Automatic pesticide spraying trolley

Abstract

The utility model discloses an automatic pesticide spraying trolley which comprises a crawler-type chassis, a control box, a machine arm system, a pesticide spraying system and a visual control system. A plurality of image features of various pests harmful to fruit trees are stored in a cloud visual recognition system in a visual control system in advance, a camera is driven by a mechanical arm system to shoot the fruit trees in all directions during pesticide spraying operation, and the pest features are compared with the pest features in the cloud visual recognition system; after pests are found, the size of the spraying range of the adjustable nozzle can be adjusted according to the size of an insect pest area, so that accurate positioning and spraying of the insect pest area are realized, the spraying efficiency of liquid medicine is improved, and the use of the liquid medicine is effectively saved; meanwhile, based on a signal of the distance module, the control unit can accurately adjust the flow of the diaphragm pump and adjust the force of the liquid medicine sprayed by the adjustable nozzle, so that the damage to plants is reduced; meanwhile, the control unit automatically controls the advancing direction and the advancing route of the automatic pesticide spraying trolley according to pesticide spraying route planning of the navigation positioning system; the electric crawler-type chassis ensures that the vehicle can effectively move in the orchard, and meanwhile emission of harmful substances and generation of noise are reduced.

Description

Technical Field

[0001] This utility model relates to the field of spraying devices, specifically an automatic spraying cart. Background Technology

[0002] Currently, in the field of automatic spraying vehicles, vehicles with multiple drive systems are commonly used. These vehicles are equipped with spraying systems that spray a wide area of ​​fruit trees along a pre-set route. However, this technology has the following drawbacks: First, this wide-area spraying cannot accurately target specific pest-infested areas, resulting in blind spots and significant waste of pesticides. Second, this spraying method indiscriminately sprays beneficial insects in the orchard, which is detrimental to the healthy growth of the fruit trees.

[0003] Therefore, an automated spraying cart is needed to solve the above-mentioned technical problems. Utility Model Content

[0004] In order to solve the problems existing in the background art, the present invention proposes the following technical solution:

[0005] An automated spraying vehicle includes a tracked chassis, a control box, a robotic arm system, a spraying system, and a vision control system;

[0006] The tracked chassis includes: a track system, a drive motor, a battery compartment, and a vehicle body;

[0007] The control box is fixedly installed at the rear of the vehicle body, and the box contains a control unit and a navigation and positioning system.

[0008] The robotic arm system includes a rotary motor, a rotating base, a lifting motor, a lifting motor bracket, a pitch motor, a pitch motor bracket, a rotating shaft, a horizontal stepper motor, a horizontal stepper motor bracket, a rotating shaft, a rotary motor, a sliding plate base, a pitch motor bracket, a camera base, a support plate, and a rotating shaft.

[0009] The rotating base is mounted on the vehicle body, and the rotating motor is connected to the rotating base through a gear set. The rotating motor drives the rotating base to rotate by rotating.

[0010] The lifting motor bracket is symmetrically fixed on the rotating base, and the lifting motor is fixed on the rotating base;

[0011] The pitch motor bracket is rotatably connected to the lifting motor bracket via a rotating shaft, and the pitch motor bracket is connected to the lifting motor via a gear set.

[0012] The pitch motor is fixedly mounted on the pitch motor bracket;

[0013] The horizontal stepper motor bracket is rotatably connected to the pitch motor bracket via a second rotating shaft, and the horizontal stepper motor bracket is connected to the pitch motor via a gear set.

[0014] The horizontal stepper motor is fixedly mounted on one end of the horizontal stepper motor bracket, and the output end of the horizontal stepper motor is connected to the sliding plate base;

[0015] The sliding plate seat is slidably mounted on the horizontal stepper motor bracket, and can move horizontally along the horizontal stepper motor bracket by the drive of the horizontal stepper motor.

[0016] The second rotary motor is fixedly mounted on the sliding plate seat, and its output end is fixedly connected to the bracket of the second pitch motor.

[0017] One end of the bracket for the second pitch motor is connected to the output end of the second rotary motor, and the other end is rotatably connected to the camera base via the third rotating shaft.

[0018] The second pitch motor is fixedly mounted on the second pitch motor bracket;

[0019] The camera base is rotatably connected to the pitch motor bracket via a rotating shaft, and the camera base is connected to the pitch motor via a gear set.

[0020] The tray is fixedly located at one end of the camera base;

[0021] The spraying system includes a water tank, hose, adjustable nozzle, bracket, diaphragm pump, level gauge and distance module;

[0022] The water tank is fixedly installed at the rear of the vehicle body and is used to hold water and medicine;

[0023] One end of the hose is connected to the outlet of the diaphragm pump, and the other end is connected to the adjustable nozzle;

[0024] The adjustable nozzle is connected to the hose;

[0025] The adjustable nozzle includes a "zone spraying" mode and a "precision spraying" mode, which are automatically adjusted under the control of the control unit;

[0026] The bracket is an L-shaped plate with through holes. The hose passes through the through holes and connects to the adjustable nozzle. The bracket is fixedly connected to the plate.

[0027] The diaphragm pump is installed in the water tank and receives control signals from the control unit.

[0028] The level gauge is installed in the water tank and is used to detect the liquid level in the tank.

[0029] The distance module is mounted on the bracket and is used to measure the distance from the adjustable nozzle to the pest area and send the signal to the control unit.

[0030] The visual control system includes a camera, a wireless image transmission system, a cloud-based visual recognition system, and a chip;

[0031] The camera is a wireless camera and is fixedly mounted on the tray.

[0032] The wireless image transmission system includes wireless transmitting and receiving devices, etc., and the wireless image transmission system is located in the control box;

[0033] The cloud-based visual recognition system includes a chip and is located inside the control box.

[0034] The chip is connected to the control unit, which can control the robotic arm system and the spraying system.

[0035] In some embodiments of this utility model, the track system includes tracks, guide wheels, track rollers, and a suspension system, etc.

[0036] The drive motors are located inside the tracked chassis, and there are at least two of them.

[0037] The battery compartment is located inside the tracked chassis, and the battery compartment contains a power battery.

[0038] The vehicle body is fixedly mounted on the track system and is used to carry the control box, robotic arm system, spraying system and vision control system.

[0039] In some embodiments of this utility model, the control unit is used to control the tracked chassis, robotic arm system, and spraying system of the automatic spraying cart;

[0040] The navigation and positioning system plans the spraying route according to the arrangement of fruit trees in the orchard, and records the real-time position of the automatic spraying vehicle; the control unit controls the direction and route of the automatic spraying vehicle according to the spraying route plan of the navigation and positioning system.

[0041] In some embodiments of this utility model, the chip 5 is preferably an ESP8285-WIFI chip.

[0042] In some embodiments of this utility model, the hose may be PVC (polyvinyl chloride), polycarbonate, or polyurethane.

[0043] In some embodiments of this utility model, the distance module is preferably a laser ranging module.

[0044] The advantages of this utility model compared with the prior art are as follows:

[0045] This utility model discloses an automatic spraying cart. By pre-storing multiple image features of various pests harmful to fruit trees in a cloud-based visual recognition system within a vision control system, a robotic arm system drives a camera to capture images of the fruit trees from all angles during spraying. By comparing these images with the pest features stored in the cloud-based visual recognition system, the spraying range of the adjustable nozzles can be adjusted according to the size of the infested area upon detection. This achieves precise positioning and spraying of the infested area, improving spraying efficiency and effectively saving pesticides. Simultaneously, based on signals from the distance module, the control unit can precisely adjust the flow rate of the diaphragm pump and the spray intensity of the adjustable nozzles, reducing damage to the plants. Furthermore, the control unit automatically controls the automatic spraying cart's direction and route according to the spraying route planning of the navigation and positioning system. The electric tracked chassis ensures effective movement of the vehicle within the orchard while reducing harmful emissions and noise generation. Attached Figure Description

[0046] Figure 1 This is a structural diagram of an automatic spraying cart according to this utility model;

[0047] Figure 2 This is a top view of an automatic spraying cart according to this utility model;

[0048] Figure 3 This is a right view of an automatic spraying cart according to this utility model;

[0049] Figure 4 yes Figure 1 Enlarged view of the circled area;

[0050] Figure label:

[0051] An automatic pesticide spraying cart 100;

[0052] Tracked chassis 1;

[0053] Track system 11; drive motor 12; battery compartment 13; vehicle body 14;

[0054] Control box 2;

[0055] Control unit 21; Navigation and positioning system 22;

[0056] Robotic arm system 3;

[0057] Rotary motor 1 31; Rotary base 311; Lifting motor 32, Lifting motor bracket 321; Pitch motor 1 33; Pitch motor 1 bracket 331; Rotating shaft 1 332; Horizontal stepper motor 34; Horizontal stepper motor bracket 341; Rotating shaft 2 342; Rotary motor 2 35; Sliding plate base 351; Pitch motor 2 36; Pitch motor 2 bracket 361; Camera base 37; Support plate 371;

[0058] Spraying system 4;

[0059] 41. Water tank; 42. Hose; 43. Adjustable nozzle; 44. Bracket; 45. Diaphragm pump; 46. Level gauge; 47. Distance module;

[0060] Vision control system 5;

[0061] Camera 51; Wireless image transmission system 52; Cloud-based visual recognition system 53; Chip 531; Detailed Implementation

[0062] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0063] In the description of this utility model, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0064] In some embodiments of this utility model, such as Figure 1-4 As shown, an automatic spraying cart 100 includes a tracked chassis 1, a control box 2, a robotic arm system 3, a spraying system 4, and a vision control system 5.

[0065] Specifically, such as Figure 1 and Figure 3 As shown, the tracked chassis 1 includes: a track system 11, a drive motor 12, a battery compartment 13, and a vehicle body 14; the track system 11 includes tracks, guide wheels, track rollers, and a suspension system, etc.; the drive motor 12 is located inside the tracked chassis 1, and there are at least two of them, used to drive the guide wheels to move and steer the vehicle body 14; the battery compartment 13 is located inside the tracked chassis 1 and contains a power battery, which serves as an energy source to drive the vehicle; the vehicle body 14 is fixedly mounted on the track system 11 and is used to carry the control box 2, the robotic arm system 3, the spraying system 4, and the vision control system 5;

[0066] like Figure 1 and Figure 2As shown, the control box 2 is fixedly installed at the rear of the vehicle body 14. The box includes a control unit 21 (not shown in the figure) and a navigation and positioning system 22 (not shown in the figure). The control unit 21 is used to control the tracked chassis 1, the robotic arm system 3 and the spraying system 4 of the automatic spraying cart 100.

[0067] The navigation and positioning system 22 plans the spraying route according to the arrangement of the fruit trees in the orchard, and records the real-time position of the automatic spraying vehicle 100 at the same time; the control unit 21 controls the direction of travel and the route of travel of the automatic spraying vehicle 100 according to the spraying route planning of the navigation and positioning system 22.

[0068] like Figure 1 and Figure 2 As shown, the robotic arm system 3 includes a rotary motor 31, a rotary base 311, a lifting motor 32, a lifting motor bracket 321, a pitch motor 33, a pitch motor bracket 331, a rotating shaft 332, a horizontal stepper motor 34, a horizontal stepper motor bracket 341, a rotating shaft 342, a rotary motor 35, a sliding plate base 351, a pitch motor 36, a pitch motor bracket 361, a camera base 37, a support plate 371, and a rotating shaft 372.

[0069] The rotating base 311 is mounted on the vehicle body 14. The rotating motor 31 is connected to the rotating base 311 via a gear set. The rotating motor 31 drives the rotating base 311 to rotate by rotating.

[0070] The lifting motor bracket 321 is symmetrically fixed on the rotating base 311, and the lifting motor 32 is fixed on the rotating base 311;

[0071] The pitch motor bracket 331 is rotatably connected to the lifting motor bracket 321 via a rotating shaft 332. The pitch motor bracket 331 is connected to the lifting motor 32 via a gear set. Thus, the rotation of the lifting motor 32 can drive the pitch motor bracket 331 to rotate along the rotating shaft 332, thereby adjusting the pitch of the pitch motor bracket 331.

[0072] The pitch motor 33 is fixedly mounted on the pitch motor bracket 331;

[0073] The horizontal stepper motor bracket 341 is rotatably connected to the pitch motor bracket 331 via the second rotating shaft 342, and the horizontal stepper motor bracket 34 is connected to the pitch motor 33 via a gear set. Thus, the rotation of the pitch motor 33 can drive the horizontal stepper motor bracket 341 to rotate along the second rotating shaft 342, thereby adjusting the pitch of the horizontal stepper motor bracket 341.

[0074] The horizontal stepper motor 34 is fixedly mounted on one end of the horizontal stepper motor bracket 341, and its output end is connected to the sliding plate base 351;

[0075] The sliding plate base 351 is slidably mounted on the horizontal stepper motor bracket 341, and can move horizontally along the horizontal stepper motor bracket 341 by the drive of the horizontal stepper motor 34.

[0076] The second rotary motor 35 is fixedly mounted on the sliding plate seat 351, and its output end is fixedly connected to the second pitch motor bracket 361. Thus, the rotation of the second rotary motor 35 can drive the second pitch motor bracket 361 to rotate, thereby adjusting the angle of the second pitch motor bracket 361.

[0077] One end of the pitch motor bracket 361 is connected to the output end of the rotary motor 35, and the other end is rotatably connected to the camera base 37 via the rotating shaft 372.

[0078] The second pitch motor 36 is fixedly mounted on the second pitch motor bracket 361;

[0079] The camera base 37 is rotatably connected to the pitch motor bracket 361 via a rotating shaft 372. The camera base 37 is connected to the pitch motor 36 via a gear set. Thus, the rotation of the pitch motor 36 can drive the camera base 37 to rotate along the rotating shaft 372, thereby adjusting the pitch of the camera base 37.

[0080] The tray 371 is fixedly disposed at one end of the camera base 37;

[0081] Therefore, the robotic arm system 3 can be adjusted in multiple degrees of freedom, such as up and down, forward and backward, left and right, and rotation.

[0082] like Figure 1 As shown, the spraying system 4 includes a water tank 41, a hose 42, an adjustable nozzle 43, a bracket 44, a diaphragm pump 45, a level gauge 46, and a distance module 47;

[0083] The water tank 41 is fixedly installed at the rear end of the vehicle body 14 and is used to hold water and medicine.

[0084] One end of the hose 42 is connected to the outlet of the diaphragm pump 45, and the other end is connected to the adjustable nozzle 43; the hose can be PVC (polyvinyl chloride), polycarbonate or polyurethane.

[0085] The adjustable nozzle 43 is connected to the hose 43. The adjustable nozzle 43 includes a "regional spraying" mode and a "precision spraying" mode, which are automatically adjusted by the control unit 21. In "regional spraying", the spraying radius is adjusted with the positioning coordinates given by the visual control system 5 as the center, thereby spraying a large area of ​​pests and improving spraying efficiency. In "precision spraying", smaller areas or individual pests can be sprayed, avoiding waste of pesticides and saving spraying costs.

[0086] The bracket 44 is an L-shaped plate with through holes. The hose 42 passes through the through holes and is connected to the adjustable nozzle 43. The bracket 44 is fixedly connected to the plate 371.

[0087] Therefore, the adjustable nozzle 43 can move in multiple degrees of freedom, such as up and down, forward and backward, left and right, and rotation, under the drive of the robotic arm system 3.

[0088] The diaphragm pump 45 is installed in the water tank 41 and receives the control signal output by the control unit 21. It changes the flow rate of the medicine fluid by means of power operation, so as to more accurately control the amount of medicine sprayed by the adjustable nozzle 43, thereby improving the efficiency of spraying and avoiding the waste of medicine.

[0089] The level gauge 46 is installed in the water tank 41 to detect the liquid level in the tank. When the liquid level in the water tank 41 is too low, the level gauge 46 sends a signal to the control unit 21. The navigation and positioning system 22 records the spraying position at this time. The control unit 21 controls the spraying trolley 100 to return to the workstation to replenish the water tank. After replenishment, the spraying trolley 100 restarts the spraying operation according to the position recorded by the navigation and positioning system 22.

[0090] The distance module 47 is mounted on the bracket 44. The distance module 47 is preferably a laser rangefinder module, used to measure the distance from the adjustable nozzle 43 to the pest-affected area and send the signal to the control unit 21. Based on the signal from the distance module 47, the control unit 21 can precisely adjust the flow rate of the diaphragm pump 45. Thus, the force of the pesticide sprayed by the adjustable nozzle 43 can be adjusted according to the distance from the adjustable nozzle 43 to the pest-affected area, thereby reducing damage to the plant.

[0091] like Figure 1 and Figure 4 As shown, the visual control system 5 includes a camera 51, a wireless image transmission system 52 (not shown in the figure), a cloud-based visual recognition system 53 (not shown in the figure), and a chip 531 (not shown in the figure).

[0092] The camera 51 is a wireless camera, fixed on the support plate 371, and can move up and down, forward and backward, left and right and rotate with multiple degrees of freedom under the drive of the robotic arm system 3.

[0093] The wireless image transmission system 53 includes wireless transmitting and receiving devices, etc., and the wireless image transmission system 53 is located in the control box 2;

[0094] The cloud-based visual recognition system 5 includes a chip 531. Specifically, the cloud-based visual recognition system 5 is located inside the control box 2. The chip 531 is connected to the control unit 21, and the control unit 21 can control the robotic arm system 3 and the spraying system 4.

[0095] The chip 531 is preferably the ESP8285-WIFI chip;

[0096] In use, the images captured by the camera 51 are uploaded to the cloud visual recognition system 53 for recognition via the wireless image transmission system 52. The chip 531 of the cloud visual recognition system 53 records the characteristics of pests that are harmful to fruit trees. The chip 531 compares the image features to confirm whether the image captured by the camera 51 is a pest. If it is a pest, the position of the robotic arm system 3 is adjusted by the control unit 21 to accurately locate the pest and confirm the size of the pest area. The spraying range is controlled by the adjustable nozzle 43, and the flow rate of the sprayed pesticide is controlled by the diaphragm pump 45.

[0097] When the automatic spraying cart 100 is in use, water and pesticide are first added to the water tank 41 at the workstation and mixed into a pesticide solution. The spraying route is planned according to the arrangement of the fruit trees in the orchard by the navigation and positioning system 22. The control unit 21 controls the travel direction and route of the tracked chassis 1 of the automatic spraying cart 100 according to the spraying route plan of the navigation and positioning system 22.

[0098] Upon reaching the fruit tree location, the robotic arm system 3 controls the camera 51 to photograph and identify pests on the target fruit tree. During the photographing and identification process, the robotic arm system 3 adjusts to multiple degrees of freedom, including up and down, forward and backward, left and right, and rotation, allowing the camera 51 to photograph pests on the fruit tree from multiple angles and positions. The images captured by the camera 51 are uploaded to the cloud-based visual recognition system 53 via the wireless image transmission system 52 for identification. The chip 531 of the cloud-based visual recognition system 53 records the characteristics of pests harmful to the fruit tree. By comparing the image features with the chip 531, it confirms whether the image captured by the camera 51 is a pest. If it is a pest, the control unit 21 adjusts the position of the robotic arm system 3 to achieve precise pest location and controls the adjustable nozzle 43 to adjust the spraying range. When camera 51 detects a large infested area, chip 531 controls the adjustable nozzle 43 to perform "area spraying" mode via control unit 21. Using the positioning coordinates provided by vision control system 5 as the center, the spray radius is adjusted to spray a large infested area, thus improving spraying efficiency. When camera 51 detects a small infested area or a single pest, chip 531 controls the adjustable nozzle 43 to perform "precision spraying" mode via control unit 21, avoiding waste of pesticides and saving on spraying costs. Simultaneously, via signal from distance module 47, control unit 21 can precisely adjust the flow rate of diaphragm pump 45. Therefore, based on the distance between the adjustable nozzle 43 and the infested area, the spray intensity of the pesticide from the adjustable nozzle 43 can be adjusted, reducing damage to the plants.

[0099] During the spraying process of the automatic spraying cart 100, when the level gauge 46 in the water tank 41 detects that the liquid level in the water tank 41 is too low, the level gauge 46 sends a signal to the control unit 21. The navigation and positioning system 22 records the spraying position at this time. The control unit 21 controls the spraying cart 100 to return to the workstation along the original route to replenish the water tank. After replenishment, the spraying cart 100 restarts the spraying operation according to the position recorded by the navigation and positioning system 22, thus forming a cycle until all fruit trees have been sprayed.

[0100] It is worth noting that the track system, drive motor, control unit, navigation and positioning system, rotary motor, pitch motor, horizontal stepper motor, diaphragm pump, level gauge, adjustable nozzle, camera, wireless image transmission system and chip of this utility model all adopt existing technologies.

[0101] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. An automatic spraying cart, comprising a tracked chassis and a control box, characterized in that: It also includes robotic arm systems, spraying systems, and vision control systems; The tracked chassis includes: a track system, a drive motor, a battery compartment, and a vehicle body; The control box is fixedly installed at the rear of the vehicle body, and the box contains a control unit and a navigation and positioning system. The robotic arm system includes a rotary motor, a rotating base, a lifting motor, a lifting motor bracket, a pitch motor, a pitch motor bracket, a rotating shaft, a horizontal stepper motor, a horizontal stepper motor bracket, a rotating shaft, a rotary motor, a sliding plate base, a pitch motor bracket, a camera base, a support plate, and a rotating shaft. The rotating base is mounted on the vehicle body, and the rotating motor is connected to the rotating base through a gear set. The rotating motor drives the rotating base to rotate by rotating. The lifting motor bracket is symmetrically fixed on the rotating base, and the lifting motor is fixed on the rotating base; The pitch motor bracket is rotatably connected to the lifting motor bracket via a rotating shaft, and the pitch motor bracket is connected to the lifting motor via a gear set. The pitch motor is fixedly mounted on the pitch motor bracket; The horizontal stepper motor bracket is rotatably connected to the pitch motor bracket via a second rotating shaft, and the horizontal stepper motor bracket is connected to the pitch motor via a gear set. The horizontal stepper motor is fixedly mounted on one end of the horizontal stepper motor bracket, and the output end of the horizontal stepper motor is connected to the sliding plate base; The sliding plate seat is slidably mounted on the horizontal stepper motor bracket, and can move horizontally along the horizontal stepper motor bracket by the drive of the horizontal stepper motor. The second rotary motor is fixedly mounted on the sliding plate seat, and its output end is fixedly connected to the bracket of the second pitch motor. One end of the bracket for the second pitch motor is connected to the output end of the second rotary motor, and the other end is rotatably connected to the camera base via the third rotating shaft. The second pitch motor is fixedly mounted on the second pitch motor bracket; The camera base is rotatably connected to the pitch motor bracket via a rotating shaft, and the camera base is connected to the pitch motor via a gear set. The tray is fixedly located at one end of the camera base; The spraying system includes a water tank, hose, adjustable nozzle, bracket, diaphragm pump, level gauge and distance module; The water tank is fixedly installed at the rear of the vehicle body and is used to hold water and medicine; One end of the hose is connected to the outlet of the diaphragm pump, and the other end is connected to the adjustable nozzle; The adjustable nozzle is connected to the hose; The adjustable nozzle includes a "zone spraying" mode and a "precision spraying" mode, which are automatically adjusted under the control of the control unit; The bracket is an L-shaped plate with through holes. The hose passes through the through holes and connects to the adjustable nozzle. The bracket is fixedly connected to the plate. The diaphragm pump is installed in the water tank and receives control signals from the control unit. The level gauge is installed in the water tank and is used to detect the liquid level in the tank. The distance module is mounted on the bracket and is used to measure the distance from the adjustable nozzle to the pest area and send the signal to the control unit. The visual control system includes a camera, a wireless image transmission system, a cloud-based visual recognition system, and a chip; The camera is a wireless camera and is fixedly mounted on the tray. The wireless image transmission system includes wireless transmitting and receiving devices, and the wireless image transmission system is located inside the control box; The cloud-based visual recognition system includes a chip and is located inside the control box. The chip is connected to the control unit, which can control the robotic arm system and the spraying system.

2. The automatic spraying cart according to claim 1, characterized in that: The track system includes tracks, guide wheels, track rollers, and a suspension system.

3. The automatic spraying cart according to claim 1, characterized in that: The drive motors are located inside the tracked chassis, and there are at least two of them.

4. The automatic spraying cart according to claim 1, characterized in that: The battery compartment is located inside the tracked chassis and contains power batteries.

5. An automatic spraying cart according to claim 1, characterized in that: The vehicle body is fixedly mounted on the track system and is used to carry the control box, robotic arm system, spraying system and vision control system.

6. An automatic spraying cart according to claim 1, characterized in that: The control unit is used to control the tracked chassis, robotic arm system, and spraying system of the automatic spraying cart; The navigation and positioning system plans the spraying route according to the arrangement of fruit trees in the orchard, and records the real-time position of the automatic spraying vehicle; the control unit controls the direction and route of the automatic spraying vehicle according to the spraying route plan of the navigation and positioning system.

7. An automatic spraying cart according to claim 1, characterized in that: The chip is the ESP8285-WIFI chip.

8. An automatic spraying cart according to claim 1, characterized in that: The hose can be made of PVC, polycarbonate, or polyurethane.

9. An automatic spraying cart according to claim 1, characterized in that: The distance module is a laser ranging module.

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