Intelligent pipeline type self-propelled spraying vehicle

Abstract

The application discloses an intelligent pipeline type self-propelled pesticide spraying vehicle, which is characterized by comprising a vehicle frame, a driving wheel set, a pipeline wheel set and a supporting wheel set, a pesticide spraying rod, a pesticide box, a control cabinet, a lithium battery, an air pump, a water pump, a driving motor, a speed reducer and an encoder which are installed on the vehicle frame, a T-shaped pesticide spraying pipe being bound on the pesticide spraying rod, a display system being installed on the control cabinet, and the speed reducer being connected with the driving wheel set.

Description

Technical Field

[0001] This invention relates to the field of agricultural spraying equipment technology, specifically to an intelligent pipeline-type self-propelled spraying vehicle. Background Technology

[0002] Facility agriculture is an important part of modern agriculture. Among them, the Venlo-style greenhouse is widely used for the large-scale cultivation of crops and other cash crops due to its good light transmission and high space utilization. Due to the cold winter climate in Northwest China, each row of crops in the Venlo-style greenhouse in this region is reserved with a walking and picking aisle of 800-1000mm. At the same time, in order to ensure the temperature inside the greenhouse in winter, heating pipes with a width of 450-500mm and a diameter of 45mm are installed on the ground. When carrying out operations such as pruning and picking crops, personnel need to use small flat carts laid on the pipes to move around, which limits the working space and makes operation inconvenient.

[0003] In Venlo-style greenhouses, the spraying method for plant disease and pest control is still mainly manual, primarily divided into two types: manual spraying with a backpack sprayer and centralized use of a sprayer with personnel dragging a high-pressure hose for application. Both methods have numerous drawbacks: First, labor efficiency is extremely low. Manually carrying a backpack sprayer is labor-intensive, limiting the daily work area per person and making it difficult to meet the plant protection needs of large-scale greenhouses. Furthermore, dragging a high-pressure hose is easily restricted by pipelines and walkways, resulting in poor operational flexibility. Second, safety hazards are significant. Pesticides can easily harm the health of workers through skin contact and inhalation, and pesticide leaks and drift can pollute the greenhouse environment. Third, spraying accuracy is poor. Manual operation makes it difficult to control the spraying range and dosage, easily leading to missed or over-spraying, which not only affects the plant protection effect but also results in significant pesticide waste, contradicting the modern agricultural development concept of green, environmentally friendly, and precision plant protection.

[0004] There is a lack of specialized intelligent spraying equipment in China for Venlo-style greenhouses, especially for those adapted to the heating pipe layout in Northwest China. Existing spraying equipment is often unable to adapt to pipe routing scenarios, or suffers from problems such as complex structure, cumbersome operation, and poor adaptability, making it difficult to meet actual operational needs. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent pipeline self-propelled spraying vehicle, an intelligent device integrating pipeline self-propelled spraying technology, specifically adapted to the operating environment of Venlo greenhouses, especially with optimized design for the heating pipe layout of greenhouses in Northwest China, and widely applied to the plant protection process of facility agriculture, which can significantly improve the scientific utilization rate of pesticides and plant protection efficiency, and reduce labor intensity and production costs.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A smart pipeline-type self-propelled spraying vehicle includes a frame, with a drive wheel set, a pipeline wheel set, and a support wheel set mounted on the bottom of the frame. A spraying boom is mounted on the front crossbeam of the frame, and a T-shaped spraying pipe attached to the spraying boom is connected to a medicine tank installed in the middle of the frame. A control cabinet is mounted on the rear side of the medicine tank, and a display system is mounted on the control cabinet. A lithium battery is mounted below the control cabinet, and the lithium battery is connected to a motor controller, a drive motor, and a reducer. The sprocket at the output shaft end of the reducer is connected to a sprocket mounted on the drive wheel set via a chain. Several two-fluid nozzles are installed on the vertical and horizontal bars of the spraying pipe. The two-fluid nozzles are connected to the air pump through the air pipe. The air pump is installed on the front side wall of the medicine tank and is electrically connected to the lithium battery. The display system uses a high-definition touch screen and integrates a control system, which includes control buttons for starting and stopping the spraying vehicle, adjusting the travel speed, setting the travel distance, starting and stopping the water pump and air pump, detecting the liquid level in the medicine tank, detecting the battery power, and automatic alarm. Several obstacle avoidance sensors are installed at the front and rear of the chassis.

[0007] Preferably, the reducer shaft is connected to an encoder fixed on a mounting base, which is fixed to the front of the vehicle frame, and the encoder is located below the air pump.

[0008] Preferably, the drive wheel assembly is installed at the bottom front end of the frame, and a support wheel assembly, a tubular wheel assembly, and a swivel wheel assembly are sequentially installed behind the drive wheel assembly. The tubular wheel assembly is a non-powered wheel assembly. Both the drive wheel assembly and the tubular wheel assembly include two wheel bodies with the same structure connected by a wheel axle. A wheel core is embedded in the center of the wheel body. A pressure cap is fitted on the outer side of the wheel core. The inner side of the wheel core is keyed to a bearing seat. The bearing seat is fitted on the wheel axle and fixed to the frame by bolts.

[0009] Preferably, the wheel body is a T-shaped single-sided track wheel, with a groove on the outer wall of the inner small wheel that is adapted to the track pipe inside the greenhouse, and the diameter of the outer large wheel is smaller than the outer diameter of the wheel supporting the wheel assembly.

[0010] Preferably, the wheel body is made of resin.

[0011] Preferably, the spraying rod is a telescopic rod, with its bottom end inserted into a mounting seat welded to the side wall of the front crossbeam of the vehicle frame, and the spraying rod and the vertical rod of the spraying pipe are fixedly connected by a U-shaped clip.

[0012] Preferably, the medicine tank is equipped with a liquid level sensor connected to the control system.

[0013] Preferably, a front shelf is welded to the front of the upper surface of the frame, and an air pump, a water pump and a mounting base are installed on the front shelf; a rear shelf is welded to the rear of the upper surface of the frame, and a control cabinet and a lithium battery are installed on the rear shelf; a medicine box is installed between the front shelf and the rear shelf; and universal wheel brackets are symmetrically welded to the bottom of the longitudinal beams on both sides of the rear of the frame, and universal wheel sets are installed on the universal wheel brackets.

[0014] Preferably, the upper part of the vehicle frame is equipped with a streamlined body shell that covers the medicine box, front shelf, rear shelf and the components mounted thereon. A skirt is installed along the outer edge of the vehicle frame at the bottom of the body shell, covering the entire tubular wheel assembly. Several obstacle avoidance sensors are installed on the front and rear sides of the skirt.

[0015] Preferably, a quick-release handle is installed on the rear side of the rear rack of the vehicle frame, and the quick-release handle is installed on the rear crossbeam of the rear rack via a connecting plate and bolts.

[0016] In this invention, the chassis, pipe wheel set, drive wheel set, support wheel set, universal wheel set and accessories constitute the chassis walking system, which enables the spraying vehicle to move smoothly on the Venlo-style greenhouse heating pipes, and supports all other systems of the spraying vehicle, adapting to the pipe layout and the walking space inside the greenhouse.

[0017] The frame is made of high-strength profiles, combining lightweight and high strength to effectively reduce overall weight and power consumption while ensuring sufficient load-bearing capacity and adaptability to the installation of various system components. The pipe wheel set is specially designed for heating pipes, with wheel grooves precisely matching the outer diameter of the pipes. Made of wear-resistant resin, it increases friction with the pipes, preventing slippage during movement and ensuring stability. The drive wheel set is linked to the power system to provide power for the sprayer's movement. Together with the support wheel set and swivel wheel set, it enables the sprayer to turn smoothly and move in a straight line, avoiding collisions with crop branches.

[0018] The present invention comprises a medicine box, spraying pipe fittings, two-fluid nozzles, a water pump, an air pump, and a spraying rod to form a spraying system. Through precise calculation and structural optimization, it can achieve efficient and accurate spraying and reduce pesticide waste. The pesticide tank is made of corrosion-resistant, leak-proof food-grade PE material, possessing a certain sealing performance to prevent pesticide leakage and environmental pollution. A liquid level sensor is installed on the tank to monitor the remaining pesticide level in real time. The spraying boom features an adjustable structure, allowing for flexible adjustment of the spraying angle according to the crop height. The T-shaped spraying hose attached to the boom allows for simultaneous spraying of two rows of crops at a time, significantly improving work efficiency. The nozzle uses a high-pressure atomizing two-fluid nozzle, producing a fine atomization effect with uniform droplet size, strong impact and penetration, ensuring even coverage of the crop leaves and lateral branches, eliminating missed or overlapping spraying, while reducing pesticide usage. Pesticide utilization is more than 30% higher than traditional manual spraying. A water pump provides power for spraying, and an air pump assists in atomization, working in conjunction with the spraying hose to ensure stable pesticide delivery. The spraying hose is made of corrosion-resistant material to prevent pesticide corrosion and aging, extending its service life.

[0019] The power system of this invention comprises electrical components such as a speed reducer, a high-capacity lithium battery, and a driver. It features a compact structure and stable power output. The high-capacity lithium battery adopts a high-rate, long-range design, meeting the needs of continuous operation for extended periods. It is convenient to charge, environmentally friendly, and pollution-free, aligning with the green development requirements of facility agriculture. The speed reducer is an L-type reducer with customizable reduction ratios. Its small size and high transmission efficiency convert the current provided by the lithium battery into a stable power output, driving the drive wheel assembly via sprockets and chains to move the spraying vehicle. The drive motor is linked to the control system, allowing for flexible adjustment of the speed reducer's output speed, thereby adjusting the spraying vehicle's speed to suit different spraying needs. Forward and return speeds can be independently adjusted to meet precise spraying requirements. The power system also includes a battery level detection module to monitor battery power in real time, preventing operational disruptions due to insufficient power.

[0020] The control system integrates all the functional commands of the spraying truck, and has the advantages of more convenient operation, smaller footprint, faster response speed and stronger stability, enabling fully automated control of the spraying truck.

[0021] The display system uses a high-definition touch screen with a simple and intuitive interface, allowing for operations such as starting and stopping the spraying vehicle, adjusting forward / return speed, setting travel distance, and starting / stopping the water / air pump. It also integrates tank level and battery power detection functions. When the tank level falls below a set threshold or the battery power is insufficient, the system automatically issues an alarm signal to remind staff to replenish the pesticide or recharge the battery. The control system is also equipped with a laser radar obstacle avoidance sensor, enabling 360° obstacle avoidance detection with a reaction time of less than 0.1 seconds. When an obstacle is detected ahead, such as staff or debris, the system automatically controls the spraying vehicle to stop abruptly to avoid collisions. Furthermore, an emergency stop button is provided, allowing staff to manually trigger an emergency stop in case of emergency, further enhancing operational safety.

[0022] The control system adopts the finite state machine control method, which can automatically complete the entire process of "forward - stop - delay - return spraying - return to the starting point" without the need for full-time human supervision. A single person can manage multiple devices at the same time, which greatly improves management efficiency.

[0023] The vehicle body shell consists of a frame with outer shells around the perimeter and a bottom skirt. It is made of fiberglass in a single molding process, offering advantages such as light weight, corrosion resistance, high strength, and easy cleaning, making it suitable for the humid, pesticide-intensive working environment inside greenhouses. The streamlined design of the outer shell effectively reduces air resistance during the sprayer's movement, while preventing pesticide residue buildup. The flexible bottom skirt is height-adjustable to the growth height of crops, allowing for good maneuverability among crops without snagging on side branches, protecting crops from damage, and preventing pesticide splashing into the equipment's interior, thus ensuring the normal operation of all system components.

[0024] Compared with the prior art, the present invention has the following significant advantages: 1. High adaptability, solving special operation problems: Specifically designed for the heating pipe layout of Venlo-style greenhouses in Northwest China, the pipe wheel set is precisely matched with the heating pipe, allowing it to travel smoothly along the pipe. It is suitable for walking and picking walkways of 800-1000mm. At the same time, the outer protective streamline and flexible skirt design avoids snagging on the side branches of crops, solving the problem that existing spraying equipment cannot adapt to pipe movement and is prone to damaging crops.

[0025] 2. Achieve automated and precise spraying to improve plant protection effectiveness: The control system enables the spraying vehicle to move and spray automatically. The return spraying mode ensures that the pesticide covers the leaves, corolla, and lateral branches of crops evenly, without any missed or repeated spraying. The two-fluid nozzles atomize the pesticide under high pressure, resulting in fine atomization and increasing pesticide utilization by more than 30%, reducing pesticide waste and conforming to the concept of green agriculture development. At the same time, it greatly improves the plant protection effect and effectively controls crop diseases and pests.

[0026] 3. Improve operational efficiency and reduce labor intensity: No need for full-time human supervision; a single person can control multiple devices simultaneously, increasing operational efficiency by more than 5 times compared to manual spraying. This completely solves the problems of high workload and low efficiency associated with manual spraying, reducing labor costs and intensity in facility agriculture plant protection, and meeting the needs of large-scale crop cultivation.

[0027] 4. High safety, ensuring the safety of personnel and the environment: Workers do not need to directly contact the chemicals, avoiding harm to human health; the sealed design of the chemical tank prevents chemical leakage and reduces pollution to the greenhouse environment; it also has functions such as obstacle avoidance emergency stop, liquid level alarm, and power alarm, further improving operational safety and preventing accidents.

[0028] 5. Compact structure, easy operation, and long service life: The system is highly integrated, compact, and occupies little space; the control system has a simple and intuitive interface that can be operated without professional skills; all components are made of corrosion-resistant and high-strength materials, which are suitable for the humid and multi-pesticide working environment in greenhouses, resulting in a long service life and low maintenance costs.

[0029] 6. Promoting the intelligent development of facility agriculture: This invention combines automation and intelligent technologies with plant protection in facility agriculture, filling the gap in intelligent spraying equipment for Venlo-style greenhouses in Northwest China, promoting the development of facility agriculture towards automation, intelligence, and unmanned operation, and providing new technical solutions for modern agricultural plant protection. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 yes Figure 1 A schematic diagram of the invention with the body shell and skirt removed; Figure 3 yes Figure 1 A schematic diagram of the invention with the body shell and skirt removed; Figure 4 yes Figure 2 Schematic diagram of the middle-pipe wheel assembly; Figure 5 yes Figure 4 Partial sectional view and top view of the central pipe wheel assembly; Figure 6 This is a structural diagram of the vehicle frame; Figure 7 This is a diagram illustrating the operation of this invention in a Venlo-style flower cultivation greenhouse; Figure 8 This is an experimental setup of the present invention at the production testing site; In the diagram: 1. Frame, 101. Front rack, 102. Rear rack, 103. Caster wheel bracket, 2. Pipe wheel assembly, 201. Wheel body, 202. Axle, 203. Bearing housing, 204. Groove, 205. Wheel core, 3. Drive wheel assembly, 4. Support wheel assembly, 5. Caster wheel assembly, 6. Reducer, 7. Lithium battery, 8. Insert socket, 9. Chain, 10. Encoder, 11. Mounting base, 12. Medicine tank, 13. Spraying boom, 14. Two-fluid nozzle, 15. Water pump, 16. Air pump, 17. Spraying pipe fittings, 18. Control cabinet, 19. Display system, 20. Body shell, 21. Skirt. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings.

[0032] like Figure 1 The intelligent pipeline self-propelled spraying vehicle shown includes a frame 1. The bottom of the frame 1 is equipped with a drive wheel set 3, a pipeline wheel set 2, and a support wheel set 4. A spraying rod 13 is installed on the front crossbeam of the frame 1. A T-shaped spraying pipe 17 is tied to the spraying rod 13 and is connected to a medicine tank 12 installed in the middle of the frame 1. A control cabinet 18 is installed on the rear side of the medicine tank 12. A display system 19 is installed on the control cabinet 18. A lithium battery 7 is installed below the control cabinet 18. The lithium battery 7 is connected to a motor controller, a drive motor, and a reducer 6. The sprocket at the output shaft end of the reducer 6 is connected to a sprocket installed on the drive wheel set 3 through a chain 9. Several two-fluid nozzles 14 are installed on the vertical and horizontal bars of the spraying pipe 17. The two-fluid nozzles 14 are connected to the air pump 16 through the air pipe. The air pump 16 is installed on the front side wall of the medicine tank 12 and is electrically connected to the lithium battery 7. The display system 19 adopts a high-definition touch screen and integrates a control system, which includes control buttons for starting and stopping the spraying vehicle, adjusting the walking speed, setting the travel distance, starting and stopping the water pump and the air pump, detecting the liquid level in the medicine tank, detecting the battery power, and automatic alarm. Several obstacle avoidance sensors are installed at the front and rear ends of the chassis 1.

[0033] The shaft of the reducer 6 is connected to the encoder 10, which is fixed on the mounting base 11. The mounting base 11 is fixed to the front of the frame 1, and the encoder 10 is located below the air pump 16.

[0034] The drive wheel assembly 3 is installed at the bottom front end of the frame 1. Behind the drive wheel assembly 3, the support wheel assembly 4, the tubular wheel assembly 2, and the swivel wheel assembly 5 are installed in sequence. The tubular wheel assembly 2 is a non-powered wheel assembly. Both the drive wheel assembly 3 and the tubular wheel assembly 2 include two wheel bodies 201 with the same structure connected by a wheel axle 202. A wheel core 205 is embedded in the center of the wheel body 201. A pressure cap 206 is installed on the outside of the wheel core 205. The inside of the wheel core 205 is keyed to the bearing seat 203. The bearing seat 203 is mounted on the wheel axle 202 and fixed to the frame 1 by bolts.

[0035] The wheel body 201 is a T-shaped single-sided track wheel. The inner small wheel has a groove 204 on its outer wall that is compatible with the track pipe inside the greenhouse. The diameter of the outer large wheel is smaller than the outer diameter of the wheel of the support wheel group 4.

[0036] Wheel 201 is made of resin.

[0037] The spraying rod 13 is a telescopic rod, with its bottom end inserted into the insert seat 8 welded to the side wall of the front crossbeam of the frame 1. The spraying rod 13 and the vertical rod of the spraying pipe 17 are fixedly connected by a U-shaped clip.

[0038] The medicine tank 12 is equipped with a liquid level sensor that is connected to the control system.

[0039] A front rack 101 is welded to the front of the upper surface of the frame 1. An air pump 16, a water pump 15, and a mounting base 11 are installed on the front rack 101. A rear rack 102 is welded to the rear of the upper surface of the frame 1. A control cabinet 18 and a lithium battery 7 are installed on the rear rack 102. A medicine box 12 is installed between the front rack 101 and the rear rack 102. Universal wheel brackets 103 are symmetrically welded to the bottom of the longitudinal beams on both sides of the rear of the frame 1. Universal wheel sets 5 are installed on the universal wheel brackets 103.

[0040] The upper part of the frame 1 is equipped with a streamlined body shell 20 that covers the medicine box 12, the front rack 101, the rear rack 102 and the components mounted on it. The lower part of the body shell 20 is equipped with a skirt 21 along the outer edge of the frame 1. The skirt 21 completely covers the tubular wheel assembly 2. Several obstacle avoidance sensors are installed on the front and rear sides of the skirt 21.

[0041] A quick-release handle is installed on the rear side of the rear rack 102 of the frame 1. The quick-release handle is installed on the rear crossbeam of the rear rack 102 via a connecting plate and bolts.

[0042] The working process of this invention is as follows: 1. Preparation: After checking the remaining amount of pesticide and battery power in the pesticide tank 12 and confirming that all components are connected normally and there are no abnormalities, the staff will inject an appropriate amount of pesticide into the pesticide tank 12, close the sealed lid of the pesticide tank, and push the spraying cart to the predetermined planting track inside the Venlo-style greenhouse, i.e., on the heating pipe.

[0043] 2. Parameter settings: The operator turns on the main switch in the control cabinet 18, and the display screen of the display system 19 automatically turns on and enters the operation interface. The operator sets the operation mode to automatic mode, and sets the forward speed, return speed and travel distance of the sprayer according to the crop planting row spacing and growth height. The starting position is reset to zero. After confirming that the parameter settings are correct, the operator clicks the "Automatic Run" button, and the sprayer starts working.

[0044] 3. Automatic forward movement: The lithium battery 7 provides power to the entire system. The reducer 6 starts to rotate under the control of the drive motor. Through the sprocket and chain 9, it drives the drive wheel set 3 to rotate synchronously. The drive wheel set 3 drives the spraying vehicle to move smoothly along the heating pipe. At the same time, the encoder 10 on the reducer 6 shaft starts to count in real time and transmits the real-time speed of the reducer to the control system. The control system converts the data and accurately feeds back the traveling speed and traveling distance of the spraying vehicle to ensure that the spraying vehicle moves according to the set parameters.

[0045] 4. Return spraying: After the spraying vehicle has traveled the set forward distance, the control system automatically stops the spraying vehicle and starts the water pump 15 and air pump 16, and the spraying system begins to work; the pesticide is delivered to the two-fluid nozzle 14 under high pressure by the water pump through the spraying pipe 17 and then sprayed on the leaves, corolla and lateral branches of the two rows of crops in an all-round way; in order to ensure that the spraying range covers the starting area and avoids missed spraying, after a 5-second delay, the spraying vehicle begins to return along the original track at the set return speed, and continues to spray pesticide during the return trip until it returns to the starting position.

[0046] 5. Operation completion: After the spraying truck returns to the starting point, the control system automatically shuts down the water pump 15, air pump 16, and power system, completing one spraying operation. If the liquid level in the tank is lower than the set threshold or the battery power is insufficient during the operation, the control system will automatically issue an alarm signal and stop the operation, reminding the staff to replenish the pesticide or charge the battery in time. If an obstacle is detected ahead, the control system will automatically control the spraying truck to stop suddenly. After the obstacle is cleared, the operation can be restarted.

[0047] The above are merely preferred embodiments of the present invention. It should be noted that, for those skilled in the art, other equivalent modifications and improvements can be made based on the technical teachings provided by the present invention, and these should also be considered within the scope of protection of the present invention.

Claims

1. A smart pipeline-type self-propelled spraying vehicle, characterized in that: The vehicle includes a frame (1), a drive wheel assembly (3), a pipe wheel assembly (2) and a support wheel assembly (4) installed at the bottom of the frame (1), a spray bar (13) installed on the front crossbeam of the frame (1), a T-shaped spray pipe (17) tied to the spray bar (13) and connected to a medicine tank (12) installed in the middle of the frame (1), a control cabinet (18) installed on the rear side of the medicine tank (12), a display system (19) installed on the control cabinet (18), a lithium battery (7) installed below the control cabinet (18), the lithium battery (7) connected to the motor controller, the drive motor and the reducer (6), and the sprocket at the output shaft end of the reducer (6) connected to the sprocket installed on the drive wheel assembly (3) via a chain (9); Several two-fluid nozzles (14) are installed on the vertical and horizontal bars of the spray pipe (17). The two-fluid nozzles (14) are connected to the air pump (16) through the air pipe. The air pump (16) is installed on the front side wall of the medicine tank (12). The air pump (16) is electrically connected to the lithium battery (7). The display system (19) adopts a high-definition touch screen and integrates a control system. The control system includes control buttons for starting and stopping the spraying vehicle, adjusting the walking speed, setting the travel distance, starting and stopping the water pump, starting and stopping the air pump, detecting the liquid level in the medicine tank, detecting the battery power, and automatic alarm. Several obstacle avoidance sensors are installed at the front and rear ends of the frame (1).

2. The intelligent pipeline-type self-propelled spraying vehicle according to claim 1, characterized in that: The shaft of the reducer (6) is connected to the encoder (10) fixed on the mounting base (11). The mounting base (11) is fixed to the front of the frame (1), and the encoder (10) is located below the air pump (16).

3. The intelligent pipeline-type self-propelled spraying vehicle according to claim 1, characterized in that: The drive wheel assembly (3) is installed at the bottom front end of the frame (1). Behind the drive wheel assembly (3) are the support wheel assembly (4), the pipe wheel assembly (2) and the universal wheel assembly (5) in sequence. The pipe wheel assembly (2) is a non-powered wheel assembly. Both the drive wheel assembly (3) and the pipe wheel assembly (2) include two wheel bodies (201) with the same structure connected by a wheel axle (202). The wheel body (201) has a wheel core (205) embedded in its center. The outer side of the wheel core (205) is fitted with a pressure cap (206). The inner side of the wheel core (205) is keyed to the bearing seat (203). The bearing seat (203) is mounted on the wheel axle (202) and fixed to the frame (1) by bolts.

4. The intelligent pipeline-type self-propelled spraying vehicle according to claim 3, characterized in that: The wheel body (201) is a T-shaped single-sided track wheel. The inner small wheel has a groove (204) on its outer wall that is compatible with the track pipe inside the greenhouse. The diameter of the outer large wheel is smaller than the outer diameter of the wheel of the support wheel group (4).

5. The intelligent pipeline-type self-propelled spraying vehicle according to claim 4, characterized in that: The wheel body (201) is made of resin.

6. The intelligent pipeline-type self-propelled spraying vehicle according to claim 1, characterized in that: The spraying rod (13) is a telescopic rod, with its bottom end inserted into the insert seat (8) welded to the side wall of the front crossbeam of the vehicle frame (1). The spraying rod (13) and the vertical rod of the spraying pipe (17) are fixedly connected by a U-shaped clip.

7. The intelligent pipeline-type self-propelled spraying vehicle according to claim 1, characterized in that: The medicine box (12) is equipped with a liquid level sensor connected to the control system.

8. The intelligent pipeline-type self-propelled spraying vehicle according to claim 1, characterized in that: The upper surface of the frame (1) is welded with a front rack (101), on which an air pump (16), a water pump (15) and a mounting base (11) are installed. The upper surface of the frame (1) is welded with a rear rack (102), on which a control cabinet (18) and a lithium battery (7) are installed. A medicine box (12) is installed between the front rack (101) and the rear rack (102). Universal wheel brackets (103) are symmetrically welded to the bottom of the longitudinal beams on both sides of the rear of the frame (1), and universal wheel sets (5) are installed on the universal wheel brackets (103).

9. The intelligent pipeline-type self-propelled spraying vehicle according to claim 1, characterized in that: The upper part of the frame (1) is equipped with a streamlined body shell (20) that covers the medicine box (12), the front shelf (101), the rear shelf (102) and the components installed thereon. A skirt (21) is installed along the outer edge of the frame (1) below the body shell (20). The skirt (21) covers the entire pipe wheel assembly (2). Several obstacle avoidance sensors are installed on the front and rear sides of the skirt (21).

10. The intelligent pipeline-type self-propelled spraying vehicle according to claim 9, characterized in that: The rear rack (102) of the frame (1) is equipped with a quick-release handle, which is mounted on the rear crossbeam of the rear rack (102) by means of a connecting plate and bolts.

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