Intelligent spraying machine

Abstract

The utility model provides an intelligent spraying machine. The intelligent spraying machine comprises a walking device, a shell, a first spraying device, a first balancing device, a first liquid storage device and a processor. One end of the first telescopic rod is connected with the shell, and a first spraying hole is formed in the other end of the first telescopic rod and connected with the first liquid storage device through a first pipeline; the first circular ring is fixedly connected with the shell, the second circular ring is movably connected with the first circular ring, and the second circular ring is arranged in the first circular ring; the first liquid storage device is arranged in the second circular ring and is fixedly connected with the second circular ring; the processor is in communication connection with the first atomizing pump and the first height sensor. According to the intelligent spraying machine, a first height sensor is arranged on a first spraying device to detect the height of crops, and first spraying holes are controlled to spray to the positions where the crops are located; and the first liquid storage device is arranged in the first balancing device, so that the first liquid storage device is kept balanced, liquid medicine overflow is reduced, and the pesticide spraying efficiency and the pesticide spraying effect are improved.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical irrigation, and in particular to an intelligent sprayer. Background Art

[0002] In the field of agricultural planting, pest control of mountain crops is an important link to ensure crop yield and quality. Pest control of mountain crops is carried out by manually carrying medicine pots to spray pesticides. However, due to the complex terrain and steep slopes in mountainous areas, this method is not only labor-intensive and inefficient, but also has uneven spraying effects, which is difficult to meet the needs of modern agricultural production.

[0003] In order to improve the efficiency and quality of mountain crop pest control, an improved spraying method can be adopted, such as setting up a large container to dilute the pesticide at the foot of the mountain, and transporting the pesticide to the mountain crop area for spraying through a long hard pipe, which can reduce labor intensity.

[0004] However, since the rigid long tube needs to be moved according to the spraying position and the tube is long, it is easy to get tangled and move to hurt the seedlings. Therefore, the method of using the rigid long tube to transmit the medicine still has the problems of low efficiency and poor spraying effect. Utility Model Content

[0005] The present application provides an intelligent sprayer to solve the problems of low efficiency and poor spraying effect of spraying methods used in mountain crop disease and insect pest control.

[0006] The present application provides an intelligent sprayer, comprising: a walking device, a shell, a first spray device, a first balancing device, a first liquid storage device and a processor.

[0007] Among them, the shell is arranged on the walking device, and the interior of the shell is hollow; the first spray device includes a first telescopic rod, a first spray pump, a first pipeline and a first height sensor, one end of the first telescopic rod is connected to the shell, and the other end of the first telescopic rod is provided with a first spray hole, the first spray hole is connected to the first liquid storage device through the first pipeline, and the first spray pump is arranged on the first pipeline; the first balancing device includes a first ring and a second ring, the first ring is fixedly connected to the shell, the second ring is movably connected to the first ring, and the second ring is arranged inside the first ring; the first liquid storage device is a barrel-shaped structure, the first liquid storage device is arranged inside the second ring, and the first liquid storage device is fixedly connected to the second ring; the processor is arranged inside the shell, the processor is communicatively connected to the first spray pump, and the processor is communicatively connected to the first height sensor.

[0008] The intelligent sprayer detects the height of the crop by arranging a first height sensor on the first spray device, and controls the first spray hole to spray toward the location of the crop; and arranges the first liquid storage device inside the first balancing device to keep the first liquid storage device balanced, reduce liquid overflow, and improve spraying efficiency and spraying effect.

[0009] Optionally, the intelligent sprayer further includes: a second spray device, a second balancing device and a second liquid storage device.

[0010] Among them, the second spray device includes a second telescopic rod, a second spray pump, a second pipeline and a second height sensor, the second telescopic rod is symmetrical with the first telescopic rod, one end of the second telescopic rod is connected to the shell, and the other end of the second telescopic rod is provided with a second spray hole, the second spray hole is connected to the second liquid storage device through the second pipeline, and the second spray pump is arranged on the second pipeline; the second balancing device includes a third ring and a fourth ring, the third ring is fixedly connected to the shell, the fourth ring is movably connected to the third ring, and the fourth ring is arranged inside the third ring; the second balancing device is symmetrical with the first balancing device; the second liquid storage device is a barrel-shaped structure, the second liquid storage device is arranged inside the fourth ring, and the second liquid storage device is fixedly connected to the fourth ring; the second spray pump is communicatively connected to the processor, and the second height sensor is communicatively connected to the processor.

[0011] The intelligent sprayer may further include a second spray device, a second balancing device and a second liquid storage device, which are symmetrically arranged with the first spray device, the first balancing device and the first liquid storage device, respectively, to increase the spraying area of ​​the intelligent sprayer and improve the working efficiency.

[0012] Optionally, the first balancing device also includes a first movable shaft, a second movable shaft and a first connecting rod; the second balancing device also includes a third movable shaft, a fourth movable shaft and a second connecting rod; the first movable shaft is arranged on the first ring, the second movable shaft is arranged on the second ring, one end of the first connecting rod is connected to the first movable shaft, and the other end of the first connecting rod is connected to the second movable shaft; the third movable shaft is arranged on the third ring, the fourth movable shaft is arranged on the fourth ring, one end of the second connecting rod is connected to the third movable shaft, and the other end of the second connecting rod is connected to the fourth movable shaft.

[0013] The first connecting rod movably connects the first ring and the second ring through the first movable shaft and the second movable shaft, so that the second ring can freely change its angle. Therefore, when the first liquid storage device is fixed inside the second ring, the second ring always remains parallel to the ground due to gravity and does not shake with the shaking of the first ring, thereby reducing the overflow of the liquid medicine. The functions of the second connecting rod, the third movable shaft and the fourth movable shaft are similar and will not be repeated here.

[0014] Optionally, the first spray device also includes a first infrared detector, the second spray device also includes a second infrared detector, and the processor also includes a storage chip; the first infrared detector is communicatively connected to the processor; the second infrared detector is communicatively connected to the processor; and the storage chip is communicatively connected to the processor.

[0015] The infrared detector detects the type of crop by capturing the infrared radiation emitted by the object and converting it into a visible image. The first infrared detector and the second infrared detector are arranged on the first spray device and the second spray device, which can be used to identify the type of crop, and determine whether it is necessary to spray the liquid medicine according to the type of crop, thereby improving the working efficiency of the intelligent sprayer.

[0016] Optionally, the intelligent sprayer further includes a body position detection device; the body position detection device is arranged outside the shell; the body position detection device is communicatively connected to the processor; and the walking device is communicatively connected to the processor.

[0017] The fuselage position detection device can realize the positioning function of the intelligent sprayer. After the intelligent sprayer is replenished with liquid medicine, it can return to the original spraying position according to the positioning function to continue spraying, thereby improving the intelligence level of the intelligent sprayer.

[0018] Optionally, the walking device includes a first support rod, a second support rod, a first roller, a second roller, a third roller and a fourth roller; the first support rod and the second support rod are parallel, and the shell is arranged on the first support rod and the second support rod; the first roller and the second roller are respectively arranged at two ends of the first support rod, and the third roller and the fourth roller are respectively arranged at two ends of the second support rod; the width of the first roller, the second roller, the third roller and the fourth roller is greater than a first preset value, and the first preset value is determined according to the maximum load-bearing weight of the intelligent sprayer.

[0019] The first support rod and the second support rod of the walking device are used to support the housing of the intelligent sprayer. Two rollers are respectively arranged on each support rod to enable the intelligent sprayer to realize the walking function. In order to make the intelligent sprayer walk smoothly, the width of the roller can be determined according to the maximum load-bearing capacity of the intelligent sprayer to prevent the intelligent sprayer from sinking into a depression due to excessive load-bearing capacity.

[0020] Optionally, a fifth movable shaft is provided on the first support rod, and a sixth movable shaft is provided on the second support rod; both ends of the fifth movable shaft are movably connected to the first roller and the second roller respectively; and both ends of the sixth movable shaft are movably connected to the third roller and the fourth roller respectively.

[0021] A movable shaft is arranged on the first support rod and the second support rod, so that the two rollers on each support rod cooperate with each other to realize the climbing function of the intelligent sprayer.

[0022] Optionally, the first telescopic rod includes a first upper rod, a first connecting shaft, a first motor, a first transmission mechanism and a first lower rod, and the second telescopic rod includes a second upper rod, a second connecting shaft, a second motor, a second transmission mechanism and a second lower rod; the first connecting shaft movably connects the first upper rod and the first lower rod, and the power output shaft of the first motor is connected to the first connecting shaft through the first transmission mechanism; the second connecting shaft movably connects the second upper rod and the second lower rod, and the power output shaft of the second motor is connected to the second connecting shaft through the second transmission mechanism; the first motor and the second motor are respectively communicatively connected to the processor.

[0023] The first telescopic rod and the second telescopic rod can adjust the telescopic length, angle, etc. according to the position of the crop, thereby improving the accuracy of spraying medicine and improving work efficiency.

[0024] Optionally, the intelligent sprayer further includes a display screen; the display screen is arranged outside the shell; the display screen is communicatively connected to the processor.

[0025] The display screen can show the remaining amount of liquid medicine of the smart sprayer, the target spraying crops, etc., which is convenient for controlling the smart sprayer to realize automatic drug spraying and improve work efficiency.

[0026] Optionally, the intelligent sprayer also includes a power supply device; the power supply device is arranged inside the shell; the power supply device includes a lithium battery; the power supply device is electrically connected to the processor, the first spray pump, the first height sensor, the second spray pump, the second height sensor, the first infrared detector, the second infrared detector, the body position detection device, the first motor, the second motor and the display screen.

[0027] Using lithium batteries as the power source of the smart sprayer can improve the flexibility of the smart sprayer. Lithium batteries have the advantages of high energy density and long life, which improves the practicality of the smart sprayer.

[0028] It can be seen from the above technical solutions that the present application provides an intelligent sprayer, including: a walking device, a shell, a first spray device, a first balancing device, a first liquid storage device and a processor. One end of the first telescopic rod is connected to the shell, and the other end is provided with a first spray hole, and the first spray hole is connected to the first liquid storage device through a first pipe; the first ring is fixedly connected to the shell, the second ring is movably connected to the first ring, and the second ring is arranged inside the first ring; the first liquid storage device is arranged inside the second ring and fixedly connected to the second ring; the processor is communicatively connected to the first spray pump, and the processor is communicatively connected to the first height sensor. The intelligent sprayer detects the height of the crop by arranging the first height sensor on the first spray device, and controls the first spray hole to spray toward the location of the crop; and the first liquid storage device is arranged inside the first balancing device to keep the first liquid storage device balanced, reduce the overflow of the liquid medicine, and improve the spraying efficiency and spraying effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0030] Figure 1 This is a schematic diagram of the structure of the intelligent sprayer described in the embodiment of the present application;

[0031] Figure 2 This is a schematic diagram of the structure of the first spray device described in an embodiment of the present application;

[0032] Figure 3 This is a schematic diagram of the structure of the second spray device described in the embodiment of the present application;

[0033] Figure 4 This is a schematic structural diagram of a first balancing device according to an embodiment of the present application;

[0034] Figure 5 This is a schematic structural diagram of the second balancing device in an embodiment of the present application;

[0035] Figure 6 This is a schematic diagram of the structure of the walking device described in an embodiment of the present application.

[0036] Illustration Description:

[0037] Among them: 1-walking device; 101-first support rod; 102-second support rod; 103-first roller; 104-second roller; 105-third roller; 106-fourth roller; 1011-fifth movable axis; 1021-sixth movable axis; 2-housing; 3-first spray device; 301-first telescopic rod; 302-first spray pump; 303-first pipeline; 304-first height sensor; 305-first spray hole; 306-first infrared detector; 3011 first upper rod; 3012-first connecting axis; 3013-first lower rod; 4-first balancing device; 401-first ring; 402- The second circular ring; 403-the first movable axis; 404-the second movable axis; 405-the first connecting rod; 5-the first liquid storage device; 6-the second spray device; 601-the second telescopic rod; 602-the second spray pump; 603-the second pipeline; 604-the second height sensor; 605-the second spray hole; 606-the second infrared detector; 6011-the second upper rod; 6012-the second connecting axis; 6013-the second lower rod; 7-the second balancing device; 701-the third circular ring; 702-the fourth circular ring; 703-the third movable axis; 704-the fourth movable axis; 705-the second connecting rod; 8-the second liquid storage device; 9-the display screen. DETAILED DESCRIPTION

[0038] The following embodiments are described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following embodiments do not represent all implementations consistent with the present application. They are only examples of systems and methods consistent with some aspects of the present application as detailed in the claims.

[0039] It should be noted that the brief description of terms in this application is only for the convenience of understanding the embodiments described below, and is not intended to limit the embodiments of this application. Unless otherwise specified, these terms should be understood according to their common and usual meanings.

[0040] The terms "first", "second", "third", etc. in the specification and claims of this application and the above drawings are used to distinguish similar or similar objects or entities, and do not necessarily mean to limit a specific order or sequence, unless otherwise noted. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances.

[0041] In the field of agricultural planting, the prevention and control of pests and diseases of mountain crops is related to the final yield and quality of crops. Due to the rugged and changeable mountain terrain and steep slopes, the prevention and control of pests and diseases is difficult. The method of manually carrying a medicine pot for spraying pesticides requires walking in a mountainous environment, which is labor-intensive. In addition, due to the influence of the terrain, the spraying effect is uneven and the efficiency is low, which is difficult to meet the efficient and precise production needs of modern agriculture.

[0042] To improve work efficiency, a large container can be set up at the foot of the mountain to dilute the medicine, and the diluted medicine can be directly transmitted to the mountain crop area through a long hard pipe, thereby realizing remote spraying. However, since the long pipe needs to move with the spraying location and the pipe itself is heavy, there is still a problem of low work efficiency. The excessive length of the pipe also increases the risk of knotting, which may accidentally damage the crop seedlings during movement, resulting in poor spraying effect.

[0043] In order to solve the problems of low efficiency in pest control and control of mountain crops and poor spraying effect, the present application provides an intelligent sprayer. Figure 1-Figure 4 .in, Figure 1 This is a schematic diagram of the structure of the intelligent sprayer; Figure 2 is a schematic structural diagram of a first spray device; Figure 3 A schematic diagram of the structure of the second spray device; Figure 4 is a schematic structural diagram of a first balancing device; Figure 5 is a schematic structural diagram of a second balancing device; Figure 6 The embodiment of the present application provides an intelligent sprayer, comprising: a walking device 1, a housing 2, a first spray device 3, a first balancing device 4, a first liquid storage device 5 and a processor.

[0044] Among them, the shell 2 is arranged on the walking device 1, and the shell 2 is hollow inside; the first spray device 3 includes a first telescopic rod 301, a first spray pump 302, a first pipeline 303 and a first height sensor 304, one end of the first telescopic rod 301 is connected to the shell 2, and the other end of the first telescopic rod 301 is provided with a first spray hole 305, the first spray hole 305 is connected to the first liquid storage device 5 through the first pipeline 303, and the first spray pump 302 is arranged on the first pipeline 303; the first balancing device 4 includes a first ring 401 and a second ring 402, the first ring 401 is fixedly connected to the shell 2, the second ring 402 is movably connected to the first ring 401, and the second ring 402 is arranged inside the first ring 401; the first liquid storage device 5 is a barrel-shaped structure, the first liquid storage device 5 is arranged inside the second ring 402, and the first liquid storage device 5 is fixedly connected to the second ring 402; the processor is arranged inside the shell 2, the processor is communicated with the first spray pump 302, and the processor is communicated with the first height sensor 304.

[0045] like Figure 1As shown, the first roller 103 and the second roller 104 in the walking device 1 maintain a relatively active state, and the third roller 105 and the fourth roller 106 maintain a relatively active state, so that the walking device 1 achieves a four-wheel balance state and realizes the walking function of the intelligent sprayer. The first liquid storage device 5 is used to store liquid medicine, and the first height sensor 304 in the first spray device 3 is an ultrasonic displacement sensor, which uses the propagation and reflection characteristics of ultrasonic waves in the air to detect the position of an object. For example, the ultrasonic displacement sensor generates an ultrasonic signal through an internal transmitter and transmits it in the direction of the crop to be measured; when the ultrasonic wave encounters the crop to be measured, it will be reflected, and the reflected wave will be received by the receiver inside the sensor; the received ultrasonic signal is first amplified and counted by a counter to determine the time required for the ultrasonic wave from emission to reception, and finally the distance difference between the crop to be measured and the sensor is calculated based on the measured time difference and the known ultrasonic wave propagation speed. When the ultrasonic displacement sensor detects the height and position difference between the target crop to be sprayed with liquid medicine and the first spray device 3, the difference signal is sent to the processor. After receiving the difference signal, the processor first controls the first telescopic rod 301 to adjust according to the height and position difference between the target crop and the first spray device 3, and adjusts the height and angle to a position consistent with the target crop. For example, when the ultrasonic displacement sensor detects that the first spray device 3 is 5 cm higher than the target crop, the processor controls the power output shaft of the first motor in the first spray device 3 to rotate, and converts the rotational motion into the moving motion of the first connecting shaft through the first transmission mechanism, so that the first upper rod is lowered by 5 cm; secondly, the first spray pump is controlled to extract liquid medicine from the first liquid storage device 5, and the liquid medicine is transported to the first spray hole 305 through the first pipeline 303, and the liquid medicine is sprayed on the target crop through the first spray hole 305. The first liquid storage device 5 is arranged inside the second ring 402 in the first balancing device 4. The second ring 402 can always remain parallel to the ground due to the gravity of the liquid medicine in the first liquid storage device 5, that is, the first liquid storage device 5 is always parallel to the ground during the movement of the intelligent sprayer, thereby reducing liquid medicine overflow.

[0046] It is understandable that the first height sensor 304 may also be other sensors, as long as it can detect the height and position difference between the target crop and the first spray device 3, and the embodiment of the present application does not make any specific limitation.

[0047] It should be noted that the first spray hole 305 includes a plurality of liquid outlet holes, which can improve the uniformity of liquid spraying.

[0048] In some embodiments, the first telescopic rod 301 includes a first upper rod 3011, a first connecting shaft 3012, a first motor, a first transmission mechanism, and a first lower rod 3013; the first connecting shaft 3012 movably connects the first upper rod 3011 and the first lower rod 3013, and the power output shaft of the first motor is connected to the first connecting shaft 3012 through the first transmission mechanism; the first motor is communicatively connected to the processor. For example, the first transmission mechanism is a gear, and the rotational motion output by the power output shaft of the first motor can be converted into the movement of the first connecting shaft 3012 through the meshing of the gears.

[0049] like Figure 2 As shown, the first upper rod 3011 and the first lower rod 3013 are connected via the first connecting shaft 3012. When the first motor outputs power to the first connecting shaft 3012 through the first transmission mechanism, the angle between the first upper rod 3011 and the first lower rod 3013 can be changed.

[0050] In some embodiments, the intelligent sprayer further includes: a second spray device 6 , a second balancing device 7 and a second liquid storage device 8 .

[0051] Wherein, the second spray device 6 is as follows Figure 3 As shown, it includes a second telescopic rod 601, a second spray pump 602, a second pipeline 603 and a second height sensor 604. The second telescopic rod 601 is symmetrical to the first telescopic rod 301. One end of the second telescopic rod 601 is connected to the housing 2, and the other end of the second telescopic rod 601 is provided with a second spray hole 605. The second spray hole 605 is connected to the second liquid storage device 8 through the second pipeline 603. The second spray pump 602 is arranged on the second pipeline; the second telescopic rod 601 includes a second upper rod 6011, a second connecting shaft 6012, a second motor, a second transmission mechanism and a second lower rod 6013; the second connecting shaft 6012 is movably connected to the second upper rod 6011 and the second lower rod 6013, and the second connecting shaft 6012 is movably connected to the second upper rod 6011 and the second lower rod 6013. The power output shaft of the second motor is connected to the second connecting shaft 6012 through the second transmission mechanism; the second motor is communicatively connected to the processor; the second balancing device 7 includes a third ring 701 and a fourth ring 702, the third ring 701 is fixedly connected to the shell 2, the fourth ring 702 is movably connected to the third ring 701, and the fourth ring 702 is arranged inside the third ring 701; the second balancing device 7 is symmetrical to the first balancing device 4; the second liquid storage device 8 is a barrel-shaped structure, the second liquid storage device 8 is arranged inside the fourth ring 702, and the second liquid storage device 8 is fixedly connected to the fourth ring 702; the second spray pump 602 is communicatively connected to the processor, and the second height sensor 604 is communicatively connected to the processor.

[0052] It is understandable that in order to increase the coverage area of ​​the liquid sprayed by the intelligent sprayer, the second spray device 6, the second balancing device 7 and the second liquid storage device 8 can be respectively arranged at positions symmetrical to the first spray device 3, the first balancing device 4 and the first liquid storage device 5. The working principle of the second spray device 6 is the same as that of the first spray device 3, and will not be repeated here.

[0053] In some embodiments, the first balancing device 4 also includes a first movable axis 403, a second movable axis 404 and a first connecting rod 405; the second balancing device 7 also includes a third movable axis 703, a fourth movable axis 704 and a second connecting rod 705; the first movable axis 403 is arranged on the first ring 401, the second movable axis 404 is arranged on the second ring 402, one end of the first connecting rod 405 is connected to the first movable axis 403, and the other end of the first connecting rod 405 is connected to the second movable axis 404; the third movable axis 703 is arranged on the third ring 701, the fourth movable axis 704 is arranged on the fourth ring 702, one end of the second connecting rod 705 is connected to the third movable axis 703, and the other end of the second connecting rod 705 is connected to the fourth movable axis 704.

[0054] like Figure 4 As shown, the two ends of the first connecting rod 405 are respectively connected to the first movable shaft 403 and the second movable shaft 404. The first movable shaft 403 is arranged on the first ring 401, and the second movable shaft 404 is arranged on the second ring 402. Therefore, after the first ring 401 and the second ring 402 are connected by the first connecting rod 405, they are in a relatively movable state, that is, when the angle of the first ring 401 changes, the second ring 402 does not need to change the same angle as the first ring 401, but can maintain a horizontal state. Figure 5 As shown, the two ends of the second connecting rod 705 are respectively connected to the third movable axis 703 and the fourth movable axis 704. The third movable axis 703 is set on the third ring 701, and the fourth movable axis 704 is set on the fourth ring 702. Therefore, after the third ring 701 and the fourth ring 702 are connected by the second connecting rod 705, they are in a relatively movable state, that is, when the angle of the third ring 701 changes, the fourth ring 702 does not have to change with the same angle as the third ring 701, but can maintain a horizontal state.

[0055] In some embodiments, the first spray device 3 also includes a first infrared detector 306, the second spray device 6 also includes a second infrared detector 606, and the processor also includes a storage chip; the first infrared detector 306 is communicatively connected to the processor; the second infrared detector 606 is communicatively connected to the processor; and the storage chip is communicatively connected to the processor.

[0056] like Figure 2 and Figure 3As shown, the first infrared detector 306 and the second infrared detector 606 can also be provided on the first spray device 3 and the second spray device 6. The first infrared detector 306 and the second infrared detector 606 can be infrared cameras. The process of infrared camera detecting crops is as follows: first, adjusting the shooting distance, angle, resolution and other parameters; second, shooting the detected crop to obtain infrared image data; third, preprocessing and feature extraction of the collected infrared image; finally, judging the type of the detected crop according to the extracted feature information. The target crop to be sprayed can be pre-stored in the memory chip of the processor. After the first infrared detector 306 or the second infrared detector 606 judges the type of crop, it communicates with the processor to compare whether the target crop in the memory chip is the crop detected by the first infrared detector 306 or the second infrared detector 606. If the detected crop is the target crop, the processor controls the first spray device 3 or the second spray device 6 to spray the drug.

[0057] It should be noted that, in addition to the infrared detector, other instruments that can identify crops can also be used to detect the types of crops, such as photoelectric sensors, etc., which are not specifically limited in the embodiments of the present application.

[0058] In some embodiments, the intelligent sprayer further includes a body position detection device; the body position detection device is disposed outside the shell; the body position detection device is communicatively connected to the processor; and the walking device is communicatively connected to the processor.

[0059] When the intelligent sprayer is spraying crops, there may be a situation where the liquid medicine in the first liquid storage device 5 and the second liquid storage device 8 is completely consumed but the target crop has not been irrigated. Therefore, the intelligent sprayer needs to have the function of automatically replenishing the liquid medicine and continuing to work. A fuselage position detection device, such as a GPS positioning device, can be set outside the shell 1, and the GPS positioning device is communicatively connected to the processor. When the processor receives a liquid medicine missing signal, first, the GPS positioning device is controlled to record and store the current irrigation point; secondly, the processor obtains the location information of the liquid medicine replenishment point from the GPS positioning device, and controls the intelligent sprayer to move to the liquid medicine replenishment point to replenish the liquid medicine; after the liquid medicine is replenished, the processor controls the intelligent sprayer to return to the stored irrigation point of the target crop to continue irrigation.

[0060] In some embodiments, the walking device 1 includes a first support rod 101, a second support rod 102, a first roller 103, a second roller 104, a third roller 105 and a fourth roller 106; the first support rod 101 and the second support rod 102 are parallel, and the shell 2 is arranged on the first support rod 101 and the second support rod 102; the first roller 103 and the second roller 104 are respectively arranged at both ends of the first support rod 101, and the third roller 105 and the fourth roller 106 are respectively arranged at both ends of the second support rod 102; the width of the first roller 103, the second roller 104, the third roller 105 and the fourth roller 106 is greater than a first preset value, and the first preset value is determined according to the maximum load-bearing capacity of the intelligent sprayer.

[0061] The walking device 1 is used to realize the walking function of the intelligent sprayer, wherein the first roller 103 and the second roller 104 are arranged on the first support rod 101, and the third roller 105 and the fourth roller 106 are arranged on the second support rod 102, forming a four-wheel balance state. In order to prevent the intelligent sprayer from falling into a depression due to excessive mass during mountain walking, it is necessary to design the width of the first roller 103, the second roller 104, the third roller 105 and the fourth roller 106 to be greater than the first preset value, so as to increase the contact area between the walking device 1 and the ground and reduce the pressure. For example, when the intelligent sprayer is loaded with 50 kg, the width of the first roller 103, the second roller 104, the third roller 105 and the fourth roller 106 should be greater than 30 cm.

[0062] In some embodiments, a fifth movable shaft 1011 is provided on the first support rod 101, and a sixth movable shaft 1021 is provided on the second support rod 102; the two ends of the fifth movable shaft 1011 are respectively movably connected to the first roller 103 and the second roller 104; the two ends of the sixth movable shaft 1021 are respectively movably connected to the third roller 105 and the fourth roller 106.

[0063] like Figure 6 As shown, in order to enhance the climbing function of the intelligent sprayer, a fifth movable shaft 1011 and a sixth movable shaft 1021 are respectively arranged on the first support rod 101 and the second support rod 102. The first roller 103 and the second roller 104 are connected by the fifth movable shaft 1011, and the third roller 105 and the fourth roller 106 are connected by the sixth movable shaft 1021. That is, the first roller 103 and the second roller 104 are kept in a relatively active state, and the third roller 105 and the fourth roller 106 are kept in a relatively active state, and the angle can be changed arbitrarily during the climbing process, thereby improving flexibility.

[0064] In some embodiments, the intelligent sprayer further includes a display screen 9; the display screen is disposed outside the housing; and the display screen 9 is communicatively connected to the processor.

[0065] The display screen 9 can be used to check the remaining situation of the liquid medicine, the situation of the target crop, etc., and can also realize human-computer interaction. For example, the user selects the target crop through the display screen 9, and sets the intelligent sprayer to spray the target crop in the preset area. After receiving the user's instruction through the display screen 9, the intelligent sprayer can start working.

[0066] In some embodiments, the intelligent sprayer also includes a power supply device; the power supply device is arranged inside the shell; the power supply device includes a lithium battery; the power supply device is electrically connected to the processor, the first spray pump 302, the first height sensor 304, the second spray pump 602, the second height sensor 604, the first infrared detector 306, the second infrared detector 606, the body position detection device, the first motor, the second motor and the display screen 9.

[0067] The power supply device is used to power the intelligent sprayer. Different from the power supply method of wires, power supply can improve the flexibility of the intelligent sprayer and improve work efficiency.

[0068] It can be seen from the above technical solutions that the present application provides an intelligent sprayer, including: a walking device, a shell, a first spray device, a first balancing device, a first liquid storage device and a processor. One end of the first telescopic rod is connected to the shell, and the other end is provided with a first spray hole, and the first spray hole is connected to the first liquid storage device through a first pipe; the first ring is fixedly connected to the shell, the second ring is movably connected to the first ring, and the second ring is arranged inside the first ring; the first liquid storage device is arranged inside the second ring and fixedly connected to the second ring; the processor is communicatively connected to the first spray pump, and the processor is communicatively connected to the first height sensor. The intelligent sprayer detects the height of the crop by arranging the first height sensor on the first spray device, and controls the first spray hole to spray toward the location of the crop; and the first liquid storage device is arranged inside the first balancing device to keep the first liquid storage device balanced, reduce the overflow of the liquid medicine, and improve the spraying efficiency and spraying effect.

[0069] Similar parts between the embodiments provided in this application can be referenced to each other. The specific implementation methods provided above are only a few examples under the general concept of this application and do not constitute a limitation on the protection scope of this application. For those skilled in the art, any other implementation methods expanded based on the scheme of this application without creative work belong to the protection scope of this application.

Claims

1. An intelligent sprayer, characterized in that: include: A walking device (1), a housing (2), a first spray device (3), a first balancing device (4), a first liquid storage device (5), and a processor; The shell (2) is arranged on the walking device (1), and the interior of the shell (2) is hollow; The first spray device (3) comprises a first telescopic rod (301), a first spray pump (302), a first pipeline (303) and a first height sensor (304); one end of the first telescopic rod (301) is connected to the housing (2); the other end of the first telescopic rod (301) is provided with a first spray hole (305); the first spray hole (305) is connected to the first liquid storage device (5) via the first pipeline (303); and the first spray pump (302) is provided on the first pipeline (303); The first balancing device (4) comprises a first circular ring (401) and a second circular ring (402), the first circular ring (401) being fixedly connected to the housing (2), the second circular ring (402) being movably connected to the first circular ring (401), and the second circular ring (402) being arranged inside the first circular ring (401); The first liquid storage device (5) is a barrel-shaped structure, the first liquid storage device (5) is arranged inside the second circular ring (402), and the first liquid storage device (5) is fixedly connected to the second circular ring (402); The processor is arranged inside the housing (2), the processor is communicatively connected to the first spray pump (302), and the processor is communicatively connected to the first height sensor (304).

2. The intelligent sprayer according to claim 1, characterized in that: The intelligent sprayer further comprises: a second spray device (6), a second balancing device (7) and a second liquid storage device (8); The second spray device (6) comprises a second telescopic rod (601), a second spray pump (602), a second pipe (603) and a second height sensor (604); the second telescopic rod (601) is symmetrical to the first telescopic rod (301); one end of the second telescopic rod (601) is connected to the housing (2); the other end of the second telescopic rod (601) is provided with a second spray hole (605); the second spray hole (605) is connected to the second liquid storage device (8) via the second pipe (603); and the second spray pump (602) is provided on the second pipe (603); The second balancing device (7) comprises a third circular ring (701) and a fourth circular ring (702), wherein the third circular ring (701) is fixedly connected to the housing (2), and the fourth circular ring (702) is movably connected to the third circular ring (701), and the fourth circular ring (702) is arranged inside the third circular ring (701); the second balancing device (7) is symmetrical to the first balancing device (4); The second liquid storage device (8) is a barrel-shaped structure, the second liquid storage device (8) is arranged inside the fourth circular ring (702), and the second liquid storage device (8) is fixedly connected to the fourth circular ring (702); The second spray pump (602) is connected to the processor for communication, and the second height sensor (604) is connected to the processor for communication.

3. The intelligent sprayer according to claim 2, characterized in that: The first balancing device (4) further comprises a first movable shaft (403), a second movable shaft (404) and a first connecting rod (405); the second balancing device (7) further comprises a third movable shaft (703), a fourth movable shaft (704) and a second connecting rod (705); The first movable shaft (403) is arranged on the first circular ring (401), the second movable shaft (404) is arranged on the second circular ring (402), one end of the first connecting rod (405) is connected to the first movable shaft (403), and the other end of the first connecting rod (405) is connected to the second movable shaft (404); The third movable shaft (703) is arranged on the third circular ring (701), the fourth movable shaft (704) is arranged on the fourth circular ring (702), one end of the second connecting rod (705) is connected to the third movable shaft (703), and the other end of the second connecting rod (705) is connected to the fourth movable shaft (704).

4. The intelligent sprayer according to claim 2, characterized in that: The first spray device (3) further comprises a first infrared detector (306), the second spray device (6) further comprises a second infrared detector (606), and the processor further comprises a storage chip; The first infrared detector (306) is communicatively connected to the processor; The second infrared detector (606) is communicatively connected to the processor; The storage chip is communicatively connected to the processor.

5. The intelligent sprayer according to claim 4, characterized in that: The intelligent sprayer also includes a body position detection device; The fuselage position detection device is arranged outside the housing (2); The fuselage position detection device is communicatively connected to the processor; The walking device (1) is communicatively connected to the processor.

6. The intelligent sprayer according to claim 2, characterized in that: The walking device (1) comprises a first support rod (101), a second support rod (102), a first roller (103), a second roller (104), a third roller (105) and a fourth roller (106); The first support rod (101) and the second support rod (102) are parallel, and the housing (2) is arranged on the first support rod (101) and the second support rod (102); The first roller (103) and the second roller (104) are respectively arranged at two ends of the first support rod (101), and the third roller (105) and the fourth roller (106) are respectively arranged at two ends of the second support rod (102); The widths of the first roller (103), the second roller (104), the third roller (105) and the fourth roller (106) are greater than a first preset value, and the first preset value is determined according to the maximum load-bearing capacity of the intelligent sprayer.

7. The intelligent sprayer according to claim 6, characterized in that: The first support rod (101) is provided with a fifth movable shaft (1011), and the second support rod (102) is provided with a sixth movable shaft (1021); The two ends of the fifth movable shaft (1011) are movably connected to the first roller (103) and the second roller (104) respectively; The two ends of the sixth movable shaft (1021) are movably connected to the third roller (105) and the fourth roller (106) respectively.

8. The intelligent sprayer according to claim 5, characterized in that: The first telescopic rod (301) comprises a first upper rod (3011), a first connecting shaft (3012), a first motor, a first transmission mechanism and a first lower rod (3013); the second telescopic rod (601) comprises a second upper rod (6011), a second connecting shaft (6012), a second motor, a second transmission mechanism and a second lower rod (6013); The first connecting shaft (3012) movably connects the first upper rod (3011) and the first lower rod (3013), and the power output shaft of the first motor is connected to the first connecting shaft (3012) via the first transmission mechanism; The second connecting shaft (6012) movably connects the second upper rod (6011) and the second lower rod (6013), and the power output shaft of the second motor is connected to the second connecting shaft (6012) via the second transmission mechanism; The first motor and the second motor are respectively connected to the processor for communication.

9. The intelligent sprayer according to claim 8, characterized in that: The intelligent sprayer also includes a display screen (9); The display screen (9) is arranged outside the housing (2); The display screen (9) is communicatively connected to the processor.

10. The intelligent sprayer according to claim 9, characterized in that: The intelligent sprayer also includes a power supply device; The power supply device is arranged inside the housing (2); The power supply device includes a lithium battery; The power supply device is electrically connected to the processor, the first spray pump (302), the first height sensor (304), the second spray pump (602), the second height sensor (604), the first infrared detector (306), the second infrared detector (606), the fuselage position detection device, the first motor, the second motor and the display screen (9).

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