CN111805503A

CN111805503A - Four-wheel patrol robot for hillside orchard

Info

Publication number: CN111805503A
Application number: CN202010705519.5A
Authority: CN
Inventors: 张德华; 董涛
Original assignee: Henan University
Current assignee: Henan University
Priority date: 2020-07-21
Filing date: 2020-07-21
Publication date: 2020-10-23

Abstract

The invention discloses a four-wheel robot for patrolling hillside orchards, wherein scratch-proof mechanisms are respectively arranged on the outer walls of two sides of a chassis, a transverse rod and a vertical rod are movably arranged on the outer walls of two sides of the chassis through the matching of a connecting piece and a connecting head, a retraction motor is arranged at the upper end of a bottom plate in the chassis to control the opening and folding of the transverse rod and the vertical rod through rotation, when the transverse rod and the vertical rod are opened, an anti-collision top plate at the front end of the chassis is matched to protect equipment, the robot is prevented from being scratched by branches when walking, the four-wheel robot is convenient and practical, an attacking device is fixedly connected at the upper end of the chassis close to the edge of the front end, a baffle plate, a T-shaped metal piece and a spring are arranged on the inner wall at the tail end of a gun barrel, an electromagnet is arranged to use the magnetism of the electromagnet to be matched with the push plate without control spring to eject, the fruit tree is driven in time to reduce the loss of fruit growers.

Description

Four-wheel patrol robot for hillside orchard

Technical Field

The invention relates to the technical field of robots, in particular to a four-wheel patrol robot for hillside orchards.

Background

A Robot (Robot) is an intelligent machine that can work semi-autonomously or fully autonomously. Historically, the earliest robots were found in puppet robots built by the institute of workers, who have established institutions with the ability to sit, rise, worship, lie, etc. The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.

The modern orchard and forestry planting area is large, people need to be dispatched to guard in the mature period of fruits to prevent people from stealing or birds from eating, the traditional method is that people are used for patrolling, the patrolling difficulty is high, so that the modern robot is used for replacing the traditional method, and the robot is used for continuously walking and patrolling among the fruits and forests to prevent thieves from stealing. However, the existing patrol robot can only use the camera to shoot the specific situation of thieves or birds eating steally as the basis of pursuing responsibility, and can not prevent the stealers or birds from stealing and eating while finding; and when the existing inspection robot walks between fruit trees, equipment and a machine body are easily scratched by branches of the fruit trees, so that the service life of the robot is influenced.

Therefore, we propose a patrol four-wheel robot for hillside orchards.

Disclosure of Invention

The invention aims to provide a four-wheel robot for patrolling hillside orchards, wherein wheels are respectively arranged at four corners of the bottom of a chassis of a walking device, variable-frequency driving motors are respectively arranged on the side walls of supports at the inner sides of the wheels for driving, an attack device is arranged at the front end of the top of the chassis, and scratch-proof mechanisms are respectively arranged on the outer walls of two sides of the chassis and matched with an anti-collision top plate at the front end for protecting equipment, so that the problems in the background are solved.

In order to achieve the purpose, the invention provides the following technical scheme: a four-wheel robot for patrolling in hillside orchards comprises a walking device and an attacking device, wherein the attacking device is installed at the upper end of the walking device, the walking device comprises a chassis, wheels, an anti-collision top plate, a scratch prevention mechanism, an intelligent control terminal, an installation seat, an upright post and a camera shooting mechanism, the wheels are respectively arranged at four corners of the bottom of the chassis, the anti-collision top plate is fixedly installed on the outer wall of the front end of the chassis, the scratch prevention mechanism is respectively arranged on the outer walls of two sides of the chassis, the intelligent control terminal is installed on one side, close to the back, of the upper end of the chassis through a fixing bolt, the installation seat is arranged at the top of the intelligent control terminal, the bottom end of the upright post is sleeved in the installation seat, the camera shooting;

the attack device includes the fixed plate, and a support, the barrel, the screw rod, accommodate motor and storage hopper, the fixed plate passes through fixing bolt and installs near front end border department in the upper end on chassis, the upper end both sides of fixed plate are provided with integrative support respectively, the barrel is installed between the lateral wall of support through screw rod on the outer wall of both sides, and the one end that the barrel was kept away from to the screw rod of barrel one side runs through the fixed plate lateral wall, the output end of the accommodate motor that sets up on its terminal and the fixed plate outer wall is fixed to be continuous, the storage hopper is installed in the top of barrel, and the discharging pipe through the bottom is linked together with the barrel, the discharging pipe entrance point of storage hopper is provided with electronic discharge valve.

Furthermore, driving motors are respectively arranged on the side walls of the supports on the inner sides of the wheels, and the driving motors are frequency conversion speed regulation motors, and the model number of the driving motors is YTSP 132M-4.

Further, prevent fish tail mechanism includes horizontal pole, connecting piece, montant and connector, and the bottom of horizontal pole evenly sets up respectively in five integrative connecting pieces of group, and five identical montants of group are through the connector cooperation connecting piece on top swing joint respectively in the bottom of horizontal pole, and the lower extreme of montant is through another connector and connecting piece fixed mounting on the both sides outer wall on chassis.

Further, the chassis is hollow structure, the bottom plate upper end on chassis has set gradually lead accumulator and receive and release the motor respectively, lead accumulator and receive and release between the motor through wire electric connection, and receive and release the motor through the wire respectively with intelligent control terminal, electric connection between camera shooting mechanism and driving motor, receive and release the motor and set up the same two sets ofly, and be located both sides border department of chassis bottom plate upper end respectively, the transmission shaft that receives and releases the motor passes through the shaft coupling and links to each other with the one end stationary phase of connecting rod, the other end of connecting rod runs through the lateral wall of chassis and extends to its outside, and the end runs through behind the montant bottom connecting piece lateral wall and links to each other with.

Furthermore, the retraction motor is a forward and reverse rotation asynchronous motor, the model number of the retraction motor is 3IK15RGN-C, and the maximum deflection angle of a transmission shaft of the retraction motor is 90 degrees.

Furthermore, the edge of two sides of the upper end of the chassis is respectively provided with an integrated fixing table, the upper end of the fixing table is respectively provided with a solar panel, and the solar panel is electrically connected with the lead storage battery.

Furthermore, a corner of the upper end of the chassis on one side of the intelligent control terminal is provided with a wireless receiving and transmitting antenna, the wireless receiving and transmitting antenna is electrically connected with the intelligent control terminal, and the intelligent control terminal is remotely connected with a computer host of the orchard monitoring machine room through the wireless receiving and transmitting antenna.

Furthermore, camera shooting mechanism includes casing, infrared camera and light, and infrared camera is installed to the positive both sides gomphosis respectively of casing, and casing top border department between infrared camera is provided with the light.

Further, be provided with the baffle between the inner wall of barrel end port department, the spreader of T type metalwork runs through the baffle lateral wall and extends to the inside of barrel, the terminal fixedly connected with push pedal of spreader of T type metalwork, and the discharging pipe bottom port setting of storage hopper is pressed close to the push pedal, and twine on the T type metalwork spreader outer wall between push pedal and the baffle and be provided with the spring, and the one end of spring links to each other with the lateral wall of push pedal is fixed.

Furthermore, an end cover is welded on the outer wall of the end port of the gun barrel, an electromagnet is installed on the inner wall of the end cover, the electromagnet is attached to a vertical plate of the T-shaped metal piece, the electromagnet is electrically connected with a self-control switch embedded on the side wall of the end cover, and the self-control switch is electrically connected with the intelligent control terminal.

Compared with the prior art, the invention has the following beneficial effects:

1. according to the patrolling four-wheel robot for the hillside orchard, the four corners of the bottom of the chassis of the walking device are respectively provided with the wheels, the side wall of the support inside each wheel is respectively provided with the driving motor for driving, the driving motors are all variable-frequency speed-regulating motors, the robot is driven to move forwards by the same-speed operation of the four driving motors, and the four driving motors are turned and turned around by the variable-speed operation of different driving motors, so that the four-wheel robot can walk more flexibly and conveniently and can walk in the hillside orchard conveniently.

2. According to the patrol four-wheel robot for the hillside orchard, the scratch-proof mechanisms are respectively arranged on the outer walls of the two sides of the chassis, the transverse rod and the vertical rod are movably mounted on the outer walls of the two sides of the chassis through the matching of the connecting piece and the connecting head, the upper end of the bottom plate in the chassis is provided with the retractable motor which controls the transverse rod and the vertical rod to be opened and folded through rotation, the transverse rod and the vertical rod are matched with the anti-collision top plate at the front end of the chassis to protect equipment when being opened, the robot is prevented from being scratched by branches when walking, the space of the equipment is reduced after the transverse rod and the vertical rod are folded, walking is facilitated when.

3. According to the patrolling four-wheel robot for the hillside orchard, the attacking device is fixedly connected to the upper end of the chassis close to the front end edge, the baffle, the T-shaped metal piece and the spring are utilized to arrange the push plate on the inner wall of the tail end of the gun barrel, the electromagnet is arranged, and the elasticity of the spring is controlled by the aid of the magnetism of the electromagnet, so that soil ball particles falling from the storage hopper are ejected out by means of the relaxation force of the compressed spring and the push plate in a matched mode, thieves and birds eaten by the thieves are attacked, the soil ball particles are timely ejected to reduce the loss of fruit growers, and the soil ball particles are used as shells and do not need to be recovered and are pollution-free after being ejected.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural diagram of the walking device of the present invention;

FIG. 3 is a view showing the state of the scratch prevention mechanism of the traveling apparatus according to the present invention;

FIG. 4 is a cross-sectional view of the chassis of the running gear of the present invention;

FIG. 5 is a schematic structural view of the scratch prevention mechanism of the present invention;

FIG. 6 is an enlarged view of the scratch protection mechanism of the present invention at position A;

FIG. 7 is a schematic structural diagram of an attack apparatus according to the present invention;

fig. 8 is a cross-sectional view of the barrel of the attacking device of the present invention.

In the figure: 1. a traveling device; 11. a chassis; 12. a wheel; 13. an anti-collision top plate; 14. a scratch-proof mechanism; 141. a cross bar; 142. a connecting member; 143. a vertical rod; 144. a connector; 15. an intelligent control terminal; 16. a mounting seat; 17. a column; 18. a camera mechanism; 181. a housing; 182. an infrared camera; 183. an illuminating lamp; 19. a drive motor; 110. a lead storage battery; 111. retracting and releasing the motor; 112. a coupling; 113. a connecting rod; 114. a fixed table; 115. a solar panel; 116. a wireless transmit-receive antenna; 2. an attack device; 21. a fixing plate; 22. a support; 23. a barrel; 24. a screw; 25. adjusting the motor; 26. a storage hopper; 27. a baffle plate; 28. a T-shaped metal piece; 29. pushing the plate; 210. a spring; 211. an electromagnet; 212. a self-control switch.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

Referring to fig. 1-3, a four-wheel robot for patrolling hillside orchards comprises a walking device 1 and an attacking device 2, wherein the attacking device 2 is installed at the upper end of the walking device 1, the walking device 1 comprises a chassis 11, wheels 12, an anti-collision top plate 13, a scratch-proof mechanism 14, an intelligent control terminal 15, a mounting seat 16, an upright post 17 and a camera mechanism 18, the wheels 12 are respectively arranged at four corners of the bottom of the chassis 11, the anti-collision top plate 13 is fixedly installed on the outer wall of the front end of the chassis 11, the scratch-proof mechanism 14 is respectively arranged on the outer walls of two sides of the chassis 11, the intelligent control terminal 15 is installed at one side of the upper end of the chassis 11 close to the back through fixing bolts, the mounting seat 16 is arranged at the top of the intelligent control terminal 15, the bottom end of the upright post 17 is sleeved inside the mounting seat 16, the camera mechanism 18 is installed, the infrared cameras 182 are respectively embedded and installed on two sides of the front surface of the casing 181, the illuminating lamp 183 is arranged on the edge of the top of the casing 181 between the infrared cameras 182, and the attacking device 2 is fixedly connected to the upper end of the chassis 11 close to the edge of the front end.

The side walls of the supports at the inner sides of the wheels 12 are respectively provided with a driving motor 19, the driving motors 19 are all frequency conversion speed regulation motors, the model is YTSP132M-4, the robot drives the robot to move forwards by the same-speed operation of the four driving motors 19, and the robot turns and turns around by the variable-speed operation of different driving motors 19, so that the four-wheel robot can move more flexibly and conveniently and can conveniently move in hillside orchards; the upper end of the chassis 11 is provided with an integrated fixing table 114 at the two side edges, the upper end of the fixing table 114 is provided with a solar panel 115, and the solar panel 115 is electrically connected with the lead storage battery 110; the corner of the upper end of the chassis 11 on one side of the intelligent control terminal 15 is provided with a wireless receiving and transmitting antenna 116, the wireless receiving and transmitting antenna 116 is electrically connected with the intelligent control terminal 15, and the intelligent control terminal 15 is remotely connected with a computer host of an orchard monitoring machine room through the wireless receiving and transmitting antenna 116.

Example two

Referring to fig. 4, a four-wheel robot for patrolling hillside orchards, a chassis 11 is a hollow structure, a lead storage battery 110 and a retracting motor 111 are respectively and sequentially arranged at the upper end of a bottom plate of the chassis 11, the retracting motor 111 is a forward and reverse rotation asynchronous motor, the model thereof is 3IK15RGN-C, the maximum deflection angle of a transmission shaft of the retracting motor 111 is 90 degrees, the lead storage battery 110 is electrically connected with the retracting motor 111 through a lead, the retracting motor 111 is electrically connected with an intelligent control terminal 15, a camera mechanism 18 and a driving motor 19 through leads, the retracting motors 111 are respectively arranged in two groups, the two groups are respectively arranged at two side edges of the upper end of the bottom plate of the chassis 11, the transmission shaft of the retracting motor 111 is fixedly connected with one end of a connecting rod 113 through a coupler 112, the other end of the connecting rod 113 penetrates through the side wall of the chassis 11 and extends to the outside thereof, and the tail, receive and release motor 111 through opening and folding of rotation control horizontal pole 141 and montant 143, horizontal pole 141 and montant 143 cooperate the crashproof roof 13 of chassis 11 front end to protect equipment when opening, avoid the robot by the branch fish tail when walking, the space of reducing equipment after horizontal pole 141 and montant 143 are folding, conveniently walk when not patrolling, convenient practicality.

EXAMPLE III

Referring to fig. 5-6, the scratch-proof mechanism 14 of the four-wheeled robot for hillside orchards includes a cross bar 141, a connecting member 142, vertical bars 143, and connecting members 144, wherein the bottoms of the cross bar 141 are respectively and uniformly disposed on five groups of the connecting members 142, five groups of the identical vertical bars 143 are respectively and movably connected to the bottoms of the cross bar 141 by the connecting members 144 at the top ends thereof and the connecting members 142, and the lower ends of the vertical bars 143 are fixedly mounted on the outer walls of the two sides of the chassis 11 by another connecting member 144 and the connecting members 142.

Example four

Referring to fig. 7-8, an inspection four-wheeled robot for hillside orchards, the attacking device 2 includes a fixing plate 21, a bracket 22, a barrel 23, a screw 24, an adjusting motor 25 and a storage hopper 26, the fixing plate 21 is mounted on the upper end of the chassis 11 near the front edge through a fixing bolt, the bracket 22 is integrally disposed on each of two sides of the upper end of the fixing plate 21, the barrel 23 is mounted between the sidewalls of the bracket 22 through the screw 24 on the outer walls of the two sides, one end of the screw 24 on one side of the barrel 23, far away from the barrel 23, penetrates through the sidewall of the fixing plate 21, the tail end of the screw is fixedly connected with the output end of the adjusting motor 25 disposed on the outer wall of the fixing plate 21, the storage hopper 26 is mounted on the top of the barrel 23 and is communicated with the barrel 23 through a discharge pipe on the bottom, an electric discharge valve is disposed at the.

A baffle plate 27 is arranged between the inner walls at the end port of the gun barrel 23, a cross column of the T-shaped metal piece 28 penetrates through the side wall of the baffle plate 27 and extends into the gun barrel 23, the end of the cross column of the T-shaped metal piece 28 is fixedly connected with a push plate 29, the push plate 29 is arranged close to the end port of the bottom of a discharge pipe of the storage hopper 26, a spring 210 is wound on the outer wall of the cross column of the T-shaped metal piece 28 between the push plate 29 and the baffle plate 27, and one end of the spring 210 is fixedly connected with the side; the welding has the end cover on 23 terminal port outer walls of barrel, and install electro-magnet 211 on the inner wall of end cover, the riser setting of electro-magnet 211 laminating T type metalwork 28, and electro-magnet 211 and the automatic control switch 212 of gomphosis on the end cover lateral wall electric connection, and electric connection between automatic control switch 212 and intelligent control terminal 15, thereby utilize the earth spherule bullet that the relaxation force cooperation push pedal 29 after the compression of spring 210 will follow storage hopper 26 and get off to jet out, attack thief and the birds of stealing and eating, in time drive it and reduce the loss of fruit grower, and the earth spherule is as the shell, need not to retrieve and pollution-free after the jet-out.

In summary, the following steps: the four-wheel robot for patrolling the hillside orchard, provided by the invention, is characterized in that the wheels 12 are respectively arranged at the four corners of the bottom of a chassis 11 of a walking device 1, the side wall of a support inside each wheel 12 is respectively provided with a driving motor 19 for driving, the driving motors 19 are all variable-frequency speed-regulating motors, the robot drives the robot to move forwards through the same-speed operation of the four driving motors 19, and the four driving motors 19 are turned and turned around through the variable-speed operation, so that the four-wheel robot can walk more flexibly and conveniently and can conveniently walk in the hillside orchard; the scratch-proof mechanisms 14 are respectively arranged on the outer walls of two sides of the chassis 11, the cross rod 141 and the vertical rod 143 are movably mounted on the outer walls of two sides of the chassis 11 through the matching of the connecting piece 142 and the connecting head 144, the upper end of the bottom plate in the chassis 11 is provided with the retractable motor 111 which controls the opening and folding of the cross rod 141 and the vertical rod 143 through rotation, the cross rod 141 and the vertical rod 143 are matched with the anti-collision top plate 13 at the front end of the chassis 11 to protect equipment when the cross rod 141 and the vertical rod 143 are opened, the robot is prevented from being scratched by branches when walking, the space of the equipment is reduced after the cross rod 141 and the vertical rod 143; the upper end of chassis 11 is close to front end border department fixed connection attack device 2, utilize baffle 27 on the terminal inner wall of barrel 23, T type metalwork 28 and spring 210 set up push pedal 29, and it has control spring 210's flexible to set up electro-magnet 211 and utilize its magnetism, thereby utilize the diastole power cooperation push pedal 29 after the spring 210 compression will follow the ejection of earth pelleted bullet that gets off in the storage hopper 26, attack thief and the birds of stealing and eating, in time drive it and reduce the loss of fruit grower, and the earth pelleted bullet is as the shell, need not to retrieve and pollution-free after the ejection.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

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

Claims

1. The utility model provides a hillside orchard is with inspection four-wheeled robot, includes running gear (1) and attack device (2), and install in the upper end of running gear (1) attack device (2), its characterized in that: the walking device (1) comprises a chassis (11), wheels (12), an anti-collision top plate (13), a scratch-proof mechanism (14), an intelligent control terminal (15), a mounting seat (16), a stand column (17) and a camera shooting mechanism (18), wherein the wheels (12) are respectively arranged at four corners of the bottom of the chassis (11), the anti-collision top plate (13) is fixedly arranged on the outer wall of the front end of the chassis (11), the scratch-proof mechanism (14) is respectively arranged on the outer walls of two sides of the chassis (11), an intelligent control terminal (15) is mounted on one side, close to the back, of the upper end of the chassis (11) through a fixing bolt, a mounting seat (16) is arranged at the top of the intelligent control terminal (15), the bottom end of an upright post (17) is sleeved inside the mounting seat (16), a camera shooting mechanism (18) is mounted at the top of the upright post (17), and an attacking device (2) is fixedly connected to the upper end of the chassis (11), close to the front end edge;

the attack device (2) comprises a fixing plate (21), a support (22), a gun barrel (23), a screw rod (24), an adjusting motor (25) and a storage hopper (26), wherein the fixing plate (21) is installed at the upper end of a chassis (11) close to the front end edge through a fixing bolt, the two sides of the upper end of the fixing plate (21) are respectively provided with the integrated support (22), the gun barrel (23) is installed between the side walls of the support (22) through the screw rods (24) on the outer walls of the two sides, one end, far away from the gun barrel (23), of the screw rod (24) on one side of the gun barrel (23) penetrates through the side wall of the fixing plate (21), the tail end of the screw rod is fixedly connected with the output end of the adjusting motor (25) arranged on the outer wall of the fixing plate (21), the storage hopper (26) is installed at the top of the gun barrel (23) and is communicated with the gun barrel (23, soil pellets are contained in the storage hopper (26).

2. The patrolling four-wheeled robot for a hillside orchard according to claim 1, wherein: the side wall of the support at the inner side of the wheel (12) is respectively provided with a driving motor (19), and the driving motors (19) are all variable frequency speed regulating motors, and the model number of the variable frequency speed regulating motors is YTSP 132M-4.

3. The patrolling four-wheeled robot for a hillside orchard according to claim 1, wherein: scratch-proof mechanism (14) include horizontal pole (141), connecting piece (142), montant (143) and connector (144), the bottom of horizontal pole (141) evenly sets up respectively in five integrative connecting pieces (142) of group, five complete same montants (143) of group are through connector (144) cooperation connecting piece (142) swing joint respectively in the bottom of horizontal pole (141) on top, and the lower extreme of montant (143) through another connector (144) and connecting piece (142) fixed mounting on the both sides outer wall of chassis (11).

4. The patrolling four-wheeled robot for a hillside orchard according to claim 1, wherein: chassis (11) are hollow structure, the bottom plate upper end on chassis (11) has set gradually lead accumulator (110) and has received and release motor (111) respectively, lead accumulator (110) and receive and release motor (111) between through wire electric connection, and receive and release motor (111) through the wire respectively with intelligent control terminal (15), electric connection between camera shooting mechanism (18) and driving motor (19), receive and release motor (111) and set up the same two sets ofly, and be located both sides border department of chassis (11) bottom plate upper end respectively, the transmission shaft that receives and releases motor (111) passes through shaft coupling (112) and links to each other with the one end of connecting rod (113) is fixed, the other end of connecting rod (113) runs through the lateral wall of chassis (11) and extends to its outside, and the end runs through behind montant (143) bottom connecting piece (142) lateral wall and links to each other with connecting head (144) one.

5. The patrolling four-wheeled robot for a hillside orchard according to claim 4, wherein: the retraction motor (111) is a forward and reverse rotation asynchronous motor, the model number of the retraction motor is 3IK15RGN-C, and the maximum deflection angle of a transmission shaft of the retraction motor (111) is 90 degrees.

6. The patrolling four-wheeled robot for a hillside orchard according to claim 1, wherein: the solar energy storage and transportation system is characterized in that the two side edges of the upper end of the chassis (11) are respectively provided with an integrated fixing table (114), the upper end of the fixing table (114) is respectively provided with a solar panel (115), and the solar panel (115) is electrically connected with the lead storage battery (110).

7. The patrolling four-wheeled robot for a hillside orchard according to claim 1, wherein: the intelligent control terminal is characterized in that a wireless receiving and transmitting antenna (116) is arranged at the corner of the upper end of a chassis (11) on one side of the intelligent control terminal (15), the wireless receiving and transmitting antenna (116) is electrically connected with the intelligent control terminal (15), and the intelligent control terminal (15) is remotely connected with a computer host of an orchard monitoring machine room through the wireless receiving and transmitting antenna (116).

8. The patrolling four-wheeled robot for a hillside orchard according to claim 1, wherein: the camera shooting mechanism (18) comprises a machine shell (181), infrared cameras (182) and illuminating lamps (183), the infrared cameras (182) are respectively installed on two sides of the front face of the machine shell (181) in a jogged mode, and the illuminating lamps (183) are arranged on the top edge of the machine shell (181) between the infrared cameras (182).

9. The patrolling four-wheeled robot for a hillside orchard according to claim 1, wherein: be provided with baffle (27) between the inner wall of barrel (23) end port department, the spreader of T type metalwork (28) runs through baffle (27) lateral wall and extends to the inside of barrel (23), the spreader end fixedly connected with push pedal (29) of T type metalwork (28), the discharging pipe bottom port setting of storage hopper (26) is pressed close to in push pedal (29), and the winding is provided with spring (210) on T type metalwork (28) spreader outer wall between push pedal (29) and baffle (27), the one end of spring (210) links to each other with the lateral wall of push pedal (29) is fixed.

10. The patrolling four-wheeled robot for a hillside orchard according to claim 1, wherein: the gun barrel is characterized in that an end cover is welded on the outer wall of a terminal port of the gun barrel (23), an electromagnet (211) is installed on the inner wall of the end cover, the electromagnet (211) is attached to a vertical plate of a T-shaped metal piece (28), the electromagnet (211) is electrically connected with a self-control switch (212) embedded on the side wall of the end cover, and the self-control switch (212) is electrically connected with an intelligent control terminal (15).