CN112219824A - Automatic adjusting and shielding spraying machine applied to relay intercropping of different crops in field and operation method - Google Patents

Abstract

The invention discloses an automatic adjusting and shielding sprayer for relay intercropping of different crops applied to a field and an operation method, which relate to the field of agricultural plant protection and comprise a controller, a sampling module, an execution module, an interaction module, a functional module, a rack and a pesticide box; the invention is suitable for the plant protection operation in the relay intercropping of different crops, from herbicide spraying after seed sowing to plant protection spraying operation before crop harvesting. The height of the spraying frame, the length of the spray rod and the length of the mist blocking curtain can be automatically adjusted according to corresponding crops when the crop spraying machine works. The conditions that the pesticide pollution occurs and the crop growth is influenced when the interplanting is carried out on the monocotyledon and the dicotyledon can be effectively prevented, the pesticide utilization rate is improved, and the resources are saved.

Description

Automatic adjusting and shielding spraying machine applied to relay intercropping of different crops in field and operation method

Technical Field

The invention relates to the field of plant protection machinery, in particular to an automatic adjusting and shielding sprayer for a field, which is particularly suitable for relay intercropping plant protection operation among different crops.

Background

At present, partial varieties of grain crops produced in China cannot realize self-sufficiency and are seriously dependent on imports. Intercropping and relay intercropping are important planting forms, can improve the utilization rate of soil and photo-thermal resources, and can realize the production of more grain crops in limited cultivated land by using the technologies of intercropping, relay intercropping and the like. Taking soybean as an example, because soybean and corn are crops in the same season, the limited cultivated land in China cannot meet the requirement of single-purpose land for corn and soybean. The ground conflict between corn and soybean is large. The corn and soybean intercropping and relay intercropping can well utilize the planting space, and the nitrogen fixation effect of the soybeans can improve the nitrogen content of soil and reduce the utilization rate of chemical fertilizers. However, in the current intercropping and relay intercropping processes of corn and soybean, pesticide pollution is easily generated in the plant protection process due to different varieties of two plants, so that one plant is influenced by the pesticide of the other plant.

Therefore, the reasonable solution of the plant protection operation during intercropping and relay intercropping of different crops is a problem to be solved urgently.

Disclosure of Invention

The invention provides an automatic adjusting and shielding sprayer for relay intercropping of different crops, which is applied to fields and can solve the problem of plant protection during relay intercropping based on the problems in relay intercropping of different crops. The invention has simple structure and low cost, and is suitable for the plant protection process in the whole intercropping process.

The present invention achieves the above-described object by the following technical means.

An automatic adjusting and shielding sprayer for relay intercropping of different crops applied to a field comprises a controller, a sampling module, an execution module, a human-computer interaction module, a functional module, a rack and a pesticide box; the controller and the interaction module are arranged in the cab; the sampling module, the execution module and the interaction module are all communicated with the controller, and the execution module drives the function module to work; the controller is internally provided with a storage module, and the storage module stores the detected information and the decision of the corresponding information; the sampling module transmits the acquired information to the controller through a wireless signal;

the sampling module comprises a radar and a camera, and the telescopic spray rods are provided with the sampling modules;

the execution module and the controller are in signal transmission through wireless connection; the execution module comprises a diaphragm pump, a water pump driving circuit, a hydraulic cylinder, an extension spraying frame, a telescopic spray rod controller, a first motor, a motor driving circuit and a first speed reducer; the diaphragm pump is arranged at the rear side of the medicine box, and liquid medicine in the medicine box is pumped into a pipeline in the spraying frame through a water pipe; the diaphragm pump is controlled by the water pump driving circuit, and the water pump driving circuit is wirelessly connected with the controller, so that the controller controls the water yield of the diaphragm pump; the hydraulic cylinders are arranged on two sides of the fixed spraying frame, the fixed spraying frame is flexibly connected with the extension spraying frame, and the extension and contraction of the extension spraying frame are controlled by the extension or retraction of a piston rod in the hydraulic cylinders; the first motor is controlled by a motor driving circuit, is arranged on the outer surface of the rear side of the frame, is connected with the first speed reducer and is used for controlling the lifting and the lowering of the fixed spraying frame; the motor driving circuit is wirelessly connected with the controller and transmits a control signal sent by the controller to the motor; the telescopic spray rod is arranged on the spray frame and is directly controlled by a telescopic spray rod controller;

the functional module comprises an atomizing nozzle, a gear, a fog blocking curtain, a second motor reducer and a curtain rolling mechanism; the atomizing spray head is arranged on the telescopic spray rod; the second motor is wirelessly connected with the motor control circuit, controlled by the controller, connected with the second speed reducer and connected with the gear through the speed reducer, so that the second motor controls the roller shutter mechanism to work;

the man-machine interaction module is provided with a touch display screen, is arranged on the controller, is placed in the cab and is used for feeding back current working information and enabling a driver to operate the spraying machine; the control information sent by the current controller can be changed manually through the human-computer interaction module, and manual intervention spraying is realized.

Further, the radar and the camera are respectively a millimeter wave radar and a monocular camera; the millimeter wave radar is used for detecting the height of the crop below the telescopic spray rod at the corresponding position; the monocular camera is used for obtaining pictures of crops under the telescopic spray rod at the corresponding position of the monocular camera and uploading the pictures to the controller.

Furthermore, the controller contains a wireless transceiver for receiving the sampling information detected by the sampling module and sending out a control instruction of the controller; the controller determines the height of the spraying frame, the water yield of the diaphragm pump, the length of the telescopic spray rod and the length of the fog blocking curtain according to the information and the image detected by the sampling module and the current crop growth condition and the crop row spacing.

Furthermore, the roller shutter mechanism and the fog blocking curtain are used for blocking the liquid medicine and are arranged between the adjacent spray heads; in the working process, the sampling module and the controller judge the extending length of the fog blocking curtain required by the current situation and send a control instruction, and the second motor controls the retraction of the fog blocking curtain.

Further, the fog blocking curtain isolates different medicines in the working process of the sprayer; the space between the roller shutter mechanisms corresponds to the row spacing of crops; the outer surface of the fog blocking curtain is wavy, and the surface of the fog blocking curtain is coated with a nano hydrophobic material.

Furthermore, a water pipe is arranged in the spraying frame, one end of the water pipe is connected with the diaphragm pump, and the other end of the water pipe is connected with the telescopic spray rod; the telescopic mechanism of the telescopic spray rod is connected with the spray frame, and the telescopic spray rod is controlled to stretch out and recover by receiving a control signal sent by the telescopic spray rod controller.

Further, liquid medicines suitable for different crops are respectively filled in the two medicine boxes; the two diaphragm pumps supply the liquid medicine to the corresponding atomizer.

An operation method of an automatic adjusting and shielding sprayer for relay intercropping of different crops applied to a field comprises two working modes, namely plant protection operation in the crop growth process and herbicide spraying operation after seeding;

plant protection operation mode:

the controller sends out a command, the lifting frame is controlled by the first motor to lift the fixed spraying frame to a preset height, then a piston rod of the hydraulic cylinder extends out to open the extending spraying frame, and then the chain is loaded on the gear; the spraying machine moves forwards, the radar and the camera work, the crop height and the crop type under the position corresponding to the current sampling module are detected, then the detected information is sent to the controller, the lifting height of the fixed spraying frame is determined by the controller, after the fixed spraying frame is lifted, according to the information detected by the sampling module, the roller shutter mechanism is controlled by the second motor, the mist barrier curtain begins to extend out, the telescopic spray rod extends, then the spraying machine starts to work formally, the sampling module samples in real time during the field advancing process and spraying of the spraying machine, the current crop growth condition is sampled and analyzed, the current crop pest and disease damage condition and the crop growth height are detected by combining preset data and displayed on the man-machine interaction module in real time, and a driver determines whether to change the current working mode and the current spraying amount;

and (3) a spraying weeding mode:

the controller sends out an instruction, the lifting frame is controlled by the first motor, the height of the fixed spraying frame is reduced to a preset height, then a piston rod of the hydraulic cylinder extends out, the extended spraying frame is unfolded, then the chain is loaded on the gear, the millimeter wave radar detects the distance between the fixed spraying frame and the ground, the height of the current fixed spraying frame is judged whether to meet the requirement of spraying the herbicide or not and is dynamically adjusted, after the adjustment is finished, the second motor starts to work, the roller shutter mechanism extends out of the fog blocking curtain, and the atomizing spray head works; the sprayer samples constantly by a single-eye camera of the sampling module in the running process, the current ground weed growth condition is judged and fed back to the controller in real time, the controller changes the spray amount in real time according to the current condition, and a prompt is given by the man-machine interaction module.

Has the advantages that:

1. the sprayer provided by the invention adopts a double-medicine-box design on the basis of a high-clearance sprayer, a sampling module and a controller are added, and an execution module and a function module are improved, so that the breakthrough that plant protection operation can be carried out by single/dicotyledonous plants together is realized. And the working state of the sprayer can be dynamically adjusted in real time according to the growth condition of crops during operation, and corresponding changes are made according to the growth condition of the crops. And the plant growth condition information is dynamically collected, stored and analyzed while the plant is operated, so that more reference bases can be provided for plant protection operation.

2. Compared with the existing plant protection machinery, the invention has the following advantages: the pollution of pesticides suitable for different crops to another crop when two plants are subjected to plant protection operation at the same time can be avoided; the pesticide spraying device is suitable for spraying pesticide to crops with two different heights at the same time, and can realize precise pesticide spraying.

3. The invention is suitable for the plant protection operation during relay intercropping of different crops, from herbicide spraying after seed sowing to plant protection spraying operation before crop harvesting; the height of the spraying frame, the length of the spray rod and the length of the mist blocking curtain can be automatically adjusted according to corresponding crops when the crop spraying machine works. The conditions that the pesticide pollution occurs and the crop growth is influenced when the interplanting is carried out on the monocotyledon and the dicotyledon can be effectively prevented, the pesticide utilization rate is improved, and the resources are saved.

Drawings

FIG. 1 is a front view of an embodiment of the present invention;

FIG. 2 is a top view according to an embodiment of the present invention;

FIG. 3 is a bottom view of a device according to an embodiment of the present invention;

FIG. 4 is a left side view according to an embodiment of the present invention;

FIG. 5 is a schematic view of a roller blind mechanism according to an embodiment of the present invention;

fig. 6 is a schematic perspective view of an embodiment of the present invention.

Reference numerals:

the system comprises a machine frame 1, a water pump 2, a diaphragm pump 3, a water pipe 4, a medicine box 5, a motor driving circuit 6, a stretching spraying frame 7, a rolling curtain mechanism 8, a gear 9, a chain 10, a hydraulic cylinder 11, a second motor 12, a second speed reducer 13, a telescopic spray rod controller 14, a fixed spraying frame 15, a lifting frame 16, a first motor 17, a first speed reducer 18, a telescopic spray rod 19, a fog blocking curtain 20, an atomizing nozzle 21, a camera 22, a radar 23, a man-machine interaction module 24 and a controller 25.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The following first describes in detail embodiments according to the present invention with reference to the accompanying drawings

With reference to the attached drawings 1-5, the automatic adjusting and shielding sprayer for relay intercropping of different crops applied to the field is mainly divided into three parts, namely a cab, a frame and a spraying system. The power system and the transmission system of the sprayer are arranged on a frame, and a controller 25 and a human-computer interaction module 24 are arranged in a cab, so that the sprayer is convenient for a driver to adjust and control the spraying system. The spraying system mainly comprises a sampling module, an execution module, an interaction module, a functional module and a medicine box 5.

The sampling module comprises a wave radar 23 and a camera 22, and the millimeter wave radar is used for detecting the height of crops under the spraying frame at the corresponding position of the millimeter wave radar; the monocular camera is used for obtaining pictures of crops under the spraying frame at the corresponding position and uploading the pictures to the controller 25; the sampling module transmits the collected information to the controller 25 through a wireless signal. Millimeter wave radar and monocular camera place in the bottom that the spraying frame is close to driver's cabin one side, and the quantity of sampling module is the same with flexible spray lance, and the position is on the same axis with flexible spray lance, is closer to driver's cabin one side.

The execution module is arranged on a frame and comprises a diaphragm pump 3, a water pump driving circuit 2, a hydraulic cylinder 11, an extension spraying frame 7, a telescopic spray rod 19, a first motor 17, a motor driving circuit 6 and a first speed reducer 18. The execution module and the controller 25 are in signal transmission through wireless connection. The diaphragm pump 3 is placed at the rear side of the medicine box 5, one side of the diaphragm pump is provided with a water inlet pipe 4 connected with the medicine box 5, and the other side of the diaphragm pump is provided with a water outlet pipe 4 connected with the spraying frame. The diaphragm pump 3 is controlled by the water pump driving circuit 2, and the water pump driving circuit 2 is wirelessly connected with the controller 25, so that the controller 25 controls the water yield of the diaphragm pump 3. The hydraulic cylinders 11 are arranged on two sides of the fixed spray frame 15 and connected with the extension spray frame 7, and the extension and contraction of the extension spray frame 7 are controlled by the extension or retraction of piston rods in the hydraulic cylinders 11. The first motors 17 are symmetrically arranged and controlled by the motor driving circuit 6, and the first motors 17 are arranged on the outer surface of the rear side of the frame 1, connected with the first speed reducer 18 and used for controlling the lifting and descending of the lifting frame 16. The motor driving circuit 6 is wirelessly connected with the controller 25, and transmits a control signal sent by the controller 25 to the motor. The telescopic spray rod 19 is arranged on the spray frame and is directly controlled by the telescopic spray rod controller 14. The telescopic spray rod has five sections, the length of each section is the same, and the diameter of each section is smaller and smaller.

The fixed spraying frame is connected with a lifting frame 16 between a first motor 17 and a first speed reducer 18, the lifting frame is designed to be hollow, a water outlet pipe of the diaphragm pump 3 is placed in the hollow position of the lifting frame 16, the lifting frame 16 is connected with the fixed spraying frame 15, and a water outlet pipe of the water pump is connected with a water pipe in the spraying frame.

The spraying frame is internally provided with a water pipe, and the space can be effectively utilized in an internal pipe arrangement mode. The water pipe inside the spraying frame is a metal telescopic water pipe and is connected with the atomizing nozzle at the top end of the telescopic spray rod. When the telescopic spray rod is extended or shortened to control the ground clearance of the atomizing nozzle, the telescopic water pipe can be adjusted according to the corresponding length.

With reference to fig. 2 and 3, the functional module includes an atomizer 21, a gear 9, a mist barrier 20, a second motor 12, a second motor reducer 13, and a roller shutter mechanism 8. The atomizer head 21 is mounted on a telescopic boom 19. The second motor 12 is installed in the middle of the fixed spraying frame, is wirelessly connected with the motor control circuit, is controlled by the controller 25, is connected with the second speed reducer 13, and is connected with the gear 9 through the speed reducer, so that the second motor 12 controls the roller shutter mechanism 8.

The roller shutter mechanism 8 is arranged in the middle of every two spray heads and is controlled by a second motor 12.

Referring to fig. 4, the interactive module 24 is a touch-sensitive display screen, is mounted on the controller 25, and is placed in the cab. The method is used for the sprayer driver to know the working information and the field crop information of the sprayer and the driver to operate the sprayer.

The automatic adjusting and shielding sprayer for relay intercropping of different crops applied to a field is mainly divided into two working conditions, wherein the first working condition is that after the crops are sowed, a herbicide is sprayed on the ground in the field; and the second is plant protection operation in the middle and later growth period of crops.

The working process of the first working condition of the invention is as follows:

the controller 25 gives a command that the lifting frame 16 is controlled by the first motor 17 to lift the fixed spray frame to a preset height, and then the piston rod of the hydraulic cylinder 11 extends to open the extended spray frame 7. The chain 10 is then loaded onto the gear wheel 9. The sprayer moves forward, the millimeter wave radar and the monocular camera work to detect the height and the type of the crop at the position corresponding to the current sampling module, the detected information is sent to the controller 25, and the controller 25 determines the lifting height of the fixed spraying frame 15. After the fixed spraying frame 15 is lifted, the rolling curtain mechanism 8 is controlled by the second motor 12 according to the information detected by the sampling module, and starts to extend out the fog blocking curtain 20, and the telescopic spray rod 19 extends. Then the sprayer starts to work formally, the sampling module samples in real time when the sprayer sprays in the advancing process of the field, the current crop growth condition is sampled and analyzed, the current crop pest and disease damage condition and the crop growth height are detected by combining preset data and are displayed on the human-computer interaction module 24 in real time, and a driver determines whether to change the current working mode and the current spraying amount.

The working process of the second working condition of the invention is as follows:

the controller 25 gives an instruction, the lifting frame 16 is controlled by the first motor 17, the height of the fixed spraying frame 15 is lowered to a preset height, and then the piston rod of the hydraulic cylinder 11 extends out to unfold the extension spraying frame 7. Then, the chain 10 is loaded on the gear 9, the millimeter wave radar 23 detects the distance between the fixed spraying frame 15 and the ground, and the height of the current fixed spraying frame is judged whether to meet the requirement of spraying the herbicide or not and is dynamically adjusted. After the adjustment is finished, the second motor 12 starts to work, the roller shutter mechanism 8 extends out of the fog blocking curtain, and the atomizing nozzle 21 works. The single-eye camera 22 of the sampling module samples constantly during the running process of the sprayer, the current ground weed growth condition is judged and fed back to the controller 25 in real time, the controller 25 changes the spray amount in real time according to the current condition, and a prompt is given in the human-computer interaction module 24.

The invention stores the photos and data collected by the sampling module in the working process, plans and analyzes the information collected in the working process according to time, extracts important parameter data, such as different pest and disease conditions in different seasons, different crop pest and disease conditions and the like, and reflects the important parameter data to a driver through the interpersonal interaction module 24, thereby being convenient for providing reference data for the working plan in the next operation.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.

Claims (8)

1. An automatic adjusting and shielding sprayer for relay intercropping of different crops applied to a field is characterized by comprising a controller (25), a sampling module, an execution module, a human-computer interaction module (24), a function module, a rack (1) and a pesticide box (5); the controller (25) and the interaction module are arranged in a cab; the sampling module, the execution module and the interaction module are all communicated with the controller (25), and the execution module drives the function module to work; a storage module is arranged in the controller (25), and the storage module stores the detected information and the decision of the corresponding information; the sampling module transmits the acquired information to a controller (25) through a wireless signal;

the sampling module comprises a radar (23) and a camera (22), and the telescopic spray rod (19) is provided with the sampling module;

the execution module and the controller (25) are in signal transmission through wireless connection; the execution module comprises a diaphragm pump (3), a water pump driving circuit (2), a hydraulic cylinder (11), an extension spraying frame (7), a telescopic spray rod (19), a telescopic spray rod controller (14), a first motor (17), a motor driving circuit (6) and a first speed reducer (18); the diaphragm pump (3) is placed at the rear side of the medicine box (5), and liquid medicine in the medicine box (5) is pumped into a water channel in the spraying frame through the water pipe (4); the diaphragm pump (3) is controlled by the water pump driving circuit (2), and the water pump driving circuit (2) is wirelessly connected with the controller (25), so that the controller (25) controls the water yield of the diaphragm pump (3); the hydraulic cylinder (11) is arranged on two sides of the fixed spraying frame (15), the fixed spraying frame (15) is flexibly connected with the extension spraying frame (7), and the extension and contraction of the extension spraying frame (7) are controlled by the extension or retraction of a piston rod in the hydraulic cylinder (11); the first motor (17) is controlled by a motor driving circuit (6), and the first motor (17) is arranged on the outer surface of the rear side of the rack (1), is connected with a first speed reducer (18) and is used for controlling the lifting and the lowering of the fixed spraying rack (15); the motor driving circuit (6) is wirelessly connected with the controller (25) and transmits a control signal sent by the controller (25) to the motor; the telescopic spray rod (19) is arranged on the spray frame and is directly controlled by a telescopic spray rod controller (14);

the functional module comprises an atomizing nozzle (21), a gear (9), a fog blocking curtain (20), a second motor (12), a second motor reducer (13) and a rolling curtain mechanism (8); the atomizing spray head (21) is arranged on the telescopic spray rod (19); the second motor (12) is wirelessly connected with the motor control circuit, is controlled by the controller (25), is connected with the second speed reducer (13), and is connected with the gear (9) through the speed reducer, so that the second motor (12) controls the roller shutter mechanism (8) to work;

the human-computer interaction module (24) is provided with a touch display screen, is arranged on the controller (25), is placed in the cab, and is used for feeding back current working information and operating the spraying machine by a driver; the control information sent by the current controller (25) can be changed manually through the human-computer interaction module (24), so that manual intervention spraying is realized.

2. The automatic adjusting shading spraying machine for relay intercropping of different crops applied to fields as claimed in claim 1, wherein the radar (23) and the camera (22) are respectively a millimeter wave radar and a monocular camera; the millimeter wave radar is used for detecting the height of the crop below the telescopic spray rod (19) at the corresponding position; the monocular camera is used for obtaining pictures of crops under the telescopic spray rod (19) at the corresponding position of the monocular camera and uploading the pictures to the controller (25).

3. The automatic adjusting shading sprayer for relay intercropping of different crops in fields as claimed in claim 1, wherein the controller (25) comprises a wireless transceiver for receiving the sampling information detected by the sampling module and sending out the control command of the controller (25); the controller (25) determines the height of the spraying frame, the water yield of the diaphragm pump (3), the length of the telescopic spray rod (19) and the length of the fog blocking curtain (20) according to the information and the image detected by the sampling module and the current crop growth condition and the crop row spacing.

4. The automatic adjusting shading sprayer for relay intercropping of different crops in fields as claimed in claim 1, wherein the roller shutter mechanism (8) and the shading curtain (20) are used for shading the liquid medicine and are arranged between the adjacent spray heads; in the working process, the sampling module and the controller (25) judge the extending length of the fog blocking curtain (20) required by the current situation and send a control instruction, and the second motor (12) controls the folding and unfolding of the fog blocking curtain (20).

5. The automatic adjustable shading sprayer for relay intercropping of different crops in fields as claimed in claim 1, wherein the fog blocking curtain (20) isolates different medicines during the operation of the sprayer; the distance between the roller shutter mechanisms (8) corresponds to the row spacing of crops; the outer surface of the fog blocking curtain (20) is wavy, and the surface of the fog blocking curtain is coated with a nano hydrophobic material.

6. The automatic adjusting shading spraying machine for relay intercropping of different crops applied to fields as claimed in claim 1, wherein a water pipe (4) is arranged inside the spraying frame, one end of the water pipe (4) is connected with the diaphragm pump (3), the other end of the water pipe is connected with the water pipe in the spraying frame, and the water pipe in the spraying frame is connected with the telescopic spray rod (19); the telescopic mechanism of the telescopic spray rod (19) is connected with the spray frame, and the telescopic spray rod (19) is controlled to extend out and retract by receiving a control signal sent by the telescopic spray rod controller (14).

7. The automatic adjusting shading sprayer for relay intercropping of different crops for field application according to claim 1, characterized in that two pesticide boxes (5) are respectively filled with pesticide liquid suitable for different crops; the two diaphragm pumps (3) supply the chemical solution to the corresponding atomizer heads (21).

8. The operation method of the automatic adjusting shading spraying machine for relay intercropping of different crops applied to the field as claimed in any one of claims 1 to 7, characterized by comprising two operation modes, namely plant protection operation during crop growth and spraying herbicide after seeding operation;

plant protection operation mode:

the controller (25) sends a command, the lifting frame (16) is controlled by the first motor (17) to lift the fixed spraying frame (15) to a preset height, then a piston rod of the hydraulic cylinder (11) extends out to open the extending spraying frame (7), and then the chain (10) is loaded on the gear (9); the spraying machine moves forwards, the radar (23) and the camera (22) work, the crop height and the crop type at the position corresponding to the current sampling module are detected, then the detected information is sent to the controller (25), the lifting height of the fixed spraying frame (15) is determined by the controller (25), after the fixed spraying frame (15) is lifted, the roller shutter mechanism (8) is controlled by the second motor (12) according to the information detected by the sampling module, the mist blocking curtain (20) begins to extend, the telescopic spray rod (19) extends, then the spraying machine starts to work formally, the sampling module samples in real time during the advancing process in the field and spraying of the spraying machine, the current crop growth condition is sampled and analyzed, the current crop pest and disease condition and the crop growth height are detected by combining preset data, and are displayed on the man-machine interaction module (24) in real time, the driver determines whether to change the current working mode and the current spraying amount;

and (3) a spraying weeding mode:

the controller (25) sends out an instruction, the lifting frame (16) is controlled by the first motor (17), the height of the fixed spraying frame (15) is reduced to a preset height, then a piston rod of the hydraulic cylinder (11) extends out, the stretching spraying frame (7) is unfolded, then the chain (10) is loaded on the gear (9), the millimeter wave radar detects the distance between the fixed spraying frame (15) and the ground, whether the current height of the fixed spraying frame (15) meets the requirement of spraying herbicide or not is judged, dynamic adjustment is carried out, the second motor (12) starts to work after the adjustment is finished, the roller shutter mechanism (8) extends out of the fog blocking curtain (20), and the atomizing spray head (21) works; the sprayer samples constantly by a single-eye camera of the sampling module in the running process, the current ground weed growth condition is judged and fed back to the controller (25) in real time, the spray amount is changed by the controller (25) in real time according to the current condition, and a prompt is given by the man-machine interaction module (24).

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