Multi-sensor fusion type agricultural transportation operation robot

Abstract

The application belongs to the technical field of agricultural equipment, and discloses a multi-sensor fusion type agricultural transportation operation robot, which comprises an agricultural transportation vehicle body, a plurality of forward wheels are arranged at the side ends of the agricultural transportation vehicle body, a main control assembly is arranged in the agricultural transportation vehicle body and is used for processing multi-source data and driving each execution mechanism, through the structural cooperation of an integrated double-layer function bin, an adjustable folding liquid storage assembly, a hinged support bracket, a water storage folding bag and a spraying operation assembly, the multi-angle rotation adjustment characteristics of the hinged support bracket are utilized, the water storage folding bag is driven to complete the deformation action of stretching or shrinking to form a liquid storage space, and the equipment operation scene adaptability is effectively improved, the material transportation function and the liquid spraying function are integrated in the structure design, and the technical defects that the traditional agricultural transportation equipment has single structure and function, can only complete material transfer operation and cannot adapt to field pesticide spraying operation at the same time are effectively solved.

Description

Technical Field

[0001] This invention belongs to the field of agricultural equipment technology, specifically a multi-sensor fusion-type agricultural transportation robot. Background Technology

[0002] At present, the agricultural transportation robots used in facility agriculture production have relatively simple functions. Most of the equipment is only designed for the transfer of materials such as greenhouse substrate, fertilizer, and harvested products. Existing similar equipment relies on multi-sensor fusion technology to realize intelligent mobile functions such as greenhouse environment perception, obstacle recognition, and autonomous tracking.

[0003] For example, an agricultural transport vehicle for harvesting, disclosed in patent CN208353968U, includes a chassis and wheels. The chassis has four sets of wheels at its bottom and a power box on its upper surface. Scissor lifts are mounted on both sides of the chassis. This patent allows for electric drive of the chassis via the cooperation of the electric motor and the wheels, making it easy to move and use, and reducing the user's labor intensity. By adjusting the height of the scissor lifts, the harvesting needs of fruits and vegetables at different heights can be met, and the lifting cage can be raised during loading to facilitate the loading process.

[0004] While the above solution can meet the harvesting needs of fruits and vegetables at different heights and can raise the lifting cage during loading to facilitate the loading process, the integration of equipment functions is significantly limited in actual large-scale facility agriculture production. Material transfer operations and field plant protection spraying operations are completely independent of each other. The production site needs to be equipped with two independent sets of equipment, namely material transport equipment and dedicated spraying equipment, to complete the operations step by step. The use of multiple equipment not only significantly increases the equipment procurement cost, subsequent maintenance cost, and site placement cost of agricultural production, but also requires staff to repeatedly bring the equipment to the site. The alternating operation of multiple equipment also has the problems of discontinuous process connection and disjointed operation rhythm, making it impossible to achieve integrated and continuous operation of transfer and plant protection, and the overall operation efficiency is difficult to improve. Summary of the Invention

[0005] To address the problems mentioned in the background section, this invention provides a multi-sensor fusion-based agricultural transportation robot.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a multi-sensor fusion agricultural transportation robot, comprising an agricultural transportation vehicle body, multiple forward wheels provided on the side of the agricultural transportation vehicle body, a main control component provided inside the agricultural transportation vehicle body for processing multi-source data and driving various actuators, the main control component including multiple multi-sensor bodies fixedly connected to the outside of the agricultural transportation vehicle body, a main control electrical box fixedly connected inside the agricultural transportation vehicle body, a protective frame fixedly connected to the upper end of the agricultural transportation vehicle body, an integrated double-layer functional compartment fixedly connected to the lower inner wall of the agricultural transportation vehicle body, a compartment sealing cover hinged to the upper end of the integrated double-layer functional compartment, and further comprising: an adjustable foldable liquid storage component provided inside the integrated double-layer functional compartment for realizing the lifting and folding of the water storage container;

[0007] The adjustable foldable liquid storage assembly includes a base plate fixedly connected to the inner wall of the integrated double-layer functional compartment. The upper end of the base plate is provided with multiple hinged support brackets for lifting and lowering movement through cross rotation. The upper ends of the multiple hinged support brackets are equipped with rectangular opening plates. A rectangular bottom plate is fixedly connected to the upper end of the base plate. A water storage folding bag is fixedly connected between the rectangular opening plate and the rectangular bottom plate for storing medicine and changing the volume during the pulling process.

[0008] An application assembly is provided outside the adjustable foldable liquid storage assembly for pumping out the liquid from the water storage foldable bag and spraying it onto the crops. The application assembly includes a pump interface fixedly connected to the inside of a rectangular bottom plate and located on the bottom plate. Rigid water pipes are symmetrically fixedly connected to both sides of the horizontal section of the bottom plate, and a spray nozzle is fixedly connected to the end of the rigid water pipe away from the bottom plate.

[0009] Preferably, the horizontal section of the rectangular opening plate is symmetrically provided with side strip slots on both sides, and the upper horizontal section of the protective frame is symmetrically fixedly connected with sliding bearing plates on both sides, and the upper end of the sliding bearing plates is slidably connected with a linkage sliding adjustment plate.

[0010] Preferably, a plurality of linked water spray switches are fixedly connected to the inner side wall of the side strip groove, and a buffer rubber strip is fixedly connected to one end of the linked sliding adjustment plate, and the linked water spray switches and the buffer rubber strip cooperate with each other.

[0011] Preferably, the hinged support brackets are arranged in a V-shape, and adjacent sets of hinged support brackets are rotatably connected to each other through a central hinge shaft.

[0012] Preferably, the water storage folding bag is made of PVC coated fabric, and its sidewalls have a wavy pleated structure. The upper and lower edges of the bag are fixed to the lower end face of the rectangular opening plate and the upper end face of the rectangular bottom plate by high-frequency hot pressing.

[0013] Preferably, the pump interface is a threaded quick-connect coupling or a chuck quick-connect coupling, with its inlet end connected to the internal cavity of the water storage folding bag, and its outlet end connected to the rigid water pipes on both sides through built-in hoses.

[0014] Preferably, the rigid water pipe extends backward and bends upward along both sides of the horizontal section of the base plate, and the water nozzle is an annular nozzle with its spray direction facing the side of the agricultural transport vehicle body.

[0015] Preferably, the side strip groove is a rectangular through groove, the length direction of which is parallel to the length direction of the rectangular opening plate.

[0016] Preferably, the cross-section of the buffer rubber strip is semi-circular, and its material is nitrile rubber, which is used to achieve progressive buffering when the sliding bearing plate and the linkage water spray switch come into contact.

[0017] Preferably, the linkage water spray switch is a spring-reset mechanical micro switch, and multiple linkage water spray switches are arranged at equal intervals along the length direction of the side strip groove, and the trigger end of each linkage water spray switch protrudes from the inner side wall of the side strip groove.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] This invention, through the structural coordination of an integrated double-layer functional compartment, an adjustable foldable liquid storage component, a hinged support bracket, a water-storage foldable bag, and a spraying operation component, utilizes the multi-angle rotation adjustment characteristics of the hinged support bracket to drive the water-storage foldable bag to complete the stretching or shrinking deformation action. The internal liquid storage volume of the water-storage foldable bag can be adjusted according to the spraying needs in facility agriculture fields, effectively improving the adaptability of the equipment to the operating scenarios. This structural design integrates the material transportation function and the liquid spraying function into one, effectively solving the technical defects of traditional agricultural transportation equipment with single structure and function, which can only complete material transfer operations and cannot be adapted to field spraying operations simultaneously.

[0020] This invention utilizes a sliding support plate, a linked sliding adjustment plate, a side slot, a linked water spray switch, a buffer rubber strip, and a spraying operation component. The sliding support plate provides a stable horizontal sliding track for the linked sliding adjustment plate. During the lateral sliding of the linked sliding adjustment plate, the end buffer rubber strip makes precise contact with the linked water spray switch inside the side slot, triggering the corresponding electrical linkage control signal. This allows for automatic control of the start and stop of the spraying operation component based on the equipment's operating position and status. The entire process eliminates the need for manual operation and adjustment of the spraying equipment, significantly reducing labor intensity. Simultaneously, the sliding insertion structure formed by the linked sliding adjustment plate and the side slot provides lateral limiting and auxiliary support for the rectangular opening plate and the overall adjustable folding liquid storage component, improving the overall structural stability and linkage control accuracy. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the agricultural transport vehicle body of the present invention;

[0022] Figure 2 This is a schematic diagram of the internal structure of the agricultural transport vehicle of the present invention;

[0023] Figure 3 This is a schematic diagram of the adjustable foldable liquid storage component structure of the present invention;

[0024] Figure 4 This is a schematic diagram of the spraying operation component structure of the present invention;

[0025] Figure 5 This is a schematic diagram of the sliding bearing strip structure of the present invention;

[0026] Figure 6 For the present invention Figure 5 A magnified schematic diagram of the partial truncation at point A in the middle.

[0027] In the diagram: 1. Agricultural transport vehicle body; 2. Forward wheel; 3. Main control component; 300. Multi-sensor body; 301. Main control electrical box; 4. Protective frame; 5. Sealing cover plate; 6. Adjustable foldable liquid storage component; 600. Hinge support bracket; 601. Rectangular opening plate; 602. Rectangular bottom plate; 603. Water storage folding bag; 604. Bottom plate; 7. Spraying operation component; 700. Pump interface; 701. Rigid water pipe; 702. Spray nozzle; 8. Side strip groove; 9. Sliding load-bearing strip plate; 10. Linked sliding adjustment plate; 11. Linked spray switch; 12. Buffer rubber strip; 13. Integrated double-layer functional compartment. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] like Figures 1 to 6As shown, this invention provides a multi-sensor fusion-type agricultural transportation robot, including an agricultural transportation vehicle body 1. Multiple forward wheels 2 are provided on the side of the agricultural transportation vehicle body 1. A main control component 3 is installed inside the agricultural transportation vehicle body 1 for processing multi-source data and driving various actuators. The main control component 3 includes multiple multi-sensor bodies 300 fixedly connected to the outside of the agricultural transportation vehicle body 1. A main control electrical box 301 is fixedly connected inside the agricultural transportation vehicle body 1. A protective frame 4 is fixedly connected to the upper end of the agricultural transportation vehicle body 1. An integrated double-layer functional compartment 13 is fixedly connected to the lower inner wall of the agricultural transportation vehicle body 1. A compartment sealing cover is hinged to the upper end of the integrated double-layer functional compartment 13. The plate 5 also includes: an adjustable foldable liquid storage component 6 disposed within the integrated double-layer functional compartment 13, used to realize the lifting and folding of the water storage container. The adjustable foldable liquid storage component 6 includes a base plate 604 fixedly connected to the lower inner wall of the integrated double-layer functional compartment 13. The upper end of the base plate 604 is provided with multiple hinged support brackets 600, which are used to realize lifting and lowering movement by cross rotation. The upper end of the multiple hinged support brackets 600 is equipped with a rectangular opening plate 601. The upper end of the base plate 604 is fixedly connected to a rectangular bottom plate 602. A water storage folding bag 603 is fixedly connected between the rectangular opening plate 601 and the rectangular bottom plate 602, used to store the medicine liquid and change the volume during the pulling process.

[0030] The above solution is adopted: the side wall of the bag adopts a wave-shaped pleated structure. The peak and valley depth of the pleats are matched with the maximum height of the bag after it is unfolded, ensuring that the pleats are completely folded when the bag is compressed and unfolded evenly without stress concentration when it is stretched. When the hinged support bracket 600 is pulled by an external force to generate a telescopic movement, the distance between the rectangular opening plate 601 and the rectangular bottom plate 602 changes, thereby driving the water storage folding bag 603 to telescopically extend and retract, realizing stepless adjustment of the liquid storage volume.

[0031] like Figures 1 to 6 As shown, an adjustable foldable liquid storage assembly 6 is provided with a spraying operation assembly 7, which is used to pump out the liquid in the water storage foldable bag and spray it onto the crops. The spraying operation assembly 7 includes a pump interface 700 fixedly connected to the inside of the rectangular bottom plate 602 and located on the bottom plate 604. Rigid water pipes 701 are symmetrically fixedly connected to both sides of the horizontal section of the bottom plate 604. A water nozzle 702 is fixedly connected to the end of the rigid water pipe 701 away from the bottom plate 604.

[0032] The above scheme is adopted: the spraying operation component 7 is integrated on the periphery of the adjustable foldable liquid storage component 6, the pump interface 700 is fixed on the inner side of the rectangular bottom plate 602 and located above the bottom plate 604, and its installation height is lower than the lowest liquid level line of the water storage foldable bag 603 to ensure the suction head requirement of the self-priming water pump. The pump interface 700 adopts a threaded quick-connect connector.

[0033] like Figures 1 to 6As shown, the horizontal section of the rectangular opening plate 601 has symmetrically arranged side strip slots 8 on both sides. The upper horizontal section of the protective frame 4 is symmetrically fixedly connected to sliding bearing plates 9 on both sides. The upper end of the sliding bearing plates 9 is slidably connected to a linkage sliding adjustment plate 10. Multiple linkage spray switches 11 are fixedly connected to the inner wall of the side strip slots 8. A buffer rubber strip 12 is fixedly connected to the end of the linkage sliding adjustment plate 10 closest to it. The linkage spray switches 11 and the buffer rubber strip 12 cooperate with each other. The hinged support brackets 600 are arranged in a V-shape, and adjacent sets of hinged support brackets 600 are rotatably connected to each other through a central hinge shaft. The water storage folding bag 603 is made of PVC coated fabric, and its sidewall has a wavy pleated structure. The upper and lower edges of the bag are fixed to the lower end face of the rectangular opening plate 601 and the upper end face of the rectangular bottom plate 602 respectively by high-frequency hot pressing. The pump interface 70... 0 is a threaded quick-connect or chuck quick-connect, whose water inlet end is connected to the internal cavity of the water storage folding bag 603, and whose water outlet end is connected to the rigid water pipes 701 on both sides through built-in hoses. The rigid water pipes 701 extend backward and bend upward along both sides of the horizontal section of the bottom plate 604. The spray nozzle 702 is an annular nozzle, and its spray direction is towards the side end of the agricultural transport vehicle body 1. The side strip groove 8 is a rectangular through groove, and its length direction is parallel to the length direction of the rectangular opening plate 601. The cross-section of the buffer rubber strip 12 is semi-circular, and its material is nitrile rubber. It is used to achieve progressive buffering when the sliding bearing strip 9 and the linkage spray switch 11 come into contact. The linkage spray switch 11 is a spring-reset mechanical micro switch. Multiple linkage spray switches 11 are arranged at equal intervals along the length direction of the side strip groove 8, and the trigger end of each linkage spray switch 11 protrudes from the inner side wall of the side strip groove 8.

[0034] Using the above scheme: after the linkage sliding adjustment plate 10 is inserted into the side strip slot 8, its end forms a clearance fit with the bottom surface of the side strip slot 8. When the rectangular opening plate 601 is subjected to a downward force, the linkage sliding adjustment plate 10 can play a role in lateral support and limiting.

[0035] Working principle and usage process of this invention:

[0036] When the equipment performs combined agricultural transportation and spraying operations, the agricultural transport vehicle 1 can move autonomously within the facility agriculture site using multiple forward wheels 2 mounted on its sides, completing the transfer of conventional materials such as substrate, fertilizer, and harvested products inside the greenhouse. The multi-sensor body 300 mounted on the main control component 3 can collect real-time information on the working environment and equipment operating status, continuously detecting obstacles, travel paths, and equipment operating parameters. The main control electrical box 301 can analyze and process the collected sensor data and output control commands to regulate the driving speed, driving direction, and start / stop status of the agricultural transport vehicle 1. The protective frame 4, fixed to the upper part of the agricultural transport vehicle 1, can provide protective limits for the top sliding working structure, preventing foreign objects from colliding during transportation. The top sliding structure ensures the stability of the sliding components. The integrated double-layer functional chamber 13 is fixed to the lower inner wall of the agricultural transport vehicle body 1 and can serve as an installation carrier for the built-in functional components. It centrally stores the adjustable foldable liquid storage component 6 and the spraying operation component 7, reducing the space occupied by the operation components. The chamber sealing cover 5 is assembled on the upper end of the integrated double-layer functional chamber 13 through a hinge structure and can rotate freely, thereby realizing the opening and closing of the internal cavity of the integrated double-layer functional chamber 13. During the daily material transfer operation, the chamber sealing cover 5 remains closed. When the integrated double-layer functional chamber 13 is in the closed state, the equipment as a whole maintains a stable material transport state. The internal adjustable foldable liquid storage component 6 and spraying operation component 7 are in a stored standby state and do not participate in the operation.

[0037] When the equipment needs to be switched to the spraying mode, the operator first rotates and opens the sealed cover 5 of the chamber to expose the internal cavity of the integrated double-layer functional chamber 13. Then the equipment starts the liquid storage capacity adjustment process. The bottom plate 604 is fixed to the inner wall of the integrated double-layer functional chamber 13 to provide stable support for the overall structure of the adjustable foldable liquid storage component 6. Multiple hinged support brackets 600 are arranged on the upper end of the bottom plate 604 and can be freely rotated to adjust the angle. During the synchronous angle deflection of the hinged support brackets 600, they can synchronously drive the fixedly connected rectangular bottom plate 602 and the rectangular opening plate 601 assembled on the top to produce longitudinal relative displacement. The continuous relative displacement action can gradually stretch the water storage folding bag 603 connected between the rectangular opening plate 601 and the rectangular bottom plate 602. The water storage folding bag 603 can gradually unfold according to the deformation state, so that its internal liquid storage volume continues to expand, making the water storage folding bag 603 form an effective liquid storage volume. After the volume adjustment is completed, the prepared agricultural liquid can be injected into the water storage folding bag 603.

[0038] After the equipment completes the filling and volume adjustment of the pesticide solution, it enters the pesticide solution delivery and spraying process. The spraying component 7 is connected to a booster pump through the pump interface 700 located inside the rectangular bottom plate 602. After the booster pump is started, it can continuously draw the pesticide solution stored inside the water storage folding bag 603. Under the pressure of the pump, the pesticide solution is introduced into the symmetrically arranged rigid water pipes 701 to complete the directional and stable transmission. The rigid water pipes 701 adopt a fixed layout structure, which can stably transmit the pesticide solution to the spray nozzles 702 fixedly connected at the ends. The pesticide solution is finally sprayed evenly onto the surface of the external crops through the spray nozzles 702 on both sides, thus completing the basic agricultural spraying operation. During the entire spraying operation, the agricultural transport vehicle 1 can maintain a low and uniform speed driving state, which, together with the symmetrical spray structure on both sides, realizes the uniform strip spraying operation of the farmland.

[0039] During equipment operation, an intelligent linkage spraying control process is executed synchronously. The sliding bearing plates 9 fixed on both sides of the upper end of the protective frame 4 can form a horizontal sliding track, providing a stable sliding foundation for the linkage sliding adjustment plate 10, allowing the linkage sliding adjustment plate 10 to perform lateral reciprocating sliding adjustment. During the sliding process of the linkage sliding adjustment plate 10 on the surface of the sliding bearing plate 9, it can simultaneously drive the buffer rubber strip 12 fixed at the end to complete the lateral displacement. The side strip slots 8 opened on both sides of the rectangular opening plate 601 can accommodate the buffer rubber strip 12 to enter the groove according to the equipment operation status. When the linkage sliding adjustment plate 10 slides to the designated working position, the buffer rubber strip 12 precisely fits against the linkage water spray switch 11 installed on the inner side wall of the contact side strip slot 8. The contact action can stably trigger the electrical control signal of the linkage water spray switch 11. The control signal can be directly fed back to the main control electrical box 301, which can precisely control the start and stop of the spraying operation component 7 and the spraying status. No manual adjustment of the control components is required throughout the process. At the same time, the insertion and cooperation between the linkage sliding adjustment plate 10 and the side strip slot 8 can play an auxiliary supporting and limiting role on both sides of the rectangular opening plate 601.

[0040] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0041] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-sensor fusion type agricultural transportation robot, comprising an agricultural transportation vehicle body (1), wherein multiple forward wheels (2) are provided on the side of the agricultural transportation vehicle body (1), and a main control component (3) is provided inside the agricultural transportation vehicle body (1) for processing multi-source data and driving various actuators, wherein the main control component (3) includes multiple multi-sensor bodies (300) fixedly connected to the outside of the agricultural transportation vehicle body (1), a main control electrical box (301) is fixedly connected inside the agricultural transportation vehicle body (1), a protective frame (4) is fixedly connected to the upper end of the agricultural transportation vehicle body (1), an integrated double-layer functional compartment (13) is fixedly connected to the lower inner wall of the agricultural transportation vehicle body (1), and a compartment sealing cover (5) is hinged to the upper end of the integrated double-layer functional compartment (13), characterized in that: Also includes: An adjustable foldable liquid storage component (6) is installed in the integrated double-layer functional compartment (13) to realize the lifting and folding of the water storage container; The adjustable foldable liquid storage assembly (6) includes a base plate (604) fixedly connected to the inner wall of the integrated double-layer functional compartment (13). The upper end of the base plate (604) is provided with multiple hinged support brackets (600) for lifting and lowering by cross rotation. The upper end of the multiple hinged support brackets (600) is equipped with a rectangular opening plate (601). The upper end of the base plate (604) is fixedly connected with a rectangular bottom plate (602). A water storage folding bag (603) is fixedly connected between the rectangular opening plate (601) and the rectangular bottom plate (602) for storing medicine and changing the volume during the pulling process. The adjustable foldable liquid storage assembly (6) is provided with a spraying operation assembly (7) for pumping out the liquid in the water storage foldable bag and spraying it onto the crops. The spraying operation assembly (7) includes a pump interface (700) fixedly connected to the inside of the rectangular bottom plate (602) and located on the bottom plate (604). Rigid water pipes (701) are symmetrically fixedly connected to both sides of the horizontal section of the bottom plate (604). A water nozzle (702) is fixedly connected to one end of the rigid water pipe (701) away from the bottom plate (604).

2. The multi-sensor fusion agricultural transportation robot according to claim 1, characterized in that: The rectangular opening plate (601) has symmetrical side strip slots (8) on both sides of the horizontal section. The upper horizontal section of the protective frame (4) is symmetrically fixed with sliding bearing plates (9). The upper end of the sliding bearing plate (9) is slidably connected with a linkage sliding adjustment plate (10).

3. The multi-sensor fusion agricultural transportation robot according to claim 2, characterized in that: Multiple linkage water spray switches (11) are fixedly connected to the inner wall of the side strip groove (8), and a buffer rubber strip (12) is fixedly connected to one end of the linkage sliding adjustment plate (10). The linkage water spray switch (11) and the buffer rubber strip (12) cooperate with each other.

4. The multi-sensor fusion agricultural transportation robot according to claim 1, characterized in that: The hinged support brackets (600) are arranged in a V-shape, and adjacent sets of hinged support brackets (600) are rotatably connected to each other through the hinge shaft in the middle.

5. The multi-sensor fusion agricultural transportation robot according to claim 1, characterized in that: The water storage folding bag (603) is made of PVC coated fabric. Its sidewall has a wavy pleated structure, and the upper and lower edges of the bag are fixed to the lower end face of the rectangular opening plate (601) and the upper end face of the rectangular bottom plate (602) by high-frequency hot pressing.

6. The multi-sensor fusion agricultural transportation robot according to claim 1, characterized in that: The pump interface (700) is a threaded quick-connect or chuck quick-connect, with its inlet end connected to the internal cavity of the water storage folding bag (603) and its outlet end connected to the rigid water pipes (701) on both sides through built-in hoses.

7. The multi-sensor fusion agricultural transportation robot according to claim 1, characterized in that: The rigid water pipe (701) extends backward and bends upward along both sides of the horizontal section of the base plate (604), and the water nozzle (702) is an annular nozzle with its spray direction facing the side of the agricultural transport vehicle body (1).

8. The multi-sensor fusion agricultural transportation robot according to claim 2, characterized in that: The side strip groove (8) is a rectangular through groove, and its length direction is parallel to the length direction of the rectangular opening plate (601).

9. The multi-sensor fusion agricultural transportation robot according to claim 3, characterized in that: The cross-section of the buffer rubber strip (12) is semi-circular, and its material is nitrile rubber. It is used to achieve progressive buffering when the sliding bearing strip (9) and the linkage water spray switch (11) come into contact.

10. The multi-sensor fusion agricultural transportation robot according to claim 3, characterized in that: The linkage water spray switch (11) is a spring-reset mechanical micro switch. Multiple linkage water spray switches (11) are arranged at equal intervals along the length direction of the side strip slot (8), and the trigger end of each linkage water spray switch (11) protrudes from the inner side wall of the side strip slot (8).

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