rotation drive mechanism (6), and a right canopy contour-following three-dimensional spraying mechanism (8); the other side is symmetrically provided with a left row spacing adaptive adjustment mechanism (3), a left terrain adaptive leveling mechanism (5), a left canopy circling rotation drive mechanism (7), and a left canopy contour-following three-dimensional spraying mechanism (9). The multi-source environmental perception and positioning system (10) is used to acquire information on fruit tree height, row spacing, canopy boundary, terrain undulation and carrier pose. The intelligent control system (11) is electrically connected to the plant height adaptive adjustment mechanism (1), the right row spacing adaptive adjustment mechanism (2), the left row spacing adaptive adjustment mechanism (3), the right terrain adaptive leveling mechanism (4), the left terrain adaptive leveling mechanism (5), the right canopy surround rotation drive mechanism (6), the left canopy surround rotation drive mechanism (7), the right canopy contour-following three-dimensional spraying mechanism (8), the left canopy contour-following three-dimensional spraying mechanism (9), and the multi-source environmental perception and positioning system (10), and is used to control the actions of each actuator based on the perception information; The plant height adaptive adjustment mechanism (1) is used to adjust the overall height of the left and right application systems in the vertical direction. The right row spacing adaptive adjustment mechanism (2) and the left row spacing adaptive adjustment mechanism (3) are used to adjust the lateral spacing of the corresponding application systems. The right terrain adaptive leveling mechanism (4) and the left terrain adaptive leveling mechanism (5) are used to compensate for the posture changes caused by terrain disturbance. The right canopy circling and rotating drive mechanism (6) and the left canopy circling and rotating drive mechanism (7) are used to drive the corresponding side canopy contour-following three-dimensional application mechanism to circling and rotating along the outer edge of the fruit tree canopy. The right canopy contour-following three-dimensional application mechanism (8) and the left canopy contour-following three-dimensional application mechanism (9) are used to unfold according to the outer contour of the fruit tree canopy and perform three-dimensional collaborative application operations.

2. The terrain-adaptive, canopy-mimicking, surround-assisted three-dimensional pesticide application device according to claim 1, characterized in that, The plant height adaptive adjustment mechanism (1) includes a plant height fixed base section (14), a plant height intermediate expansion joint (15), and a plant height end expansion joint (16) connected in sequence. A plant height intermediate telescopic joint (15) is provided with a plant height gear and rack drive assembly (17), which is used to drive the plant height intermediate telescopic joint (15) to perform a first-level lifting and telescopic movement relative to the plant height fixed base joint (14). It also includes a plant height auxiliary sprocket chain drive assembly (18) and a plant height sprocket chain drive assembly (19); the plant height sprocket chain drive assembly (19) cooperates with the plant height auxiliary sprocket chain drive assembly (18) to drive the plant height end telescopic joint (16) to perform a two-stage lifting and telescopic movement relative to the plant height middle telescopic joint (15); The Zhugao gear rack drive assembly (17) and the Zhugao sprocket chain drive assembly (19) are driven by the Zhugao gear rack drive motor (20) and the Zhugao sprocket chain drive motor (21), respectively.

3. The terrain-adaptive, canopy-mimicking, surround-assisted three-dimensional pesticide application device according to claim 1, characterized in that, The right-side row spacing adaptive adjustment mechanism (2) includes a right-side fixed base section (23), a right-side intermediate telescopic section (24), and a right-side end telescopic section (25) connected in sequence. It also includes a right-side gear and rack drive assembly (26) for driving the right-side intermediate telescopic joint (24) to perform a first-stage lateral telescopic movement relative to the right-side fixed base joint (23); It also includes a right auxiliary sprocket and chain drive assembly (27) and a right sprocket and chain drive assembly (28), which are used to drive the right end telescopic joint (25) to perform a two-stage lateral telescopic movement relative to the right middle telescopic joint (24); The right rack and pinion drive assembly (26) and the right sprocket and chain drive assembly (28) are driven by the right rack and pinion drive motor (29) and the right sprocket and chain drive motor (30), respectively. The left row spacing adaptive adjustment mechanism (3) includes a left fixed base section (32), a left middle telescopic section (33), and a left end telescopic section (34) connected in sequence. It also includes a left-side gear and rack drive assembly (35) for driving the left-side intermediate telescopic joint (33) to perform a first-stage lateral telescopic movement relative to the left-side fixed base joint (32); It also includes a left auxiliary sprocket and chain drive assembly (36) and a left sprocket and chain drive assembly (37), which are used to drive the left end telescopic joint (34) to perform a two-stage lateral telescopic movement relative to the left middle telescopic joint (33); The left rack and pinion drive assembly (35) and the left sprocket and chain drive assembly (37) are driven by the left rack and pinion drive motor (38) and the left sprocket and chain drive motor (39), respectively.

4. The terrain-adaptive, canopy-mimicking, surround-assisted three-dimensional pesticide application device according to claim 1, characterized in that, The right-side terrain adaptive leveling mechanism (4) includes a right-side leveling IMU (22) mounted on the right-side row spacing adaptive adjustment mechanism (2), which is used to detect pitch, roll and yaw attitude changes of the right-side row spacing adaptive adjustment mechanism (2). It also includes a right attitude linkage frame (40), which connects the right upper gear transmission assembly (41), the right middle gear transmission assembly (42) and the right lower gear transmission assembly (43). It also includes a right-side three-way gear transmission assembly (44), which is equipped with a right-side first drive motor (45), a right-side second drive motor (46), and a right-side third drive motor (47). The right-side three-way gear transmission assembly (44) cooperates with the right-side upper gear transmission assembly (41), the right-side middle gear transmission assembly (42) and the right-side lower gear transmission assembly (43) respectively. The right-side first drive motor (45), the right-side second drive motor (46) and the right-side third drive motor (47) drive the right-side upper gear transmission assembly (41), the right-side middle gear transmission assembly (42) and the right-side lower gear transmission assembly (43) respectively, thereby realizing multi-degree-of-freedom attitude compensation of the right-side attitude linkage frame (40); The left-side terrain adaptive leveling mechanism (5) includes a left-side leveling IMU (31) mounted on the left-side row spacing adaptive adjustment mechanism (3), which is used to detect pitch, roll and yaw attitude changes of the left-side row spacing adaptive adjustment mechanism (3). It also includes a left attitude linkage frame (48), which connects the left upper gear transmission assembly (49), the left middle gear transmission assembly (50) and the left lower gear transmission assembly (51). It also includes a left-side three-way gear transmission assembly (52), which is equipped with a left-side first drive motor (53), a left-side second drive motor (54), and a left-side third drive motor (55). The left three-way gear transmission assembly (52) cooperates with the left upper gear transmission assembly (49), the left middle gear transmission assembly (50) and the left lower gear transmission assembly (51) respectively. The left first drive motor (53), the left second drive motor (54) and the left third drive motor (55) drive the left upper gear transmission assembly (49), the left middle gear transmission assembly (50) and the left lower gear transmission assembly (51) respectively, thereby realizing the multi-degree-of-freedom attitude compensation of the left attitude linkage frame (48).

5. The terrain-adaptive, canopy-following, surround-assisted three-dimensional pesticide application device according to claim 1, characterized in that, The right canopy circumferential rotary drive mechanism (6) includes a right fixed mounting bracket (84), on which a right upper housing (86) is provided. Inside the right upper housing (86), a right rotary internal gear ring (90) is installed via a right central support seat (88). The right rotary internal gear ring (90) meshes with a right circumferential drive gear (89), which is driven by a right circumferential rotary drive motor (87). A right application arm connecting seat (85) is connected to the right rotary internal gear ring (90). The left canopy circumferential rotary drive mechanism (7) includes a left fixed mounting bracket (91) and a left central support base (95). The left fixed mounting bracket (91) is provided with a left upper housing (93). The left upper housing (93) is installed inside the left central support base (95) with a left rotary internal gear ring (97). The left rotary internal gear ring (97) meshes with the left circumferential drive gear (96). The left circumferential drive gear (96) is driven by the left circumferential rotary drive motor (94). The left rotary internal gear ring (97) is connected to a left application arm connecting seat (92).

6. The terrain-adaptive, canopy-mimicking, surround-assisted three-dimensional pesticide application device according to claim 1, characterized in that, The right canopy contour-guided three-dimensional drug delivery mechanism (8) includes a right first telescopic drug delivery arm (56), the upper end of which is connected to the right drug delivery arm connecting seat (85) on the right canopy circumferential rotation drive mechanism (6); the lower end of the right first telescopic drug delivery arm (56) is connected to the right second telescopic drug delivery arm (57) through the right first rotation joint mechanism (61); the right second telescopic drug delivery arm (57) is connected to the right third telescopic drug delivery arm (58) through the right second rotation joint mechanism (62); and the right third telescopic drug delivery arm (58) is connected to the right fourth telescopic drug delivery arm (58) through the right third rotation joint mechanism (63). Arm (59), the fourth telescopic application arm (59) on the right side is connected to the fifth telescopic application arm (60) on the right side through the fourth rotary joint mechanism (64) on the right side; the top wind-mist application assembly (65) on the right canopy, the middle and upper wind-mist application assembly (66) on the right canopy, the middle wind-mist application assembly (67) on the right canopy, the middle and lower wind-mist application assembly (68) on the right canopy, and the bottom wind-mist application assembly (69) on the right side respectively installed on the first telescopic application arm (56) on the right side, the second telescopic application arm (57) on the right side, the third telescopic application arm (58) on the right side, the fourth telescopic application arm (59) on the right side and the fifth telescopic application arm (60) on the right side; The left coronal contour-guided three-dimensional drug delivery mechanism (9) includes a left first telescopic drug delivery arm (70), the upper end of which is connected to the left drug delivery arm connecting seat (92) on the left coronal circumferential rotation drive mechanism (7); the lower end of the left first telescopic drug delivery arm (70) is connected to the left second telescopic drug delivery arm (71) through the left first rotation joint mechanism (75); the left second telescopic drug delivery arm (71) is connected to the left third telescopic drug delivery arm (72) through the left second rotation joint mechanism (76); and the left third telescopic drug delivery arm (72) is connected to the left fourth telescopic drug delivery arm (72) through the left third rotation joint mechanism (77). Arm (73), the fourth telescopic application arm (73) on the left is connected to the fifth telescopic application arm (74) on the left through the fourth rotary joint mechanism (78) on the left; the top wind-mist application assembly (79) on the left canopy, the middle and upper wind-mist application assembly (80) on the left canopy, the middle wind-mist application assembly (81) on the left canopy, the middle and lower wind-mist application assembly (82) on the left canopy, and the bottom wind-mist application assembly (83) on the left, respectively, on the first telescopic application arm (70) on the left, the second telescopic application arm (71) on the left, the third telescopic application arm (72) on the left, the fourth telescopic application arm (73) on the left and the fifth telescopic application arm (74) on the left.

7. The terrain-adaptive, canopy-following, surround-assisted three-dimensional pesticide application device according to claim 6, characterized in that, The right first telescopic application arm (56), right second telescopic application arm (57), right third telescopic application arm (58), right fourth telescopic application arm (59), right fifth telescopic application arm (60), left first telescopic application arm (70), left second telescopic application arm (71), left third telescopic application arm (72), left fourth telescopic application arm (73), and left fifth telescopic application arm (74) have the same structure and are all telescopic application arms; The right canopy top wind-mist spraying component (65), the right canopy middle and upper part wind-mist spraying component (66), the right canopy middle part wind-mist spraying component (67), the right canopy middle and lower part wind-mist spraying component (68), the right canopy bottom wind-mist spraying component (69), the left canopy top wind-mist spraying component (79), the left canopy middle and upper part wind-mist spraying component (80), the left canopy middle part wind-mist spraying component (81), the left canopy middle and lower part wind-mist spraying component (82), and the left canopy bottom wind-mist spraying component (83) have the same structure and are all wind-mist spraying components; The telescopic application arm includes a double rack synchronous telescopic assembly (100), which is driven by a double rack synchronous telescopic drive motor (101) for length adjustment; one end of the telescopic application arm is provided with a rotary joint mechanism drive motor (102), and the telescopic application arm is also provided with an axial adjustment slide rail assembly (98) and a radial adjustment slide rail assembly (99) for installing the fog application assembly and adjusting the position of the fog application assembly along the extension direction of the application arm and the distance between the fog application assembly and the telescopic application arm; The mist spraying assembly includes a mist spray nozzle (103), which is connected to a pitch adjustment electric push rod mechanism (104) and a mist spray nozzle swing adjustment mechanism (106). The pitch adjustment electric push rod mechanism (104) is used to adjust the pitch angle of the mist spray nozzle (103), and the mist spray nozzle swing adjustment mechanism (106) is used to adjust the swing direction or sweeping angle of the mist spray nozzle (103). It also includes a liquid pump (105) connected to the mist spray nozzle (103).

8. The terrain-adaptive, canopy-mimicking, surround-assisted three-dimensional pesticide application device according to claim 1, characterized in that, The multi-source environmental perception and positioning system (10) includes a right-view lidar (107), a right-view depth camera (108), a front-view lidar (109), a front-view depth camera (110), a left-view lidar (111), a left-view depth camera (112), a front GNSS antenna (113), and a rear GNSS antenna (114), used to acquire information on fruit tree canopy boundaries, tree height, tree row spacing, terrain undulation, and carrier positioning and attitude.

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