Tea tree disease and pest detection vehicle and detection system

Abstract

This invention belongs to the field of tea tree pest and disease control technology, and particularly relates to a tea tree pest and disease detection vehicle and system for on-site sampling. The tea tree pest and disease detection vehicle of this invention includes: a walking mechanism for moving the sampling vehicle along the ground; a first control circuit electrically connected to the walking mechanism; a working platform mounted on the walking mechanism; a tea leaf sampling device for collecting tea leaf samples; a lifting device mounted on the working platform, wherein the tea leaf sampling device is drively connected to the lifting device, and the lifting device is used to lift the sampling device up and down; the tea leaf detection device includes a housing, a tea leaf storage mechanism, a first image acquisition device, a second control circuit, and a first drive mechanism. This invention can quickly and accurately detect tea tree pests and diseases.

Description

[0001] This application is a divisional application of the invention patent application filed on January 2, 2022, entitled "Tea Tree Disease and Pest Detection Vehicle, Detection Device, Detection System and Detection Method", with application number 202111675387.7. Technical Field

[0002] This invention relates to the field of tea tree disease and pest control technology, and in particular to a tea tree disease and pest detection vehicle and detection system for on-site sampling. Background Technology

[0003] Tea trees are plants that can grow continuously for more than two years and have high economic value. To improve planting efficiency, tea trees are often planted on a large scale. Tea trees grow densely and lushly, making them highly susceptible to pests and diseases. Since tea plantations often cover large areas, and the initial stages of tea pests and diseases tend to occur in limited, localized areas, quickly locating the infestation sites is challenging. Currently, drones are used to collect aerial images of tea trees, and the images are analyzed to detect and identify pests and diseases. However, due to the complex background and external interference surrounding the tea trees, the collected images contain excessive noise, affecting the accuracy of pest and disease detection and identification. Furthermore, some more accurate image-based methods for detecting tea pests and diseases require harvesting tea samples and placing them in specialized testing laboratories, resulting in low efficiency. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a tea tree pest and disease detection vehicle and detection system for on-site sampling, which solves the technical problems of low detection efficiency and high susceptibility to external environmental interference in the detection of tea tree pests and diseases in the prior art.

[0005] The technical solution adopted in this invention is:

[0006] In a first aspect, the present invention provides a tea tree pest and disease detection vehicle for on-site sampling, comprising:

[0007] A walking mechanism is used to move the testing vehicle along the ground.

[0008] The first control circuit is electrically connected to the walking mechanism;

[0009] The working platform is installed on the walking mechanism;

[0010] Tea sampling device, used to collect tea samples;

[0011] A lifting device is installed on the working platform, and the tea sampling device is connected to the lifting device for driving the sampling device to rise and fall.

[0012] The tea sampling device includes a housing, a tea storage mechanism, a first image acquisition device, a second control circuit, and a first drive mechanism. The second control circuit is electrically connected to the first image acquisition device and the first drive mechanism, respectively. The first drive mechanism is connected to the housing, and the tea storage mechanism is driven by the first drive mechanism. The housing has a first opening for the tea storage mechanism to enter and exit. The first drive mechanism is used to drive the tea storage mechanism to move from a detection position inside the housing to a tea sampling position outside the housing, or from a tea sampling position outside the housing to a detection position inside the housing. The tea storage mechanism is used to pick and store tea samples.

[0013] The tea storage mechanism includes a mounting frame, a storage box, a sealing mechanism, and a cutting component. The storage box is connected to the mounting frame, and a second opening is provided on the top of the storage box. The sealing mechanism includes a sealing film and a traction mechanism. The cutting component is located at the end of the sealing film facing the first opening. The traction mechanism is used to pull the sealing film to extend towards the first opening to cover the second opening, and to pull the cutting component to move downward to cut the root of the tea leaves after the sealing film covers the second opening.

[0014] The lifting device includes a linear electric cylinder and a support component. The tea sampling device is installed on the support component, and the support component is connected to the slider of the linear electric cylinder.

[0015] Preferably, the tea pest and disease detection vehicle is also equipped with a camera device, which is used to collect images of the area around the detection vehicle in real time.

[0016] Preferably, the first driving mechanism includes a drive motor, a gear, and a rack. The output shaft of the drive motor is connected to the shaft of the gear, the gear meshes with the rack, and the rack is fixedly connected to the mounting bracket.

[0017] Preferably, it also includes a support frame connected to the housing, the drive motor is mounted on the aforementioned support frame, the support frame is provided with a guide rail or guide groove, and the mounting frame is provided with a slider, which cooperates with the guide rail or guide groove to constrain the mounting frame to move in a straight line under the drive of the first drive mechanism.

[0018] Preferably, a lighting device is provided in the housing.

[0019] Preferably, an observation window that can be opened and covered is provided on the top or side wall of the enclosure.

[0020] Preferably, the housing consists of a detachable upper shell and a lower shell.

[0021] Preferably, the traction mechanism includes a traction rope, a pulley, and a winding mechanism. The pulley is located on the side of the storage box facing the first opening, and the winding mechanism is located at the end of the storage box away from the first opening. One end of the traction rope is connected to the end of the sealing film facing the first opening, and the other end passes around the pulley and is connected to the winding mechanism. The winding mechanism is used to wind up the traction rope.

[0022] Preferably, the winding mechanism includes a first drum and a first drum support. The first drum support is mounted on a mounting frame. The first drum support is provided with a first drum shaft and a first drum motor. The output shaft of the first drum motor is connected to the first drum shaft, and the first drum shaft is connected to the first drum. The rotation of the first drum motor drives the first drum to rotate. During the rotation, the first drum can wind up or release the traction rope.

[0023] In a second aspect, the present invention also provides a tea tree disease and pest detection system, including a drone, a remote processing device, and a tea tree disease and pest detection vehicle for on-site sampling as described in the first aspect;

[0024] The drone includes a third control circuit and a second image acquisition device. The third control circuit includes a first communication module. The drone is used to take aerial photos of tea-growing areas and send the acquired images to a remote processing device.

[0025] The remote processing device includes a fourth control circuit and a second communication module. The remote processing device is used to process images collected by the UAV to mark the locations where pests and diseases are suspected to have appeared in the tea planting area, and send the marked locations to the tea tree pest and disease detection vehicle.

[0026] The first control circuit of the tea tree pest and disease detection vehicle includes a third communication module. The first control circuit controls the tea tree pest and disease detection vehicle to move to the designated location for tea sampling based on the designated location sent by the remote processing device.

[0027] Beneficial Effects: The tea tree pest and disease detection vehicle, detection device, detection system, and detection method of the present invention can move the collection mechanism to a suitable tea sampling position outside the box by controlling the lifting device and the first drive mechanism. Then, the tea sample is picked and stored in the collection mechanism. After the tea sample is successfully picked, the first drive mechanism drives the tea collection mechanism to the detection position inside the box, and the first image acquisition device acquires images of the tea sample in the collection mechanism. Since the tea leaves, which serve as the tea sample, have been picked and are located inside the box of the detection device, the background is simpler and less affected by external stray light compared to directly acquiring images from the tea tree. Furthermore, the optimal detection position allows for the acquisition of high-quality tea sample images. After acquiring the tea sample image, the first image acquisition device can immediately analyze and process the image to identify the type and severity of pests and diseases. Because this device can collect tea samples on-site from tea trees and perform image analysis immediately upon collection, without needing to send the samples from the tea plantation to a laboratory, users can obtain pest and disease detection results immediately, greatly improving the efficiency of pest and disease detection. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments of the present invention will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, and these are all within the protection scope of the present invention.

[0029] Figure 1 This is a schematic diagram of the structure of the tea tree disease and pest detection vehicle of the present invention;

[0030] Figure 2 This is a schematic diagram of the tea tree disease and pest detection device of the present invention;

[0031] Figure 3 A schematic diagram of the structure of the tea storage mechanism of the present invention when it is removed from the box body in preparation for collecting tea samples;

[0032] Figure 4 This is a schematic diagram of the structure of the tea storage mechanism of the present invention after the tea sample collection is completed outside the box.

[0033] Figure 5 This is a schematic diagram of the tea storage mechanism of the present invention, which involves collecting tea samples and moving them into the box.

[0034] Figure 6 This is a schematic diagram of the tea storage mechanism of the present invention when the sealing film is retracted and the top opening of the storage box is exposed;

[0035] Figure 7 This is a top view of the tea storage mechanism of the present invention when the sealing film is retracted and the top opening of the storage box is exposed;

[0036] Figure 8 This is a top view of the tea sample being placed into the storage box according to the present invention.

[0037] Figure 9 This is a schematic diagram of the structure of the tea storage mechanism of the present invention when the sealing film is extended to completely cover the top opening of the storage box;

[0038] Figure 10 This is a top view of the tea storage mechanism of the present invention when the sealing film is extended to completely cover the top opening of the storage box;

[0039] Figure 11 This is a partial structural diagram of the front end of the tea storage mechanism of the present invention;

[0040] Figure 12 This is a schematic diagram of the structure of the guide groove and the cylindrical roller of the present invention;

[0041] Figure 13 This is a schematic diagram of the composition of the tea tree disease and pest detection system of the present invention;

[0042] Figure 14 This is a schematic flowchart of the tea tree disease and pest detection method of the present invention;

[0043] Parts and their numbers in the diagram: Walking mechanism 1, Working platform 2, Lifting device 4, Tea sampling device 3, Box 31, Tea storage mechanism 32, Mounting frame 321, Storage box 322, Second opening 3221, Sealing film 323, Traction rope 3241, Pulley 3242, Winding mechanism 3243, First connecting piece 3244, Guide groove 3245, Upper limit surface 3246, Lower limit surface 3247, Cylindrical roller 3248, Cutting piece 325, Recycling mechanism 326, Hyperspectral imager 33, Digital camera 34, Lighting device 35, Gear 442, Rack 441, First opening 45, UAV 10, Remote processing equipment 30, Tea tree disease and pest detection vehicle 20. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. In the description of the present invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, the element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Where there is no conflict, embodiments of the present invention and the various features thereof can be combined with each other, all of which are within the scope of protection of the present invention.

[0045] Example 1

[0046] like Figure 1 As shown in the figure, this embodiment provides a tea tree disease and pest detection vehicle, which includes a walking mechanism 1, a first control circuit, a working platform 2, a tea sampling device, and a lifting device 4.

[0047] The walking mechanism 1 is used to move the sampling vehicle along the ground. Since the tea-growing area is relatively rugged, the walking mechanism 1 in this embodiment can be a tracked type. In this embodiment, the working platform 2 is mounted on the walking mechanism 1, so that the working platform 2 can move to the location where tea samples need to be collected under the drive of the walking mechanism 1. The first control circuit is electrically connected to the walking mechanism 1 and can control the movement of the walking mechanism 1, including but not limited to the direction, speed, and acceleration of the walking mechanism 1.

[0048] This embodiment uses a tea sampling device to collect tea samples. To accurately collect tea leaves at a specified height, a lifting device 4 is also provided and installed on the working platform 2. The tea sampling device 3 is then connected to the lifting device 4 via a transmission mechanism, allowing the lifting device 4 to move the sampling device up and down to a suitable position for tea sample collection. A first control circuit can also be electrically connected to the lifting device 4 to control its movement. The lifting device 4 includes a linear electric cylinder and a support component. The tea sampling device is mounted on the support component, which is connected to the slider of the linear electric cylinder.

[0049] like Figure 2 and Figure 3 As shown, in this embodiment, the tea sampling device includes a housing 31, a tea storage mechanism 32, a first image acquisition device, a second control circuit, and a first drive mechanism. The second control circuit is electrically connected to the first image acquisition device and the first drive mechanism, respectively. The first drive mechanism is connected to the housing 31, and the tea storage mechanism 32 is drively connected to the first drive mechanism. The housing 31 is provided with a first opening 45 for the tea storage mechanism 32 to enter and exit. Figure 3 and Figure 4 As shown, the first driving mechanism is used to drive the tea storage mechanism 32 from the detection position inside the box 31 to the tea sampling position outside the box 31, as follows: Figure 2 and Figure 5 As shown, or moved from the tea sampling position outside the box 31 to the detection position inside the box 31, the tea storage mechanism 32 is used to pick and store tea samples.

[0050] In this embodiment, the tea storage mechanism 32, driven by the first driving mechanism, can enter the box 31 from outside and exit the box 31 from inside. When the tea tree pest and disease detection vehicle moves to the designated position and the lifting device 4 raises and lowers the tea sampling device to a suitable position for picking tea samples, the second control circuit controls the first driving mechanism to move the tea storage mechanism 32 to the tea sampling position outside the box 31. After the tea storage mechanism 32 reaches the tea sampling position, it picks the tea sample (tea tree leaves) and stores it in the storage mechanism. After the tea sample is successfully picked, the second control circuit controls the first driving mechanism to move the tea storage mechanism 32 to the detection position inside the box 31. At this time, the first image acquisition device acquires images of the tea sample in the storage mechanism. Since the tea leaves used as tea samples have already been picked and are located in the housing 31 of the detection device, the background is simpler and less affected by external stray light compared to image acquisition directly on the tea tree. Furthermore, the tea leaves are in an optimal detection position, allowing for the acquisition of high-quality tea sample images. After acquiring the tea sample images, the first image acquisition device can immediately analyze and process the images to identify the types and severity of pests and diseases. This image analysis and processing can be directly controlled by the second control circuit or the acquired images can be sent to a more powerful remote processing device 30 for analysis. Because the detection device acquires high-quality tea sample images under a single background and low-interference environment, subsequent analysis and processing can more quickly and accurately detect tea tree pests and diseases. Since this device can collect tea samples on-site and perform image analysis immediately upon collection, without needing to transport the samples from the tea plantation to a laboratory, users can obtain pest and disease detection results immediately, greatly improving the efficiency of pest and disease detection.

[0051] The tea pest and disease detection vehicle in this embodiment is also equipped with a camera device, which can collect images of the area around the detection vehicle in real time. Staff can remotely control the detection vehicle to sample tea based on the images collected by the camera device. The detection vehicle can also use tea samples as targets and automatically collect tea samples through target recognition and target positioning.

[0052] like Figure 6As shown, the first driving mechanism includes a drive motor (not shown), a gear 442, and a rack 441. The output shaft of the drive motor is connected to the rotating shaft of the gear 442. The gear 442 meshes with the rack 441, and the rack 441 is fixedly connected to the mounting frame 321. The drive motor drives the gear 442 to rotate, and during the rotation of the gear 442, it drives the meshing rack 441 to move back and forth. During the movement, the rack 441 drives the tea storage mechanism 32 to move into or out of the box 31. To facilitate the support of the first driving mechanism, this embodiment can also provide a support frame connected to the box 31, and mount the drive motor on the aforementioned support frame. The support frame can also be provided with a guide rail or guide groove, and the mounting frame 321 is provided with a slider. The slider works with the guide rail or guide groove to constrain the mounting frame 321 to move in a straight line under the drive of the first driving mechanism.

[0053] like Figure 2 As shown, in addition, according to the needs of image acquisition, an illumination device 35, such as different LED light sources that can emit light of different wavelengths, can be installed in the box 31. This embodiment can also provide some openable and concealable observation windows on the top or side wall of the box 31. Personnel can observe the tea samples in the box 31 through the observation windows. In this embodiment, the box 31 consists of a detachable upper shell and a lower shell, which can be connected detachably by means of snap-fit, threaded connection, etc. Thus, if necessary, the box 31 can be opened by separating the upper and lower shells.

[0054] like Figure 7 , Figure 8 , Figure 9 and Figure 10 As shown, in a preferred embodiment, the tea storage mechanism 32 includes a mounting frame 321, a storage box 322, a sealing mechanism, and a cutting component 325. The storage box 322 has a second opening 3221 at its top. The sealing mechanism includes a sealing film 323 and a traction mechanism. The cutting component 325 is located at the end of the sealing film 323 facing the first opening 45. Figure 9 and Figure 10As shown, the traction mechanism is used to pull the sealing film 323 towards the first opening 45 to cover the second opening 3221, and to pull the cutting member 325 downward to cut the root of the tea leaves after the sealing film 323 covers the second opening 3221. The mounting bracket 321 serves as the mounting base for other components in the tea storage mechanism 32. In this embodiment, a storage box 322 is used to store the tea sample. The top of the storage box 322 has a second opening 3221 to facilitate the entry of tea leaves into the box. This embodiment also includes a sealing mechanism to either cover or expose the second opening 3221. In specific implementation, the sealing film 323 of the sealing mechanism is used to cover the second opening 3221.

[0055] During sampling, the position of the storage box 322 can be adjusted by controlling the walking mechanism 1 and the lifting device 4, so that the second opening 3221 of the storage box 322 is directly below the tea sample to be picked, and the root of the leaf is as close as possible to the end of the storage box 322. Then, the lifting device 4 is controlled to slightly raise the storage box 322. Figure 8 As shown, the portion of the leaf furthest from the branch enters the container. Before sample collection, the sealing mechanism needs to be controlled so that the second opening 3221 is open, at which point the sealing film is located at the tail end of the storage box 322, closer to it. Once the storage box 322 is in position, the sealing film 323, under the traction of the traction mechanism, gradually extends towards the front end of the storage box 322, gradually covering the second opening 3221 and pressing the leaf down into the storage box 322. Figure 9 and Figure 11 As shown, in this embodiment, the cutting element 325 is positioned at the front end of the sealing film 323. Under the traction of the traction mechanism, the cutting element 325 moves forward with the sealing film 323. After the sealing film 323 covers the second opening 3221, the traction mechanism continues to pull the sealing film 323 and the cutting element 325 downward. On the one hand, the sealing film 323 can press the leaf down into the storage box 322, and on the other hand, the cutting element 325 at the front end cuts off the leaf root that connects the leaf to the branch during the downward movement.

[0056] With the aforementioned structure, the tea storage mechanism 32 in this embodiment only requires the traction mechanism to perform one traction action to first store the tea sample in the storage box 322, and then cut the root of the tea sample from the tea tree. The two processes of storing and cutting the tea sample can be quickly and smoothly connected without any waiting or stopping, so the entire operation is simple and fast. Using the aforementioned structure, the leaves can be stored in the storage box 322 first, and then the leaf roots can be cut. This way, the leaves are already confined before cutting, preventing the leaf roots from drifting outside the storage box 322 after being cut.

[0057] When the sealing film 323 seals the collected tea sample in the storage box 322, and the cutting piece 325 cuts off the root of the tea sample, the first driving mechanism drives the storage mechanism containing the tea sample back to the detection position in the box 31, and the image of the tea sample is acquired inside the box 31.

[0058] like Figure 6 and Figure 9 As shown, in this embodiment, the traction mechanism includes a traction rope 3241, a pulley 3242, and a winding mechanism 3243. The pulley 3242 is located on the side of the storage box 322 facing the first opening 45, and the winding mechanism 3243 is located at the end of the storage box 322 away from the first opening 45. One end of the traction rope 3241 is connected to the end of the sealing film 323 facing the first opening 45, and the other end passes around the pulley 3242 and is connected to the winding mechanism 3243. The winding mechanism 3243 is used to wind up the traction rope 3241.

[0059] The winding mechanism 3243 includes a first drum and a first drum support. The first drum support is mounted on the mounting frame 321. The first drum support is equipped with a first drum shaft and a first drum motor. The output shaft of the first drum motor is connected to the first drum shaft, and the first drum shaft is connected to the first drum. The rotation of the first drum motor drives the first drum to rotate. During rotation, the first drum can wind up or release the traction rope 3241. In this embodiment, by placing the winding mechanism 3243 at the rear end of the storage box 322, interference between the drum and the drum motor and the storage operation of the storage box 322 can be avoided. By setting a pulley 3242 at the front end, the traction rope 3241 can be pulled forward by the drum to pull the sealing film 323. With the aforementioned traction mechanism, the traction process is simple and reliable, ensuring that the sealing film 323 extends smoothly and the cutting element 325 successfully cuts the root of the blade without mutual interference.

[0060] like Figure 11 and Figure 12As shown, to better achieve the smooth cutting of the blade root by the cutting element 325 at the front end after the sealing film 323 is extended into place, in this embodiment, the traction mechanism further includes a first connecting member 3244, a guide groove 3245, and a cylindrical roller 3248. The cylindrical roller 3248 and the first connecting member 3244 are rotatably connected, and the sealing film 323 is connected to the other end of the first connecting member 3244. That is, the upper and lower ends of the first connecting member 3244 are respectively connected to the first transmission element and the cylindrical roller 3248. The traction rope 3241 is connected to the first connecting member 3244. The guide groove 3245 includes an upper limit surface 3246 and a lower limit surface 3247. At least a portion of the cylindrical roller 3248 is located between the upper limit surface 3246 and the lower limit surface 3247. The guide groove 3245 bends downward toward the end of the first opening 45. A portion of the cylindrical roller 3248 is positioned between the upper and lower limiting surfaces of the guide groove 3245, allowing the cylindrical roller 3248 to move only along the guide groove 3245 formed between the two limiting surfaces. This embodiment utilizes the synergistic effect of the first connecting member 3244, the guide groove 3245, and the cylindrical roller 3248 to achieve the extension of the sealing film 323 and the downward cutting action of the cutting member 325. Under the action of the traction mechanism and the guide groove 3245, the first connecting member 3244 drives the cylindrical roller 3248, the sealing film 323, and the cutting member 325 forward. When the sealing film 323 covers the storage box 322, the cylindrical roller 3248 moves to the curved position at the end of the guide groove 3245. At this point, the traction rope 3241 of the traction mechanism pulls the first connecting member 3244 to continue moving forward, while the cylindrical roller 3248, under the limiting action of the curved portion of the guide groove 3245, moves forward and downward simultaneously until the root of the blade is cut off. The aforementioned structure allows for a single traction action to complete two processes: the sealing film 323 covering the storage box 322 and the cutting device cutting the blade. The entire process is seamlessly connected, and the cut blade will not fall outside the storage box 322.

[0061] In one preferred embodiment, the sealing film 323 is a transparent film. Using the aforementioned embodiment, since light can pass well through the sealing film 323, once the sealing film 323 seals the tea sample inside the storage box 322 and the storage box 322 returns to the housing 31, images of the tea sample can be directly acquired without opening the sealing film 323.

[0062] like Figure 6 and Figure 10As shown, in one preferred embodiment, the tea sampling device in this embodiment further includes a recycling mechanism 326. The recycling mechanism 326 is used to drive the sealing film 323 to retract away from the first opening 45 to open the second opening 3221. The recycling mechanism 326 is located on the side of the storage box 322 away from the first opening 45. The recycling mechanism 326 includes a bracket, a rotating shaft, a second roller, and a spiral spring. The bracket is connected to the mounting bracket 321. The rotating shaft is mounted on the bracket. The roller is rotatably connected to the rotating shaft. One end of the spiral spring is connected to the rotating shaft, and the other end is connected to the second roller. One end of the sealing film 323 is connected to the second roller.

[0063] During the extension of the sealing film 323 by the traction mechanism, the sealing film 323 drives the second drum to rotate, causing the spiral spring to be in an elastic deformation state. When the storage mechanism containing the tea sample returns to the box 31, the traction mechanism releases the traction rope 3241, and the tension applied to the traction rope 3241 by the traction mechanism decreases rapidly. The spiral spring restores its elastic deformation, thereby driving the second drum to rotate and wind up the sealing film 323. At this time, the sealing film 323 automatically contracts, so that the second opening 3221 of the storage box 322 is fully open. Since there is no cover from the sealing film 323, the light reflected from the tea sample can be directly captured by the first image acquisition device without being affected, thereby further improving the quality of image acquisition.

[0064] In a preferred embodiment, the first image acquisition device includes a hyperspectral imager 33 and / or a digital camera 34. Hyperspectral imaging technology is a non-contact detection technology that integrates a digital camera and spectral imaging, featuring high efficiency, real-time operation, and online non-destructive testing characteristics. When tea trees are attacked by pests and diseases, the pigment content or integrity of certain areas of the leaf surface changes, forming lesions, while unaffected areas retain their normal color. Furthermore, the location of the infection changes in stages depending on the severity of the damage. For example, after tea anthracnose infection, the lesions on the tea leaves change from dark green to brown (or reddish-brown) and finally to grayish-white. The disease spreads from the leaf margin or tip along the veins. Tea geometrid moth larvae feed on tender leaves, creating mottled patterns. As they grow larger, they bite the leaves into "C" shapes, and then begin to feed on the entire leaf. As the density of adult moths increases, the damage spreads from tender leaves to older leaves and then to tender stems. Therefore, information acquired by conventional spectral technology includes the spectral reflectance values ​​of the entire area, affecting the accuracy of analysis and modeling. Hyperspectral imaging technology can simultaneously acquire image and spectral information of a target, enabling more intuitive, accurate, and dynamic analysis of the material structure, chemical composition, and degree of damage in a specific area. After the hyperspectral imager 33 acquires an image of a tea sample, it first extracts the relative spectral reflectance of the sensitive band of the region of interest from the tea sample image as a spectral feature. The second component image after secondary principal component analysis is used as the feature image. Then, color and texture features of the feature image are extracted based on color moments and gray-level co-occurrence matrices. Finally, a BP neural network optimized by a genetic algorithm is used to verify the fusion data of color, texture, and spectral feature vectors. Alternatively, this application can also use a digital camera 34 to acquire images of conventional spectra for pest and disease detection. Since the tea tree pest and disease detection vehicle in this embodiment places the tea samples collected on-site into the container 31 for detection, it effectively avoids the influence of ambient light on hyperspectral detection, thereby further improving detection speed and accuracy. To improve the accuracy and efficiency of image processing, this embodiment can set the color of the bottom plate of the storage box 322 to a single color that is clearly distinguishable from the color of the tea leaves, such as white. Alternatively, the portion of the detection device located in the housing 31 can be set to a single white color. In this way, the background in the image acquired by the first image device, except for the tea sample being processed, is a single white color. During the post-processing process, the tea sample can be quickly extracted from the image, and interference from other colors to the image processing is avoided, thereby greatly improving the speed and accuracy of image processing.

[0065] In addition, in this embodiment, the tea sampling device 3 further includes a lifting mechanism. The storage box 322 includes a first side wall, a second side wall, a third side wall, and a bottom plate. The first side wall, the second side wall, and the third side wall form a frame with one end open. The bottom plate can move vertically relative to the first side wall, the second side wall, and the third side wall. The lifting mechanism is used to lift the bottom plate to a position higher than the first side wall, the second side wall, and the third side wall.

[0066] In this embodiment, the storage box 322 has side walls on only three sides, while the side wall facing the first opening 45 is missing, thus leaving a gap. This allows the tea leaves to be collected during the tea sample collection process to smoothly enter the storage box 322 through this gap. In this embodiment, the bottom plate of the storage box 322 is designed to be movable up and down.

[0067] When collecting tea samples, the base plate can be lowered, leaving more space between the base plate and the three side walls to accommodate the leaves to be collected. After leaf collection is complete and the base plate returns to the keyway position in housing 31, and the sealing film 323 is opened, the lifting mechanism can raise the base plate above the three side walls. This ensures that the light from the tea sample on the lower plate is not blocked by the three side walls, allowing the first image acquisition device to capture more complete image information, thereby improving the accuracy of pest and disease identification. The lifting mechanism includes a rotary motor and a cam. The rotary motor drives the cam to rotate, and the outer peripheral wall of the cam abuts against the base plate. During rotation, the height of the contact point between the outer peripheral wall of the cam and the base plate changes, causing the base plate to rise or fall.

[0068] Example 2

[0069] like Figure 13 As shown, this embodiment provides a tea tree disease and pest detection system, which includes a drone 10, a remote processing device 30, and the tea tree disease and pest detection vehicle described in Embodiment 1.

[0070] The drone 10 includes a third control circuit and a second image acquisition device. The third control circuit includes a first communication module. The drone 10 is used to take aerial photos of tea planting areas and send the acquired images to a remote processing device 30.

[0071] Because the tea plantation area is large, and the ground-based observation range for tea pests and diseases is limited, this system utilizes a drone 10 to conduct aerial photography or scanning over a wider area. Through image processing and preliminary identification, areas potentially affected by pests and diseases can be quickly located.

[0072] The remote processing device 30 includes a fourth control circuit and a second communication module. The remote processing device 30 is used to process the images collected by the drone 10 to mark the locations where pests and diseases are suspected to have appeared in the tea planting area, and send the marked locations to the tea tree pest and disease detection vehicle.

[0073] This embodiment utilizes the powerful computing capabilities of the remote processing device 30 to quickly locate areas in the tea plantation where tea tree pests and diseases may occur through processing and preliminary identification of the captured images. Based on the location of these areas in the images, the remote processing device 30 marks the locations in the corresponding tea planting areas where pests and diseases are suspected, and sends these locations to the tea tree pest and disease detection vehicle.

[0074] The first control circuit of the tea tree pest and disease detection vehicle includes a third communication module. The first control circuit controls the tea tree pest and disease detection vehicle to move to the designated location for tea sampling based on the calibrated location sent by the remote processing device 30.

[0075] After receiving the calibration location sent by the remote processing device 30, the tea tree disease and pest detection vehicle collects tea samples at the calibration location area. Under conditions free from external environmental interference, it acquires high-quality sample images for further analysis and processing, thereby quickly and accurately identifying the types and severity of tea tree diseases and pests, providing a reliable reference for subsequent disease and pest control.

[0076] The tea tree pest and disease detection system of this embodiment can quickly locate areas where pests and diseases may occur in large tea tree planting areas, and use a detection cart to quickly collect samples on-site, acquire high-quality images without interference, and immediately analyze the images to obtain pest and disease identification results. The whole process does not require sending tea samples from the tea tree planting area back to a laboratory with testing capabilities, which greatly improves the efficiency of tea tree pest and disease identification.

[0077] Example 3

[0078] like Figure 14 As shown, this embodiment improves a method for detecting tea tree diseases and pests. It utilizes the tea tree disease and pest detection sampling system from Embodiment 2 to detect tea tree diseases and pests. The method includes the following steps:

[0079] S1: Obtain aerial images of the tea-growing area;

[0080] Due to the large area of ​​the tea plantation and the limited range of ground observation, this step utilizes a drone to conduct aerial photography over a wider area, acquiring images of the tea plantation.

[0081] S2: Process the aerial images to pinpoint locations in the tea-growing area where pests and diseases are suspected to have occurred;

[0082] This step utilizes the powerful computing capabilities of the remote processing device 30 to quickly locate areas in the tea plantation where tea tree pests and diseases may occur through processing and preliminary identification of the captured images. Based on the location of these areas in the images, the remote processing device 30 marks the locations in the corresponding tea planting areas where pests and diseases are suspected, and sends these locations to the tea tree pest and disease detection vehicle.

[0083] S3: Send a tea leaf image acquisition command to the tea tree pest and disease detection vehicle according to the calibrated location. The tea leaf acquisition command is used to instruct the tea tree pest and disease detection vehicle to collect tea leaf images at the calibrated location.

[0084] In this step, after receiving the calibration location sent by the remote processing device 30, the tea tree pest and disease detection vehicle collects tea samples at the calibration location area and acquires high-quality sample images without external environmental interference for further analysis and processing. This allows for the rapid and accurate identification of the types and severity of tea tree pests and diseases, providing a reliable reference for subsequent pest and disease control.

[0085] Example 4

[0086] This embodiment provides a tea pest and disease detection device. The tea sampling device 3 includes a housing 31, a tea storage mechanism 32, a first image acquisition device, a second control circuit, and a first drive mechanism. The second control circuit is electrically connected to the first image acquisition device, and the first drive mechanism is connected to the housing 31. The tea storage mechanism 32 is driven by the first drive mechanism. The housing 31 is provided with a first opening 45 for the tea storage mechanism 32 to enter and exit. The first drive mechanism is used to drive the tea storage mechanism 32 to move from a detection position inside the housing 31 to a tea sampling position outside the housing 31, or from a tea sampling position outside the housing 31 to a detection position inside the housing 31. The tea storage mechanism 32 is used to pick and store tea samples.

[0087] The tea pest and disease detection device of this embodiment only requires a single traction action from the traction mechanism to first collect the tea sample into the collection box 322, and then cut the root of the tea sample from the tea tree. The two processes of collecting and cutting the tea sample can be quickly and smoothly connected without any waiting or stopping, making the entire operation simple and fast. Using the aforementioned structure, the leaves can be collected into the collection box 322 first, and then the leaf roots can be cut. This ensures that the leaves are confined before cutting, preventing the cut leaf roots from drifting outside the collection box 322.

[0088] The above is a detailed description of the tea tree disease and pest detection vehicle, device, equipment, and storage medium provided in the embodiments of the present invention.

[0089] The above description is merely a specific embodiment of the present invention. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the protection scope of the present invention.

Claims

1. A tea plant disease and pest detection vehicle for field sampling, characterized by, include: A walking mechanism is used to move the testing vehicle along the ground. The first control circuit is electrically connected to the walking mechanism; The working platform is installed on the walking mechanism; Tea sampling device, used to collect tea samples; A lifting device is installed on the working platform, and the tea sampling device is connected to the lifting device for driving the tea sampling device to rise and fall. The tea sampling device includes a housing, a tea storage mechanism, a first image acquisition device, a second control circuit, and a first drive mechanism. The second control circuit is electrically connected to the first image acquisition device and the first drive mechanism, respectively. The first drive mechanism is connected to the housing, and the tea storage mechanism is driven by the first drive mechanism. The housing has a first opening for the tea storage mechanism to enter and exit. The first drive mechanism is used to drive the tea storage mechanism to move from a detection position inside the housing to a tea sampling position outside the housing, or from a tea sampling position outside the housing to a detection position inside the housing. The tea storage mechanism is used to pick and store tea samples. The tea storage mechanism includes a mounting frame, a storage box, a sealing mechanism, and a cutting component. The storage box is connected to the mounting frame, and a second opening is provided on the top of the storage box. The sealing mechanism includes a sealing film and a traction mechanism. The cutting component is located at the end of the sealing film facing the first opening. The traction mechanism is used to pull the sealing film to extend towards the first opening to cover the second opening, and to pull the cutting component to move downward to cut the root of the tea leaves after the sealing film covers the second opening. The lifting device includes a linear electric cylinder and a support component. The tea sampling device is installed on the support component, and the support component is connected to the slider of the linear electric cylinder.

2. The tea tree disease and pest detection vehicle for on-site sampling according to claim 1, characterized in that, The tea pest and disease detection vehicle is also equipped with a camera device, which is used to collect images of the area around the detection vehicle in real time.

3. The tea tree disease and pest detection vehicle for on-site sampling according to claim 1, characterized in that, The first driving mechanism includes a drive motor, a gear, and a rack. The output shaft of the drive motor is connected to the shaft of the gear, the gear meshes with the rack, and the rack is fixedly connected to the mounting bracket.

4. The tea tree disease and pest detection vehicle for on-site sampling according to claim 3, characterized in that, It also includes a support frame connected to the housing, the drive motor is mounted on the aforementioned support frame, the support frame is provided with a guide rail or guide groove, and the mounting frame is provided with a slider, which works in conjunction with the guide rail or guide groove to constrain the mounting frame to move in a straight line under the drive of the first drive mechanism.

5. The tea tree disease and pest detection vehicle for on-site sampling according to claim 1, characterized in that, A lighting device is installed in the enclosure.

6. The tea tree disease and pest detection vehicle for on-site sampling according to claim 1, characterized in that, An observation window that can be opened and covered is provided on the top or side wall of the enclosure.

7. The tea tree disease and pest detection vehicle for on-site sampling according to claim 1, characterized in that, The enclosure consists of a detachable upper shell and a lower shell.

8. The tea tree disease and pest detection vehicle for on-site sampling according to any one of claims 1 to 7, characterized in that, The traction mechanism includes a traction rope, a pulley, and a winding mechanism. The pulley is located on the side of the storage box facing the first opening, and the winding mechanism is located at the end of the storage box away from the first opening. One end of the traction rope is connected to the end of the sealing film facing the first opening, and the other end passes around the pulley and is connected to the winding mechanism. The winding mechanism is used to wind up the traction rope.

9. The tea tree disease and pest detection vehicle for on-site sampling according to claim 8, characterized in that, The winding mechanism includes a first drum and a first drum support. The first drum support is mounted on a mounting frame. The first drum support is provided with a first drum shaft and a first drum motor. The output shaft of the first drum motor is connected to the first drum shaft, and the first drum shaft is connected to the first drum. The rotation of the first drum motor drives the first drum to rotate. During the rotation, the first drum can wind up or release the traction rope.

10. A tea tree disease and pest detection system, characterized in that, Includes drones, remote processing equipment, and tea tree pest and disease detection vehicles for on-site sampling as described in any one of claims 1 to 9; The drone includes a third control circuit and a second image acquisition device. The third control circuit is connected to the second image acquisition device. The third control circuit includes a first communication module. The drone is used to take aerial photos of tea planting areas and send the acquired images to a remote processing device. The remote processing device includes a fourth control circuit and a second communication module. The remote processing device is used to process images collected by the UAV to mark the locations where pests and diseases are suspected to have appeared in the tea planting area, and send the marked locations to the tea tree pest and disease detection vehicle that is sampling on site. The first control circuit of the tea tree disease and pest detection vehicle for on-site sampling includes a third communication module. The first control circuit controls the tea tree disease and pest detection vehicle to move to the designated location for tea sampling based on the calibrated location sent by the remote processing device.

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