A device for removing apple snail eggs

Abstract

The application discloses a kind of apple snail egg removal devices, for removing the apple snail egg on the stem or leaf of plant, comprising: hull, installation platform, image acquisition component, clamping assembly and removal component, installation platform is connected to hull, and can be lifted relative to hull, image acquisition component is connected to installation platform, for collecting the image information of the apple snail egg on the stem or leaf of plant, clamping assembly is connected to installation platform, for clamping the stem or leaf of plant, removal component is set below clamping assembly, for removing and collecting the apple snail egg on the stem or leaf of plant, drive component is connected to hull, for driving hull navigation on water surface.The application can solve the problem that cost is high and labor is wasted due to the fact that the apple snail egg on the stem or leaf of plant is scraped off by using manual removal and management mode.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pest control, and in particular to a device for removing apple snail eggs. BACKGROUND

[0002] At present, the management methods for apple snails in China mainly include manual scraping, chemical control by using pesticides, and biological control by using farmed birds.

[0003] For example, the Chinese utility model patent with the application number CN202020256260.6 and the name of a device for collecting apple snails and apple snail eggs includes a rod body, a frame, a scraper, and a collection bag. The rod body, the frame, and the scraper are made of iron and are connected together by welding. The collection bag is connected with the frame. By controlling the rod body, the scraper can be inserted into the soil to shovel out apple snails or to clamp the plant stems between the two scrapers to scrape off the apple snail eggs. The device is simple to make, easy to carry, and can be used for the collection of apple snails and apple snail eggs at the same time, and can reduce the use of pesticides. However, the manual removal and management method is not only high in cost but also wastes labor.

[0004] Therefore, there is an urgent need for a device for removing apple snail eggs to solve the problem of high cost and wasted labor caused by the manual removal and management method for scraping off the apple snail eggs on the stems or leaves of plants in the prior art. SUMMARY

[0005] Therefore, it is necessary to provide a device for removing apple snail eggs to solve the technical problem of high cost and wasted labor caused by the manual removal and management method for scraping off the apple snail eggs on the stems or leaves of plants in the prior art.

[0006] To achieve the above technical purpose, the technical scheme of the present application provides a device for removing apple snail eggs for removing apple snail eggs on the stems or leaves of plants, which comprises:

[0007] a hull;

[0008] a mounting platform connected to the hull and capable of being lifted relative to the hull;

[0009] an image acquisition assembly connected to the mounting platform and used for acquiring image information of apple snail eggs on the stems or leaves of plants;

[0010] a clamping assembly connected to the mounting platform and used for clamping the stems or leaves of plants; and

[0011] a removal assembly arranged below the clamping assembly and used for removing and collecting apple snail eggs on the stems or leaves of plants.

[0012] Further, the mounting platform comprises a mounting plate, two support columns and a first driving member, the mounting plate is arranged above the ship body, the two support columns are parallel and spaced, one end of the two support columns is connected with the mounting plate respectively, and the first driving member is hinged with the ship body and the other end of the two support columns, for driving the mounting plate to move horizontally close to or away from the ship body.

[0013] Further, the clamping assembly comprises a support plate, two clamping blocks and a second driving member, the support plate is vertically arranged and connected with the mounting plate, the two clamping blocks are oppositely arranged and slidably connected with the support plate, and the second driving member is connected with the two clamping blocks, for driving the two clamping blocks to move close to or away from each other, so as to clamp or release the stems or leaves of the plants.

[0014] Further, the clamping assembly further comprises a connecting block, at least one first clamping rod and at least one second clamping rod, the connecting block is connected with the support plate and is provided with a groove, one end of the first clamping rod is rotatably connected with one of the clamping blocks, and the other end is rotatably connected with the inner wall of the groove, one end of the second clamping rod is rotatably connected with the other clamping block, and the other end is rotatably connected with the inner wall of the groove, and the second driving member is transmissionally connected with one end of the first clamping rod and one end of the second clamping rod, for driving one end of the first clamping rod and one end of the second clamping rod to rotate relative to the clamping blocks respectively, so that the two clamping blocks move close to or away from each other.

[0015] Further, the second driving member comprises a first worm gear, a second worm gear, a worm and a first motor, the first worm gear is coaxially arranged with the rotating shaft of the other end of the first clamping rod and connected with the other end of the first clamping rod, and the first worm gear can rotate relative to the inner wall of the groove, the second worm gear is coaxially arranged with the rotating shaft of the other end of the second clamping rod and connected with the other end of the second clamping rod, and the second worm gear can rotate relative to the inner wall of the groove, the worm is rotatably connected with the inner wall of the groove and engaged with the first worm gear and the second worm gear, and the fixed end of the first motor is connected with the clamping block, and the output shaft of the first motor is connected with the worm, for driving the first worm gear and the second worm gear to rotate relative to the inner wall of the groove respectively.

[0016] Further, the cleaning assembly comprises a cleaning member, the cleaning member comprises a guide rod, a scraper and a third driving member, the guide rod is vertically arranged below the clamping block and connected with the support column, the scraper is slidably sleeved on the guide rod, and the third driving member is connected with the mounting plate and the scraper, for driving the scraper to reciprocatingly move along the guide rod, so as to scrape off the golden apple snail eggs on the stems or leaves of the plants.

[0017] Further, the cleaning assembly further comprises a collecting bag, which is arranged below the scraper and connected to the support column, and the opening of the collecting bag is arranged upward.

[0018] Further, the first driving member comprises two first connecting rods, two second connecting rods, two third connecting rods, two fourth connecting rods and a linear driving part, the first connecting rod and the second connecting rod are arranged one by one corresponding to the support column, and one end of the first connecting rod and one end of the second connecting rod are respectively hinged to the ship body, the third connecting rod is arranged one by one corresponding to the first connecting rod, one end of the third connecting rod is hinged to the other end of the support column, and the other end is hinged to the other end of the first connecting rod, the fourth connecting rod is arranged one by one corresponding to the second connecting rod, and one end of the fourth connecting rod is hinged to the other end of the second connecting rod, the linear driving part has a fixed end and an elongated end, the fixed end of the linear driving part is hinged to the mounting plate, and the elongated end is hinged to the ship body, and the other end of the fourth connecting rod is rotationally connected to the middle part of the linear driving part, the elongated end of the linear driving part is elongated or shortened relative to the fixed end, for driving the mounting plate to rise or fall relative to the ship body.

[0019] Further, the first driving member further comprises a rotating shaft, two first supporting rods and two second supporting rods, the rotating shaft is arranged horizontally and rotationally connected to the ship body, one end of the first connecting rod and one end of the second connecting rod are rotationally sleeved on the rotating shaft, and the elongated end of the linear driving part is rotationally connected to the middle part of the rotating shaft, the first supporting rod is arranged one by one corresponding to the first connecting rod, the first supporting rod is arranged between the first connecting rod and the second connecting rod, one end of the first supporting rod is rotationally connected to one end of the first connecting rod and one end of the second connecting rod, and is rotationally sleeved on the rotating shaft, the second supporting rod is arranged one by one corresponding to the first supporting rod, one end of the second supporting rod is rotationally connected to the other end of the first supporting rod, and the other end is rotationally connected to the support column.

[0020] Further, it further comprises a driving assembly, the driving assembly comprises two bionic flippers and a double-shaft steering engine, the two bionic flippers are arranged on the two sides of the ship body respectively, the double-shaft steering engine is connected to the ship body and connected to the two bionic flippers respectively, for driving the two bionic flippers to rotate relative to the ship body respectively, so that the ship body sails on the water surface.

[0021] Compared with the prior art, the beneficial effects of the present application include: the ship body can float on the water surface and can sail on the water surface, wherein the mounting platform capable of lifting relative to the ship body is arranged on the ship body, the image acquisition assembly, the clamping assembly and the removing assembly are arranged on the mounting platform, the image information of the apple snail eggs on the stems or leaves of the plants collected by the image acquisition assembly can adjust the height of the clamping assembly and the removing assembly according to the height difference of the stems or leaves of the plants, and at the same time, the stems or leaves of the plants are fixed by the clamping assembly, and the apple snail eggs are removed and collected by the removing assembly. Compared with the prior art, the automatic sailing of the ship body on the water surface, the cooperation of the image acquisition assembly, the clamping assembly and the removing assembly can realize the fixation of the stems or leaves of the plants at different heights and the removal and collection of the apple snail eggs, can realize the automatic removal of the apple snail eggs on the stems or leaves of the plants, reduce the labor intensity, and can solve the technical problems of high cost and waste of labor caused by the manual removal and management mode to scrape the apple snail eggs on the stems or leaves of the plants in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a three-dimensional structural schematic diagram of an apple snail egg removing device provided by an embodiment of the present application;

[0023] Figure 2 is a three-dimensional structural schematic diagram of an apple snail egg removing device from another perspective provided by an embodiment of the present application;

[0024] Figure 3 is a right view structural schematic diagram of an apple snail egg removing device provided by an embodiment of the present application;

[0025] Figure 4 is a three-dimensional structural schematic diagram of the clamping assembly, the mounting platform and the removing assembly connected (hidden support plate) provided by an embodiment of the present application;

[0026] Figure 5 is a three-dimensional structural schematic diagram of the mounting plate, the support column, the scraper, the guide rod, the collection bag, the ship body and the first driving member connected (hidden support plate, floating shell) provided by an embodiment of the present application;

[0027] Figure 6 is a three-dimensional structural schematic diagram of the ship body, the double-shaft rudder and the bionic fin connected (hidden floating shell) provided by an embodiment of the present application. DETAILED DESCRIPTION

[0028] The preferred embodiments of the present application will be specifically described below in combination with the drawings, wherein the drawings constitute a part of the present application, and are used to illustrate the principles of the embodiments of the present application, and are not used to limit the scope of the present application.

[0029] Please refer toFigures 1 to 3 The application provides a snail egg removing device for removing snail eggs on stems or leaves of plants, which comprises a hull 1, a mounting platform 2, an image acquisition assembly 3, a clamping assembly 4 and a removing assembly 5, the mounting platform 2 is connected to the hull 1 and can be lifted relative to the hull 1, the image acquisition assembly 3 is connected to the mounting platform 2 and used for acquiring image information of snail eggs on stems or leaves of plants, the clamping assembly 4 is connected to the mounting platform 2 and used for clamping stems or leaves of plants, the removing assembly 5 is arranged below the clamping assembly 4 and used for removing and collecting snail eggs on stems or leaves of plants, and a driving assembly 6 is connected to the hull 1 and used for driving the hull 1 to sail on the water surface.

[0030] In the device, the hull 1 can float on the water surface and sail on the water surface, the mounting platform 2 capable of being lifted relative to the hull 1 is arranged on the hull 1, the image acquisition assembly 3, the clamping assembly 4 and the removing assembly 5 are arranged on the mounting platform 2, the image information of snail eggs on stems or leaves of plants acquired by the image acquisition assembly 3 can be used for adjusting the height of the clamping assembly 4 and the removing assembly 5 according to the height difference of stems or leaves of plants, the stems or leaves of plants are fixed by the clamping assembly 4, and the snail eggs are removed and collected by the removing assembly 5.

[0031] Compared with the prior art, the automatic sailing of the hull 1 on the water surface, the cooperation of the image acquisition assembly 3, the clamping assembly 4 and the removing assembly 5 can realize the fixation of stems or leaves of plants at different heights and the removal and collection of snail eggs, the automatic removal of snail eggs on stems or leaves of plants can be realized, the labor intensity is reduced, and the technical problem that the cost is high and the labor is wasted due to the manual removal and treatment of the snail eggs on stems or leaves of plants in the prior art can be solved.

[0032] Further, in the device, the hull 1 comprises a base and a floating shell, the side of the floating shell is in an arc shape, the top of the floating shell is open, a bionic ship structure similar to the body of a pelican is formed, the floating shell can float on the water surface, the base is arranged in the interior of the floating shell, the number of the image acquisition assemblies 3 is two, the two image acquisition assemblies 3 are arranged on the two sides of the mounting platform 2 respectively and used for acquiring image or video information, and the image acquisition assemblies 3 are used for assisting the driving assembly 6 to complete the automatic sailing of the hull 1 on the water surface.

[0033] Specifically, since the apple snail eggs have the characteristic of bright color, the apple snail eggs are mainly red, the part about to hatch is pink, and the green color of the stems or leaves of the plants is quite different, the gray value difference is large after identification, and the rice seedlings and the apple snail eggs can be distinguished, therefore, the image acquisition assembly 3 in the device includes an intelligent identification module and a camera module, the camera module has image equipment and ranging function, can collect and process image information, and the intelligent identification module is electrically connected with the driving assembly 6, used for controlling the movement of the driving assembly 6, the image acquisition assembly 3 is a conventional setting known to those skilled in the art, and will not be described in more detail.

[0034] The device adopts two horizontal cameras with the same height, which can convert the vertical plane coordinate system into the horizontal rectangular coordinate system. After similar processing, the measurement method of the original algorithm is applied to the device, and the following formula is the correlation formula determined by image recognition:

[0035]

[0036] In the formula, X ij and Y ij are pixel points of a reference image, the range is m x n, M x N (M > m, N > n); (a, b) is a randomly selected center point; when R(a, b) is greater than a specified threshold, the range block stops marking, the area exceeding the relevant pixel points is the attachment area of the apple snail eggs, and the area is marked as a cleaning area.

[0037] As shown in Figures 3 to 5 , the mounting platform 2 includes a mounting plate 21, two support columns 22 and a first driving member 23, the mounting plate 21 is arranged above the ship body 1, the two support columns 22 are parallel and spaced apart, and one end of each of the two support columns 22 is connected with the mounting plate 21, and the first driving member 23 is hingedly connected with the ship body 1 and the other end of each of the two support columns 22, used for driving the mounting plate 21 to move horizontally close to or away from the ship body 1.

[0038] The two support columns 22 are arranged at the bottom of the mounting plate 21 and are hingedly connected with the first driving member 23, thereby forming a stable lifting structure, and the two support columns 22 are arranged to form a certain accommodating space below the mounting plate 21.

[0039] Among them, as an embodiment, as shown in Figure 3 , Figure 5As shown, the first driving member 23 comprises two first connecting rods 231, two second connecting rods 232, two third connecting rods 233, two fourth connecting rods 234 and a linear driving part 235, the first connecting rod 231 and the second connecting rod 232 are respectively arranged in one-to-one correspondence with the support column 22, and one end of the first connecting rod 231 and one end of the second connecting rod 232 are respectively hinged with the ship body 1, the third connecting rod 233 is arranged in one-to-one correspondence with the first connecting rod 231, and one end of the third connecting rod 233 is hinged with the other end of the support column 22 and the other end is hinged with the other end of the first connecting rod 231, the fourth connecting rod 234 is arranged in one-to-one correspondence with the second connecting rod 232, and one end of the fourth connecting rod 234 is hinged with the other end of the second connecting rod 232, the linear driving part 235 has a fixed end and an elongated end, the fixed end of the linear driving part 235 is hinged with the mounting plate 21, the elongated end is hinged with the ship body 1, and the other end of the fourth connecting rod 234 is rotationally connected with the middle part of the linear driving part 235, the elongated end of the linear driving part 235 is elongated or shortened relative to the fixed end thereof, for driving the mounting plate 21 to ascend and descend relative to the ship body 1.

[0040] Specifically, the inner wall of the bottom of the ship body 1 is provided with a rotating groove, the first connecting rod 231 and the second connecting rod 232 are rotationally connected to the rotating groove, and the first connecting rod 231, the second connecting rod 232, the third connecting rod 233 and the fourth connecting rod 234 form a support structure similar to a parallelogram, for improving the stability of the lifting of the mounting plate 21, the clamping assembly 4 and the cleaning assembly 5.

[0041] Further, two groups of support structures similar to parallelograms formed by the first connecting rod 231, the second connecting rod 232, the third connecting rod 233 and the fourth connecting rod 234 are arranged on both sides of the mounting plate 21, and the linear driving part 235, the mounting plate 21 and the ship body 1 form a connecting rod transmission structure through the first connecting rod 231, the second connecting rod 232, the third connecting rod 233 and the fourth connecting rod 234, for improving the stability of the lifting device.

[0042] Among them, as a preferred embodiment, as Figure 3 , Figure 5As shown, the first driving member 23 further comprises a rotating shaft 236, two first supporting rods 237 and two second supporting rods 238. The rotating shaft 236 is horizontally arranged and rotationally connected with the hull 1. One end of the first connecting rod 231 and one end of the second connecting rod 232 are both rotationally sleeved on the rotating shaft 236. The elongated end of the linear driving part 235 is rotationally connected with the middle part of the rotating shaft 236. The first supporting rod 237 is arranged corresponding to the first connecting rod 231. The first supporting rod 237 is arranged between the first connecting rod 231 and the second connecting rod 232. One end of the first supporting rod 237 is rotationally connected with one end of the first connecting rod 231 and one end of the second connecting rod 232, and is rotationally sleeved on the rotating shaft 236. The second supporting rod 238 is arranged corresponding to the first supporting rod 237. One end of the second supporting rod 238 is rotationally connected with the other end of the first supporting rod 237, and the other end is rotationally connected with the supporting column 22.

[0043] The first supporting rod 237 and the second supporting rod 238 are arranged to strengthen the stability of the supporting structure formed by the first connecting rod 231, the second connecting rod 232, the third connecting rod 233 and the fourth connecting rod 234, which is similar to a parallelogram.

[0044] Further, the rotating shaft 236 is rotationally connected with the first connecting rod 231, the second connecting rod 232, the first supporting rod 237 and the linear driving part 235, which is used to improve the feasibility and stability of the device. The linear driving part 235 is a common hydraulic cylinder on the market and is easy to purchase. Here, it can also be a push rod motor or a cylinder. This is a conventional arrangement known to those skilled in the art, and will not be described in more detail.

[0045] As shown in Figures 2 to 4 The clamping assembly 4 comprises a supporting plate 41, two clamping blocks 42 and a second driving member 43, a connecting block 44, at least one first clamping rod 45 and at least one second clamping rod 46.

[0046] The supporting plate 41 is vertically arranged and connected to the mounting plate 21. The two clamping blocks 42 are oppositely arranged and both are slidingly connected to the supporting plate 41. The second driving member 43 is connected with the two clamping blocks 42, which is used to drive the two clamping blocks 42 to move closer to or away from each other, so as to clamp or release the stems or leaves of the plants.

[0047] The two clamping blocks 42 can move closer to or away from each other under the driving of the second driving member 43, so as to clamp or release the stems or leaves of the plants.

[0048] Further, the first recess and the second recess in opposite directions of the two clamping blocks 42 are sawtooth-shaped, and the first recess and the second recess enclose the clamping groove, so as to increase the clamping force of the clamping blocks 42 on the stems or leaves of the plants, thereby fixing the stems or leaves of the plants and improving the cleaning effect of the device.

[0049] As an embodiment, as shown in Figures 2 to 4 The connecting block 44 is connected to the support plate 41 and is provided with a recess, one end of the first clamping rod 45 is rotatably connected to one clamping block 42, and the other end is rotatably connected to the inner wall of the recess, one end of the second clamping rod 46 is rotatably connected to the other clamping block 42, and the other end is rotatably connected to the inner wall of the recess, and the second driving member 43 is in transmission connection with one end of the first clamping rod 45 and one end of the second clamping rod 46, for driving one end of the first clamping rod 45 and one end of the second clamping rod 46 to rotate relative to the clamping blocks 42, so that the two clamping blocks 42 are close to or away from each other.

[0050] The connecting block 44, the at least one first clamping rod 45 and the at least one second clamping rod 46 are provided for transmission between the second driving member 43 and the two clamping blocks 42, for improving the stability of the relative movement of the two clamping blocks 42 and improving the cleaning effect of the device.

[0051] Further, the number of the first clamping rod 45 and the second clamping rod 46 is two respectively, the two first clamping rods 45 and the two second clamping rods 46 are arranged on the upper and lower sides of the clamping block 42 respectively, and the clamping assembly 4 of the device further comprises two third clamping rods and two fourth clamping rods, the third clamping rods are parallel to and spaced apart from the first clamping rods 45, and are rotatably connected to the inner wall of the recess and one clamping block 42, the fourth clamping rods are parallel to and spaced apart from the second clamping rods 46, and are rotatably connected to the inner wall of the recess and the other clamping block 42, for increasing the stability of the relative movement of the two clamping blocks 42 and improving the cleaning effect of the device.

[0052] As another embodiment, as shown in Figure 4As shown, the second driving member 43 comprises a first worm wheel 431, a second worm wheel, a worm 433 and a first motor 434. The first worm wheel 431 is coaxially arranged with the rotating shaft 236 of the other end of the first clamping rod 45, and is connected to the other end of the first clamping rod 45. The first worm wheel 431 can rotate relative to the inner wall of the groove. The second worm wheel is coaxially arranged with the rotating shaft 236 of the other end of the second clamping rod 46, and is connected to the other end of the second clamping rod 46. The second worm wheel can rotate relative to the inner wall of the groove. The worm 433 is rotatably connected to the inner wall of the groove, and is engaged with the first worm wheel 431 and the second worm wheel. The fixed end of the first motor 434 is connected to the clamping block 42, and the output shaft of the first motor 434 is connected to the worm 433, for driving the first worm wheel 431 and the second worm wheel to rotate relative to the inner wall of the groove.

[0053] The first worm wheel 431 and the second worm wheel are arranged in a spaced and opposite rotating direction manner. The output shaft of the first motor 434 drives the worm 433 to rotate, so as to drive the first worm wheel 431 and the second worm wheel to rotate in opposite directions at the same time, thereby driving the two clamping blocks 42 to approach or move away from each other.

[0054] As shown in Figure 4 , Figure 5 The cleaning assembly 5 comprises a cleaning member 51 and a collection bag 52.

[0055] The cleaning member 51 comprises a guide rod 511, a scraper 512 and a third driving member 513. The guide rod 511 is vertically arranged below the clamping block 42 and is connected to the supporting column 22. The scraper 512 is slidably sleeved on the guide rod 511. The third driving member 513 is connected to the mounting plate 21 and the scraper 512, for driving the scraper 512 to reciprocate along the guide of the guide rod 511, so as to scrape off the golden apple snail eggs on the stems or leaves of the plants.

[0056] The scraper 512 can be driven by the third driving member 513 to reciprocate along the guide of the guide rod 511, so as to scrape off the golden apple snail eggs on the stems or leaves of the plants. The scraper 512 is a common bidirectional blade in the market and is easy to purchase. The conventional arrangement known to those skilled in the art will not be described in detail.

[0057] Further, the third driving member 513 of the device comprises a sliding sleeve, a crank sliding rod member and a second motor. The sliding sleeve is sleeved on the guide rod 511 and can slide relative to the guide rod 511. The scraper 512 is arranged relative to the apple snail eggs and is connected to the sliding sleeve. One end of the crank sliding rod member is connected to the sliding sleeve. The fixed end of the second motor is connected to the mounting plate 21. The transmission shaft of the second motor is connected to the other end of the crank sliding rod member, for driving the sliding sleeve and the scraper 512 to slide along the guide rod 511. The scraper 512 and the crank sliding rod member are common and easy-to-purchase devices in the market and are conventional settings known to those skilled in the art, which will not be described in more detail.

[0058] Specifically, the following formula is a degree of freedom calculation formula:

[0059] F = 3n - 2P l -P h

[0060] In the formula, F is the degree of freedom; n is the number of movable parts; P l is the number of low pair connections; and P h is the number of high pair connections. For the crank slider, n is 3, Pl is 4, and Ph is 0, so that F is 1, which is consistent with the driving of the motor. For the planar four-bar linkage, n is 5, Pl is 7, and Ph is 0, so that F is 1, which is consistent with the stretching and relaxation of the linkage formed by the downward movement of the scraping platform.

[0061] As an embodiment, as shown in Figure 4 the collecting bag 52 is arranged below the scraper 512 and is connected to the support column 22, and the opening of the collecting bag 52 is arranged upward.

[0062] Specifically, the collecting bag 52 in the device is connected to the support column 22 through the fixing block, and the guide rod 511 is connected to the collecting bag 52, so as to form a stable connection structure. Meanwhile, the scraper 512 cooperates with the collecting bag 52 to form a biomimetic structure similar to a pelican, which can realize the removal and collection of apple snail eggs.

[0063] Further, the collecting bag 52 in the device has a two-layer structure. The outer layer is made of organic glue, which can wrinkle when the overall structure of the collecting bag 52 moves up and down. The inner part is sleeved with a PE plastic bag, which facilitates the replacement of the collected apple snail eggs. Details are not described herein.

[0064] Further, the support plate 41 of the device is provided with a containing cavity and forms a structure similar to a protective cover. The support plate 41 is connected to the mounting plate 21, and the crank sliding rod member is built-in the containing cavity for protecting the crank sliding rod member and improving the stability of the device. Two image acquisition assemblies 3 are arranged on the two sides of the support plate 41 and are connected to the support plate 41.

[0065] As shown in Figure 6 The driving assembly 6 includes two bionic webbed feet 61 and a double-shaft steering engine 62. The two bionic webbed feet 61 are arranged on the two sides of the hull 1 respectively, and the double-shaft steering engine 62 is connected to the hull 1 and connected with the two bionic webbed feet 61 respectively, for driving the two bionic webbed feet 61 to rotate relative to the hull 1, so that the hull 1 sails on the water surface.

[0066] The bionic webbed feet 61 arranged on the two sides of the hull 1 are driven to rotate relative to the hull 1 by the double-shaft steering engine 62, thereby forming a bionic driving structure similar to a pelican, improving the stability of the device operation and improving the cleaning effect of the device.

[0067] Further, the bionic webbed feet 61 in the device include a first connecting arm 611, a second connecting arm 612, a webbed foot 613, a first joint motor 614, and a second joint motor 615. One end of the first connecting arm 611 is connected to an output shaft of the double-shaft steering engine 62. One end of the second connecting arm 612 is rotatably connected to the other end of the first connecting arm 611. The fixed end of the first joint motor 614 is connected to the first connecting arm 611, and the output shaft is connected to the second connecting arm 612, for driving the second connecting arm 612 to rotate relative to the first connecting arm 611. The webbed foot 613 is rotatably connected to the other end of the second connecting arm 612. The fixed end of the second joint motor 615 is connected to the second connecting arm 612, and the output shaft is connected to the webbed foot 613, for driving the webbed foot 613 to rotate relative to the second connecting arm 612.

[0068] Specifically, the first connecting arm 611 and the second connecting arm 612 in the device are both hollow structures, for reducing the resistance when the bionic webbed feet 61 paddle. Here, it will not be described in more detail.

[0069] Further, a film is arranged on the webbed foot 613, which is made of elastic and soft material, facilitating the fine adjustment of the webbed foot 613. The control equation of the webbed foot 613 is as follows:

[0070] H(t)=hsin(2πft)

[0071] M(t)=Jθ

[0072] In the formula, H(t) is the vertical distance of the webbed foot 613 relative to the rotating shaft, with the unit of m; h is the maximum distance of the webbed foot 613 floating, with the unit of m; t is the running time, with the unit of s; J is the rotational inertia of the webbed foot 613, with the unit of kg·m 2 ; θ is the angular velocity of the webbed foot 613, with the unit of rad / s 2 ; M(t) is the moment of the webbed foot 613 due to water power.

[0073] The formula is used to design a fine adjustment of the fins 613 by a double-axle steering engine 62, and the bending angle of the rotation has a limit value, when the moment starts to reverse, the steering engine starts to reverse, and the whole moving structure enters the recovery structure, and the swing angle is controlled at 90°, and the lifting amplitude is about 5 cm.

[0074] The following is the relationship between the overall size of the foot and the fluid generated maximum propulsion,

[0075]

[0076]

[0077] In the formula, ρ is the density of water, with the unit of kg / m3; CD is the drag coefficient; l is the length of the fin 613, with the unit of m; c is the width of the fin 613, with the unit of m; αi is the angle of attack, with the unit of rad; L is the length of the fin 613, with the unit of m; a and b are the narrowest and widest distances of the fin 613, respectively, with the unit of m; and ω is the angular velocity relative to the rotation shaft, with the unit of rad / s.

[0078] According to the calculation of the above formula, when moving in a stable gait, the maximum propulsion force received by the device is about 1 N, and the total drag force received during the recovery process is about 0.25 N. The acceleration time is the same as the recovery time, and the device can maintain accelerated movement during the initial operation. Considering the whole device operation cycle T=2s, in the synchronous swing motion of the bionic gait, the displacement in one cycle can be about 0.084m, and the maximum speed can reach 0.11m / s.

[0079] The specific working process of the application is that the ship body 1 can float on the water surface and can sail on the water surface, the installation platform 2 capable of lifting relative to the ship body 1 is arranged on the ship body 1, the image acquisition assembly 3, the clamping assembly 4 and the removal assembly 5 are arranged on the installation platform 2, the image information of the apple snail eggs on the stems or leaves of the plants is acquired by the image acquisition assembly 3, the height of the clamping assembly 4 and the removal assembly 5 can be adjusted according to the height difference of the stems or leaves of the plants, the stems or leaves of the plants are fixed by the clamping assembly 4, and the apple snail eggs are removed and collected by the removal assembly 5. Compared with the prior art, the automatic sailing of the ship body 1 on the water surface can realize the fixation of the stems or leaves of the plants at different heights and the removal and collection of the apple snail eggs by the cooperation of the image acquisition assembly 3, the clamping assembly 4 and the removal assembly 5, the automatic removal of the apple snail eggs on the stems or leaves of the plants can be realized, the labor intensity is reduced, and the technical problem that the cost is high and the labor is wasted due to the manual removal and treatment mode to scrape the apple snail eggs on the stems or leaves of the plants in the prior art can be solved.

[0080] In use, when the smart identification module determines the location of the golden apple snail eggs through image recognition and distance measurement, the biaxial rudder 62 drives the two sides of the bionic ski piece 61 to move, so that the ship body 1, the mounting plate 21, the clamping assembly 4 and the collection assembly move close to the plants. At this time, the hydraulic rod extends up and down, adjusts the lifting of the mounting plate 21, aligns the clamping device to the area 3-5 cm above the golden apple snail egg block, drives the worm gear 433 to rotate through the first motor 434 on the mounting plate 21 and engages with the worm wheel, adjusts the opening and closing of the arm, and realizes the lateral clamping of the stem or leaf. After clamping the part to be processed, the second motor on the mounting plate 21 drives the crank slide bar to slide along the guide rod 511, so as to drive the bidirectional blade on the crank slide bar to reciprocate, realize the scraping of the golden apple snail eggs, and the scraped golden apple snail eggs fall into the collection bag 52 below, completing the collection. Then the ship body 1 moves to the next target position for processing work.

[0081] Further, the device uses bionic design, applies the beak and ski 613 biological characteristics of pelicans to the golden apple snail egg removal device on the rice stem, realizes the movement of the device and the removal of the golden apple snail eggs; through the design of hydraulic telescopic, crank slide bar and parallelogram support structure, realizes the lifting of the device and the scraping of the golden apple snail eggs; combines the clamping and scraping devices, the clamping device provides the force support point for the scraping device, increases the success rate of scraping. It can be applied to the removal of golden apple snail eggs hanging on the river wall.

[0082] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any change or replacement within the technical range disclosed by the present application can be easily thought by those skilled in the art, which should be covered within the protection scope of the present application.

Claims

1. A device for removing golden apple snail eggs, used to remove golden apple snail eggs from the stems or leaves of plants, characterized in that, The utility model provides a kind of snail egg image acquisition device, including: Hull; Mounting platform, the mounting platform is connected to the hull, and can be lifted relative to the hull; Image acquisition component, connected to the mounting platform, for collecting the image information of apple snail egg on the stem or leaf of plant; Clamping component, connected to the mounting platform, for clamping the stem or leaf of plant; And Remove component, be arranged below the clamping component, for removing and collecting the apple snail egg on the stem or leaf of plant; Wherein, the mounting platform includes mounting plate, two support columns and first driving part, the mounting plate is arranged above the hull, two the support column is parallel and interval, and one end of two the support column is connected with the mounting plate respectively, the first driving part is hinged with the hull and the other end of two the support column, for driving the mounting plate translation close to or away from the hull; Wherein, the clamping component includes support plate, two clamping blocks and second driving part, the support plate is vertically arranged, and is connected to the mounting plate, two clamping blocks are oppositely arranged, and are slidably connected to the support plate, the second driving part is connected with two the clamping block, for driving two the clamping block moves close to or away from each other, to clamp or release the stem or leaf of plant; Wherein, the clamping component further includes connecting block, at least one first clamping rod and at least one second clamping rod, the connecting block is connected to the support plate, and is provided with recess, one end of the first clamping rod is rotatably connected to one the clamping block, the other end is rotatably connected to the inner wall of recess, one end of the second clamping rod is rotatably connected to another the clamping block, the other end is rotatably connected to the inner wall of recess, the second driving part is drivingly connected with one end of the first clamping rod and one end of second clamping rod, for driving one end of the first clamping rod and one end of second clamping rod respectively relative to the clamping block rotation, so that two the clamping block moves close to or away from each other; Wherein, the second driving part includes first worm wheel, second worm wheel, worm and first motor, the first worm wheel is coaxially arranged with the rotation shaft of the other end of the first clamping rod, and is connected to the other end of the first clamping rod, and the first worm wheel can rotate relative to the inner wall of recess, the second worm wheel is coaxially arranged with the rotation shaft of the other end of the second clamping rod, and is connected to the other end of the second clamping rod, and the second worm wheel can rotate relative to the inner wall of recess, the worm is rotatably connected to the inner wall of recess, and is engaged with the first worm wheel and second worm wheel, the fixed end of the first motor is connected to the clamping block, and the output shaft of the first motor is connected to the worm, for driving the first worm wheel and second worm wheel respectively relative to the inner wall of recess rotation.

2. The apparatus for removing apple snail eggs according to claim 1, wherein The cleaning assembly comprises a cleaning piece, the cleaning piece comprises a guide rod, a scraper and a third driving piece, the guide rod is vertically arranged below the clamping block and is connected to the support column, the scraper is slidingly sleeved on the guide rod, and the third driving piece is connected to the mounting plate and the scraper and is used for driving the scraper to reciprocate along the guide of the guide rod to scrape off the apple snail eggs on the stems or leaves of the plants.

3. The apparatus according to claim 2, wherein The cleaning assembly further comprises a collecting bag, the collecting bag is arranged below the scraper and is connected to the support column, and the opening of the collecting bag is arranged upward.

4. The apparatus of claim 1, wherein the apparatus is configured to be used in a water body. The first driving piece comprises two first connecting rods, two second connecting rods, two third connecting rods, two fourth connecting rods and a linear driving part, the first connecting rods and the second connecting rods are arranged in one-to-one correspondence with the support columns, one end of the first connecting rod and one end of the second connecting rod are hingedly connected to the hull respectively, one end of the third connecting rod is hingedly connected to the other end of the support column, and the other end of the third connecting rod is hingedly connected to the other end of the first connecting rod, the fourth connecting rods are arranged in one-to-one correspondence with the second connecting rods, one end of the fourth connecting rod is hingedly connected to the other end of the second connecting rod, the linear driving part has a fixed end and an elongated end, the fixed end of the linear driving part is hingedly connected to the mounting plate, the elongated end is hingedly connected to the hull, and the other end of the fourth connecting rod is rotationally connected to the middle part of the linear driving part, and the elongated end of the linear driving part is elongated or shortened relative to the fixed end, so as to drive the mounting plate to ascend or descend relative to the hull.

5. The apparatus according to claim 4, wherein The first driving piece further comprises a rotating shaft, two first supporting rods and two second supporting rods, the rotating shaft is horizontally arranged and rotationally connected to the hull, one end of the first connecting rod and one end of the second connecting rod are rotationally sleeved on the rotating shaft, and the elongated end of the linear driving part is rotationally connected to the middle part of the rotating shaft, the first supporting rods are arranged in one-to-one correspondence with the first connecting rods, the first supporting rods are arranged between the first connecting rods and the second connecting rods, one end of the first supporting rod is rotationally connected to one end of the first connecting rod and one end of the second connecting rod, and the first supporting rod is rotationally sleeved on the rotating shaft, the second supporting rods are arranged in one-to-one correspondence with the first supporting rods, one end of the second supporting rod is rotationally connected to the other end of the first supporting rod, and the other end of the second supporting rod is rotationally connected to the support column.

6. The apparatus of claim 1, wherein the apparatus is a snail egg removal apparatus. The driving assembly comprises two bionic flippers and a double-shaft steering engine, the two bionic flippers are arranged on the two sides of the hull respectively, the double-shaft steering engine is connected to the hull and is connected to the two bionic flippers respectively, and is used for driving the two bionic flippers to rotate relative to the hull respectively, so that the hull sails on the water surface.

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