A tracked inter-row working microwave soil disease prevention and control device and method

Abstract

The application discloses a kind of inter-row operation microwave soil disease prevention and control devices of track, including frame, track walking mechanism below frame, power module, electric control cabinet, central control system, sensor system and microwave system, the microwave system includes microwave generating source, waveguide and be located at the horn mouth microwave antenna of both sides of frame, microwave antenna penetrates soil ridge surface with microwave energy, realizes the effective killing of soil ridge surface and internal disease and pest, sensor system and built-in beidou positioning module will geographical positioning, surrounding environment and soil temperature real-time transmission to central control system, can carry out microwave killing path along preset path, and automatically adjust process parameters during working process;The application is suitable for soil disease prevention and control in crop growth cycle, can work along preset path, automatically adjust process parameters, improve operation efficiency, help to develop microwave killing process flow according to different disease and pest.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of soil disease prevention and control, and particularly relates to a crawler-type inter-row operation microwave soil disease prevention and control device and method. BACKGROUND

[0002] Disinfecting the soil before planting crops is an important means of preventing and controlling diseases, pests and weeds, and traditional methods of preventing and controlling soil diseases of crops include chemical sterilization, steam sterilization and sunlight sterilization.

[0003] Chemical sterilization and disinfection can easily cause soil and air pollution, which is very harmful to the human body, and the prevention and control of crop soil diseases, pests and weeds mainly relies on high-toxicity and high-residue pesticides, which has caused problems such as pesticide resistance, pest resurgence, pesticide residue and environmental pollution, and destruction of biodiversity.

[0004] Deep ploughing and exposure, steam sterilization and other soil disease prevention and control measures are mostly taken before planting crops, and sunlight interference has seasonal and regional limitations; at the same time, steam sterilization equipment is complex and not suitable for large-area soil disinfection; and both prevention and control measures have great limitations and cannot cope with possible soil diseases during the whole growth cycle of crops.

[0005] In addition, biological control has the advantage of not polluting the environment, but also has certain limitations, such as narrow insecticidal range, difficulty in mass production of products, and limitations on storage and transportation.

[0006] Microwave sterilization is a method of killing pathogens in soil by using the thermal effect and non-thermal effect of microwaves, and microwaves can penetrate soil and their energy is converted into heat energy after being absorbed by pathogens, resulting in denaturation of pathogen proteins and loss of biological activity.

[0007] Patent CN202222302036.8 discloses a microwave prevention and control device for bacterial diseases in soil, which uses a soil sampling baffle to sample and stack soil, and uses microwaves to sterilize and disinfect the soil. The patent needs to shovel the soil into the equipment for sterilization and then transport it back to the ground, which is not suitable for soil where crops have been planted.

[0008] Patent CN201310543551.8 discloses a soil sterilization and insecticidal equipment and a method for killing root-knot nematodes using the equipment, which needs to be used for rough plowing of the soil to be killed before use, stirring the soil by a soil lifting device and lifting it upward, high-temperature roasting the soil in the process of lifting by a quartz tube, microwave sterilization by a microwave emitting device after falling to the ground, and finally flattening the soil by a soil supporting plate. The patent is also only suitable for soil disinfection treatment before cultivation and is not suitable for soil with planted crops. In addition, the patent uses a chain track type remote control tractor, which can avoid microwave radiation or high-temperature damage to the human body when the human body is close by using remote control. However, the staff cannot accurately monitor the surrounding environment of the sterilization equipment and cannot judge the soil state. In the process of equipment operation, the staff completely relies on remote control of the working route, microwave frequency and other process parameters, which has poor flexibility and is prone to errors and repeated work in the actual operation process.

[0009] In summary, how to kill pests, weeds and diseases in the soil in an environmentally friendly, non-toxic and non-residual manner, disinfect the soil in the case of planting crops in the soil, and more accurately control the energy of the equipment to improve the automatic working performance of the equipment and facilitate the operation personnel to improve the work efficiency are problems urgently to be solved in the field of soil disease prevention and control. SUMMARY

[0010] In order to overcome the shortcomings of the prior art, the present application provides a caterpillar type inter-row operation microwave soil disease prevention and control device and method suitable for preventing and controlling diseases in the soil during the growth cycle of crops, suitable for different microwave sterilization processes, capable of automatically adjusting process parameters, working along a preset path through self-positioning and topographic mapping, and avoiding repeated work.

[0011] In order to achieve the above-mentioned purpose, the technical scheme of the present application is as follows:

[0012] A caterpillar type inter-row operation microwave soil disease prevention and control device and method, comprising a vehicle frame provided with a caterpillar walking mechanism below, the vehicle frame providing support for the entire device, a power supply module providing power for the power components of the entire device, an electric control cabinet electrically connected with the power supply module, a central control system, a microwave system and a sensor system connected with the electric control cabinet through cables, the electric control cabinet and the central control system being both fixed above the vehicle frame and being independent cabinet bodies, the separation of the electric control cabinet and the central control system improving the electrical safety of the device, facilitating separate maintenance, replacement and independent upgrading, and allowing different function cabinet bodies to be customized according to different environmental requirements, the central control system being connected with the microwave system and the sensor system, the central control system automatically controlling the device, transmitting and receiving remote control signals and controlling the device to perform instruction actions;

[0013] The both sides of the frame are provided with crushing devices and flattening rollers electrically connected with the central control system, the crushing device includes a soil crushing hammer head provided with a motor, the soil crushing hammer head is connected with the matched motor through a connecting rod mechanism, the matched motor is electrically connected with the central control system to control the vibration state of the soil crushing hammer head to crush the soil hard blocks on the surface of the soil ridge affecting the microwave operation; the crushing device and the flattening roller are respectively connected with the both sides of the frame through an electrically controlled telescopic universal support;

[0014] The central control system is internally provided with a Beidou positioning module, the Beidou positioning module is electrically connected with a Beidou satellite receiving antenna arranged on the frame, the Beidou positioning module can provide the accurate geographic coordinates of the device, including longitude, latitude and height, through continuous reception of the Beidou satellite signal, the positioning module can calculate the speed of the device, including the speed size and direction, and simultaneously provide a high-precision time synchronization signal to provide navigation services for the device, the Beidou positioning module is integrated with the sensor system through the central control system for data collection and transmission of geographic information, and provides a decision basis for automatic parameter adjustment of the central control system;

[0015] The driving motor located below the frame is electrically connected with the central control system, the output shaft of the driving motor drives the crawler walking mechanism through a gear, the crawler walking mechanism allows the device to move flexibly in the field, covers a larger working area, and the crawler structure is not easy to damage the field soil, which helps to maintain the physical properties of the soil;

[0016] The microwave system includes a microwave generating source provided with a cooling module, a waveguide and a microwave antenna, the cooling module is a heat sink arranged on the side of the microwave generating source and a liquid cooling system integrated in the microwave generating source, the waveguide extends from above the microwave generating source, during the extension, the waveguide is branched on both sides as the axis of the walking direction of the device, and transmits the microwave generated by the microwave generating source to the microwave antenna, the branch ends of the waveguide are connected with the microwave antenna, the microwave antenna is symmetrically arranged on both sides of the walking direction of the device and has a gradually increasing horn shape from inside to outside, the microwave energy generated by the microwave antenna can penetrate the surface of the soil ridge and sterilize the microorganisms inside. By controlling the output power and frequency of the microwave, the surface and the inside of the soil ridge can be effectively sterilized, the microwave antenna is connected with the branch ends of the waveguide through an adjusting pipe, the adjusting pipe includes an electrically adjustable universal pipe joint and an electrically telescopic pipe connected in sequence, the adjusting pipe is also provided with an electrically adjustable component for driving the electrically adjustable universal pipe joint and the electrically telescopic pipe and a potentiometer for feeding back the mechanical position, the electrically adjustable component and the potentiometer are electrically connected with the central control system; the adjusting pipe controls the electrically adjustable universal pipe joint and the electrically telescopic pipe by receiving the signal of the central control system to adjust the length of the microwave antenna and the rotation angle, which is suitable for different soil ridge surfaces.

[0017] As a further technical improvement, the sensor system includes a panoramic camera and a laser radar, which are fixed on the high front of the vehicle frame by support bolts; the panoramic camera can capture the 360° rotating camera around the environment of the image, and transmit the terrain information to the central control system, provide real-time video monitoring, help the operator to fully understand the working environment, ensure the safety and efficiency of the work, in addition, the panoramic camera can also be used for recording work data, providing basis for subsequent analysis and optimization; the laser radar can scan the surrounding environment, which is used for automatic obstacle avoidance, ensures the safety of the equipment in the working process, and enhances the accuracy of the positioning and navigation system.

[0018] As a further technical improvement, the sensor system further includes an infrared imager and a soil temperature measuring device, the infrared imager is symmetrically distributed on the edge of the vehicle frame on both sides, and is fixed on the top of the vehicle frame, which monitors the temperature of the soil surface and the weed surface, and feeds back to the central control system for process parameter control, the soil temperature measuring device includes a soil temperature measuring device shell which can be integrally rotated on the rear of the vehicle frame, the rotation axis is located in the center of the rear of the vehicle frame, the soil temperature measuring device shell is a cylindrical cylinder with one end open, the soil temperature measuring device shell is rotatably installed with a motor through a worm gear assembly, the worm gear assembly is electrically connected with the central control system, and a soil bimetallic thermometer which can be inserted into the soil ridge is driven by an electric cylinder in the soil temperature measuring device, a data transmission interface is arranged between the soil bimetallic thermometer and the central control system; when the device is stationary, the soil temperature measuring device shell can be rotated to the side where the soil internal temperature needs to be measured by the worm gear assembly, the soil bimetallic thermometer is pushed out and inserted into the soil ridge for temperature measurement, and the measured value is transmitted to the central control system.

[0019] As a further technical improvement, the central control system includes a central processing unit, an input interface, an output interface, a storage unit and a communication interface, the input interface connects the sensor system and the central processing unit, the output interface connects the central processing unit with the microwave system, the crushing device and the flattening roller, and the central control system establishes communication connection with remote electronic equipment through the communication interface.

[0020] Meanwhile, the application also provides a use method of the tracked inter-row working microwave soil disease prevention and control device, which comprises the following steps:

[0021] S1: According to the existing microwave killing process, the preset program is written in the central control system of the device, and the device is put into the field to be treated. The remote electronic equipment is used to start the device, and the Beidou positioning module is run. The staff can check the topographic conditions of the field to be treated in the remote electronic equipment. The device automatically or manually plans the working path;

[0022] S2: The tracked walking mechanism of the device advances on the working path according to the preset speed. The panoramic camera and laser radar are started to assist in high-precision positioning and topographic mapping. The device accurately works along the preset path, monitors the surrounding environment, automatically adjusts the path according to the obstacle terrain, feeds back the distance between the device and the two sides of the field ridge to the central control system to adjust the position and angle of the microwave antenna, and feeds back the physical conditions of the field ridge surface to the central control system. When there are soil blocks and weeds on the ridge surface that affect the microwave antenna, the central control system controls the crushing device to crush the target position on the ridge surface. When there are protrusions on the ridge surface that affect the microwave antenna, the central control system drives the flattening roller to flatten the target position;

[0023] S3: During the microwave killing process, the infrared imager monitors the temperature of the soil surface and the weed surface and feeds back the data to the central control system. When the device is stationary, the soil temperature measuring device turns the opening to the direction of the two soil ridges in turn, the soil bimetallic thermometer extends and inserts into the soil ridge to measure the temperature at different depths of the soil, and feeds back the measured temperature data to the central control system. According to the preset temperature threshold, the parameters such as microwave frequency and heating time of microwave killing are adjusted. If the temperature meets the target temperature, the set parameters are reasonable, and the operation continues. If it does not meet the target temperature, the process parameters are automatically adjusted according to the built-in deep learning algorithm until the target temperature is met and the operation continues, so that the soil temperature during the operation is kept within the temperature threshold range;

[0024] S4: During operation, the staff can monitor the working state of the device, the image recorded by the panoramic camera and the feedback of the infrared imager in the remote electronic equipment. In addition to automatically adjusting the process route and parameters through the central control system, the staff can also actively adjust through the remote electronic equipment.

[0025] As a further technical improvement, the microwave power of the microwave system for killing is 100-20000W, and the microwave frequency is 400-3000MHz.

[0026] As a further technical improvement, the driving speed of the tracked walking mechanism is 0.1-60m / min.

[0027] As a further technical improvement, the microwave system has a killing temperature range of 30-90 DEG C for soil surface and weeds; the microwave sterilization has a killing temperature range of 30-55 DEG C for the inside of soil.

[0028] Compared with the prior art, the application has the advantages and beneficial effects as follows:

[0029] 1. The application integrates various sensors (such as laser radar, infrared imager, Beidou positioning system) and actuators (such as microwave generating source, thermometer, crushing device), writes a preset program in the central control system, and can perform microwave killing along a preset path, automatically adjusts process parameters during the working process, and realizes automation and accurate control of microwave sterilization operation.

[0030] 2. The application performs microwave sterilization on the soil ridge surface in the field through the horn-shaped microwave antennas on both sides of the device, does not need to shovel the soil in the field into the device for treatment, can also prevent and control diseases in the soil during the growth cycle of crops, and is suitable for soil disease and pest control in various seasonal climates.

[0031] 3. The central control system of the application is connected with remote electronic equipment, and the user can realize monitoring and control of the application through the remote electronic equipment, which is convenient for management and decision-making, and can also avoid damage to the human body caused by microwaves. BRIEF DESCRIPTION OF DRAWINGS

[0032] Fig. 1 It is a structure front view of the application.

[0033] Fig. 2 It is a structure left view in the application.

[0034] Fig. 3 It is a structure top view of the application.

[0035] IDENTIFICATION OF DRAWINGS:

[0036] 1 - track walking mechanism, 2 - vehicle frame, 3 - power module, 4 - electric control cabinet, 5 - central control system, 6 - microwave generating source, 7 - waveguide, 8 - microwave antenna, 81 - electric universal pipe joint, 82 - electric telescopic pipe, 9 - panoramic camera, 10 - laser radar, 11 - infrared imager, 12 - soil temperature measuring device, 121 - soil temperature measuring device shell, 122 - soil bimetallic thermometer, 13 - crushing device, 131 - soil crushing hammer head, 14 - leveling roller, 15 - universal support, 16 - remote electronic equipment. DETAILED DESCRIPTION

[0037] The application will be further described below in combination with the drawings.

[0038] Example 1: as Figs. 1-3The application discloses a crawler-type inter-row operation microwave soil disease prevention and control device and method, which comprises a vehicle frame 2 provided with a crawler walking mechanism 1 below, the vehicle frame 2 provides support for the whole device, further comprises a power module 3, the power module 3 provides power for the power components of the whole device, an electric control cabinet 4 electrically connected with the power module 3, a central control system 5, a microwave system and a sensor system connected with the electric control cabinet 4 through cables, the electric control cabinet 4 and the central control system 5 are both fixed above the vehicle frame, are independent cabinet bodies respectively, and the separation of the electric control cabinet 4 and the central control system 5 can improve the electrical safety of the device, facilitate individual maintenance, replacement and independent upgrading, and different function cabinet bodies can be customized according to different environmental requirements respectively, the central control system 5 is connected with the microwave system and the sensor system respectively, the central control system 5 automatically controls the device, transmits and receives remote control signals and controls the device to execute instruction actions.

[0039] Both sides of the vehicle frame 2 are provided with a crushing device 13 and a flattening roller 14 electrically connected with the central control system 5, the crushing device 13 comprises a soil crushing hammer head 131 provided with a motor, the soil crushing hammer head 131 is connected with the matched motor through a connecting rod mechanism, the matched motor is electrically connected with the central control system 5, the vibration state of the soil crushing hammer head 131 is controlled to crush the soil hard blocks on the soil ridge surface affecting the microwave operation, the crushing device 13 and the flattening roller 14 are connected on both sides of the vehicle frame 5 through an electrically-controlled telescopic universal support 15 respectively.

[0040] The central control system 5 is internally provided with a Beidou positioning module, the Beidou positioning module is electrically connected with a Beidou satellite receiving antenna arranged on the vehicle frame, the Beidou positioning module can provide accurate geographic coordinates of the device, including longitude, latitude and height, through continuous reception of Beidou satellite signals, the positioning module can calculate the speed of the equipment, including the speed size and direction, and simultaneously provide a high-precision time synchronization signal to provide navigation services for the device, the Beidou positioning module is integrated with the sensor system through the central control system, is used for data collection and transmission of geographic information, and provides a decision basis for automatic parameter adjustment of the central control system 5;

[0041] The central control system 5 is electrically connected with a driving motor located below the vehicle frame 2, an output shaft of the driving motor drives the crawler walking mechanism 1 through a gear, the crawler walking mechanism 1 allows the equipment to move flexibly in the field, covers a larger operation area, and the crawler structure is not easy to damage the field soil, and helps to maintain the soil physical properties;

[0042] The microwave system comprises a microwave generating source 6 equipped with a cooling module, a waveguide 7 and a microwave antenna 8, wherein the cooling module is a heat sink arranged on the side of the microwave generating source 6 and a liquid cooling system integrated in the microwave generating source 6; the waveguide 7 extends from above the microwave generating source 6, and during the extension, the waveguide 7 extends to both sides as the axis of the device walking direction, and transmits the microwaves generated by the microwave generating source 6 to the microwave antenna 8; the branch ends of the waveguide 7 are connected to the microwave antenna 8; the microwave antenna 8 is symmetrically arranged on both sides in the device walking direction, and has a gradually increasing horn shape from inside to outside; the microwave energy generated by the microwave antenna 8 can penetrate the surface of the soil ridge and sterilize the microorganisms inside; by controlling the output power and frequency of the microwaves, the surface and interior of the soil ridge can be effectively sterilized; the microwave antenna 8 is connected to the branch ends of the waveguide 7 through an adjusting pipe; the adjusting pipe comprises an electric universal pipe joint 81 and an electric telescopic pipe 82 connected in sequence; the adjusting pipe is also equipped with an electric adjusting assembly for driving the electric universal pipe joint 81 and the electric telescopic pipe 82 and a potentiometer for feeding back the mechanical position; the electric adjusting assembly and the potentiometer are electrically connected to the central control system 5; the adjusting pipe controls the electric universal pipe joint 81 and the electric telescopic pipe 82 by receiving the signals of the central control system 5, so as to adjust the length of the microwave antenna 8 and the angle of rotation, which is suitable for different soil ridge surfaces.

[0043] The use method of the track-type inter-row operation microwave soil disease prevention and control device comprises the following steps:

[0044] S1: According to the existing microwave killing process, a preset program is written in the central control system 5 of the device, the device is put into the field to be treated, the remote electronic equipment 16 is started, the Beidou positioning module is run, the topographic conditions of the field to be treated can be viewed on the remote electronic equipment 16, and the working path is planned automatically or manually by the worker;

[0045] S2: The device drives the track walking mechanism 1 to advance on the working path according to the preset speed, the preset driving speed of the track walking mechanism is 30 m / min, the panoramic camera 9 and the laser radar 10 are started to assist in high-precision positioning and topographic mapping, the device accurately works along the preset path, monitors the surrounding environment, automatically adjusts the path according to the obstacle terrain, feeds back the distance between the device and the ridges on both sides to the central control system 5, adjusts the position and angle of the microwave antenna, the preset microwave power reaches 15000W, the microwave frequency is 915MHz, and the central control system 5 is fed back the physical condition of the ridge surface, when the ridge surface has soil blocks and weeds affecting the microwave antenna, the central control system 5 controls the crushing device 13 to crush the target position on the ridge surface, and when the ridge surface has protrusions affecting the microwave antenna operation, the central control system 5 drives the flattening roller 14 to flatten the target position;

[0046] S3: In the microwave killing process, the infrared imager 11 monitors the temperature of the soil surface and the weed surface and feeds back the data to the central control system 5, when the device is stationary, the soil temperature measuring device 12 turns the opening to the direction of the soil ridge on both sides in turn, the soil bimetallic thermometer 122 is extended and inserted into the soil ridge to measure the temperature at different depths of the soil, and feeds back the measured temperature data to the central control system 5, adjusts the microwave frequency and heating time of the microwave killing according to the preset temperature threshold, if the temperature meets the target temperature, the set parameters are reasonable, and the operation continues, if the target temperature is not met, the process parameters are automatically adjusted according to the built-in deep learning algorithm until the target temperature is met and the operation continues, so that the soil temperature in the operation process is kept within the temperature threshold range, the microwave sterilization temperature for killing soil surface and weeds reaches 90℃, and the microwave sterilization temperature for killing soil inside reaches 55℃;

[0047] S4: During operation, the staff can monitor the position of the device, the image recorded by the panoramic camera 9 and the working state fed back by the infrared imager 11 in the remote electronic device 16, in addition to automatically adjusting the process route and parameters through the central control system 5, the staff can also actively adjust through the remote electronic device 16.

[0048] Embodiment 2: Different from embodiment 1, the sensor system comprises a panoramic camera 9 and a laser radar 10, which are fixed by support bolts at a high position in front of the vehicle frame 2 respectively; the panoramic camera 9 can capture the omnidirectional image of the surrounding environment through the 360° rotatable camera, transmit the terrain information to the central control system 5, provide real-time video monitoring, help the operator to fully understand the working environment, ensure the safety and efficiency of the work, in addition, the panoramic camera 9 can also be used to record the working data, provide the basis for subsequent analysis and optimization; the laser radar 10 can scan the surrounding environment, which is used for automatic obstacle avoidance, ensures the safety of the equipment during the working process, and enhances the accuracy of the positioning and navigation system.

[0049] The use method of the tracked inter-row working microwave soil disease prevention and control device described in the embodiment comprises the following steps:

[0050] S1: According to the existing microwave killing process, the preset program is written in the central control system 5 of the device, the device is put into the field to be treated, the remote electronic equipment 16 is started, the Beidou positioning module is run, the terrain condition of the field to be treated can be viewed by the remote electronic equipment 16, and the working path is planned automatically or manually by the staff;

[0051] S2: The tracked walking mechanism 1 of the device drives to advance on the working path according to the preset speed, the preset driving speed of the tracked walking mechanism is 8 m / min, the panoramic camera 9 and the laser radar 10 are started to assist in high-precision positioning and topographic mapping, the device works accurately along the preset path, monitors the surrounding environment, adjusts the path automatically according to the obstacle terrain, feeds back the distance between the device and the two sides of the ridge to the central control system 5, adjusts the position and angle of the microwave antenna, the preset microwave power reaches 8000W, the microwave frequency reaches 2450MHz, and the physical condition of the ridge surface is fed back to the central control system 5, when there are soil blocks and weeds on the ridge surface that affect the microwave antenna, the central control system 5 controls the crushing device 13 to crush the target position on the ridge surface, when there are protrusions on the ridge surface that affect the microwave antenna, the central control system 5 drives the flattening roller 14 to flatten the target position;

[0052] S3: During the microwave sterilization process, the infrared imager 11 monitors the temperature of the soil surface and the weed surface and feeds back the data to the central control system 5. When the device is stationary, the soil temperature measuring device 12 turns the opening to the direction of the soil ridge on both sides in turn, the soil bimetallic thermometer 122 is extended and inserted into the soil ridge to measure the temperature at different depths of the soil, and the measured temperature data is fed back to the central control system 5. According to the preset temperature threshold, the microwave frequency and heating time of the microwave sterilization are adjusted. If the temperature meets the target temperature, the set parameters are reasonable, and the operation continues. If it does not meet the target temperature, the process parameters are automatically adjusted according to the built-in deep learning algorithm until the target temperature is met and the operation continues, ensuring that the soil temperature remains within the temperature threshold range during the operation. The microwave sterilization temperature for soil surface and weed killing reaches 75℃, and the microwave sterilization temperature for soil internal killing is 40℃.

[0053] S4: During operation, the staff can monitor the location of the device, the image recorded by the panoramic camera 9 and the working state fed back by the infrared imager 11 in the remote electronic device 16. In addition to automatically adjusting the process route and parameters through the central control system 5, the staff can also actively adjust through the remote electronic device 16.

[0054] Example 3: The difference between this example and example 2 is that the sensor system further includes an infrared imager 11 and a soil temperature measuring device 12.

[0055] The infrared imager 11 is symmetrically distributed on the edges of the frame 2 on both sides and is fixed above the frame 2. It monitors the temperature of the soil surface and the weed surface and feeds back to the central control system 5 for process parameter control.

[0056] The soil temperature measuring device 12 includes a soil temperature measuring device housing 121 that can be integrally rotated and installed at the rear of the frame 2. The rotation axis is located at the center of the rear of the frame 2. The soil temperature measuring device housing 121 is a cylindrical cylinder with one open end. The soil temperature measuring device housing 121 is electrically and rotatably installed with a motor-driven worm gear assembly with the frame 2. The worm gear assembly is electrically connected with the central control system 5. The soil bimetallic thermometer 122 inside the soil temperature measuring device 12 is driven by an electric cylinder to be extendable and inserted into the soil ridge to measure the temperature at different depths of the soil. The soil bimetallic thermometer 122 and the central control system 5 are provided with a data transmission interface. When the device is stationary, the soil temperature measuring device housing 121 can be rotated to the side where the soil internal temperature needs to be measured by the worm gear assembly, and the soil bimetallic thermometer 122 is pushed out and inserted into the soil ridge for temperature measurement. The measured value is transmitted to the central control system 5.

[0057] The use method of the track-type inter-row operation microwave soil disease prevention and control device described in this embodiment includes the following steps:

[0058] S1: According to the existing microwave killing process, write the preset program in the central control system 5 of the device, put the device into the field to be treated, start the device using remote electronic equipment 16, and through the operation of the Beidou positioning module, the staff can view the topographic conditions of the field to be treated in the remote electronic equipment 16, and the device automatically or manually plans the working path;

[0059] S2: The device drives the track walking mechanism 1 to advance on the working path according to the preset speed, the preset driving speed of the track walking mechanism is 12 m / min, the panoramic camera 9 and the laser radar 10 are started to assist in high-precision positioning and topographic mapping, and the device accurately works along the preset path, monitors the surrounding environment, automatically adjusts the path according to the obstacle terrain, feeds back the distance between the device and the two sides of the field ridge to the central control system 5, adjusts the position and angle of the microwave antenna, the preset microwave power reaches 12000W, the microwave frequency reaches 433MHz, and the physical conditions of the field ridge surface are fed back to the central control system 5. When there are soil blocks and weeds on the ridge surface that affect the microwave antenna, the central control system 5 controls the crushing device 13 to crush the target position on the surface of the field ridge, and when there are protrusions on the surface of the ridge that affect the operation of the microwave antenna, the central control system 5 drives the flattening roller 14 to flatten the target position;

[0060] S3: During the microwave killing process, the infrared imager 11 monitors the temperature of the soil surface and the weed surface and feeds back the data to the central control system 5. When the device is stationary, the soil temperature measuring device 12 turns the opening to the direction of the two soil ridges in turn, the soil bimetallic thermometer 122 extends and inserts into the soil ridge to measure the temperature at different depths of the soil, and feeds back the measured temperature data to the central control system 5. According to the preset temperature threshold, adjust the microwave frequency and heating time of the microwave killing, if the temperature meets the target temperature, the set parameters are reasonable, continue the operation, if it does not meet the target temperature, automatically adjust the process parameters according to the built-in deep learning algorithm, until the target temperature is met, then continue the operation, ensure that the soil temperature during the operation is within the temperature threshold range, the microwave sterilization temperature for killing soil surface and weeds is 54℃, and the microwave sterilization temperature for killing soil inside is 45℃;

[0061] S4: During operation, the staff can monitor the position of the device, the image recorded by the panoramic camera 9 and the working state feedback by the infrared imager 11 in the remote electronic equipment 16, in addition to automatically adjusting the process route and parameters through the central control system 5, the staff can also actively adjust through the remote electronic equipment 16.

[0062] Example 4: The difference from example 3 is that the central control system 5 includes a central processing unit, an input interface, an output interface, a storage unit and a communication interface, the input interface connects the sensor system and the central processing unit, the output interface connects the central processing unit with the microwave system, the crushing device 13 and the flattening roller 14, and the central control system 5 establishes a communication connection with the remote electronic device 16 through the communication interface.

[0063] The use method of the track inter-row operation microwave soil disease prevention and control device described in this embodiment includes the following steps:

[0064] S1: According to the existing microwave killing process, write the preset program in the central control system 5 of the device, put the device into the field to be treated, start the device using the remote electronic device 16, and through the operation of the Beidou positioning module, the staff can check the topographic conditions of the field to be treated on the remote electronic device 16, and the device automatically or manually plans the working path;

[0065] S2: The track walking mechanism 1 of the device drives the track walking mechanism 1 to advance on the working path according to the preset speed, the preset driving speed of the track walking mechanism is 20 m / min, the panoramic camera 9 and the laser radar 10 are started to assist in high-precision positioning and topographic mapping, and the device works accurately along the preset path, monitors the surrounding environment, automatically adjusts the path according to the obstacle terrain, feeds back the distance between the device and the two sides of the ridge to the central control system 5, adjusts the position and angle of the microwave antenna, the preset microwave power reaches 20000W, the microwave frequency reaches 915MHz, and the physical condition of the ridge surface is fed back to the central control system 5. When there are soil blocks and weeds on the ridge surface that affect the microwave antenna, the central control system 5 controls the crushing device 13 to crush the target position on the surface of the ridge, and when there are protrusions on the surface of the ridge that affect the operation of the microwave antenna, the central control system 5 drives the flattening roller 14 to flatten the target position;

[0066] S3: During the microwave sterilization process, the infrared imager 11 monitors the temperature of the soil surface and weed surface and feeds the data back to the central control system 5. When the device is stationary, the soil temperature measuring device 12 turns its opening toward the soil ridges on both sides in sequence. The soil bimetallic thermometer 122 extends and is inserted into the soil ridges to measure the temperature at different depths of the soil. The measured temperature data is fed back to the central control system 5. The microwave frequency and heating time of the microwave sterilization are adjusted according to the preset temperature threshold. If the temperature meets the target temperature, the set parameters are reasonable and the operation continues. If the temperature does not meet the target temperature, the process parameters are automatically adjusted according to the built-in deep learning algorithm until the target temperature is met and the operation continues. This ensures that the soil temperature is kept within the temperature threshold range during the operation. The microwave sterilization temperature for the soil surface and weeds reaches 85°C, and the microwave sterilization temperature for the soil interior is 55°C.

[0067] S4: During operation, staff can monitor the location of the equipment, the images recorded by the panoramic camera 9, and the working status feedback from the infrared imager 11 in the remote electronic device 16. In addition to automatically adjusting the process route and parameters through the central control system 5, staff can also actively adjust them on the remote electronic device 16.

[0068] Experimental example: Soil during the sugarcane growth cycle was treated according to the methods in Examples 1 to 4 for 30 days, and untreated soil was used as a control. The detection rates of sugarcane borers, sugarcane smut, and Xanthomonas aureus in the soil were detected. The specific results are shown in Table 1.

[0069] Table 1:

[0070]

[0071] Obviously, the above embodiments are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will recognize that other variations or modifications can be made based on the above description; it is neither necessary nor possible to exhaustively list all possible implementations; however, obvious variations or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. A tracked inter-row microwave soil disease control device, comprising a frame (2) with a tracked walking mechanism (1) mounted underneath, characterized in that: It also includes a power supply module (3), an electrical control cabinet (4) electrically connected to the power supply module (3), a central control system (5), a microwave system and a sensor system connected to the electrical control cabinet (4) via cables, wherein the central control system (5) is connected to the microwave system and the sensor system respectively; Both sides of the frame (2) are provided with a crushing device (13) and a leveling roller (14) electrically connected to the central control system (5). The crushing device (13) includes a soil crushing hammer (131) equipped with a motor. The soil crushing hammer (131) is connected to its matching motor through a linkage mechanism. The crushing device (13) and the leveling roller (14) are respectively connected to both sides of the frame (2) through an electrically controlled telescopic universal bracket (15). The central control system (5) has a built-in Beidou positioning module. The Beidou positioning module is electrically connected to the Beidou satellite receiving antenna set on the frame (2). The drive motor located below the frame (2) is electrically connected to the central control system (5). The output shaft of the drive motor drives the track walking mechanism (1) through gears. The microwave system includes a microwave generator (6) equipped with a cooling module, a waveguide (7), and a microwave antenna (8). The cooling module consists of a heat sink on the side of the microwave generator (6) and a liquid cooling system integrated inside the microwave generator (6). The waveguide (7) extends from above the microwave generator (6) and branches to both sides along the direction of travel of the equipment. The branch ends of the waveguide (7) are connected to the microwave antenna (8). The microwave antenna (8) is symmetrically arranged on both sides of the direction of travel of the equipment and is a horn shape that gradually increases from the inside to the outside. The microwave antenna (8) is connected to the branch ends of the waveguide (7) through an adjustment pipe. The adjustment pipe includes an electric universal joint (81) and an electric telescopic tube (82) connected in sequence. The adjustment pipe is also equipped with an electric adjustment component for driving the electric universal joint (81) and the electric telescopic tube (82) and a potentiometer for feedback of mechanical position. The electric adjustment component and the potentiometer are electrically connected to the central control system (5). When there are clods of soil and weeds on the ridge surface that affect the microwave antenna (8), the central control system (5) will control the crushing device (13) to crush the target position on the ridge surface. When there are protrusions on the ridge surface that affect the operation of the microwave antenna (8), the central control system will drive the leveling roller (14) to level the target position.

2. The tracked inter-row microwave soil disease control device according to claim 1, characterized in that: The sensor system includes a panoramic camera (9) and a lidar (10), which are respectively fixed at a high position in front of the vehicle frame (2) by bracket bolts.

3. The tracked inter-row microwave soil disease control device according to claim 2, characterized in that: The sensor system also includes an infrared imager (11) and a soil temperature measuring device (12). The infrared imager (11) is symmetrically distributed on both sides of the frame (2) and fixed above the frame (2); The soil temperature measuring device (12) includes a soil temperature measuring device housing (121) that can be rotatably installed at the rear of the vehicle frame (2). The soil temperature measuring device housing (121) is a cylindrical tube with one open end. The soil temperature measuring device housing (121) and the vehicle frame (2) are electrically rotated and installed through a worm gear assembly with a motor. The worm gear assembly is electrically connected to the central control system (5). Inside the soil temperature measuring device (12), a soil bimetallic thermometer (122) that can be inserted into the soil ridge is driven telescopically by an electric cylinder. A data transmission interface is provided between the soil bimetallic thermometer (122) and the central control system (5).

4. The tracked inter-row microwave soil disease control device according to claim 3, characterized in that: The central control system (5) includes a central processing unit, an input interface, an output interface, a storage unit, and a communication interface. The input interface connects the sensor system and the central processing unit. The output interface connects the central processing unit with the microwave system, the crushing device, and the leveling device. The central control system (5) establishes a communication connection with a remote electronic device (16) through the communication interface.

5. The method of using the tracked inter-row microwave soil disease control device as described in claim 4, characterized in that, Includes the following steps: S1: Write the preset program into the central control system of this device according to the existing microwave sterilization process, put this device into the field to be treated, start this device using the remote electronic device (16), and by running the Beidou positioning module, the staff can view the terrain of the field to be treated on the remote electronic device (16). This device automatically or the staff manually plan the working path. S2: The device drives the track walking mechanism (1) to move forward on the working path at a preset speed, activates the panoramic camera (9) and laser radar (10) to assist in high-precision positioning and terrain mapping, works precisely along the preset path, monitors the surrounding environment, automatically adjusts the path according to the obstacle terrain, and feeds back the distance between the device and the ridges on both sides to the central control system (5) to adjust the position and angle of the microwave antenna (8). At the same time, it feeds back the physical condition of the ridge surface to the central control system (5). When there are soil clods and weeds on the ridge surface that affect the microwave antenna (8), the central control system (5) will control the crushing device (13) to crush the target position on the ridge surface. When there are protrusions on the ridge surface that affect the operation of the microwave antenna, the central control system drives the leveling roller (14) to level the target position. S3: During the microwave sterilization process, the infrared imager (11) monitors the temperature of the soil surface and weed surface and feeds the data back to the central control system (5). When the device is stationary, the soil temperature measuring device (12) turns the opening to the soil ridges on both sides in sequence. The soil bimetallic thermometer (122) extends and is inserted into the soil ridge to measure the temperature of different depths of the soil. The measured temperature data is fed back to the central control system (5). The microwave frequency and heating time of the microwave sterilization are adjusted according to the preset temperature threshold. If the temperature meets the target temperature, the set parameters are reasonable and the operation continues. If the temperature does not meet the target temperature, the process parameters are automatically adjusted according to the built-in deep learning algorithm until the target temperature is met and the operation continues. This ensures that the soil temperature is kept within the temperature threshold range during the operation. S4: During operation, staff can monitor the location of the equipment, the images recorded by the panoramic camera (9) and the working status of the infrared imager (11) in the remote electronic device (16). In addition to automatically adjusting the process route and parameters through the central control system (5), staff can also actively adjust them on the remote electronic device (16).

6. The method of using the tracked inter-row microwave soil disease control device according to claim 5, characterized in that: The microwave system used for extermination has a microwave power of 100–20000W and a microwave frequency of 400–3000MHz.

7. The method of using the tracked inter-row microwave soil disease control device according to claim 5, characterized in that: The travel speed of the tracked walking mechanism (1) is 0.1 to 60 m / min.

8. The method of using the tracked inter-row microwave soil disease control device according to claim 5, characterized in that: The microwave system kills soil surface weeds at a temperature range of 30–90°C; the microwave system kills weeds inside the soil at a temperature range of 30–55°C.

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