Target profiling pesticide spraying robot

Abstract

The utility model provides a target profiling pesticide spraying robot which is used for solving the problems that in the prior art, a pesticide spraying machine is only suitable for pesticide spraying operation of a single tree form or a single variety, and precise pesticide spraying cannot be achieved in the pesticide spraying process. Comprising a walking device and two sets of pesticide spraying movement mechanisms, the walking device comprises a crawler-type chassis, a pesticide box and a control system, and the control system and the pesticide box are both fixedly installed above the crawler-type chassis; each group of pesticide spraying movement mechanism comprises a cross arm, a vertical arm vertically and fixedly mounted on the cross arm, a transverse movement assembly used for moving the cross arm in the left-right direction of the crawler-type chassis, profiling pesticide spraying assemblies located on the left side and the right side of the crawler-type chassis, and a vertical movement assembly used for controlling the profiling pesticide spraying assemblies to move in the length direction of the vertical arm; the pesticide box is connected with the pesticide spraying head through the conveying pipeline and the pesticide spraying pump. The robot not only can be suitable for different crowns in different periods, but also can be used for finely and accurately spraying pesticide.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural machinery, in particular to a target-profiling spraying robot. Background Art

[0002] Pesticide spraying technology is a comprehensive skill. Its level of development depends not only on the development of pesticide varieties and formulations, as well as public understanding of the patterns of pest and disease occurrence and their ecological habits, but also on the performance and manufacturing quality of the spraying equipment. Currently, pest and disease control relies primarily on chemical pesticides. However, excessive pesticide use can lead to pesticide residues, which can seriously pollute the ecological environment and threaten the safety of agricultural products.

[0003] At present, most sprayers on the market are only suitable for spraying fruit trees of a single tree shape or a single variety. They cannot perform variable spraying operations in real time as needed based on the growth information of fruit trees, such as the different growth periods, different tree shape contours, canopy volume, and branch and leaf density of fruit trees. In addition, during the spraying operation, there is a lack of real-time adjustment function for the distance and direction between the sprayer and the fruit tree, making it difficult to truly achieve fine and precise spraying. Utility Model Content

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a target-profiling spraying robot to solve the problem that the sprayer in the prior art is only suitable for spraying a single tree shape or a single variety and cannot spray finely and accurately during the spraying process.

[0005] To achieve the above-mentioned and other related purposes, the present invention provides a target-profiling spraying robot, comprising:

[0006] A traveling device, the traveling device comprising a crawler chassis, a pesticide tank and a control system, the control system and the pesticide tank being fixedly mounted above the crawler chassis;

[0007] Two groups of spraying motion mechanisms, each group of the spraying motion mechanisms includes a horizontal arm, a vertical arm vertically and fixedly mounted on the horizontal arm, a lateral motion assembly for moving the horizontal arm along the left and right directions of the crawler chassis, a contour spraying assembly located on the left and right sides of the crawler chassis, and a vertical motion assembly for controlling the contour spraying assembly to move in the length direction of the vertical arm;

[0008] The contour spraying assembly includes multiple contour arms, a rotating shaft vertically and rotatably arranged on the vertical motion assembly, a rotating power member that drives the rotating shaft to rotate, a connecting part for rotatably connecting the multiple contour arms, and a support plate that fixes a contour arm near the middle position of the multiple contour arms to the rotating shaft. Each of the contour arms has multiple spray heads and crown detection components. The spray head is provided with a high-speed solenoid valve. The pesticide box is connected to the spray head through a delivery pipe and a spray pump.

[0009] Optionally, the lateral motion assembly includes two lateral rails fixedly connected above the crawler chassis, a threaded rod located between the two lateral rails and rotatably installed above the crawler chassis, a lateral slider fixed at the bottom of the cross arm, and a lateral power member that drives the threaded rod to rotate, the lateral slider slidingly engages with the two lateral rails, and the lateral slider is threadedly engaged with the threaded rod.

[0010] Optionally, the transverse power member includes an electric motor or a hydraulic motor, and the electric motor or the hydraulic motor drives the threaded rod to rotate through a reducer.

[0011] Optionally, the vertical power assembly includes two vertical rails, a vertical slider, two U-shaped brackets and a linear power piece. The two vertical rails are fixedly connected to the side walls of the vertical arm, and the vertical sliders are slidingly matched with the two vertical rails. The two U-shaped brackets are vertically fixed to the same side of the vertical slider. There are two support plates, and the two support plates are respectively located in the two U-shaped brackets. The rotating shaft is rotatably connected to the two U-shaped brackets, and the linear power piece drives the vertical slider to move up and down along the vertical rail.

[0012] Optionally, the linear power member includes a hydraulic cylinder, a pneumatic cylinder or an electric push rod, the fixed end of the linear power member is fixedly connected to the vertical arm, and the telescopic end of the linear power member is fixedly connected to the vertical slider.

[0013] Optionally, the connecting portion includes a concave block fixedly connected to one end of the contoured arm, a convex block fixedly connected to the other end of the contoured arm, a connecting shaft, two internal gears, two long gears coaxially fixedly matched with the two ends of the connecting shaft, and a connecting power member that drives the connecting shaft to rotate, the concave block has a symmetrical and connected first connecting hole, the convex block has a second connecting hole, and the two internal gears are coaxially fixedly matched with the first connecting holes on the concave block;

[0014] When two adjacent contouring arms are connected, the convex block on one of the contouring arms is embedded in the concave block on the other contouring arm, the middle position of the connecting shaft rotates coaxially with the second connecting hole, the two long gears are respectively engaged with the two internal gears for transmission, and the contouring arm is driven to rotate through the connecting power piece to fit the outside of the tree crown in a contouring posture.

[0015] Optionally, the connecting power member includes a motor, and the motor is wirelessly controlled.

[0016] Optionally, the walking device also includes an anti-collision mechanism, which includes an anti-collision plate, a guide column fixed to the four sides of the anti-collision plate, a trigger block fixed to the anti-collision plate, a travel switch installed on the front end of the crawler chassis, an elastic member for resetting the anti-collision plate forward, and an obstacle detection unit provided on the front end of the crawler chassis, the front end of the crawler chassis has a guide hole that slides with the guide column, and the trigger block and the guide column are located on the same side of the anti-collision plate.

[0017] Optionally, the elastic member includes a spring, and the spring is sleeved on the guide column.

[0018] Optionally, the tree crown detection component is an ultrasonic sensor.

[0019] As described above, the target-profiling spraying robot of the present invention has at least the following beneficial effects:

[0020] The crown of the tree to be sprayed is identified by the crown detection component, and the distance between the tree and the tracked chassis is obtained. The control system fits the crown shape according to the information detected by the crown detection component and determines the spraying range. Through the mutual cooperation of the lateral movement component, the vertical movement component and the contour spraying component, the lateral movement component causes the cross arm to move left and right along the tracked chassis to achieve extension or retraction, and the vertical movement component causes the contour spraying component to move vertically along the vertical arm to achieve upward or downward movement, so that the contour spraying component can flexibly cover the crown area. The contour spraying component can be adjusted according to the shape and growth posture of the crown, so that the spray head can be accurately moved to the position where the crown needs to be sprayed, realizing all-round and no-dead-angle spraying. It can be suitable for a variety of fruit trees with different growth periods, different tree shape contours, canopy volumes and branch and leaf density. Multiple contouring arms are rotatably connected through a connecting part, so that the multiple contouring arms can be adjusted according to the actual shape of the tree crown to better fit the outer contour of the tree crown. The spray head sprays along the contour of the fruit tree and cooperates with the high-speed solenoid valve on the spray head to accurately control the flow rate of pesticide and the start and stop time of spraying, thereby realizing fine adjustment of the spraying amount according to the actual conditions of fruit trees such as different growth periods, different tree shapes, canopy volumes and branch and leaf densities. During the movement of the crawler chassis, the rotating power part drives the rotation of the rotating shaft set on the vertical motion component in real time, driving the multiple contouring arms connected by the support plate to rotate simultaneously, so that the spray head on the spray assembly can be changed to always spray directly at the tree crown, ensuring the accuracy of spraying, ensuring that the pesticide evenly covers the tree crown, and improving the spraying effect. Since the two spray assemblies are located on the left and right sides of the crawler chassis, the tree crowns on both sides of the crawler chassis can be sprayed at the same time, greatly improving the work efficiency of spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Shown is a schematic diagram of the three-dimensional structure of the utility model;

[0022] Figure 2 Shown is a schematic diagram of the three-dimensional structure of the present invention from another perspective;

[0023] Figure 3 Shown is an exploded view of the connection portion of the present invention;

[0024] Figure 4 Display of the utility model Figure 1 A magnified view of part A in FIG;

[0025] Figure 5 Display of the utility model Figure 2 A magnified view of part B in FIG;

[0026] Figure 6 Display of the utility model Figure 2 Enlarged view of part C in .

[0027] Component number description

[0028] Walking device 1, crawler chassis 11, pesticide box 12, control system 13, anti-collision mechanism 14, anti-collision plate 141, guide column 142, trigger block 143, travel switch 144, elastic member 145, obstacle detection unit 146, guide hole 147;

[0029] Spraying motion mechanism 2, horizontal arm 21, vertical arm 22, horizontal motion assembly 23, horizontal rail 231, threaded rod 232, horizontal slider 233, horizontal power piece 234, contoured spraying assembly 24, contoured arm 241, rotating shaft 242, rotating power piece 243, connecting part 244, concave block 2441, convex block 2442, connecting shaft 2443, internal gear 2444, long gear 2445, connecting power piece 2446, first connecting hole 2447, second connecting hole 2448, support plate 245, spray head 246, crown detection component 247, vertical motion assembly 25, vertical rail 251, vertical slider 252, U-shaped bracket 253, linear power piece 254. DETAILED DESCRIPTION

[0030] The following describes the implementation of the present invention through specific embodiments. People familiar with this technology can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0031] See also Figures 1 to 6 . It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of this utility model. Therefore, they have no substantive technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by this utility model without affecting the efficacy and purpose that can be achieved by this utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of this utility model. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of this utility model without substantially changing the technical content.

[0032] The following embodiments are for illustration only and can be combined with each other, and are not limited to the contents presented in the following single embodiments.

[0033] In this embodiment, please refer to Figures 1 to 6 The utility model provides a target-profiling spraying robot, comprising:

[0034] The walking device 1 includes a crawler chassis 11, a pesticide tank 12 and a control system 13. The control system 13 and the pesticide tank 12 are fixedly mounted above the crawler chassis 11. A liquid level detector is provided in the pesticide tank 12 to facilitate real-time monitoring of the liquid level changes of the pesticide solution in the pesticide tank 12, so that the operator can timely understand the remaining amount of pesticide, so as to reasonably arrange the progress of the spraying operation, avoid frequent replenishment of pesticides due to depletion of pesticides during the operation, and improve the operation efficiency. When the pesticide solution is almost used up, the liquid level detector sends a signal to the control system 13, and the control system The system 13 alarm prompts that the crawler chassis 11 is driven by an electric motor and has a high energy conversion efficiency, which can reduce energy consumption and operating costs. It also meets environmental protection requirements and reduces pollution to the farmland environment. The crawler chassis 11 has a large contact area with the ground and can move smoothly on soft land (such as the loose soil environment in farmland after cultivation), rugged mountain orchards and other complex terrains without sinking into the ground, ensuring that the spraying operation can be carried out smoothly. It also provides a stable support platform for the pesticide box 12, the control system 13 and the two sets of spraying movement mechanisms 2;

[0035] Two groups of spraying motion mechanisms 2, each group of the spraying motion mechanisms 2 includes a horizontal arm 21, a vertical arm 22 vertically and fixedly mounted on the horizontal arm 21, a lateral motion assembly 23 for moving the horizontal arm 21 along the left and right directions of the crawler chassis 11, a contour spraying assembly 24 located on the left and right sides of the crawler chassis 11, and a vertical motion assembly 25 for controlling the contour spraying assembly 24 to move along the length direction of the vertical arm 22;

[0036] The contour spraying assembly 24 includes multiple contour arms 241, a rotating shaft 242 vertically and rotatably arranged on the vertical motion assembly 25, a rotating power member 243 that drives the rotating shaft 242 to rotate, a connecting part 244 for rotatably connecting the multiple contour arms 241, and a support plate 245 that fixes a contour arm 241 near the middle position of the multiple contour arms 241 to the rotating shaft 242. Each of the contour arms 241 has multiple spray heads 246 and a crown detection component 247. The spray head 246 has a high-speed solenoid valve that can accurately control the flow rate of pesticides and the start and stop time of spraying. The pesticide box 12 is connected to the spray head 246 through a delivery pipe and a spray pump respectively.

[0037] The crown of the tree to be sprayed is identified by the crown detection component 247, and the distance between the tree and the crawler chassis 11 is obtained. The control system 13 fits the crown shape according to the information detected by the crown detection component 247 to determine the spraying range. Through the mutual cooperation of the lateral movement component 23, the vertical movement component 25 and the contour spraying component 24, the lateral movement component 23 causes the cross arm 21 to move left and right along the crawler chassis 11 to achieve extension or retraction, and the vertical movement component 25 causes the contour spraying component 24 to move vertically along the vertical arm 22 to achieve upward or downward movement, so that the contour spraying component 24 can flexibly cover the crown area. The contour spraying component 24 can be adjusted according to the shape and growth posture of the crown, so that the spray head 246 can be accurately moved to the position where the crown needs to be sprayed, realizing all-round and no-dead-angle spraying, which can be suitable for a variety of fruit trees with different growth periods, different tree shape contours, crown volumes and branch and leaf density. The multiple contouring arms 241 are rotatably connected through the connecting portion 244, so that the multiple contouring arms 241 can be adjusted to better fit the contour of the crown according to the actual shape of the crown. The spraying head 246 sprays along the contour of the fruit tree and cooperates with the high-speed solenoid valve on the spraying head 246 to accurately control the flow rate of the pesticide and the start and stop time of the spraying, thereby realizing the fine adjustment of the spraying amount according to the actual conditions of the fruit trees such as different growth periods, different tree contours, crown volumes and branch and leaf densities. During the process, the rotating power part 243 is used to drive the rotating shaft 242 set on the vertical motion component 25 to rotate in real time, driving the multiple contoured arms 241 connected by the support plate 245 to rotate at the same time, so that the spray head 246 on the spray component can be changed to always spray directly at the tree crown, ensuring the accuracy of spraying, ensuring that the pesticide evenly covers the tree crown, and improving the spraying effect. Since the two spray components are located on the left and right sides of the crawler chassis 11, the tree crowns on both sides of the crawler chassis 11 can be sprayed at the same time, which greatly improves the efficiency of spraying.

[0038] In this embodiment, please refer to Figure 2 and Figure 5The lateral motion assembly 23 includes two lateral rails 231 fixedly connected to the top of the crawler chassis 11, a threaded rod 232 located between the two lateral rails 231 and rotatably mounted on the top of the crawler chassis 11, a lateral slider 233 fixedly located at the bottom of the cross arm 21, and a lateral power member 234 that drives the threaded rod 232 to rotate. The lateral slider 233 slides with the two lateral rails 231, and the lateral slider 233 is threadedly engaged with the threaded rod 232. The lateral power member 234 drives the threaded rod 232 to rotate, driving the lateral slider 233 to slide on the two slide rails. The cooperation between the lateral rails 231 and the lateral slider 233 provides a stable lateral motion guide for the cross arm 21. The threaded cooperation between the threaded rod 232 and the lateral slider 233 ensures that the displacement of the cross arm 21 during lateral motion accurately matches the drive amount of the lateral power member 234, thereby achieving more precise spraying position control and improving the efficiency, accuracy, and flexibility of the spraying operation.

[0039] In this embodiment, please refer to Figure 5 The transverse power member 234 includes an electric motor or a hydraulic motor, which drives the threaded rod 232 to rotate via a speed reducer. The speed reducer can stabilize the output speed of the transverse power member 234, reduce speed fluctuations and vibrations, improve stability and accuracy during operation, and also provide overload protection.

[0040] In this embodiment, please refer to Figure 1 、 Figure 2 and Figure 4The vertical power assembly includes two vertical rails 251, a vertical slider 252, two U-shaped brackets 253, and a linear power member 254. The two vertical rails 251 are fixedly connected to the side walls of the vertical arm 22. The vertical sliders 252 are slidably engaged with the two vertical rails 251. The two U-shaped brackets 253 are vertically fixed to the same side of the vertical sliders 252. There are two support plates 245, each of which is located within the two U-shaped brackets 253. The rotating shaft 242 is rotatably connected to the two U-shaped brackets 253. The linear power member 254 drives the vertical sliders 252 to move up and down along the vertical rails 251. The linear power member 254 drives the vertical sliders 252 to slide with the vertical rails 251, providing a stable vertical motion path for the contour spraying assembly 24, thereby ensuring that the contour spraying assembly 24 can be accurately positioned vertically to meet the spraying needs of tree crowns at different heights. The two U-shaped brackets are vertically fixed to the same side of the vertical slider 252, and the two support plates 245 are respectively located in the two U-shaped brackets. The rotating shaft 242 is rotatably connected to the two U-shaped brackets, so as to provide a stable support point for the contour spraying assembly 24 and increase the flexibility of the contour spraying assembly 24.

[0041] In this embodiment, please refer to Figure 4 The linear power member 254 includes a hydraulic cylinder, a pneumatic cylinder or an electric push rod. The fixed end of the linear power member 254 is fixedly connected to the vertical arm 22, and the telescopic end of the linear power member 254 is fixedly connected to the vertical slider 252.

[0042] In this embodiment, please refer to Figure 1 and Figure 3The connecting portion 244 includes a concave block 2441 fixed to one end of the contour arm 241, a convex block 2442 fixed to the other end of the contour arm 241, a connecting shaft 2443, two internal gears 2444, two long gears 2445 coaxially fixedly matched with the two ends of the connecting shaft 2443, and a connecting power member 2446 that drives the connecting shaft 2443 to rotate. The concave block 2441 has a symmetrical and connected first connecting hole 2447, the convex block 2442 has a second connecting hole 2448, and the two internal gears 2444 are respectively fixed with the two ends of the connecting shaft 2443. The first connecting hole 2447 on the concave block 2441 is coaxially fixed; when two adjacent contour arms 241 are connected, the convex block 2442 on one of the contour arms 241 is embedded in the concave block 2441 on the other contour arm 241, and the middle position of the connecting shaft 2443 is coaxially rotated with the second connecting hole 2448, and the two long gears 2445 are respectively engaged with the two internal gears 2444 for transmission, and the contour arm 241 is driven to rotate through the connecting power piece 2446 to fit the outside of the tree crown in a contouring posture.

[0043] The connecting member 2446 drives the connecting shaft 2443 to rotate, and the meshing transmission of the long gear 2445 and the internal gear 2444 drives the contouring arm 241 to rotate. The meshing transmission mode of the long gear 2445 and the internal gear 2444 has high transmission efficiency and can accurately transmit the power of the connecting member 2446 to the contouring arm 241. This allows the contouring arm 241 to quickly and sensitively respond to the power input and rotate accordingly, achieving timely and accurate contouring operation. This allows the contouring arm 241 to adjust its posture accordingly to the irregular shape of the tree crown, better fit the outer side of the tree crown of different shapes and sizes, and achieve precise contouring effect, thereby ensuring that the spray head 246 can closely follow the tree crown contour, accurately spraying pesticides to all parts of the target tree crown, and improving the coverage effect of pesticide spraying. The design of the connecting portion 244 allows the contouring arm 241 to flexibly adjust its angle to adapt to various tree shape changes, ensuring effective contour spraying operation under different tree crown conditions and enhancing adaptability to different tree crowns.

[0044] In this embodiment, please refer to Figure 3 The connecting power member 2446 includes a motor that is wirelessly controlled. Wireless control of the connecting power member 2446 avoids the risk of the cable connecting the motor being pulled, snagged, or tangled in complex terrain, making the contour spraying assembly 24 more adaptable in complex environments and enabling smoother movement and operation in various terrain conditions.

[0045] In this embodiment, please refer to Figure 1 and Figure 6The walking device 1 also includes an anti-collision mechanism 14, which includes an anti-collision plate 141, a guide column 142 fixed to the four sides of the anti-collision plate 141, a trigger block 143 fixed to the anti-collision plate 141, a travel switch 144 installed on the front end of the crawler chassis 11, an elastic member 145 for resetting the anti-collision plate 141 forward, and an obstacle detection unit 146 provided on the front end of the crawler chassis 11, wherein the obstacle detection unit 146 is an ultrasonic sensor, and the front end of the crawler chassis 11 has a guide hole 147 that slides with the guide column 142, and the trigger block 143 and the guide column 142 are located on the same side of the anti-collision plate 141. When the walking device 1 is moving and the obstacle detection unit 146 detects an obstacle, the walking device 1 reduces to a certain speed and continues to move forward. When the anti-collision plate 141 contacts the obstacle, if the resistance continues to increase and is greater than the elastic force of the preset elastic member 145, the trigger block 143 is driven to press the limit switch 144, and a message is sent to the control system 13, and the walking device 1 stops; if the resistance is small and is not enough to overcome the spring force of the elastic member 145, it proves that the obstacle is a flexible material such as weeds, and the walking device 1 continues to move. After crossing the obstacle, the normal driving speed is restored to operate, which can better prevent collision injuries and improve the safety of the operation of the walking device 1.

[0046] In this embodiment, please refer to Figure 6 The elastic member 145 includes a spring, which is sleeved on the guide column 142 and can provide a stable elastic force.

[0047] In this embodiment, please refer to Figure 4 The crown detection component 247 is an ultrasonic sensor. This sensor can stably detect the crown and surrounding environment, ensuring that spraying operations are not affected by light factors. It can continuously and accurately obtain relevant information, reduce manufacturing costs, and facilitate its application in a wide range of agricultural production fields.

[0048] Working principle: The crown of the tree to be sprayed is identified by the crown detection component 247, and the distance between the tree and the crawler chassis 11 is obtained. The control system 13 fits the crown shape according to the information detected by the crown detection component 247 to determine the spraying range. The threaded rod 232 is driven by the transverse power component 234 to rotate and drive the transverse slider 233 to slide on the two slide rails. The cooperation between the transverse rail 231 and the transverse slider 233 provides a stable transverse motion guide for the cross arm 21, and then the vertical slider 233 is driven by the linear power component 254. 52 slides with the vertical rail 251, providing a stable vertical motion path for the profiling spray assembly 24, so that the profiling spray assembly 24 can be accurately positioned in the vertical direction. The connecting shaft 2443 is driven to rotate by the connecting power piece 2446, and the meshing transmission of the long gear 2445 and the internal gear 2444 can drive the profiling arm 241 to rotate. The meshing transmission mode of the long gear 2445 and the internal gear 2444 has a high transmission efficiency and can more accurately transmit the power of the connecting power piece 2446 to the profiling arm 241. The power is transmitted to the contouring arm 241, so that the contouring arm 241 can respond quickly and sensitively to the power input and make corresponding rotation movements, make corresponding posture adjustments according to the irregular shape of the outer side of the tree crown, better fit the outer side of the tree crown of different shapes and sizes, and achieve precise contouring effect. After reaching the spraying area, the control system 13 starts the spraying pump and the high-speed solenoid valve to transfer the pesticide water in the pesticide box 12 through the delivery pipe to each spray head 246 for spraying operation. During the movement of the crawler chassis 11, the rotating power member 243 drives the rotating shaft 242 set on the vertical motion component 25 to rotate in real time, driving the multiple contouring arms 241 connected by the support plate 245 to rotate simultaneously, so that the spray head 246 on the spray assembly can be changed to always face the tree crown for spraying, ensuring the accuracy of spraying, ensuring that the pesticide evenly covers the tree crown, and improving the spraying effect. Since the two spraying components are located on the left and right sides of the crawler chassis 11, the tree crowns on both sides of the crawler chassis 11 can be sprayed at the same time, greatly improving the efficiency of spraying.

[0049] In summary, the present invention identifies the crown of the tree to be sprayed through the crown detection component 247 and obtains the distance between the tree and the crawler chassis 11. The control system 13 fits the crown shape according to the information detected by the crown detection component 247 to determine the spraying range. Through the mutual cooperation of the lateral movement component 23, the vertical movement component 25 and the contour spraying component 24, the lateral movement component 23 causes the cross arm 21 to move left and right along the crawler chassis 11 to achieve extension or retraction, and the vertical movement component 25 causes the contour spraying component 24 to move vertically along the vertical arm 22 to achieve upward or downward movement, so that the contour spraying component 24 can flexibly cover the crown area. The contour spraying component 24 can be adjusted according to the shape and growth posture of the crown, so that the spray head 246 can be accurately moved to the position where the crown needs to be sprayed, realizing all-round and no-dead-angle spraying, and can be suitable for a variety of fruit trees with different growth periods, different tree shape contours, canopy volumes and branch and leaf density. The multiple contouring arms 241 are rotatably connected through the connecting portion 244, so that the multiple contouring arms 241 can be adjusted to better fit the contour of the crown according to the actual shape of the crown. The spraying head 246 sprays along the contour of the fruit tree and cooperates with the high-speed solenoid valve on the spraying head 246 to accurately control the flow rate of the pesticide and the start and stop time of the spraying, thereby realizing the fine adjustment of the spraying amount according to the actual conditions of the fruit trees such as different growth periods, different tree contours, crown volumes and branch and leaf densities. During the process, the rotating power member 243 drives the rotating shaft 242 provided on the vertical motion assembly 25 in real time, thereby simultaneously rotating the multiple contoured arms 241 connected by the support plate 245. This allows the spray head 246 on the spray assembly to be adjusted to always spray directly at the tree crown, ensuring spraying accuracy, ensuring uniform coverage of the tree crown with pesticide, and improving the spraying effect. With the two spray assemblies located on the left and right sides of the crawler chassis 11, the tree crowns on both sides of the crawler chassis 11 can be sprayed simultaneously, greatly improving spraying efficiency. Therefore, the present utility model effectively overcomes the various shortcomings of the existing technology and has high industrial application value.

[0050] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed in the present invention are intended to be covered by the claims of the present invention.

Claims

1. A target-profiling spraying robot, characterized in that: include: A traveling device, the traveling device comprising a crawler chassis, a pesticide tank and a control system, the control system and the pesticide tank being fixedly mounted above the crawler chassis; Two groups of spraying motion mechanisms, each group of the spraying motion mechanisms includes a horizontal arm, a vertical arm vertically and fixedly mounted on the horizontal arm, a lateral motion assembly for moving the horizontal arm along the left and right directions of the crawler chassis, a contour spraying assembly located on the left and right sides of the crawler chassis, and a vertical motion assembly for controlling the contour spraying assembly to move in the length direction of the vertical arm; The contour spraying assembly includes multiple contour arms, a rotating shaft vertically and rotatably arranged on the vertical motion assembly, a rotating power member that drives the rotating shaft to rotate, a connecting part for rotatably connecting the multiple contour arms, and a support plate that fixes a contour arm near the middle position of the multiple contour arms to the rotating shaft. Each of the contour arms has multiple spray heads and crown detection components. The spray head is provided with a high-speed solenoid valve. The pesticide box is connected to the spray head through a delivery pipe and a spray pump.

2. The target-profiling spraying robot according to claim 1, characterized in that: The lateral motion assembly includes two lateral rails fixedly connected above the crawler chassis, a threaded rod located between the two lateral rails and rotatably mounted above the crawler chassis, a lateral slider fixed at the bottom of the cross arm, and a lateral power member that drives the threaded rod to rotate. The lateral slider is in sliding engagement with the two lateral rails, and the lateral slider is in threaded engagement with the threaded rod.

3. The target-profiling spraying robot according to claim 2, characterized in that: The transverse power member includes an electric motor or a hydraulic motor, and the electric motor or the hydraulic motor drives the threaded rod to rotate through a reducer.

4. The target-profiling spraying robot according to claim 1, characterized in that: The vertical motion assembly includes two vertical rails, a vertical slider, two U-shaped brackets and a linear power piece. The two vertical rails are fixedly connected to the side walls of the vertical arm. The vertical sliders are slidably matched with the two vertical rails. The two U-shaped brackets are vertically fixed to the same side of the vertical slider. There are two support plates, and the two support plates are respectively located in the two U-shaped brackets. The rotating shaft is rotatably connected to the two U-shaped brackets. The linear power piece drives the vertical slider to move up and down along the vertical rails.

5. The target-profiling spraying robot according to claim 4, characterized in that: The linear power member includes a hydraulic cylinder, a pneumatic cylinder or an electric push rod. The fixed end of the linear power member is fixedly connected to the vertical arm, and the telescopic end of the linear power member is fixedly connected to the vertical slider.

6. The target-profiling spraying robot according to claim 1, characterized in that: The connecting portion includes a concave block fixedly connected to one end of the contoured arm, a convex block fixedly connected to the other end of the contoured arm, a connecting shaft, two internal gears, two long gears fixedly matched with the two ends of the connecting shaft, and a connecting power member that drives the connecting shaft to rotate, the concave block has a symmetrical and connected first connecting hole, the convex block has a second connecting hole, and the two internal gears are fixedly matched with the first connecting holes on the concave block respectively. When two adjacent contouring arms are connected, the convex block on one of the contouring arms is embedded in the concave block on the other contouring arm, the middle position of the connecting shaft rotates coaxially with the second connecting hole, the two long gears are respectively engaged with the two internal gears for transmission, and the contouring arm is driven to rotate through the connecting power piece to fit the outside of the tree crown in a contouring posture.

7. The target-profiling spraying robot according to claim 6, characterized in that: The connecting power member includes a motor, and the motor is controlled wirelessly.

8. The target-profiling spraying robot according to claim 1, characterized in that: The walking device also includes an anti-collision mechanism, which includes an anti-collision plate, a guide column fixedly connected to the four sides of the anti-collision plate, a trigger block fixedly connected to the anti-collision plate, a travel switch installed on the front end of the crawler chassis, an elastic member for resetting the anti-collision plate forward, and an obstacle detection unit provided on the front end of the crawler chassis. The front end of the crawler chassis has a guide hole that slides with the guide column, and the trigger block and the guide column are located on the same side of the anti-collision plate.

9. The target-profiling spraying robot according to claim 8, characterized in that: The elastic member includes a spring, and the spring is sleeved on the guide column.

10. The target-profiling spraying robot according to claim 1, characterized in that: The tree crown detection component is an ultrasonic sensor.

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