Unmanned intelligent boom sprayer

Abstract

The utility model discloses an unmanned intelligent boom sprayer, which comprises working mechanisms and a control system, the working mechanisms are arranged on a rack, each working mechanism comprises a walking mechanism, a steering mechanism, a boom action mechanism, a spraying mechanism and a fertilizer spreading mechanism, and the control system comprises a control terminal, a main controller, a manual operation mechanism and an external sensing mechanism; the control terminal is used for receiving signals of the external induction mechanism, sending signals to the main controller or the working mechanism and setting a moving track, and the main controller is used for receiving signals of the control terminal, the manual operation mechanism and the external induction mechanism and sending signals to the working mechanism. The external sensing mechanism comprises a movement sensing mechanism, a spray rod position sensing mechanism and a spray internal sensing mechanism; the spraying rod action mechanism comprises side spraying rods located on the two sides of the machine frame, each side spraying rod comprises a main rod and an auxiliary rod, one end of each main rod is hinged to one end of the corresponding auxiliary rod, an auxiliary unfolding oil cylinder is installed on each main rod, and a floating connector of each auxiliary unfolding oil cylinder is hinged to the corresponding auxiliary rod.

Description

Technical Field

[0001] The present invention is an intelligent boom sprayer for driverless operation. Background Art

[0002] A boom sprayer is a motorized sprayer with nozzles mounted on a horizontal boom or a vertical boom. This type of sprayer has high operating efficiency, good spraying quality, and uniform liquid spraying volume, and is suitable for large-area spraying of various liquid preparations such as pesticides, fertilizers, and plant growth regulators, and is widely used in field crops, lawns, nurseries, walled vineyards, and specific occasions (such as airport, road snow melting, roadside weeding, etc.).

[0003] The boom sprayer sprays through the booms on both sides. Therefore, the length of the boom determines the spraying coverage area. Theoretically, the longer the boom, the larger the coverage area and the higher the working efficiency. However, limited by the internal space size of the sprayer itself, the length of the boom is also restricted, so the coverage area of the boom cannot be fully increased. Summary of the Invention

[0004] The purpose of the present invention is to solve the above deficiencies of the prior art and provide an intelligent boom sprayer for driverless operation.

[0005] An intelligent boom sprayer for driverless operation includes a working mechanism and a control system. The working mechanisms are all installed on a frame. The working mechanism includes a traveling mechanism, a steering mechanism, a boom movement mechanism, a spraying mechanism, and a fertilizer spreading mechanism. The control system includes a control terminal, a main controller, a manual operation mechanism, and an external sensing mechanism.

[0006] The control terminal is used to receive signals from the external sensing mechanism, send signals to the main controller or the working mechanism, and set the movement trajectory. The main controller is used to receive signals from the control terminal, the manual operation mechanism, and the external sensing mechanism and send signals to the working mechanism. The external sensing mechanism includes a movement sensing mechanism, a boom position sensing mechanism, and a spraying internal sensing mechanism. The boom movement mechanism includes side booms located on both sides of the frame. The side boom includes a main rod and a sub-rod. One end of the main rod is hinged to one end of the sub-rod. A sub-expansion oil cylinder is installed on the main rod, and the floating joint of the sub-expansion oil cylinder is hinged to the sub-rod.

[0007] Working principle: The real-time position of the sprayer is displayed on the control terminal through an antenna. The movement trajectory of the sprayer is set through the control terminal, and then signals are sent to the working mechanism and the main controller to control the operation of each working mechanism. Then, the state information of the sprayer is collected through the external sensing mechanism. The control terminal and the main controller receive these signals and make adjustments. At the same time, manual operation can be performed through the manual operation mechanism when necessary.

[0008] To ensure that the side spray bar can be deployed, the other end of the main rod is hinged to the mounting bracket, the mounting bracket is arranged on the frame, a main deployment oil cylinder is installed on the mounting bracket, the floating joint of the main deployment oil cylinder is connected to the main rod, the mounting bracket is controlled to lift by a lifting oil cylinder, and the main deployment oil cylinder, the auxiliary deployment oil cylinder, and the lifting oil cylinder are controlled to act by a spray bar control solenoid valve, and the spray bar control solenoid valve is used to receive signals from the main controller.

[0009] To enable the side spray bar to lift, the main rod is hinged to the connecting rod part of the planar four-bar mechanism.

[0010] To ensure the collection of the state information of the spray bar, the spray bar position sensing mechanism includes a plurality of proximity switches, sensing columns, and a lifting angle sensing mechanism. The proximity switches and the sensing columns are installed on the inner and outer sides of the hinge joint of the main rod and the auxiliary rod. The lifting angle sensing mechanism is used to sense the lifting angle of the spray bar. The lifting angle sensor includes a lifting angle sensor, the lifting angle sensor is fixed on the frame, the rotating shaft of the lifting angle sensor is connected to one end of the second connecting rod, and the other end of the second connecting rod is connected to the main rod.

[0011] To ensure that the main controller can operate according to the motion trajectory when there is no manual control, the mobile sensing mechanism includes an antenna and a bogie angle sensing mechanism. The antenna is used to send the position information of the sprayer to the control terminal, and the bogie angle sensing mechanism is used to sense the rotation angle of the bogie.

[0012] To be able to collect the angle signal of the bogie rotation, the steering wheel motor is used to receive the signal and operate and steer the wheels through the bogie. The bogie angle sensing mechanism includes a bogie angle sensor. The bogie angle sensor is fixed on the fixed bogie of the drive axle. The rotating shaft of the bogie angle sensor is connected to one end of the first connecting rod, and the other end of the first connecting rod is connected to the positioning shaft. The positioning shaft is fixedly connected to the moving bogie.

[0013] To be able to control the movement or speed change of the spray machine through the main controller, the traveling mechanism includes an engine, a gearbox, a drive axle, a shifting mechanism, a traveling controller, and a push rod motor. The traveling controller is used to receive signals from the main controller and control the movement of the push rod motor. The push rod motor controls the shifting mechanism to shift gears and change speeds. The engine is used to provide power to the gearbox, and the gearbox drives the wheels to rotate through the drive axle.

[0014] To ensure that the spray mechanism can spray evenly, the spray mechanism includes a spraying controller, a medicine tank, a filter, a water pump, a water valve, a front spray bar, and a rear spray bar. One end of the filter is connected to the medicine tank, and the other end of the filter is connected to the inlet of the water pump. The water pump has two outlets. One of the water outlets is connected to the front spray bar, and the other water outlet is connected to the rear spray bar. An electric water valve and an overflow valve are arranged between the front spray bar and the water pump. The outlet of the overflow valve is connected to the water pump. A manual valve is arranged between the rear spray bar and the water pump;

[0015] In order to collect the internal state information of the spraying mechanism, the internal induction mechanism of the spray includes a pressure gauge and a flow meter, and the spraying controller receives the signals from the main controller and the internal induction mechanism of the spray.

[0016] In order to facilitate the control of the fertilizer spreading mechanism for fertilizer spreading, the fertilizer spreading mechanism includes a fertilizer spreading frame, a fertilizer box, a fertilizer spreading motor, a fertilizer amount adjusting cover, a fertilizer spreading disc, and a fertilizer spreading solenoid valve. The fertilizer spreading frame is used to support the fertilizer spreading machine, the fertilizer box is used to place fertilizers, the fertilizer spreading motor controls the rotation of the fertilizer spreading disc, the fertilizer spreading solenoid valve controls the operation of the fertilizer spreading motor, the fertilizer spreading solenoid valve receives the electrical signal from the main controller, and the fertilizer amount adjusting cover is used to adjust the amount of fertilizer spreading.

[0017] In order to achieve manual control and perform manual control when necessary, the manual operation mechanism includes a speed change control mechanism and a toggle switch box. The toggle switch box is used to send signals to the main controller. The speed change control mechanism includes an operation handle and a handle angle sensing mechanism. The handle angle sensing mechanism is used to sense the rotation angle of the handle and send angle signals. The handle angle sensing mechanism includes a handle angle sensor. The rotating shaft of the handle angle sensor is connected to one end of the third connecting rod, and the other end of the third connecting rod is connected to the handle.

[0018] Beneficial effects: Compared with the prior art, the present invention displays the real-time position of the sprayer on the control terminal through the antenna, sets the movement trajectory of the sprayer through the control terminal, then sends signals to the working mechanism and the main controller to control the operation of each working mechanism, and collects the state information of the sprayer through the external induction mechanism. The control terminal and the main controller receive these signals and make adjustments. At the same time, manual control can be performed through the manual operation mechanism when necessary;

[0019] The present invention can plan the operation trajectory and accurately follow the planned trajectory, making the spraying operation more reasonable, increasing the operation efficiency. At the same time, the target spraying amount of pesticides per mu can be set, and the current spraying amount of pesticides can be adjusted in real time according to the driving speed of the vehicle, making the spraying amount distribution uniform throughout the field, reducing the waste of pesticides and environmental pollution.

[0020] And when not in the driverless state, this sprayer can be driven in the normal manual operation mode. Therefore, even if the vehicle-mounted tablet fails and cannot enter the driverless state, the spraying operation can still be carried out normally, ensuring the progress of the operation. The spray boom can also be automatically deployed and retracted, reducing the operation amount, and the spray boom can be lifted to the appropriate height for operation, which is applicable to various crops with different heights.

[0021] On the basis of the original side spray boom, auxiliary booms are added to further expand the spraying area of the spray boom, thereby improving the working efficiency and coverage area, and the retractable and deployable structure of the auxiliary boom can make more effective use of space. Description of the Drawings

[0022] Figure 1 It is an overall schematic diagram of an unmanned intelligent boom sprayer;

[0023] Figure 2 It is a schematic diagram of the traveling mechanism and the steering mechanism on the frame;

[0024] Figure 3 It is a schematic diagram of the bridge leg angle sensor;

[0025] Figure 4 It is the front view of the speed change control mechanism;

[0026] Figure 5 It is the rear view of the speed change control mechanism;

[0027] Figure 6 It is the side view of the boom action mechanism;

[0028] Figure 7 It is the front view of the boom action mechanism;

[0029] Figure 8 It is a schematic diagram of the position of the outer proximity switch;

[0030] Figure 9 It is a schematic diagram of the position of the inner proximity switch;

[0031] Figure 10 It is a schematic diagram of the lifting angle sensing mechanism;

[0032] Figure 11 It is a schematic diagram of the states of the highest and lowest points of the mounting bracket;

[0033] Figure 12 It is a schematic diagram of the spraying mechanism;

[0034] Figure 13 It is a schematic diagram of the fertilizer spreading mechanism;

[0035] Figure 14 It is a schematic diagram of the cab;

[0036] Figure 15 It is a schematic diagram of the state when the auxiliary rod is fully retracted;

[0037] Figure 16 It is a schematic diagram of the state when the auxiliary rod is fully extended;

[0038] In the figure, 1. fertilizer spreading mechanism, 2. spraying mechanism, 3. cab, 4. steering mechanism, 5. boom operating mechanism, 6. traveling mechanism, 7. frame, 8. speed change control mechanism, 9. gearbox, 10. axle leg angle sensing mechanism, 11. wheel, 12. moving axle leg, 13. positioning shaft, 14. first connecting rod, 15. axle leg angle sensor, 16. fixed axle leg, 17. handle, 18. third connecting rod, 19. push rod motor, 20. shifting mechanism, 21. handle angle sensor, 22. main rod, 23. lifting oil cylinder, 24. mounting bracket, 25. main expansion oil cylinder, 26. lifting angle sensing mechanism, 27. sensing column, 28. proximity switch, 29. lifting angle sensor, 30. second connecting rod, 31. connecting pipe, 32. rear boom, 33. medicine tank, 34. filter, 35. water pump, 36. water distribution valve, 37. fertilizer tank, 38. fertilizer spreading frame, 39. fertilizer spreading disc, 40. fertilizer quantity adjusting cover, 41. fertilizer spreading motor, 42. canopy, 43. antenna, 44. control terminal, 45. steering wheel motor, 46. auxiliary rod, 47. auxiliary expansion oil cylinder. Detailed implementation mode

[0039] To deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with embodiments and drawings. The embodiments are only used to explain the present invention and do not limit the protection scope of the present invention.

[0040] As Figure 1-14 , the fertilizer spreading mechanism 1, the spraying mechanism 2, the cab 3, the steering mechanism 4, the boom operating mechanism 5, the traveling mechanism 6, the frame 7, the speed change control mechanism 8, the gearbox 9, the axle leg angle sensing mechanism 10, the wheel 11, the moving axle leg 12, the positioning shaft 13, the first connecting rod 14, the axle leg angle sensor 15, the fixed axle leg 16, the handle 17, the third connecting rod 18, the push rod motor 19, the shifting mechanism 20, the handle angle sensor 21, the side boom 22, the lifting oil cylinder 23, the mounting bracket 24, the expansion oil cylinder 25, the lifting angle sensing mechanism 26, the sensing column 27, the proximity switch 28, the lifting angle sensor 29, the second connecting rod 30, the connecting pipe 31, the rear boom 32, the medicine tank 33, the filter 34, the water pump 35, the water distribution valve 36, the fertilizer tank 37, the fertilizer spreading frame 38, the fertilizer spreading disc 39, the fertilizer quantity adjusting cover 40, the fertilizer spreading motor 41, the canopy 42, the antenna 43, the control terminal 44, the steering wheel motor 45, the auxiliary rod 46, the auxiliary expansion oil cylinder 47.

[0041] An unmanned intelligent boom sprayer includes a working mechanism and a control system. The working mechanisms are all installed on the frame 7. The working mechanisms include a traveling mechanism 6, a steering mechanism 4, a boom operating mechanism 5, a spraying mechanism 2, and a fertilizer spreading mechanism 1. The control system includes a control terminal 44, a main controller, a manual operation mechanism, and an external sensing mechanism. The control terminal 44 is an in-vehicle tablet computer;

[0042] The control terminal 44 is used to receive signals from the external sensing mechanism, send signals to the main controller or the working mechanism, and set the movement trajectory. The main controller is used to receive signals from the control terminal 44, the manual operation mechanism, and the external sensing mechanism, and send signals to the working mechanism. The external sensing mechanism includes a movement sensing mechanism, a boom position sensing mechanism, and a spray internal sensing mechanism.

[0043] The traveling mechanism 6 includes an engine, a gearbox 9, a drive axle, a shifting mechanism 20, a traveling controller, and a push rod motor 19. The traveling controller is used to receive signals from the main controller and control the movement of the push rod motor 19. The push rod motor 19 controls the shifting mechanism 20 to shift gears and change speeds. The engine is used to provide power to the gearbox 9, and the gearbox 9 drives the wheels 11 to rotate through the drive axle;

[0044] The steering wheel motor 45 is used to receive signals and operate to turn the wheels 11 through the axle legs. The axle leg angle sensing mechanism 10 includes an axle leg angle sensor 15. The axle leg angle sensor 15 is fixed on the fixed axle leg 16 of the drive axle. The rotating shaft of the axle leg angle sensor 15 is connected to one end of the first connecting rod 14, and the other end of the first connecting rod 14 is connected to the positioning shaft 13. The positioning shaft 13 is fixedly connected to the moving axle leg 12.

[0045] The movement sensing mechanism includes an antenna 43 and an axle leg angle sensing mechanism 10. The antenna 43 is used to send the position information of the sprayer to the control terminal 44, and the axle leg angle sensing mechanism 10 is used to sense the rotation angle of the axle legs;

[0046] Specifically, the control terminal 44 locates the position of the sprayer through the antenna 43 and displays it on the terminal. Then, it sets the movement trajectory of the sprayer, and at the same time sends a signal to the steering wheel motor 45. The steering wheel motor 45 rotates according to the movement trajectory and sends a signal to the main controller. The main controller sends a signal to the traveling controller, thereby controlling the push rod motor 19 to drive the shifting mechanism 20 to shift gears to achieve speed change;

[0047] In addition, it also includes a corresponding manual control mechanism, that is, a speed change control mechanism 8. The speed change control mechanism 8 includes an operation handle 17 and a handle angle sensing mechanism 21. The handle angle sensing mechanism 21 is used to sense the rotation angle of the handle 17 and send an angle signal. The handle angle sensing mechanism 21 includes a handle 17 angle sensor. The rotating shaft of the handle 17 angle sensor is connected to one end of the third connecting rod 18, and the other end of the third connecting rod 18 is connected to the handle 17;

[0048] Specifically, pulling the handle 17 causes the third connecting rod 18 connected to the handle 17 to rotate. The handle 17 angle sensor senses the change in angle and transmits the signal to the main controller to achieve gear shifting. In actual work, when the handle 17 is pulled backward, the sprayer moves backward. When pulled forward, the sprayer moves forward. And the greater the rotation angle, the faster the speed of the sprayer.

[0049] The boom actuating mechanism includes side booms located on both sides of the frame 7, lifting cylinders 23, main deployment cylinders 25, and boom control solenoid valves. The side booms include main booms and sub-booms 46. One end 22 of the main boom is hinged to the mounting bracket 24. The main deployment cylinder 25 is installed on the mounting bracket 24, and its floating joint is connected to the main boom 22. The mounting bracket 24 is installed on the frame 7. The lifting cylinder 23 is installed on the frame 7, and its floating joint is connected to the mounting bracket 24. The other end of the main boom is connected to one end of the sub-boom 46. A sub-deployment cylinder 47 is installed on the main boom, and the floating joint of the sub-deployment cylinder 47 is hinged to the sub-boom 46. The boom control solenoid valve receives signals from the main controller to control the operation of the lifting cylinder 23, main deployment cylinder 25, and sub-deployment cylinder 47.

[0050] The mounting bracket 24 is a planar four-bar mechanism. The lifting cylinder 23 is installed on the frame part of the planar four-bar mechanism, and its floating joint is connected to the connecting rod part. The main boom 22 is hinged to the link part of the planar four-bar mechanism.

[0051] The boom position sensing mechanism includes a plurality of proximity switches 28 and a lifting angle sensing mechanism 26. The proximity switches 28 are respectively installed on the inner and outer sides of the hinge joints of the main boom 22 and the sub-boom 46. The lifting angle sensing mechanism 26 is used to sense the lifting angle of the boom. The lifting angle sensor 29 includes a lifting angle sensor 29. The lifting angle sensor 29 is fixed to the frame 7, and the rotating shaft of the lifting angle sensor 29 is connected to one end of the second link 30. The other end of the second link 30 is connected to the main boom.

[0052] Specifically, the side boom includes a main boom and a sub-boom 46. The two main booms 22 are connected by a connecting pipe 31. A positioning shaft 13 is provided on the connecting pipe 31. The positioning shaft 13 is connected to the other end of the second link 30. The height of the main boom 22 is judged by sensing the rotation angle of the connecting pipe 31.

[0053] By controlling the operation of the main and sub-deployment cylinders 47 and the lifting cylinder 23 through the boom control solenoid valve, the deployment and lifting of the side boom 22 are realized. The main controller receives signals from the control terminal 44, sends command signals to the boom control solenoid valve, and judges the deployment states of the main boom and the sub-boom 46 through the proximity switches 28 and the sensing posts 48. When the main boom 22 is in the fully retracted state, the inner proximity switch 28 sends a signal. When the side boom 22 is in the fully deployed state, the outer proximity switch 28 sends a signal. When the boom is in the middle position, neither the inner nor the outer proximity switch 28 sends a signal. The judgment of the deployment state of the sub-boom 46 is the same as that of the main boom.

[0054] In addition, signals can be sent to the control through the toggle switch box to make the boom control solenoid valve operate.

[0055] The spraying mechanism 2 includes a spraying controller, a medicine tank 33, a filter 34, a water pump 35, a water valve, a front spraying rod, and a rear spraying rod 32. One end of the filter 34 is connected to the medicine tank 33, and the other end of the filter 34 is connected to the inlet of the water pump 35. The water pump 35 is provided with two outlets. One outlet is connected to the front spraying rod, and the other outlet is connected to the rear spraying rod 32. An electric water valve and an overflow valve are provided between the front spraying rod and the water pump 35. The outlet of the overflow valve is connected to the water pump 35. A manual valve is provided between the rear spraying rod 32 and the water pump 35.

[0056] The internal induction mechanism of the spray includes a pressure gauge and a flow meter. The spraying controller receives the signals from the main controller and the internal induction mechanism of the spray.

[0057] Specifically, the liquid medicine is placed in the medicine tank 33. After being filtered by the filter 34, the liquid medicine enters the water pump 35 from the inlet of the water pump 35. The power of the water pump 35 comes from the clutch pulley of the gearbox 9. The water pump 35 has two outlets. One is used to convey the liquid medicine to the water valve, and the other flows into the stirrer and the rear spraying rod of the medicine tank 33 using a three-way joint.

[0058] After the liquid medicine flows into the water valve, in order to achieve a good spraying effect, the overflow valve channel on the water valve needs to be adjusted to an appropriate size, and part of the liquid medicine is returned to the water pump 35 through the three-way joint to control the flow rate and working pressure of the water valve. Then, the liquid medicine passes through three water distribution valves 36 in the water valve and flows to the front spraying rod and reaches the nozzle for spraying operations.

[0059] The liquid medicine is jet-stirred after coming out of the water pump 35 and entering the stirrer, and the liquid medicine in the medicine tank 33 is fully mixed. A manual valve switch is used to control the on-off during the process of the liquid medicine entering the rear spraying rod, and the spraying of the rear spraying rod can be selectively turned on or off during the operation.

[0060] The water valve used in this spraying system is an electric valve. There are a flow meter and a pressure gauge on the valve. Using a toggle switch box and a vehicle-mounted tablet computer, the current spraying volume and pressure can be seen more intuitively. The spraying volume and pressure are changed through the control of the spraying controller to achieve the uniform distribution of pesticides in the field.

[0061] The fertilizer spreading mechanism 1 includes a fertilizer spreading frame 7, a fertilizer tank 37, a fertilizer spreading motor 41, a fertilizer amount adjusting cover 40, a fertilizer spreading disc 39, and a fertilizer spreading solenoid valve. The fertilizer spreading frame 7 is used to support the fertilizer spreading machine. The fertilizer tank 37 is used to place fertilizers. The fertilizer spreading motor 41 controls the rotation of the fertilizer spreading disc 39. The fertilizer spreading solenoid valve controls the operation of the fertilizer spreading motor 41. The fertilizer spreading solenoid valve receives the electrical signal from the main controller. The fertilizer amount adjusting cover is used to adjust the amount of fertilizer spread.

[0062] In addition, it also has a cab 3, and the cab 3 includes a roof 42, a roof 42 bracket, an antenna 43, an in-vehicle tablet computer, windshield wipers, rearview mirrors, a windshield, etc. In hot weather, the roof 42 is used to block the sun, avoiding direct sunlight during operation and increasing the comfort of operation. The front windshield is used to block the wind blowing from the front side to prevent it from blowing into the driver's eyes and increasing the driving difficulty. The two antennas 43 are installed on the upper side of the roof 42 through a cross bar, making it more convenient to receive signals for positioning the sprayer. The in-vehicle tablet computer is installed inside the front side of the roof 42 for easy viewing. The steering wheel motor 45 is fixed well through a pipe clamp. The driver controls the sprayer through manual control mechanisms such as the steering wheel and the handle 17 in the cab 3.

[0063] Workflow: Locate the sprayer through the antenna 43, and then set the operation trajectory on the in-vehicle tablet computer. In the driverless state, first, the in-vehicle tablet sends a signal to the controller to make the spray boom complete the fully extended action. After that, the push rod motor 19 of the main transmission control extends and retracts to make the sprayer move forward, stop, and reverse. The steering wheel motor 45 rotates to drive the axle legs 12 to change the driving direction of the sprayer to keep it on the operation trajectory. While the sprayer is moving, the spraying controller opens the water valve to make the nozzles on the spray boom spray. When the sprayer ends the driverless operation, first stop driving and spraying, and then retract the spray boom to complete the spraying operation. If fertilizer spreading operation is carried out, only control the action of the fertilizer spreading solenoid valve without controlling the spray boom action.

[0064] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An unmanned intelligent boom sprayer, characterized in that: It includes working mechanisms and control systems. The working mechanisms are all installed on the frame. The working mechanisms include walking mechanisms, steering mechanisms, spray bar action mechanisms, spray mechanisms, and fertilizer spreading mechanisms. The control system includes a control terminal, a main controller, a manual operating mechanism, and an external sensing mechanism. The control terminal is used to receive signals from the external sensing mechanism, send signals to the main controller or the working mechanism, and set the movement trajectory. The main controller is used to receive signals from the control terminal, the manual operating mechanism, and the external sensing mechanism, and send signals to the working mechanism. The external sensing mechanism includes a movement sensing mechanism, a spray rod position sensing mechanism, and a spray internal sensing mechanism. The spray rod actuation mechanism includes side spray rods located on both sides of the frame, and the side spray rods include a main rod and a secondary rod. One end of the main rod is hinged to one end of the secondary rod. A secondary deployment cylinder is installed on the main rod, and the floating joint of the secondary deployment cylinder is hinged to the secondary rod.

2. The unmanned intelligent boom sprayer according to claim 1, characterized in that: The other end of the main rod is hinged to the mounting frame, the mounting frame is arranged on the frame, a main deployment cylinder is installed on the mounting frame, a floating joint of the main deployment cylinder is connected to the main rod, the mounting frame is controlled to rise and fall by the lifting cylinder, the main deployment cylinder, the auxiliary deployment cylinder and the lifting cylinder are controlled by the spray rod control solenoid valve, and the spray rod control solenoid valve is used to receive signals from the main controller.

3. The unmanned intelligent boom sprayer according to claim 2, characterized in that: The mounting frame is a planar four-bar mechanism, the lifting cylinder is installed on the frame part of the planar four-bar mechanism, its floating joint is connected to the connecting rod part, and the main rod is hinged to the connecting rod part of the planar four-bar mechanism.

4. The unmanned intelligent boom sprayer according to claim 3, characterized in that: The spray rod position sensing mechanism includes a plurality of proximity switches, a sensing column and a lifting angle sensing mechanism, wherein the proximity switches and the sensing column are installed on the inner side and the outer side of the hinge of the main rod and the auxiliary rod; The lifting angle sensing mechanism is used to sense the lifting angle of the spray rod. The lifting angle sensing mechanism includes a lifting angle sensor. The lifting angle sensor is fixed on the frame. The rotating shaft of the lifting angle sensor is connected to one end of the second connecting rod, and the other end of the second connecting rod is connected to the main rod.

5. The unmanned intelligent boom sprayer according to claim 1, characterized in that: The mobile sensing mechanism comprises an antenna and a bridge leg angle sensing mechanism. The antenna is used to send the position information of the sprayer to the control terminal, and the bridge leg angle sensing mechanism is used to sense the rotation angle of the bridge leg.

6. The unmanned intelligent boom sprayer according to claim 5, characterized in that: The steering wheel motor is used to receive signals to operate and steer the wheels through the bridge legs. The bridge leg angle sensing mechanism includes a bridge leg angle sensor, which is fixed on the fixed bridge leg of the drive axle. The rotating shaft of the bridge leg angle sensor is connected to one end of the first connecting rod, and the other end of the first connecting rod is connected to the positioning shaft, and the positioning shaft is fixedly connected to the moving bridge leg.

7. The unmanned intelligent boom sprayer according to claim 1, characterized in that: The travel mechanism includes an engine, a gearbox, a drive axle, a shifting mechanism, a travel controller, and a push rod motor. The travel controller is used to receive signals from a main controller and control the movement of the push rod motor. The push rod motor controls the shifting mechanism to shift gears and change speed. The engine is used to provide power to the gearbox, and the gearbox drives the wheels to rotate through the drive axle.

8. The unmanned intelligent boom sprayer according to claim 1, characterized in that: The spray mechanism includes a spray controller, a medicine box, a filter, a water pump, a water valve, a front spray rod, and a rear spray rod. One end of the filter is connected to the medicine box, and the other end of the filter is connected to the inlet of the water pump. The water pump is provided with two outlets, one of which is connected to the front spray rod, and the other is connected to the rear spray rod. An electric water valve and an overflow valve are provided between the front spray rod and the water pump, and the outlet of the overflow valve is connected to the water pump. A manual valve is provided between the rear spray rod and the water pump. The spray internal sensing mechanism includes a pressure meter and a flow meter, and the spray controller receives signals from the main controller and the spray internal sensing mechanism.

9. The unmanned intelligent boom sprayer according to claim 1, characterized in that: The fertilizer spreading mechanism comprises a fertilizer spreading frame, a fertilizer box, a fertilizer spreading motor, a fertilizer amount adjustment cover, a fertilizer spreading disc, and a fertilizer spreading solenoid valve. The fertilizer spreading frame is used to support the fertilizer spreading machine, the fertilizer box is used to place fertilizer, the fertilizer spreading motor controls the rotation of the fertilizer spreading disc, the fertilizer spreading solenoid valve controls the operation of the fertilizer spreading motor, the fertilizer spreading solenoid valve receives an electrical signal from a main controller, and the fertilizer amount adjustment cover is used to adjust the amount of fertilizer spread.

10. The unmanned intelligent boom sprayer according to claim 1, characterized in that: The manual operating mechanism includes a speed shift operating mechanism and a button switch box, the button switch box is used to send a signal to the main controller, the speed shift operating mechanism includes an operating handle and a handle angle sensing mechanism, the handle angle sensing mechanism is used to sense the angle of rotation of the handle and send an angle signal, the handle angle sensing mechanism includes a handle angle sensor, the rotating shaft of the handle angle sensor is connected to one end of the third connecting rod, and the other end of the third connecting rod is connected to the handle.

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