Self-propelled cotton full-life-cycle spraying device

Abstract

The invention discloses a self-propelled cotton full-life-cycle spraying device, relates to the technical field of pesticide spraying equipment, and mainly aims to provide a self-propelled cotton full-life-cycle spraying device which not only can perform spraying in a mechanical operation mode, but also can perform spraying on the positions of crops accurately, so that the spraying efficiency is improved. The self-propelled full-life-cycle spraying device for the cotton is capable of reducing the drifting phenomenon of fog drops. According to the main technical scheme, the self-propelled cotton full-life-cycle spraying device comprises a rack; the walking part is mounted at the lower part of the rack; the spraying component comprises a first moving mechanism, a rack component and a spray head component, the first moving mechanism is installed on the rack, the rack component is movably connected to the first moving mechanism, and the spray head component is arranged on the rack component; and the image acquisition component comprises a second moving mechanism and a camera shooting component, and the camera shooting component is movably connected to the second moving mechanism. The pesticide sprayer is mainly used for spraying pesticides.

Description

Technical Field

[0001] This invention relates to the field of pesticide spraying equipment technology, and in particular to a self-propelled cotton full life cycle spraying device. Background Technology

[0002] Pesticide use is an indispensable and crucial step in controlling agricultural pests. The rational use of pesticides helps improve productivity and crop quality, playing an irreplaceable role in controlling major pests and diseases and ensuring national food security. There are two main methods of pesticide application: ground spraying and aerial spraying. Ground spraying primarily uses backpack sprayers, stretcher-mounted electric sprayers, or electric sprayers. While these methods offer lower drift and higher spraying precision, they are labor-intensive, inefficient, and result in low pesticide utilization. They can also damage crops, reduce acreage, and cause soil compaction. Furthermore, small backpack sprayers can easily expose operators to hazardous environments during spraying.

[0003] In comparison, aerial spraying is highly efficient, low-cost, and effective, spraying always above the crop without requiring fieldwork and reducing farmer exposure risks. Currently, using agricultural drones for pesticide application has become a primary mode for rapid and efficient pest and disease control, and with increasingly sophisticated hardware, it has been recognized as a highly efficient application technology. However, compared to ground spraying, agricultural drones fly at higher speeds, are higher above the crop canopy, and produce smaller droplet sizes, inevitably leading to a greater risk of droplet drift. Furthermore, in the early stages of seedling growth, with larger spacing between plants, continuous spraying with existing methods results in wasted and lost pesticide solution, making precise quantitative application difficult. Additionally, when plants are dense and foliage is thick, there are issues with incomplete, uneven, and incomplete pesticide application. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a self-propelled cotton full life cycle spraying device, the main purpose of which is to provide a self-propelled cotton full life cycle spraying device that can not only spray through mechanical operation, but also accurately spray the crop location, thereby reducing droplet drift.

[0005] To achieve the above objectives, the present invention mainly provides the following technical solutions:

[0006] This invention provides a self-propelled cotton full-lifecycle spraying device, which includes:

[0007] frame;

[0008] A traveling component, which is mounted on the lower part of the frame;

[0009] A spraying component, comprising a first moving mechanism, a rack component, and a nozzle component, wherein the first moving mechanism is mounted on the frame, the rack component is movably connected to the first moving mechanism, and the nozzle component is disposed on the rack component;

[0010] An image acquisition component, comprising a second moving mechanism and a camera component, wherein the camera component is movably connected to the second moving mechanism.

[0011] Furthermore, the first moving mechanism and the second moving mechanism are moving components, each of which includes a sliding housing, a stepper motor, a lead screw body, and a lead screw nut. The stepper motor is installed at both ends of the sliding housing, the lead screw body is connected to the output end of the stepper motor, the lead screw nut is installed on the lead screw, and the rack component / the camera component is fixedly connected to the lead screw nut.

[0012] Furthermore, the rack component includes a first servo motor, a transmission gear, a first connecting housing, and a rack body. The first connecting housing is fixedly connected to the lead screw nut. The output end of the first servo motor passes through the first connecting housing and is connected to the transmission gear. The rack body meshes with the transmission gear.

[0013] Furthermore, the nozzle component includes a fluid conduit, a flow switch, and a nozzle body. The fluid conduit is disposed inside the rack body and extends through the rack body. One end of the flow switch is connected to the fluid conduit, and the other end is connected to the nozzle body.

[0014] Furthermore, the camera component includes a second servo motor, a second connecting housing, a rotating lead screw, a rotating nut, and a camera. The second connecting housing is fixedly connected to the lead screw and nut. The output end of the second servo motor passes through the second connecting housing and is connected to the rotating lead screw. The rotating nut is mounted on the rotating lead screw, and the camera is mounted on the rotating nut.

[0015] Furthermore, the walking component includes a power motor, a steering motor, a connector, a steering gear component, a steering mounting bracket, and a tire. The output end of the steering motor passes through the connector and is connected to the steering gear component. The upper end of the steering mounting bracket is fixedly connected to the steering gear component. The tire is disposed in the middle of the steering mounting bracket. The output end of the power motor passes through the side of the steering mounting bracket and is connected to the tire.

[0016] Furthermore, the steering mounting bracket includes a frame, a first bearing seat, a second bearing seat, a rotating shaft, and a flat key. The two ends of the lower part of the frame are fixedly connected to the first bearing seat and the second bearing seat. The output end of the power motor passes through the first bearing seat and is connected to the rotating shaft. The rotating shaft passes through the first bearing seat, the tire, and the second bearing seat. The flat key is disposed between the tire and the rotating shaft.

[0017] Furthermore, the air supply component includes an axial flow fan, an air supply barrel, and an air outlet duct. The air supply barrel is mounted on the frame and located on one side of the spraying component. The axial flow fan is mounted at both ends of the air supply barrel. One end of the air outlet duct is connected to the lower part of the air supply barrel, and the other end extends toward the nozzle component.

[0018] Furthermore, the air supply component also includes an adjusting plate and a telescopic rod. One end of the adjusting plate is rotatably connected to the edge of the air outlet duct, and one end of the telescopic rod is fixedly connected to the inner wall of the air outlet duct, while the other end is connected to the adjusting plate.

[0019] This invention proposes a self-propelled cotton full-lifecycle spraying device. The frame houses a walking component, a spraying component, and an image acquisition component. The walking component, installed at the lower part of the frame, controls the movement and steering of the device. The spraying component precisely sprays the crop, comprising a first moving mechanism, a rack component, and a nozzle component. The first moving mechanism is mounted on the frame, the rack component is movably connected to it, and the nozzle component is mounted on the rack component. The image acquisition component determines plant spacing, counts the number of cotton plants, and captures the height of the lens relative to the cotton plants and the ground. The image acquisition component includes a second moving mechanism and a camera component, movably connected to the second moving mechanism. Compared to existing technologies, pesticide spraying methods mainly fall into two categories: ground spraying, which primarily uses backpack sprayers, stretcher-type electric sprayers, or electric sprayers. Not only are current methods labor-intensive, inefficient, and result in low pesticide utilization, but they also damage crops, reduce production area, and cause soil compaction. Furthermore, small backpack sprayers easily expose operators to hazardous environments during spraying. Another method is aerial spraying, where agricultural drones fly at high speeds above the crop canopy, producing small droplets that inevitably lead to greater droplet drift risks. Moreover, in the early seedling stages, with large spacing between plants, current continuous spraying methods result in pesticide waste and runoff, making precise quantitative fertilization difficult. Additionally, when plants are dense and foliage is thick, there are problems with incomplete, uneven, and incomplete pesticide application. This technical solution addresses these issues by installing a walking mechanism at the bottom of the frame, allowing it to move across the field. The spraying components and imaging system are then mounted on the frame. The image acquisition component uses machine vision to calculate the plant spacing in the direction of travel, count the number of plants, acquire the height of the lens relative to the plants and the ground, and record the coordinate information of the plants. The first moving mechanism and the rack and pinion component work together to adjust the position of the nozzle component based on the data acquired by the image acquisition component, thereby adjusting the spacing of the nozzle component and its height relative to the plants and the ground. The nozzle component sprays the plants using pulse spraying or continuous spraying. This not only allows for adjustment of the spraying position according to the plant spacing and height, improving spraying efficiency and reducing the risk of droplet drift, but also saves pesticide solution, improves work efficiency and pesticide effectiveness. At the same time, it also eliminates the risk of drone crashes and increases the terrain applicability of the device, thereby achieving the technical effect of improving the applicability of the device. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a self-propelled cotton full life cycle spraying device provided in an embodiment of the present invention;

[0021] Figure 2This is a schematic diagram of the structure of a spraying component provided in an embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of a rack component provided in an embodiment of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of an image acquisition component provided in an embodiment of the present invention;

[0024] Figure 5 A three-dimensional structural diagram of a walking component provided in an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the disassembled structure of a walking component provided in an embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of the structure of an air supply component provided in an embodiment of the present invention. Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0028] like Figures 1 to 7 As shown, this embodiment of the invention provides a self-propelled cotton full-lifecycle spraying device, which includes:

[0029] Rack 1;

[0030] Walking component 2 is installed on the lower part of frame 1;

[0031] The spraying component 3 includes a first moving mechanism, a rack component 32, and a nozzle component 33. The first moving mechanism is mounted on the frame 1, the rack component 32 is movably connected to the first moving mechanism, and the nozzle component 33 is disposed on the rack component 32.

[0032] Image acquisition component 4 includes a second moving mechanism and a camera component, with the camera component movably connected to the second moving mechanism.

[0033] This invention proposes a self-propelled cotton full-lifecycle spraying device. The frame 1 houses the walking component 2, spraying component 3, and image acquisition component 4. The walking component 2 controls the device's movement and steering, and is mounted on the lower part of the frame 1. The spraying component 3 precisely sprays the crop, and includes a first moving mechanism, a rack component 32, and a nozzle component 33. The first moving mechanism is mounted on the frame 1, the rack component 32 is movably connected to it, and the nozzle component 33 is mounted on the rack component 32. The image acquisition component 4 determines the plant spacing, counts the number of cotton plants, and acquires the height of the lens relative to the cotton plants and the ground. The image acquisition component 4 includes a second moving mechanism and a camera component, which is movably connected to the second moving mechanism. Compared to existing technologies, pesticide spraying methods mainly fall into two categories: ground spraying, which primarily uses backpack sprayers, stretcher-type electric sprayers, or electric sprayers. Not only are current methods labor-intensive, inefficient, and result in low pesticide utilization, but they also damage crops, reduce production area, and cause soil compaction. Furthermore, small backpack sprayers easily expose operators to hazardous environments during spraying. Another method is aerial spraying, where agricultural drones fly at high speeds above the crop canopy, producing small droplets that inevitably lead to greater droplet drift risks. Moreover, in the early seedling stages, with large spacing between plants, current continuous spraying methods result in pesticide waste and loss, making precise quantitative fertilization difficult. Additionally, when plants are dense and foliage is thick, there are problems with incomplete, uneven, and incomplete pesticide application. This technical solution addresses these issues by installing a walking component 2 at the bottom of the frame 1, enabling the frame 1 to move across the field. A spraying component 3 and an image acquisition unit are then installed on the frame 1. Component 4, the image acquisition component 4, calculates the plant spacing in the direction of travel using machine vision, counts the number of plants, acquires the height of the lens relative to the plants and the ground, and records the coordinate information of the plants. The first moving mechanism and the rack component 32 cooperate with each other to adjust the position of the nozzle component 33 according to the data acquired by the image acquisition component 4, thereby adjusting the spacing of the nozzle component 33 and its height relative to the plants and the ground. The nozzle component 33 sprays the plants using pulse spraying or continuous spraying. This not only allows for adjustment of the spraying position according to the plant spacing and height, improving spraying efficiency and reducing the risk of droplet drift, but also saves pesticide solution, improves work efficiency and pesticide effectiveness. At the same time, it also eliminates the risk of drone crashes and increases the terrain applicability of the device, thereby achieving the technical effect of improving the applicability of the device.

[0034] The aforementioned frame 1 serves to mount the walking component 2, spraying component 3, and image acquisition component 4. The frame is made of stainless steel and has a rectangular or cubic structure. The walking component 2 controls the movement and steering of the equipment. It is mounted on the lower part of the frame 1. The frame 1 also houses a medicine tank, booster pump, flow meter, navigation system, and battery—all mature products—which will not be discussed in detail here. The spraying component 3 precisely sprays the crop. The spraying component 3 includes… The first moving mechanism, rack component 32, and nozzle component 33 are mounted on the frame 1. The rack component 32 is movably connected to the first moving mechanism, and the nozzle component 33 is mounted on the rack component 32. The first moving mechanism can drive the rack component 32 to move laterally. The nozzle component 33 is mounted on the rack component 32 and can drive the nozzle component 33 to move up and down. The nozzle component 33 is connected to the medicine tank, which provides medicine to the nozzle component 33, which then sprays the medicine. The image acquisition component 4 is used to determine the plant spacing, count the number of cotton plants, and collect data. The image acquisition component 4 includes a second moving mechanism and a camera component, with the camera component movably connected to the second moving mechanism. In this technical solution, a walking component 2 is installed at the lower part of the frame 1, allowing the frame 1 to move in the farmland. A spraying component 3 and an image acquisition component 4 are then installed on the frame 1. The image acquisition component 4 calculates the plant spacing in the direction of travel using machine vision, counts the number of plants, acquires the height of the lens relative to the plants and the ground, and records the coordinate information of the plants. The first moving mechanism and the rack component 32 cooperate to... The image acquisition component 4 collects data to adjust the position of the nozzle component 33, thereby adjusting the spacing of the nozzle component 33 and its height relative to the plant and the ground. The nozzle component 33 sprays the plant using pulse spraying or continuous spraying. This not only allows for adjustment of the spraying position according to the spacing and height of the plant, improving spraying efficiency and reducing the risk of droplet drift, but also saves pesticide solution, improves work efficiency and pesticide effectiveness. At the same time, it eliminates the risk of drone crashes and increases the terrain applicability of the device, thereby achieving the technical effect of improving the applicability of the device.

[0035] Furthermore, the first and second moving mechanisms are moving components, each including a sliding housing 51, a stepper motor 52, a lead screw body 53, and a lead screw nut 54. The stepper motor 52 is installed at both ends of the sliding housing 51, the lead screw body 53 is connected to the output end of the stepper motor 52, the lead screw nut 54 is installed on the lead screw, and the rack component 32 / camera component is fixedly connected to the lead screw nut 54. In this embodiment, a first moving mechanism and a second moving mechanism are further defined. The first moving mechanism and the second moving mechanism have the same structure. The sliding housing 51 is fixed in the middle of the frame 1. The medicine box can be installed on the upper part of the frame 1. The stepper motor 52 is installed at both ends of the sliding housing 51. The output end of the stepper motor 52 is connected to the lead screw body 53 and can drive the lead screw to rotate around its axis. The lead screw nut 54 is set on the lead screw body 53 and can move back and forth along the axis of the lead screw body 53. Multiple rack components 32 / camera components are installed on multiple lead screw nuts 54. Of course, the position of the lead screw nut 54 can also be adjusted by manually moving the lead screw nut 54, thereby achieving the technical effect of adjusting the position of the rack component 32 / camera component.

[0036] Furthermore, the rack component 32 includes a first servo motor 321, a transmission gear 322, a first connecting housing 323, and a rack body 324. The first connecting housing 323 is fixedly connected to the lead screw nut 54. The output end of the first servo motor 321 passes through the first connecting housing 323 and is connected to the transmission gear 322. The rack body 324 meshes with the transmission gear 322. In this embodiment, the rack component 32 is further defined. The first servo motor 321 is fixed on the first connecting housing 323, which is fixed on the lead screw nut 54. The first connecting housing 323 has a hollow structure in the middle. The transmission gear 322 and the rack body 324 are disposed inside the first connecting housing 323. The rack body 324 is longitudinally disposed inside the first connecting housing 323, and the protruding teeth on the rack body 324 mesh with the transmission gear 322. The first servo motor 321 passes through the first connecting housing 323 and is connected to the transmission gear 322. When the first servo motor 321 is started, it can drive the transmission gear 322 to rotate, causing the rack body 324 to move up and down, thereby achieving the technical effect of adjusting the up and down position of the nozzle component 33.

[0037] Furthermore, the nozzle component 33 includes a fluid conduit 331, a flow switch 332, and a nozzle body. The fluid conduit 331 is disposed inside the rack body 324 and penetrates through the rack body 324. One end of the flow switch 332 is connected to the fluid conduit 331, and the other end is connected to the nozzle body. In this embodiment, the nozzle component 33 is further defined. The fluid conduit 331 is a rigid pipe, disposed inside the rack component 32, and arranged longitudinally. One end of the fluid conduit 331 is connected to the medicine tank via a flexible hose, and the other end is equipped with the flow switch 332. The nozzle body is mounted on the flow switch 332. The medicine is delivered to the fluid conduit 331 and the nozzle body. The nozzle body can spray using pulse spraying or continuous spraying. When using pulse spraying, the flow switch 332 sprays in a "-on-off-on-" cyclic state. The application time is very short, and the time required for spraying a single plant can be determined according to the plant coverage and nozzle type. That is, the duration for which the flow switch 332 is open is determined by the computing power of the equipment system. The data information of the image acquisition is transmitted to the first moving mechanism and the flow switch 332 in real time and dynamically, continuously correcting the distance between the nozzle and the plant and the nozzle spacing, so as to accurately achieve quantitative, fixed-point, and uninterrupted continuous pulse spraying. When the plant is relatively lush and the leaves are dense, there are problems such as "not being able to penetrate, not being able to spray evenly, and not being able to spray completely". It is necessary to change the spraying method. The flow switch 332 is always open, and the pulse spraying is changed to continuous spraying.

[0038] Furthermore, the camera component includes a second servo motor 41, a second connecting housing 42, a rotating screw, a rotating nut, and a camera 45. The second connecting housing 42 is fixedly connected to the screw nut 54. The output end of the second servo motor 41 passes through the second connecting housing 42 and is connected to the rotating screw. The rotating nut is mounted on the rotating screw, and the camera 45 is mounted on the rotating nut. In this embodiment, the camera component is further defined. The function of the second servo motor 41 is to adjust the position of the camera 45. The second connecting housing 42 is fixed to the screw nut 54, and the second servo motor 41 is mounted on the second connecting housing 42. One end of the rotating screw is connected to the output end of the second servo motor 41. The rotating nut is mounted on the rotating screw, and the camera 45 is mounted on the side of the rotating nut. When the rotating screw rotates, the rotating nut can drive the camera 45 to move up and down, thereby achieving the technical effect of adjusting the height of the camera 45. Specifically, the camera 45 records the first plant, and the travel speed is set to v. The camera 45 and the nozzle are... If the distance between the moving parts is s, then after a period of time t (t = s / v), the flow switch 332 opens from the closed state, spraying the first plant in the row. Assuming the plants grow uniformly and the spacing between plants in each row is constant (within spacing l being open space), the nozzle spraying interval is t0 = l / v. That is, the flow switch 332 cycles through "-open-close-open-" based on the plant spacing provided by the image acquisition, with the closing time being t0. When the plants grow unevenly, resulting in missing or dead seedlings, to prevent waste of pesticide spraying, the image acquisition system accurately displays the locations of missing or dead seedlings and recalculates the plant spacing L before and after the current position. i The spraying interval of the nozzle at this position is t. 0i =L i / v.

[0039] Furthermore, the traveling component 2 includes a power motor 21, a steering motor 22, a connecting member 23, a steering gear 24, a steering mounting bracket, and a tire 26. The output end of the steering motor 22 passes through the connecting member 23 and is connected to the steering gear 24. The upper end of the steering mounting bracket is fixedly connected to the steering gear 24. The tire 26 is located in the middle of the steering mounting bracket. The output end of the power motor 21 passes through the side of the steering mounting bracket and is connected to the tire 26. In this embodiment, the traveling component 2 is further defined. The steering motor 22 is mounted on the frame 1. The output end of the steering motor 22 passes through the crossbar of the frame 1 and the connecting member 23 and is connected to the steering gear 24. The steering mounting bracket is fixed on the steering gear 24. The tire 26 is located in the lower part of the steering mounting bracket. The power motor 21 is mounted on the side of the steering mounting bracket. The connecting member 23 is fixed on the frame 1. When the power motor 21 is started, it can drive the tire 26 to rotate. When the steering motor 22 is started, it can drive the steering gear 24, the steering mounting bracket, and the tire 26 to rotate, thereby achieving the technical effect of changing the moving direction of the frame 1.

[0040] Furthermore, the steering mounting bracket includes a frame 251, a first bearing seat 252, a second bearing seat 253, a rotating shaft 254, and a flat key 255. The two ends of the lower part of the frame 251 are fixedly connected to the first bearing seat 252 and the second bearing seat 253. The output end of the power motor 21 passes through the first bearing seat 252 and is connected to the rotating shaft 254. The rotating shaft 254 passes through the first bearing seat 252, the tire 26, and the second bearing seat 253. The flat key 255 is disposed between the tire 26 and the rotating shaft 254. In this embodiment, a steering mounting bracket is further defined. The bracket 251 adopts a U-shaped bracket. The upper end of the bracket 251 is equipped with a steering gear component 24. The two ends of the lower part of the bracket 251 are respectively fixedly connected to the first bearing seat 252 and the second bearing seat 253. The rotating shaft 254 is installed between the first bearing seat 252 and the second bearing seat 253. The output end of the power motor 21 is fixedly connected to the rotating shaft 254. A flat key 255 is provided between the tire 26 and the rotating shaft 254 to connect and fix the position of the tire 26 and the rotating shaft 254. When the power motor 21 is started, it can drive the rotating shaft 254 and the tire 26 to rotate around its axis, thereby achieving the technical effect of driving the tire 26 to rotate.

[0041] Furthermore, an air supply component is included, comprising an axial flow fan 61, an air supply tube 62, and an air outlet duct 63. The air supply tube 62 is mounted on the frame 251 and located on one side of the spraying component 3. The axial flow fan 61 is installed at both ends of the air supply tube 62. One end of the air outlet duct 63 is connected to the lower part of the air supply tube 62, and the other end extends towards the nozzle component 33. In this embodiment, an air supply component is added. The function of the air supply component is to blow the liquid sprayed from the nozzle component 33 towards the plant. When the plant is lush and the leaves are dense, and a continuous spraying method is required, the axial flow fan 61 will compress the air through the air supply tube 62, increase the wind speed, and blow it towards the plant to be sprayed. Under the action of the wind, the plant tilts in the forward direction, exposing the entire plant. At the same time, the wind will increase the movement speed of the liquid, making the liquid as close to the plant as possible.

[0042] Furthermore, the air supply component also includes an adjusting plate 64 and a telescopic rod 65. One end of the adjusting plate 64 is rotatably connected to the edge of the air outlet duct 63, and one end of the telescopic rod 65 is fixedly connected to the inner wall of the air outlet duct 63, while the other end is connected to the adjusting plate 64. In this embodiment, an adjusting plate 64 and a telescopic rod 65 are added. One end of the telescopic rod 65 is fixed to the air outlet duct, and the other end is connected to the adjusting plate 64. One end of the adjusting plate 64 is rotatably connected to the air outlet duct, and the other end extends towards the plant. By adjusting the length of the telescopic rod 65, the angle of the adjusting plate 64 is changed, causing the air to blow the pesticide solution towards the plant, thereby achieving the technical effect of improving the efficiency of pesticide application.

[0043] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A self-propelled cotton full-lifecycle spraying device, characterized in that, include: frame; A traveling component, which is mounted on the lower part of the frame; A spraying component, comprising a first moving mechanism, a rack component, and a nozzle component, wherein the first moving mechanism is mounted on the frame, the rack component is movably connected to the first moving mechanism, and the nozzle component is disposed on the rack component; An image acquisition component, comprising a second moving mechanism and a camera component, wherein the camera component is movably connected to the second moving mechanism.

2. The self-propelled cotton full-lifecycle spraying device according to claim 1, characterized in that, The first moving mechanism and the second moving mechanism are moving components. Each moving component includes a sliding housing, a stepper motor, a lead screw body, and a lead screw nut. The stepper motor is installed at both ends of the sliding housing. The lead screw body is connected to the output end of the stepper motor. The lead screw nut is installed on the lead screw. The rack component / the camera component is fixedly connected to the lead screw nut.

3. The self-propelled cotton full-lifecycle spraying device according to claim 2, characterized in that, The rack component includes a first servo motor, a transmission gear, a first connecting housing, and a rack body. The first connecting housing is fixedly connected to the lead screw nut. The output end of the first servo motor passes through the first connecting housing and is connected to the transmission gear. The rack body meshes with the transmission gear.

4. A self-propelled cotton full-lifecycle spraying device according to claim 3, characterized in that, The nozzle component includes a fluid conduit, a flow switch, and a nozzle body. The fluid conduit is disposed inside the rack body and extends through the rack body. One end of the flow switch is connected to the fluid conduit, and the other end is connected to the nozzle body.

5. A self-propelled cotton full-lifecycle spraying device according to claim 2, characterized in that, The camera component includes a second servo motor, a second connecting housing, a rotating lead screw, a rotating nut, and a camera. The second connecting housing is fixedly connected to the lead screw and nut. The output end of the second servo motor passes through the second connecting housing and is connected to the rotating lead screw. The rotating nut is mounted on the rotating lead screw, and the camera is mounted on the rotating nut.

6. A self-propelled cotton full-lifecycle spraying device according to claim 1, characterized in that, The traveling component includes a power motor, a steering motor, a connector, a steering gear, a steering mounting bracket, and a tire. The output end of the steering motor passes through the connector and is connected to the steering gear. The upper end of the steering mounting bracket is fixedly connected to the steering gear. The tire is located in the middle of the steering mounting bracket. The output end of the power motor passes through the side of the steering mounting bracket and is connected to the tire.

7. A self-propelled cotton full-lifecycle spraying device according to claim 6, characterized in that, The steering mounting bracket includes a frame, a first bearing seat, a second bearing seat, a rotating shaft, and a flat key. The two ends of the lower part of the frame are fixedly connected to the first bearing seat and the second bearing seat. The output end of the power motor passes through the first bearing seat and is connected to the rotating shaft. The rotating shaft passes through the first bearing seat, the tire, and the second bearing seat. The flat key is disposed between the tire and the rotating shaft.

8. A self-propelled cotton full-lifecycle spraying device according to claim 1, characterized in that, Also includes: An air supply component includes an axial flow fan, an air supply tube, and an air outlet duct. The air supply tube is mounted on the frame and located on one side of the spraying component. The axial flow fan is mounted at both ends of the air supply tube. One end of the air outlet duct is connected to the lower part of the air supply tube, and the other end extends toward the nozzle component.

9. A self-propelled cotton full-lifecycle spraying device according to claim 8, characterized in that, The air supply component also includes an adjusting plate and a telescopic rod. One end of the adjusting plate is rotatably connected to the edge of the air outlet duct, and one end of the telescopic rod is fixedly connected to the inner wall of the air outlet duct, while the other end is connected to the adjusting plate.

Images