A suspended self-propelled sprinkling device

Abstract

The present application belongs to the technical field of agricultural sprinkling irrigation device, and particularly relates to a kind of suspension type self-propelled sprinkling irrigation device, including support rail, walking car body, spray bar, multispectral detection component, voice alarm and controller;Walking car body is arranged on support rail and moves along support rail;The electric control unit and spray bar are all arranged on walking car body;Driving device is arranged on walking car body;A plurality of three-color rotary nozzles are uniformly arranged on the spray bar;Through the real-time acquisition of crop canopy spectral information by the multispectral detection component, the controller automatically identifies the crop growth and pest status, matches the corresponding nozzle gear (pre-emergence closed, foliage fertilizer, large-flow watering), and reports the gear that needs to be switched through the voice alarm, realizing the spraying operation based on the actual needs of crops and improving the operation accuracy.

Description

Technical Field

[0001] This invention belongs to the field of agricultural sprinkler irrigation technology, specifically relating to a suspended self-propelled sprinkler irrigation device. Background Technology

[0002] Suspended self-propelled sprinkler irrigation systems are widely used in agricultural production scenarios such as greenhouses and open fields. They can automatically travel along a preset track to irrigate, fertilize, or spray crops. Existing technologies already include some highly automated sprinkler irrigation devices. For example, Chinese patent CN201220749394.7 discloses a fertilization sprinkler irrigation system, which includes a running guide rail, a sprinkler main unit, a fertilization system, and a control system. The sprinkler main unit is mounted on the running guide rail, and the fertilization and control systems are integrated into the sprinkler main unit. A programmable logic controller (PLC) enables the sprinkler machine to perform fully automatic irrigation, fertilization, and pesticide application functions.

[0003] However, this existing technology still has the following shortcomings: operators need to rely on experience to decide when to switch to which nozzle (such as pre-emergence sealing, foliar fertilization, or high-flow irrigation), lacking an intelligent identification and recommendation mechanism based on the actual growth status of the crop (such as nutrient level and pest and disease infestation), which can easily lead to inaccurate application timing, over- or under-application, resulting in waste of agricultural inputs or pesticide damage. Furthermore, when manually switching nozzle settings, this existing technology lacks effective auxiliary prompts and setting confirmation functions.

[0004] Although the existing spray boom is divided into left and right sections, it lacks zone flow monitoring and fault compensation functions. When a nozzle on a certain section of the spray boom becomes clogged or a branch leaks, the system cannot automatically shut down the faulty section and record the fault location, nor can it accurately return to that position to continue spraying after the fault is cleared, resulting in localized missed spraying or repeated spraying, affecting irrigation uniformity. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention aims to provide a suspended self-propelled sprinkler irrigation device that can automatically identify and recommend nozzle settings based on actual crop needs, features voice-assisted prompts and closed-loop setting confirmation, provides zoned flow monitoring and breakpoint resume spraying capabilities, and effectively protects the spectral sensor from pesticide contamination.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A suspended self-propelled sprinkler irrigation device includes a support rail, a traveling vehicle body, a spray boom, a multispectral detection component, a voice alarm, and a controller; the traveling vehicle body is mounted on the support rail and moves along the support rail; the electronic control unit and the spray boom are both mounted on the traveling vehicle body; a drive device is provided on the traveling vehicle body. The spray bar is evenly distributed with several three-color rotating nozzles; the three-color rotating nozzles include three different types of nozzles with different functions, each corresponding to a different nozzle setting; the vehicle body is equipped with a foldable obstacle avoidance bracket and a voice alarm; the multispectral detection component is installed on the foldable obstacle avoidance bracket; the foldable obstacle avoidance bracket is a dual-position flip-adjustment structure, with a spray avoidance position away from the spray area and a sampling position facing the crop canopy; The controller identifies crop growth and pest and disease status through multispectral detection components, matches the corresponding nozzle operation type, and drives the voice alarm to announce the nozzle level to be switched. After the switch is completed, the controller controls the voice alarm to announce the prompt, starts the drive device to carry out the spraying operation, and controls the foldable avoidance bracket to switch to the spraying avoidance position.

[0007] The spray bar is equipped with push-button switches at both ends. After pressing the push-button switch at one end of the spray bar, the operator enters the manual adjustment mode and manually rotates all three-color rotating nozzles. After all nozzles are adjusted, the operator presses the push-button switch at the other end of the spray bar to complete the switching.

[0008] The spray bar includes a left spray bar and a right spray bar; the left spray bar and the right spray bar are respectively connected to the main water inlet pipe through water outlet branch pipes; each water outlet branch pipe is equipped with a flow sensor and a solenoid valve; the main water inlet pipe is equipped with a control valve; the control valve, flow sensor and solenoid valve are all electrically connected to the controller.

[0009] The vehicle body is rotatably connected to a traveling wheel and a drive wheel; the drive device includes a drive motor and a transmission device, the drive motor is connected to the drive wheel through the transmission device and drives the drive wheel to rotate; the drive wheel is connected to an encoder to record the movement position; when the flow rate of any water outlet branch pipe decreases, the controller closes the solenoid valve on the water outlet branch pipe and records the current position as the fault position; when the flow rate of the water outlet branch pipe returns to normal, the drive device moves to the fault position, opens the water outlet branch pipe and continues the spraying operation.

[0010] The vehicle body is equipped with a medicine box rack for placing medicine boxes. The medicine box rack is equipped with a pressure sensor, which is used to detect whether the medicine box is placed in place. The pressure sensor is electrically connected to the controller.

[0011] The three-color rotating nozzles are divided into blue nozzles for pre-emergence sealing operations, yellow nozzles for foliar fertilizer operations, and red nozzles for high-flow watering operations.

[0012] The foldable obstacle avoidance bracket includes a folding bracket, a drive cylinder, and a connecting seat; one end of the folding bracket is hinged to the vehicle body, and both ends of the drive cylinder are hinged to the folding bracket and the vehicle body, respectively; the connecting seat is fixedly connected to the folding bracket, and the multispectral detection component is installed on the connecting seat.

[0013] A shock-absorbing pad is provided between the multispectral detection component and the connecting seat; a support wheel is rotatably connected to the folding bracket, and the support wheel cooperates with the support track.

[0014] Each of the three-color rotary nozzles on the spray bar or at the two ends of the three-color rotary nozzles is equipped with a gear detection component, which detects which nozzle of the three-color rotary nozzle is currently facing down.

[0015] The gear detection component includes a follower ring and micro switches. The follower ring is fixed to the rotating part of the three-color rotary nozzle. The follower ring has three limiting protrusions with different radial dimensions, and the distances between the three limiting protrusions and the rotation center of the three-color rotary nozzle are unequal. The spray bar is equipped with three micro switches. The three micro switches are arranged sequentially from top to bottom. When the three-color rotary nozzle rotates to different nozzle gears, only the limiting protrusion with the corresponding radius touches the corresponding micro switch to conduct, while the remaining two micro switches remain open. The controller identifies the actual nozzle gear based on the on / off combination signal of the micro switches.

[0016] Compared with the prior art, the beneficial effects of this invention are: By collecting crop canopy spectral information in real time through multispectral detection components, the controller automatically identifies crop growth and pest and disease status, matches the corresponding nozzle settings (pre-emergence sealing, foliar fertilizer, high-flow watering), and announces the required settings through a voice alarm, thus realizing spraying operations based on the actual needs of the crop and improving operational accuracy.

[0017] The device employs a foldable obstacle avoidance bracket, which allows the multispectral detection component to be flipped to a working position facing the crop canopy during sampling and to a safe position away from the spraying area during spraying operations. This effectively prevents liquid droplets from adhering to the lens, ensuring the long-term stability of the detection component and the accuracy of the data.

[0018] Push-button switches are installed at both ends of the spray boom. After entering the manual adjustment mode, all nozzles are rotated simultaneously. After switching is completed, confirmation is made via another push-button switch, and a voice alarm provides prompts throughout the process. The actual nozzle position is fed back in real time through a position detection component (follow-up ring and three limit protrusions with different radial dimensions, in conjunction with microswitches), forming a closed-loop verification to ensure that the actual nozzle position matches the operational requirements.

[0019] The spray boom is divided into left and right sections, each independently monitoring the flow rate of its respective branch and equipped with a solenoid valve. When the flow rate of a branch abnormally decreases, the solenoid valve of that branch is automatically closed and the fault location is recorded. After the fault is resolved, it automatically returns to the fault location and resumes spraying, achieving precise compensation for missing areas and avoiding localized missed spraying or repeated spraying. A pressure sensor is installed at the bottom of the medicine tank rack to detect in real time whether the medicine tank is in place. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention in one direction; Figure 2 yes Figure 1 Enlarged view of a portion of point A in the middle; Figure 3 This is the front view of the present invention; Figure 4 This is a schematic diagram of the structure from another direction of the present invention; Figure 5 This is a structural schematic diagram of another aspect of the present invention; Figure 6 yes Figure 5 Enlarged view of a section at point B in the middle; Figure 7 This is a schematic diagram of the gear detection component in this invention; Figure 8 This is a schematic diagram of the structure of the follower ring of the present invention; Figure 9 This is a schematic diagram of the micro switch of the present invention; Wherein: 1 is the support track, 2 is the vehicle body, 21 is the traveling wheel, 22 is the drive wheel, 23 is the medicine tank rack, 231 is the pressure sensor, 3 is the spray bar, 31 is the first button switch, 32 is the second button switch, 33 is the left spray bar, 34 is the right spray bar, 35 is the left water outlet branch pipe, 36 is the right water outlet branch pipe, 37 is the main water inlet pipe, 371 is the control valve, 38 is the flow sensor, 39 is the solenoid valve, 4 is the multispectral detection component, 5 is... The control box includes: 6, drive unit; 61, drive motor; 62, transmission unit; 7, voice alarm; 8, three-color rotating nozzle; 9, foldable obstacle avoidance bracket; 91, folding bracket; 92, drive cylinder; 93, connecting seat; 94, shock absorber; 95, support wheel; 10, gear position detection component; 101, follow-up ring; 102, micro switch; 103, first limit protrusion; 104, second limit protrusion; and 105, third limit protrusion. Detailed Implementation

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0022] Example 1

[0023] This embodiment provides a suspended self-propelled sprinkler irrigation device, such as... Figures 1 to 6 As shown, the system includes a support track 1, a traveling vehicle body 2, a spray bar 3, a multispectral detection component 4, a controller, a drive unit 6, and a voice alarm 7. A control box 5 is fixedly connected to the traveling vehicle body 2, and the controller is located inside the control box 5.

[0024] The support track 1 is suspended from the frame inside the greenhouse. The traveling vehicle body 2 is set on the support track 1, and the traveling wheel 21 and the drive wheel 22 are rotatably connected to the traveling vehicle body 2. The drive wheel 22 is fixedly connected to the rotating shaft, and the rotating shaft is rotatably connected to the traveling vehicle body 2.

[0025] The entire vehicle is moved along the support track 1 by a drive device 6. The drive device 6 specifically includes a drive motor 61 and a transmission device 62. The drive motor 61 is connected to the drive wheel 22 on the vehicle body 2 via the transmission device 62, thereby driving the entire vehicle body 2 along the track. The transmission device 62 can specifically be a belt drive. Pulleys are fixed to the output shaft of the drive motor 61 and the rotating shaft of the drive wheel 22, and the two pulleys are connected by a belt drive. The vehicle body 2 is also equipped with a medicine box rack 23 for placing medicine boxes.

[0026] The spray boom 3 is horizontally mounted below the traveling vehicle body 2 and moves with it. Several tri-color rotary nozzles 8 are evenly arranged along the length of the spray boom 3. Each tri-color rotary nozzle 8 integrates three different functions, each corresponding to a different nozzle setting. For example, the blue nozzle is used for pre-emergence sealing, the yellow nozzle for foliar fertilization, and the red nozzle for high-flow-rate watering. By rotating the nozzle body, the downward-facing nozzle type can be switched, thus changing the operation type.

[0027] The multispectral detection component 4 is used to collect spectral information of the crop canopy in real time to identify the crop's growth status, nutrient level, and pest and disease infestation. To prevent droplets generated during the operation of the spray boom 3 from contaminating the detection component, a foldable obstacle avoidance bracket 9 is provided on the vehicle body 2.

[0028] The bracket is a dual-position flip-adjustment structure, specifically including a folding bracket 91, a drive cylinder 92, and a connecting seat 93. One end of the folding bracket 91 is hinged to the traveling vehicle 2, and both ends of the drive cylinder 92 (such as an electric push rod) are hinged to the folding bracket 91 and the traveling vehicle 2, respectively. The connecting seat 93 is fixed to the folding bracket 91, and the multispectral detection component 4 is mounted on the connecting seat 93. When the drive cylinder 92 extends, the folding bracket 91 flips downward, placing the multispectral detection component 4 in the sampling working position, directly facing the crop canopy; when the drive cylinder 92 retracts, the folding bracket 91 retracts upward, placing the multispectral detection component 4 in the spray avoidance position, away from the spray area of ​​the spray bar 3, to prevent the pesticide from adhering to the lens surface.

[0029] The controller (e.g., PLC, microcontroller, or embedded industrial control board) is electrically connected to the multispectral detection component 4, the drive unit 6, the voice alarm 7, and the drive cylinder 92 of the foldable obstacle avoidance bracket 9. Its working process is as follows: First, the controller moves the walking vehicle 2 to the designated sampling section and controls the foldable obstacle avoidance bracket 9 to rotate to the sampling work position. The multispectral detection component 4 scans and detects the crop canopy below and sends the spectral data to the controller. The controller has pre-stored spectral feature models corresponding to different crop conditions. Through comparison and analysis, it determines whether the current crop needs pre-emergence sealing, foliar fertilization, or a large amount of watering, and thus matches the required nozzle setting (blue, yellow, or red).

[0030] Then, the controller activates the voice alarm 7 to announce the nozzle setting to be switched (e.g., "Please switch to the red nozzle"). Upon hearing the announcement, on-site personnel manually rotate all three-color rotating nozzles 8 to uniformly adjust them to the designated setting. After the switch is complete, the personnel provide feedback via the operation button, and the controller again activates the voice alarm 7 to announce a confirmation prompt (e.g., "Switching complete, start spraying"). Subsequently, the controller activates the drive unit 6, causing the traveling vehicle 2 to move along the track, while simultaneously opening the water / chemical supply lines of the spray boom 3 to begin spraying. Before or at the start of the spraying operation, the controller controls the foldable obstacle avoidance bracket 9 to switch to a spray avoidance position to prevent the multispectral detection component 4 from being contaminated by the chemical solution.

[0031] Furthermore, push-button switches (specifically, a first push-button switch 31 and a second push-button switch 32) are installed at both ends of the spray boom 3. When the operator presses the first push-button switch 31 at one end of the spray boom 3 (e.g., the left end), the controller enters manual adjustment mode. At this time, the controller can temporarily stop moving and announce the desired setting again via the voice alarm 7. The operator manually rotates each of the three-color rotary nozzles 8 along the spray boom 3 in sequence to adjust it to the designated setting. After all nozzles have been adjusted, the operator presses the second push-button switch 32 at the other end of the spray boom 3 (the right end), and the controller exits manual adjustment mode and automatically starts spraying.

[0032] Furthermore, such as Figure 2 As shown, the spray bar 3 consists of two parts: a left spray bar 33 and a right spray bar 34. The left spray bar 33 and the right spray bar 34 are connected to the main water inlet pipe 37 on the traveling vehicle body 2 via the left water outlet branch pipe 35 and the right water outlet branch pipe 36, respectively. Each water outlet branch pipe (left water outlet branch pipe 35 and right water outlet branch pipe 36) is equipped with a flow sensor 38 and a solenoid valve 39, and the main water inlet pipe 37 is equipped with a main control valve 371. All flow sensors 38, solenoid valves 39 and the main control valve 371 are electrically connected to the controller.

[0033] The drive wheel 22 in the drive unit 6 is connected to an encoder for real-time recording of the movement position of the traveling vehicle 2. When the controller detects that the flow rate of a branch pipe is lower than a set threshold (e.g., due to nozzle blockage) through any flow sensor 38 (e.g., the flow sensor 38 on the left outlet branch pipe 35), the controller immediately closes the solenoid valve 39 on that branch pipe and records the current encoder position as the fault location. Subsequently, the controller broadcasts the fault information through the voice alarm 7 while continuing to move the traveling vehicle 2. The branch pipes without faults (right spray bar 34) can still spray normally. After the operator troubleshoots the fault and the flow rate of the branch pipe returns to normal, the controller controls the drive unit 6 to move the traveling vehicle 2 to the previously recorded fault location, reopens the solenoid valve 39 of that branch pipe, and continues the spraying operation, thereby achieving precise compensation for the missing spraying area.

[0034] Furthermore, such as Figure 4 As shown, a pressure sensor 231 is installed at the bottom of the medicine box rack 23 on the traveling vehicle body 2 to detect whether the medicine box is in place. When the pressure value detected by the pressure sensor 231 is lower than the empty box threshold, the controller determines that the medicine box may have been moved or is empty, and issues a prompt through the voice alarm 7 to prevent invalid operation (when spraying is needed, but there is no medicine).

[0035] like Figure 6 As shown, to further improve the stability of the multispectral detection component 4, a shock-absorbing pad 94 (such as a rubber pad or a silicone pad) is provided between the connecting seat 93 and the multispectral detection component 4 to absorb the vibration generated when the vehicle body 2 moves. In addition, the folding bracket 91 is rotatably connected to a support wheel 95, which rolls with the lower edge of the support rail 1. When the folding bracket 91 is in the sampling working position, the support wheel 95 can provide auxiliary support.

[0036] Furthermore, such as Figures 7 to 9 As shown, to automatically confirm the actual position of the three-color rotary nozzle 8, a position detection component 10 is installed at at least one of the three-color rotary nozzles 8 (e.g., located at both ends of the spray bar 3). Of course, it can also be installed at all three-color rotary nozzles 8, so that it can detect whether all three-color rotary nozzles 8 have rotated to the correct position.

[0037] The gear detection assembly 10 includes a follower ring 101 and three microswitches 102. The follower ring 101 is fixed to the rotating part of the three-color rotary nozzle 8 (i.e., the part that rotates synchronously with the nozzle body). The outer edge of the follower ring 101 is provided with three limiting protrusions (first protrusion, second protrusion, and third protrusion) with different radial dimensions. The distances of these three protrusions from the rotation center are R, R, and R, respectively, and R≠R≠R. The three microswitches 102 are fixed sequentially on the spray bar 3 in the vertical direction (or in the radial direction), and their contact positions correspond to R, R, and R, respectively.

[0038] When the tri-color rotary nozzle 8 rotates to different nozzle positions, only the corresponding radius limit protrusion will contact its corresponding microswitch 102, making it conductive, while the other two microswitches 102 remain open. The controller can uniquely identify the actual nozzle position by reading the on / off combination signals (e.g., binary codes) of the three microswitches 102. For example, when the first protrusion makes the first microswitch 102 conductive, it is determined to be the blue nozzle position; when the second protrusion is conductive, it is determined to be the yellow nozzle position; and when the third protrusion is conductive, it is determined to be the red nozzle position. If no microswitch 102 is detected to be conductive or two or more are conductive simultaneously, it is determined that the position is not in place or the sensor is faulty, and the controller can prompt for readjustment through the voice alarm 7.

[0039] The controller compares the actual gear position fed back by the gear position detection component 10 with the gear position to be executed after analysis by the multispectral detection component 4. If they match, the spraying will start normally; if they do not match, the controller will give another voice prompt until the correct adjustment is made.

[0040] Example 2

[0041] This embodiment provides a spray control method based on the above-mentioned suspended self-propelled sprinkler irrigation device. The method executes the following steps through a controller: Step S1: Sampling Analysis The controller moves the vehicle body 2 along the support track 1 to the preset sampling section, and simultaneously controls the foldable obstacle avoidance bracket 9 to flip to the sampling work position, so that the multispectral detection component 4 faces the crop canopy. The multispectral detection component 4 collects the spectral information of the crop canopy and sends it to the controller. The controller identifies the crop's growth status, nutrient level, and pest and disease infection status based on the built-in spectral feature model, and matches the corresponding nozzle operation type: if pre-emergence sealing is required, the blue nozzle setting is matched; if foliar fertilizer is required, the yellow nozzle setting is matched; if high-flow irrigation is required, the red nozzle setting is matched.

[0042] Step S2: Voice broadcast and manual file adjustment The controller activates the voice alarm 7 to announce the nozzle setting to be switched. Upon hearing the prompt, the operator presses the first button switch 31 at one end of the spray bar 3, and the controller enters manual adjustment mode. The operator manually rotates each of the three-color rotary nozzles 8 sequentially along the spray bar 3, adjusting them all to the announced setting. During adjustment, the setting detection components 10 at both ends of the spray bar 3 continuously monitor the actual setting of the corresponding nozzles and send signals back to the controller. Once the controller confirms through the setting detection components 10 that both nozzles are properly adjusted, it activates the voice alarm 7 to announce, "Both ends are in place, please confirm all nozzles." After visually inspecting the middle nozzle and confirming it is correct, the operator presses the second button switch 32 at the other end of the spray bar 3 to complete the switching confirmation.

[0043] Step S3: Start spraying operation After receiving the confirmation signal from the second button switch 32, the controller activates the voice alarm 7 to announce "Switching complete, spraying begins". Subsequently, the controller controls the foldable obstacle avoidance bracket 9 to flip to the spray avoidance position, moving the multispectral detection component 4 away from the spray area; at the same time, it opens the control valve 371 on the main water inlet pipe 37 and the solenoid valves 39 on each branch water outlet pipe, and starts the drive device 6, causing the traveling vehicle 2 to move along the support track 1, and the three-color rotating nozzles 8 begin spraying.

[0044] Step S4: Zoned Flow Monitoring and Resumable Spraying During the spraying operation, the controller monitors the flow rate of the left spray bar 33 and right spray bar 34 in real time through the flow sensors 38 on each water outlet branch pipe. When the flow rate of any water outlet branch pipe is detected to be lower than the set threshold, the controller determines that the branch is blocked or leaking, immediately closes the solenoid valve 39 on that branch, records the current position as the fault location through the encoder, and simultaneously activates the voice alarm 7 to broadcast the fault information. The other spray bar 3, which is not experiencing a fault, continues to spray normally. After the staff has resolved the fault, the controller detects that the flow rate of the branch pipe has returned to normal, and then controls the drive device 6 to move the vehicle body 2 to the previously recorded fault location, reopens the solenoid valve 39 of that branch, and continues the spraying operation, achieving precise compensation for the missing sprayed areas.

[0045] Step S5: Work completed When the traveling vehicle 2 moves to the end of the support rail 1 or receives a stop command, the controller closes all solenoid valves 39 and control valves 371, stops the drive device 6, and controls the foldable obstacle avoidance bracket 9 to reset, thus ending the spraying operation.

[0046] This embodiment achieves intelligent decision-making through multispectral detection, provides manual adjustment assistance through voice broadcasting and confirmation via buttons at both ends, reduces the complexity of the entire sprinkler head wiring through sampling confirmation by the two-end position detection components 10, and significantly improves the intelligence level and reliability of sprinkler irrigation operations by combining zoned flow monitoring and breakpoint resume spraying function.

[0047] The above description only illustrates preferred embodiments of the present invention, but the present invention is not limited to the above embodiments.

Claims

1. A suspended self-propelled sprinkler irrigation device, characterized in that: It includes a support rail (1), a traveling vehicle body (2), a spray bar (3), a multispectral detection component (4), a voice alarm (7), and a controller; the traveling vehicle body (2) is set on the support rail (1) and moves along the support rail (1); the electronic control unit and the spray bar (3) are both set on the traveling vehicle body (2); the traveling vehicle body (2) is equipped with a drive device (6); The spray bar (3) is evenly arranged with several three-color rotating nozzles (8); the three-color rotating nozzles (8) include three different types of nozzles, each corresponding to a different nozzle setting; the vehicle body (2) is equipped with a foldable obstacle avoidance bracket (9) and a voice alarm (7); the multispectral detection component (4) is installed on the foldable obstacle avoidance bracket (9); the foldable obstacle avoidance bracket (9) is a dual-position flip-adjustment structure, with a spray avoidance position away from the spray area and a sampling position facing the crop canopy; The controller identifies crop growth and pest and disease status through the multispectral detection component (4), matches the corresponding nozzle operation type, and drives the voice alarm (7) to announce the nozzle gear to be switched. After the switch is completed, the controller controls the voice alarm (7) to announce the prompt, starts the drive device (6) to carry out the spraying operation, and controls the foldable avoidance bracket (9) to switch to the spraying avoidance position.

2. The suspended self-propelled sprinkler irrigation device according to claim 1, characterized in that: The spray bar (3) is equipped with a button switch at each end; after the operator presses the button switch at one end of the spray bar (3), the manual adjustment mode is entered, and all three-color rotating nozzles (8) are rotated manually; after all nozzles are adjusted, the button switch at the other end of the spray bar (3) is pressed to complete the switching.

3. A suspended self-propelled sprinkler irrigation device according to claim 1, characterized in that: The spray bar (3) includes a left spray bar (33) and a right spray bar (34); the left spray bar (33) and the right spray bar (34) are respectively connected to the main water inlet pipe (37) through the water outlet branch pipe; each water outlet branch pipe is equipped with a flow sensor (38) and a solenoid valve (39); the main water inlet pipe (37) is equipped with a control valve (371); the control valve (371), the flow sensor (38) and the solenoid valve (39) are all electrically connected to the controller.

4. A suspended self-propelled sprinkler irrigation device according to claim 3, characterized in that: The walking vehicle body (2) is rotatably connected to a walking wheel (21) and a drive wheel (22); the driving device (6) includes a drive motor (61) and a transmission device (62). The drive motor (61) is connected to the drive wheel (22) through the transmission device (62) and drives the drive wheel (22) to rotate; the drive wheel (22) is connected to an encoder to record the moving position; when the flow rate of any water outlet branch decreases, the controller closes the solenoid valve (39) on the water outlet branch and records the current position as the fault position; when the flow rate of the water outlet branch returns to normal, the driving device (6) moves to the fault position and opens the water outlet branch to continue the spraying operation.

5. A suspended self-propelled sprinkler irrigation device according to claim 1, characterized in that: The vehicle body (2) is provided with a medicine box rack (23) for placing medicine boxes. The medicine box rack (23) is equipped with a pressure sensor (231). The pressure sensor (231) is used to detect whether the medicine box is placed in place. The pressure sensor (231) is electrically connected to the controller.

6. A suspended self-propelled sprinkler irrigation device according to claim 1, characterized in that: The three-color rotating nozzle (8) is divided into a blue nozzle for pre-emergence sealing operations, a yellow nozzle for foliar fertilizer operations, and a red nozzle for high-flow watering operations.

7. A suspended self-propelled sprinkler irrigation device according to claim 1, characterized in that: The foldable obstacle avoidance bracket (9) includes a folding bracket (91), a drive cylinder (92), and a connecting seat (93); one end of the folding bracket (91) is hinged to the vehicle body (2), and both ends of the drive cylinder (92) are hinged to the folding bracket (91) and the vehicle body (2), respectively; the connecting seat (93) is fixedly connected to the folding bracket (91), and the multispectral detection component (4) is installed on the connecting seat (93).

8. A suspended self-propelled sprinkler irrigation device according to claim 1, characterized in that: A shock-absorbing pad (94) is provided between the multispectral detection component (4) and the connecting seat (93); a support wheel (95) is rotatably connected to the folding bracket (91), and the support wheel (95) cooperates with the support track (1).

9. A suspended self-propelled sprinkler irrigation device according to claim 1, characterized in that: Each of the three-color rotary nozzles (8) on the spray bar (3) or at the three-color rotary nozzles (8) at both ends is provided with a gear detection component (10), which is used to detect which nozzle of the three-color rotary nozzle (8) is currently facing down.

10. A suspended self-propelled sprinkler irrigation device according to claim 1, characterized in that: The gear detection component (10) includes a follower ring (101) and a micro switch (102); the follower ring (101) is fixed on the rotating part of the three-color rotary nozzle (8); the follower ring (101) is provided with three limiting protrusions with different radial dimensions, and the distances between the three limiting protrusions and the rotation center of the three-color rotary nozzle (8) are unequal in sequence; the spray bar (3) is provided with three micro switches (102); the three micro switches (102) are arranged sequentially from top to bottom; when the three-color rotary nozzle (8) rotates to different nozzle gears, only the limiting protrusion with the corresponding radius touches the corresponding micro switch (102) to conduct, and the remaining two micro switches (102) remain open. The controller identifies the actual nozzle gear based on the on / off combination signal of the micro switches (102).

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