MOBILE ROBOT FOR WHITEWASHING TREE TRUNKS Russian patent published in 2023 - IPC A01G13/00 B05B9/00 

FIELD: agricultural engineering.

SUBSTANCE: invention relates to robotic technical means for whitewashing tree trunks, mainly in orchards. The mobile robot contains a self-propelled four-wheeled chassis in the form of a horizontal frame with two guiding front and two driving rear wheels, an autonomous power supply system in the form of an on-board battery pack, a control and navigation system in the form of an on-board computer, a control unit for chassis electric drives, an integrated navigation system module, a system technical vision, including a three-dimensional scanning laser optical rangefinder and digital optoelectronic sensors mounted on the frame, a spraying system, including an automatic control unit for the supply, flow and distribution of the working solution, a tank, a pumping unit. It additionally contains a protective screen, a driven wheel, a plain bearing, an electric drive with a drive gear, rolling bearings, pivot joints and four rods with magnetic sensors. The protective screen and the tank are rigidly attached from below to the driven wheel, which rests on a plain bearing and is driven by an electric drive with a drive gear. Rolling bearings are mounted on the top in the lower part of the frame on both sides along the contour of the protective screen and provide free movement of the protective screen between these bearings, while in front and behind the frame, rods with magnetic sensors are pivotally mounted, located symmetrically relative to each other on the same axis.

EFFECT: increased performance of the technological process.

1 cl, 3 dwg