The invention discloses a spray boom
assembly and a lifting spraying device comprising the same. A multi-ground-clearance self-steering smart
sprayer comprises a vehicle platform, the controllable lifting spraying device, a
gasoline power generation and supply device and a control device, wherein two self-steering travelling mechanisms are connected with the vehicle platform through rotating structures respectively; the controllable lifting spraying device is fixed at the
tail part of the vehicle platform and comprises a
sprayer lifting mechanism, the spray boom
assembly and a
pesticide mixing device, the spray boom
assembly is arranged on the
sprayer lifting mechanism and connected with the
pesticide mixing device, and a spray boom can move up and down under drawing of the sprayer lifting mechanism; the
pesticide mixing device is fixed in the middle of a frame platform and used for supplying pesticides to a sprayer for spraying; the
gasoline power generation and supply device is fixed at the front part of the frame platform and taken as a steady
voltage power supply of equipment; the control device is connected with a drive device, a control motor and multiple sensors. According to the equipment, the control device controls four wheel hub motors to realize self-steering based on wheel differential, besides, the control precision is high, and the
turning radius is small.