Digital agricultural intelligent spraying system based on photoelectric tracking technology

Abstract

The utility model provides a digital agricultural intelligent spraying system based on a photoelectric tracking technology, relates to the technical field of irrigation and spraying equipment and control, and mainly solves the problems that an existing agricultural spraying system is poor in spraying irrigation effect and not accurate enough in spraying decision, the environment is harmed due to excessive use of pesticides, the spraying precision is poor, and the waste condition is serious. The system comprises an intelligent controller, an irrigation facility and a pesticide spraying facility. By arranging a humidity sensor, a temperature sensor, a corresponding intelligent controller and a corresponding irrigation facility, precise irrigation can be achieved; and a visual data analysis module, a corresponding region positioning module and a pesticide spraying facility are arranged, so that precise pesticide application is realized, blind large-area spraying is avoided, the pesticide can be utilized most reasonably, the usage amount of the pesticide is remarkably reduced, the cost of purchasing the pesticide is reduced, and the yield and quality of crops are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of irrigation, spraying equipment and control technology, in particular to a digital agricultural intelligent spraying system based on photoelectric tracking technology. BACKGROUND

[0002] Traditional agricultural spraying methods often rely on manual operation or relatively simple mechanical devices, which have problems such as uneven spraying, serious waste of pesticides and fertilizers, high labor intensity, and low work efficiency, and are difficult to meet the needs of modern large-scale and precision production. In order to improve the efficiency of agricultural production, reduce production costs, improve the quality of agricultural products and reduce the negative impact on the environment, it is inevitable to develop a precise and intelligent agricultural spraying system, which has prompted the emergence of a new type of agricultural intelligent spraying system. Intelligent spraying system is an intelligent system that combines advanced sensor technology, automation control technology and spraying equipment, and is widely used in agricultural irrigation, garden maintenance, industrial production, environmental governance and other fields.

[0003] However, the agricultural environment is complex and changeable, and the existing spraying equipment and system still has some problems in specific use. First, the fixed spraying system arranges the spray heads according to a certain layout. This system is simple to operate and easy to maintain, but the installation cost is high, and it is suitable for crops with fixed types and piece planting. The use cost is high in scattered planting areas, which will cause waste and poor spraying irrigation effect. As for the walking type spraying system, the whole spraying equipment is movable, which has high flexibility and low investment cost, but the degree of automation is low, and the coverage rate of spraying is low. In addition, when the sensor measures the soil moisture, crop water demand and other parameters, the precision is affected. In areas with different soil textures and complex crop root distribution, the soil moisture sensor may not accurately reflect the real moisture condition of the crop root, resulting in inaccurate spraying decision.

[0004] In addition, the excessive use of pesticides in existing agricultural planting has a serious harmful effect on the environment. Most pesticides are not used reasonably and effectively, but fall on the soil or healthy plants, or are taken away by rainwater, thereby affecting the ecological environment. With traditional spraying technology, the grower increases the cost of pesticides, pollutes the soil, and also harms the environment. The reason for this inefficiency is the poor spraying precision. If the tracking and recognition functions of various sensors can be combined with GPS positioning technology, machine algorithm learning and visual recognition, selective application of pesticide spraying can greatly reduce pesticide costs and reduce the impact on the environment. SUMMARY

[0005] The application provides a digital agricultural intelligent spraying system based on photoelectric tracking technology, which is used to solve the problems of the fixed spraying system not suitable for scattered planting areas, and low automation degree of the walking spraying system and low spraying coverage of crops.

[0006] The application adopts the following technical scheme: a digital agricultural intelligent spraying system based on photoelectric tracking technology is installed in a planting base or a greenhouse, and is characterized in that the system comprises an intelligent controller, irrigation facilities and pesticide spraying facilities.

[0007] The irrigation facilities are fixed and are installed in the upper space and the ground surface of the planting base or the greenhouse, and are divided into upper mechanisms and ground surface mechanisms; the upper mechanisms are sprinkling irrigation devices, and comprise mounting frames 1 arranged above crops and spray heads 2; the ground surface mechanisms are fertilization devices, and comprise drip irrigation assemblies 3 arranged on the ground surface.

[0008] The pesticide spraying facilities comprise three parts, namely, a fixed pesticide liquid station 4, a walking spraying vehicle 5 and a walking track 6; the pesticide liquid station 4 performs pesticide dispensing and fills the walking spraying vehicle 5 as needed, and the walking spraying vehicle 5 is provided with a power device and moves along the walking track 6 to perform accurate pesticide spraying on the planting area.

[0009] The intelligent controller comprises a main processor 7, an irrigation program processor 8 and a pesticide spraying program processor 9; the main processor 7 is connected to the irrigation program processor 8 and the pesticide spraying program processor 9 through wires or a network, sends instructions to the two processors and controls the work of the two processors; the irrigation program processor 8 is connected to the sprinkling irrigation devices and the fertilization devices and controls the work of the two devices; the pesticide spraying program processor 9 is connected to the main processor 7, receives signals sent by the main processor 7 and stores the signals, and controls the walking device and the spraying device.

[0010] Preferably, the intelligent controller further comprises a region positioning module 10; the region positioning module 10 comprises a positioning system and position sensors 11 evenly arranged at specific positions of the planting area, the positioning system divides the planting area into grids in cooperation with the position sensors 11, the density and accuracy of the grids are adjusted according to the accuracy of the positioning system and the number of the position sensors 11, the position sensors 11 are provided with signal emitters, the signal emitters coincide with the grids divided by the positioning system, each position sensor 11 corresponds to fixed grid position information, and after being triggered by light and electricity, the position sensor 11 is connected to the main processor 7 through the signal emitter and transmits the represented position information to the main processor 7 as a coordinate point.

[0011] Preferably, the intelligent controller further comprises a visual data analysis module 12; the visual data analysis module 12 comprises an image capture device 13 installed on the sprinkler device above the planting area, the image capture device 13 shoots images of the planting area in real time and sends them to the main processor 7, the main processor 7 discriminates according to the input image examples of weeds or diseases, insect pests, identifies the weeds or diseases, insect pests in the image, and marks them as drug spraying targets; while the image capture device 13 is shooting, the position sensor 11 of the corresponding area is triggered, the signal emitter on the position sensor 11 sends the position information to the main processor 7, after the main processor 7 confirms the spraying target, it sends the marking information including the spraying target and its grid coordinates to the pesticide spraying program processor 9, which instructs the walking device and the spraying device to spray drugs accurately during the pesticide spraying operation; the image capture device 13 captures images and analyzes whether there are weeds, diseases, insect pests through the main processor 7, the controllable nozzle 32 can accurately aim at these targets and spray enough drug dose, avoiding spraying to the open area and causing unnecessary waste and pollution.

[0012] Preferably, the inlet ends of the sprinkler device and the fertilizer application device are connected to the water-fertilizer compound device; the water-fertilizer compound device comprises a water storage tank 14 and a fertilizer mixer 15, and is provided with a one-way pipeline 16 connecting the water storage tank 14 and the fertilizer mixer 15, the one-way pipeline 16 is provided with a one-way valve 17 and a filtering device 18; the water storage tank 14 is also directly connected to the sprinkler device, and is sequentially provided with a water outlet pump 19, a water outlet pipe, and then connected to the spray head 2; the irrigation program processor 8 is connected to the one-way valve 17 on the one-way pipeline 16, the water outlet pump 19 between the water storage tank 14 and the sprinkler device, the stirring motor 21 and the fertilizer pump 24 in the fertilizer mixer 15, and the adjusting valve 25 on the drip irrigation assembly 3 through wires or network.

[0013] Preferably, the fertilizer mixer 15 is connected to the fertilizer application device, comprising a fertilizer mixing barrel 20, a stirring device and a fertilizer pump, the fertilizer mixing barrel 20 is connected to the water storage tank 14, the stirring device comprises a stirring motor 21 and a stirring shaft 22, the stirring motor 21 is arranged below the fertilizer mixing barrel 20, the stirring shaft 22 connected to the output shaft of the stirring motor 21 vertically penetrates the bottom of the fertilizer mixing barrel 20, and the stirring blade 23 arranged along the axial direction of the fertilizer mixing barrel 20 is installed on the stirring shaft 22; the upper end side of the fertilizer mixing barrel 20 is provided with a fertilizer adding port 20-1, the part of the barrel body connected to the water storage tank through the one-way pipeline 16 is provided with a water inlet, and the bottom is provided with a fertilizer outlet connected to the fertilizer pump 24; the fertilizer pump 24 is connected to the adjusting valve 25, and then divided into several drip irrigation assemblies 3 arranged on the ground through pipelines.

[0014] Preferably, the stirring blade 23 comprises three layers of blades distributed along the stirring shaft 22 in the axial direction, which are respectively paddle blades, turbine blades and spiral blades.

[0015] Preferably, the humidity sensor 26 is also included, which is distributed in the soil of the planting area or the space close to the spraying object. The humidity sensor 26 is used to detect the humidity of the soil or the surface of the sprayed object, to obtain the real-time environmental humidity information and convert it into an electrical signal, which is transmitted to the main processor 7. The main processor 7 adjusts the spraying amount and spraying time according to the actual humidity condition and sends the execution signal to the irrigation program processor 8.

[0016] Preferably, the temperature sensor 27 is also included, which is distributed in the space of the planting area. The temperature sensor 27 is used to monitor the environmental temperature and provide the temperature data of the planting area for the main processor 7, which helps to more accurately control the sprinkler and control the spraying frequency and spraying amount.

[0017] Preferably, the pesticide liquid station 4 of the pesticide spraying facility is arranged beside the water and fertilizer compound device, on the other side of the fertilizer mixer 15 and connected with the water storage tank 14. The main structure of the pesticide liquid station 4 is the same as that of the fertilizer mixer 15, which includes a pesticide mixing barrel 28 and a stirring device. The internal structure of the pesticide mixing barrel 28 is consistent with that of the fertilizer mixing barrel 20 of the fertilizer mixer 15, and a filling pump 29 is arranged at the bottom of the pesticide mixing barrel 28 to temporarily dock with the traveling spraying vehicle 5 for pesticide liquid filling.

[0018] Preferably, the traveling spraying vehicle 5 includes a pesticide liquid barrel 30, a spraying device and a traveling device.

[0019] The pesticide liquid barrel 30 is fixed on the traveling device, the spraying device is connected with the pesticide liquid barrel 30, and the pesticide liquid barrel 30 is provided with a docking port to dock with the fertilizer mixing barrel 20 of the pesticide liquid station 4 for pesticide liquid filling. The spraying device includes support trusses 31 installed on both sides of the traveling device and nozzles 32 fixed on the support trusses 31. The nozzles 32 are connected with the pesticide liquid barrel 30 through pipelines, a pressure pump is installed on the pipelines, and an electromagnetic valve is arranged on each independent nozzle 32 to control the nozzle 32. The traveling device is installed on the traveling track 6, which includes a vehicle frame 33, an internal motor 34, a controller 35 and a power component composed of gears. The traveling track 6 is a parallel double rule, which is arranged on the ground of the planting area, and a rack 6-1 is arranged on the inner side of the track. The output shaft of the internal motor 34 is arranged downward, and a gear is sleeved on the output shaft. The gear is engaged with the rack 6-1 on the inner side of the track. The internal motor 34 rotates to drive the traveling mechanism to move along the traveling track 6. The pressure pump, the electromagnetic valve and the controller 35 are respectively connected to the pesticide spraying program processor 9 and controlled by the pesticide spraying program processor 9.

[0020] The features and advantages of the present application are as follows:

[0021] The application can realize precise irrigation by setting the humidity sensor 26, the temperature sensor 27 and the corresponding intelligent controller and irrigation facilities, can accurately control the water quantity and spraying time according to the water requirement characteristics and growth stages of different crops, avoid excessive irrigation or insufficient irrigation, improve the water resource utilization rate, promote the growth of crops, reduce the occurrence of diseases and pests, can also improve the microclimate in the shed: adjust the humidity and temperature in the shed to create a suitable growth environment for crops, in addition, improve the labor efficiency, reduce the workload and labor intensity of manual watering, and can be remotely controlled, convenient for the management personnel to operate and monitor the spraying system at any time and anywhere, and also realize precise pesticide application by setting the visual data analysis module 12 and the corresponding area positioning module 10 and pesticide spraying facilities, avoid blind large-area spraying, make the pesticide get the most reasonable use, significantly reduce the use amount of pesticide, thereby reduce the cost of purchasing pesticide, improve the yield and quality of crops. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a structural schematic diagram of the intelligent spraying system described in the application.

[0023] Figure 2 is a structural schematic diagram of the sprinkling irrigation device.

[0024] Figure 3 is a structural schematic diagram of the fertilizer application device.

[0025] Figure 4 is a structural schematic diagram of the pesticide spraying facility.

[0026] Figure 5 is a structural schematic diagram of the water-fertilizer compound device and the pesticide liquid station.

[0027] Figure 6 is a structural schematic diagram of the walking spraying vehicle.

[0028] Figure 7 is a control and connection schematic diagram of the intelligent spraying system described in the application.

[0029] In the figure, the mounting frame 1, the spray head 2, the drip irrigation assembly 3, the liquid medicine station 4, the walking spraying vehicle 5, the walking track 6, the rack 6-1, the main processor 7, the irrigation program processor 8, the pesticide spraying program processor 9, the area positioning module 10, the position sensor 11, the visual data analysis module 12, the image capture device 13, the water storage tank 14, the fertilizer mixer 15, the one-way pipeline 16, the one-way valve 17, the filtering device 18, the water outlet pump 19, the fertilizer mixing barrel 20, the stirring motor 21, the stirring shaft 22, the stirring blade 23, the fertilizer adding port 20-1, the fertilizer pump 24, the adjusting valve 25, the humidity sensor 26, the temperature sensor 27, the pesticide mixing barrel 28, the filling pump 29, the liquid medicine barrel 30, the support truss 31, the nozzle 32, the vehicle frame 33, the built-in motor 34, and the controller 35. DETAILED DESCRIPTION Embodiment 1

[0030] As shown in Figure 1 , 2 , 3, 4, the digital agricultural intelligent spraying system based on photoelectric tracking technology comprises an intelligent controller, an irrigation facility, and a pesticide spraying facility.

[0031] The irrigation facility is fixed and installed on the upper space and the ground surface of a planting base or a greenhouse, and is divided into an upper mechanism and a ground mechanism; the upper mechanism is a sprinkling irrigation device, comprising a mounting frame 1 and a spray head 2 arranged above crops; the ground mechanism is a fertilizer application device, comprising a drip irrigation assembly 3 arranged on the ground surface.

[0032] The pesticide spraying facility comprises three parts, namely a fixed liquid medicine station 4, a walking spraying vehicle 5, and a walking track 6; the liquid medicine station 4 dispenses pesticides and fills them into the walking spraying vehicle 5 as needed, and the walking spraying vehicle 5 is provided with a power device and moves along the walking track 6 to spray pesticides on the planting area accurately.

[0033] The intelligent controller comprises a main processor 7, an irrigation program processor 8, and a pesticide spraying program processor 9; the main processor 7 is connected to the irrigation program processor 8 and the pesticide spraying program processor 9 through wires or a network, sends instructions to them, and controls their work; the irrigation program processor 8 is connected to the sprinkling irrigation device and the fertilizer application device, and controls their work; the pesticide spraying program processor 9 is connected to the main processor 7, receives signals sent by the main processor 7, stores them, and controls the walking device and the spraying device. Embodiment 2

[0034] As shown in Figures 1-5 , the digital agricultural intelligent spraying system based on photoelectric tracking technology has a structure basically the same as that of Embodiment 1, and the difference lies in that:

[0035] The inlet end of the sprinkling device and the fertilizer device are connected with the water and fertilizer compound device; the water and fertilizer compound device comprises a water storage tank 14 and a fertilizer mixer 15, and is provided with a one-way pipeline 16 connecting the water storage tank 14 with the fertilizer mixer 15, and a one-way valve 17 and a filtering device 18 are arranged on the one-way pipeline 16; the water storage tank 14 is also directly connected with the sprinkling device, and is sequentially provided with a water outlet pump 19, a water outlet pipe, and then connected with the sprinkler 2; the irrigation program processor 8 is connected with the one-way valve 17 on the one-way pipeline 16, the water outlet pump 19 between the water storage tank 14 and the sprinkling device, the stirring motor 21 and the fertilizer pump 24 in the fertilizer mixer 15, and the adjusting valve 25 on the drip irrigation assembly 3 through wires or network.

[0036] The fertilizer mixer 15 is connected with the fertilizer device, and comprises a fertilizer mixing barrel 20, a stirring device and a fertilizer pump; the fertilizer mixing barrel 20 is connected with the water storage tank 14; the stirring device comprises a stirring motor 21 and a stirring shaft 22; the stirring motor 21 is arranged below the fertilizer mixing barrel 20; the stirring shaft 22 connected with the output shaft of the stirring motor 21 vertically penetrates the bottom of the fertilizer mixing barrel 20; stirring blades 23 arranged along the axial direction of the fertilizer mixing barrel 20 are installed on the stirring shaft 22; the stirring blades 23 comprise two layers of blades distributed along the axial direction of the stirring shaft 22, which are paddle type blades and turbine type blades respectively; a fertilizer adding port 20-1 is arranged on the upper end side of the fertilizer mixing barrel 20; a water inlet is arranged on the part of the barrel body connected with the water storage tank through the one-way pipeline 16; and a fertilizer outlet connected with the fertilizer pump 24 is arranged on the bottom of the fertilizer mixing barrel 20; the fertilizer pump 24 is connected with the adjusting valve 25, and then is branched through pipelines to a plurality of drip irrigation assemblies 3 arranged on the ground surface. Example 3

[0037] As Figures 1-6As shown in the figure, the digital agricultural intelligent spraying system based on photoelectric tracking technology described in this embodiment is basically the same as that described in embodiment 2, the difference is that the pesticide liquid station 4 of the pesticide spraying facility is arranged beside the water and fertilizer compound device, on the other side of the fertilizer mixer 15, and is connected with the water storage tank 14, the main structure of which is the same as that of the fertilizer mixer 15, including a pesticide mixing barrel 28 and a stirring device, wherein the internal structure of the pesticide mixing barrel 28 is consistent with that of the fertilizer mixing barrel 20 of the fertilizer mixer 15, and a filling pump 29 is arranged at the bottom to temporarily dock with the walking spraying vehicle 5 for pesticide liquid filling; the walking spraying vehicle 5 comprises a pesticide liquid barrel 30, a spraying device and a walking device; wherein the pesticide liquid barrel 30 is fixed on the walking device, the spraying device is connected with the pesticide liquid barrel 30, and the pesticide liquid barrel 30 is provided with a docking port to dock with the fertilizer mixing barrel 20 of the pesticide liquid station 4 for pesticide liquid filling; the spraying device comprises support trusses 31 installed on both sides of the walking device, and nozzles 32 fixed on the support trusses 31, the nozzles 32 are connected with the pesticide liquid barrel 30 through pipelines, a pressure pump is installed on the pipeline, and an electromagnetic valve is arranged on the pipeline and each independent nozzle 32 to control the nozzle 32; the walking device is installed on the walking track 6, comprising a frame 33, an internal motor 34, a controller 35 and a gear power component, the walking track 6 is a parallel double rule, arranged on the ground of the planting area, and a rack 6-1 is arranged on the inner side of the track; the output shaft of the internal motor 34 is arranged downward, and a gear is sleeved thereon, the gear is engaged with the rack 6-1 on the inner side of the track, and the internal motor 34 rotates to drive the walking mechanism to move along the walking track 6; the pressure pump, the electromagnetic valve and the controller 35 are respectively connected to the pesticide spraying program processor 9. Embodiment 4

[0038] As Figures 1-6 As shown in the figure, the digital agricultural intelligent spraying system based on photoelectric tracking technology described in this embodiment is basically the same as that described in embodiment 2, the difference is that the intelligent controller further comprises a regional positioning module 10; the regional positioning module 10 comprises a positioning system and position sensors 11 uniformly arranged at specific positions of the planting area, the positioning system divides the planting area into grids in cooperation with the position sensors 11, the density and accuracy of the grid are adjusted according to the accuracy of the positioning system and the number of position sensors 11, the position sensors 11 are matched with signal transmitters, which coincide with the grid divided by the positioning system, each position sensor 11 corresponds to fixed grid position information, and after being triggered by light and electricity, the signal transmitters are connected with the main processor 7 to transmit the represented position information to the main processor 7 as coordinate points.

[0039] The intelligent controller further comprises a visual data analysis module 12; the visual data analysis module 12 comprises an image capture device 13 installed on the sprinkler device above the planting area, the image capture device 13 shoots images of the planting area in real time and sends them to the main processor 7, the main processor 7 discriminates according to the input image examples of weeds or diseases and insect pests through a learning algorithm, identifies the weeds or diseases and insect pests in the images, and marks them as drug spraying targets; the position sensor 11 of the corresponding area is triggered when the image capture device 13 shoots, the signal emitter on the position sensor 11 sends the position information to the main processor 7 together, after the main processor 7 confirms the spraying target, the marking information including the spraying target and the grid coordinates where it is located is sent to the pesticide spraying program processor 9, when the pesticide spraying program processor 9 instructs the walking device and the spraying device to perform precise pesticide spraying during the pesticide spraying operation; the image capture device 13 captures images and analyzes whether there are weeds, diseases and insect pests through the main processor 7, the controllable nozzle 32 can accurately aim at these targets and spray enough drug dose, avoiding spraying to the open area and causing unnecessary waste and pollution.

[0040] In addition, the intelligent controller further comprises a humidity sensor 26 and a temperature sensor 27 distributed in the soil of the planting area or the space close to the planting area; the humidity sensor 26 is used for detecting the humidity of the soil or the surface of the sprayed object, obtaining the environmental humidity information in real time and converting it into an electric signal, and transmitting it to the main processor 7, the main processor 7 adjusts the spraying amount and spraying time according to the actual humidity condition and sends the execution signal to the irrigation program processor 8; the temperature sensor 27 is used for monitoring the environmental temperature and providing the temperature data of the planting area for the main processor 7, which helps to more accurately control the sprinkler device and control the spraying frequency and spraying amount.

Claims

1. A digital agricultural intelligent spraying system based on photoelectric tracking technology, installed in a planting base or a greenhouse, characterized in that, The intelligent controller, the irrigation facility and the pesticide spraying facility are included. The irrigation facility is fixed and installed in the upper space and the ground surface of the planting base or the greenhouse, and is divided into an upper mechanism and a ground mechanism; the upper mechanism is a sprinkling irrigation device, including a mounting frame (1) arranged above crops and a spray head (2); the ground mechanism is a fertilization device, including a drip irrigation assembly (3) arranged on the ground surface; The pesticide spraying facility includes three parts, namely a fixed pesticide liquid station (4), a walking spraying vehicle (5) and a walking track (6); the pesticide liquid station (4) is used for dispensing pesticides and filling the walking spraying vehicle (5) as needed, the walking spraying vehicle (5) is provided with a power device, moves along the walking track (6) and sprays the pesticides on the planting area accurately; The intelligent controller includes a main processor (7), an irrigation program processor (8) and a pesticide spraying program processor (9); the main processor (7) is connected with the irrigation program processor (8) and the pesticide spraying program processor (9) through wires or a network; the irrigation program processor (8) is connected with the sprinkling irrigation device and the fertilization device; the pesticide spraying program processor (9) is connected with the main processor (7), receives signals sent by the main processor (7) and stores the signals.

2. The digital agricultural intelligent spraying system based on photoelectric tracking technology according to claim 1, characterized in that, The intelligent controller further includes a region positioning module (10); the region positioning module (10) includes a positioning system and position sensors (11) uniformly arranged at specific positions of the planting area; the positioning system divides the planting area into grids in cooperation with the position sensors (11); the position sensors (11) are provided with signal transmitters matched therewith, and the signal transmitters coincide with the grids divided by the positioning system; each position sensor (11) corresponds to fixed grid position information, and is connected with the main processor (7) through the signal transmitters after being triggered by light and electricity, so as to transmit the position information represented thereby to the main processor (7) as coordinate points.

3. The digital agricultural intelligent spraying system based on photoelectric tracking technology according to claim 1, characterized in that, The intelligent controller further includes a visual data analysis module (12); the visual data analysis module (12) includes an image capturing device (13) arranged on the sprinkling irrigation device above the planting area; the image capturing device (13) photographs the position sensors (11) capable of triggering corresponding regions; the signal transmitters on the position sensors (11) send position information to the main processor (7); and the main processor (7) sends marking information to the pesticide spraying program processor (9).

4. The digital agricultural intelligent spraying system based on photoelectric tracking technology according to claim 1, characterized in that, The inlet ends of the sprinkling irrigation device and the fertilization device are connected with a water and fertilizer compound device; the water and fertilizer compound device includes a water storage tank (14) and a fertilizer mixer (15), and is provided with a one-way pipeline (16) connected between the water storage tank (14) and the fertilizer mixer (15); the one-way pipeline (16) is provided with a one-way valve (17) and a filtering device (18); the water storage tank (14) is further connected with the sprinkling irrigation device, and is sequentially provided with a water outlet pump (19), a water outlet pipe and then connected with the spray head (2); the irrigation program processor (8) is connected with the one-way valve (17) on the one-way pipeline (16), the water outlet pump (19) between the water storage tank (14) and the sprinkling irrigation device, a stirring motor (21) and a fertilizer pump (24) in the fertilizer mixer (15) and a regulating valve (25) on the drip irrigation assembly (3) through wires or a network.

5. The digital agricultural intelligent spraying system based on photoelectric tracking technology according to claim 4, characterized in that, The fertilizer mixer (15) is connected with the fertilizer application device, and includes a fertilizer mixing barrel (20), a stirring device and a fertilizer pump. The fertilizer mixing barrel (20) is connected with the water storage tank (14). The stirring device includes a stirring motor (21) and a stirring shaft (22). The stirring motor (21) is arranged below the fertilizer mixing barrel (20). The stirring shaft (22) connected with the output shaft of the stirring motor (21) vertically penetrates the bottom of the fertilizer mixing barrel (20). The stirring shaft (22) is provided with stirring blades (23) arranged along the axial direction of the fertilizer mixing barrel (20). The upper end side of the fertilizer mixing barrel (20) is provided with a fertilizer adding port (20-1). The part of the barrel body connected with the water storage barrel through the one-way pipeline (16) is provided with a water inlet. The bottom is provided with a fertilizer outlet connected with the fertilizer pump (24). The fertilizer pump (24) is connected with the regulating valve (25), and then is branched through the pipeline to the plurality of drip irrigation assemblies (3) arranged on the ground.

6. The digital agricultural intelligent spraying system based on photoelectric tracking technology according to claim 5, characterized in that, The stirring blades (23) include at least two layers of blades distributed along the axial direction of the stirring shaft (22), and are any two of the paddle type blade, the turbine type blade and the spiral type blade.

7. The digital agricultural intelligent spraying system based on photoelectric tracking technology according to claim 1, characterized in that, The intelligent controller further includes a humidity sensor (26) distributed in the soil of the planting area or the space close to the planting area and connected with the main processor (7). 8.The digital agricultural intelligent spraying system based on photoelectric tracking technology of claim 1 or 7, wherein, The intelligent controller further includes a temperature sensor (27) distributed in the space of the planting area and connected with the main processor (7).

9. The digital agricultural intelligent spraying system based on photoelectric tracking technology according to claim 1, characterized in that, The pesticide liquid station (4) of the pesticide spraying facility is arranged beside the water and fertilizer compound device, on the other side of the fertilizer mixer (15) and connected with the water storage tank (14). The main body structure is the same as that of the fertilizer mixer (15), and includes a pesticide mixing barrel (28) and a stirring device. The internal structure of the pesticide mixing barrel (28) is consistent with that of the fertilizer mixing barrel (20) of the fertilizer mixer (15). The bottom is provided with a filling pump (29) for temporarily connecting with the walking spraying vehicle (5) to fill the pesticide liquid.

10. The digital agricultural intelligent spraying system based on photoelectric tracking technology according to claim 1, characterized in that, The walking spraying vehicle (5) includes a pesticide liquid barrel (30), a spraying device and a walking device. The pesticide liquid tank (30) is fixed on the walking device, the spraying device is connected with the pesticide liquid tank (30), the pesticide liquid tank (30) is provided with a docking port, and the fertilizer mixing barrel (20) of the pesticide liquid station (4) is docked to be filled with pesticide liquid; the spraying device comprises support trusses (31) installed on both sides of the walking device and nozzles (32) fixed on the support trusses (31), the nozzles (32) are connected with the pesticide liquid tank (30) through pipelines, a pressurizing pump is installed on the pipelines, and an electromagnetic valve is arranged on each independent nozzle (32) and the pipeline to control the nozzles (32); the walking device is installed on the walking track (6) and comprises a frame (33), a built-in motor (34), a controller (35) and a power component composed of gears, the walking track (6) is a parallel double rule, is arranged on the ground of a planting area, and a rack (6-1) is arranged on the inner side of the track; the output shaft of the built-in motor (34) is arranged downward, a gear is sleeved on the output shaft, the gear is engaged with the rack (6-1) on the inner side of the track, the built-in motor (34) rotates to drive the walking mechanism to move along the walking track (6); the pressurizing pump, the electromagnetic valve and the controller (35) are respectively connected to a pesticide spraying program processor (9).

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