Prevention and control device and method for polling greenhouse environment diseases and insect pests

Abstract

The invention discloses a control device for inspecting greenhouse environment diseases and insect pests, which comprises a moving trolley, a camera is carried on the moving trolley, a plurality of obstacle avoidance radars are carried at the bottom of the moving trolley, a liquid storage tank and a spraying device are further arranged on the moving trolley, and the spraying device is communicated with the liquid storage tank through an electromagnetic valve; a spraying opening of the spraying device can rotate in the circumferential direction; a constant-temperature battery pack is arranged at the bottom of the moving trolley and located under the liquid storage tank. The pesticide is sprayed on the inspection path according to the observed crop state, so that disease and pest spreading is avoided, and the purpose of preventing and treating diseases and pests of crops in the greenhouse is achieved.

Description

Technical Field

[0001] The invention relates to the field of greenhouse pest prevention and treatment, and in particular to a device and method for preventing and controlling greenhouse pests and diseases. Background Art

[0002] Agriculture is an important part of the ecosystem. It can maintain the sustainable use of ecological resources such as land, water, and biodiversity. Reasonable agricultural production methods can promote ecological balance, reduce environmental pollution, and protect ecological resources.

[0003] The production and operation of traditional agriculture cannot meet the current development needs of the general population. Traditional agricultural production is artificial fertilization, the amount of pesticides is difficult to control, and it is easy to cause pesticide flooding; crop growth usually requires a lot of water resources for irrigation, if not properly planned, it is easy to cause water waste; traditional smart agricultural greenhouse environmental detection and pest control mostly use simple sensors and manual inspections, which are inefficient and difficult to fully cover, making it difficult for managers to grasp the situation of agricultural greenhouses in a timely manner; and the existing alarm mechanism of greenhouses is often not sensitive and accurate enough. When the environmental parameters in the greenhouse are abnormal, it may not be possible to issue a warning signal in time, causing managers to miss the best time to adjust.

[0004] Therefore, it is urgent to propose a device and method for agricultural greenhouse environment detection and pest control based on a mobile vehicle, which can be used to improve problems such as low labor efficiency and pesticide proliferation, so as to achieve real-time feedback of greenhouse conditions, alarm in abnormal situations, reasonable planning of pesticide and water usage, and visualization of crop growth parameters. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiency of the prior art that crop diseases and insect pests cannot be treated in time during inspection in the greenhouse, resulting in the development of diseases and insect pests among the crops in the greenhouse. A device and method for preventing and controlling diseases and insect pests in the greenhouse environment for inspecting diseases and insect pests is provided. By spraying pesticides on the inspection path according to the observed crop status, the spread of diseases and insect pests is avoided, thereby achieving the purpose of preventing and controlling diseases and insect pests of crops in the greenhouse.

[0006] The purpose of the present invention is mainly achieved through the following technical solutions:

[0007] A device for inspecting pests and diseases in greenhouse environment, comprising a mobile trolley, a camera mounted on the mobile trolley, a plurality of obstacle avoidance radars mounted on the bottom of the mobile trolley, a liquid storage tank and a spraying device also provided on the mobile trolley, the spraying device being connected to the liquid storage tank through a solenoid valve;

[0008] The spraying port of the spraying device can rotate circumferentially;

[0009] A constant temperature battery pack is provided at the bottom of the mobile vehicle, and the constant temperature battery pack is located directly below the liquid storage tank.

[0010] Further, the obstacle avoidance radar includes a radar outer sleeve, a radar body is arranged inside the radar outer sleeve, a plurality of support rings are arranged outside the radar body, a buffer connection component is arranged on the top of each support ring, one end of the buffer connection component is fixed to the support ring, and the other end thereof passes through the radar outer sleeve and is fixed to the mobile trolley;

[0011] A plurality of elastic connection components are provided between the radar body and the support ring, and the elastic connection components are used to support the radar body to be coaxial with the support ring;

[0012] The radar body is provided with a plurality of cooling ring bodies outside, an outer covering layer is provided between the cooling ring body and the radar body, the outer covering layer is fitted with the radar body, and the cooling ring body is movably connected with the outer covering layer.

[0013] Furthermore, a cooling base plate is provided below the radar body, the cooling ring body is partially embedded in the cooling base plate, and the cooling base plate is fixed to the radar outer sleeve.

[0014] Furthermore, a cooling seat body is provided at the bottom of the inner side of the radar outer sleeve, an air cooling channel is provided in the cooling seat body, the air cooling channel runs through the radar outer sleeve, an intermediate plate is provided at the top of the air cooling channel, a circulation cavity is provided above the intermediate plate, a circulation cavity is provided in the cooling bottom plate, and the circulation cavity and the circulation cavity are connected through a connecting pipe;

[0015] A circulation pump is arranged in the circulation chamber.

[0016] Furthermore, the cooling bottom plate comprises a plate body, and the flow cavity is located in the plate body;

[0017] The plate body passes through the radar outer sleeve and is fixed to the radar outer sleeve, the plate body is provided with a narrow tube passing through the plate body, a rotation driving rod is provided in the narrow tube, the rotation driving rod is rotatably connected with the narrow tube, the rotation driving rod passes through the narrow tube and extends to the top of the narrow tube, the rotation driving rod is fixed with a second bevel gear, and the second bevel gear is meshed with the first bevel gear;

[0018] The plate body is provided with a contact groove, an active heat exchange roller is provided in the contact groove, a passive heat exchange roller is provided on the side of the active heat exchange roller, and the active heat exchange roller and the passive heat exchange roller are both rotatably connected to the plate body;

[0019] The first bevel gear is provided with a driving connecting rod, one end of which is eccentrically hinged to the end surface of the first bevel gear, and the other end of which is eccentrically hinged to the end surface of the active heat exchange roller.

[0020] The buffer connection assembly includes a connection column, one end of which is fixed to the moving trolley, and the other end of which extends into the radar outer sleeve, a blind hole is provided at the bottom end of the connection column, a connection spring is provided in the blind hole, one end of the connection spring is fixed to the blind hole, and the other end of the connection spring is connected to a connection block, and the connection block is fixed to the support ring;

[0021] The elastic connection assembly includes a rod body, the rod body spans several of the support rings, the rod body contacts the inner side of the support ring, and a first elastic support rod and a second elastic support rod are provided on the rod body, one end of the first elastic support rod is hinged to the rod body, and the other end of the first elastic support rod is hinged to the support ring, and one end of the second elastic support rod is hinged to the rod body, and the other end of the second elastic support rod is hinged to the radar body.

[0022] Furthermore, the liquid storage tank includes a tank body, a heat exchange tube is provided in the tank body, the heat exchange tube passes through the tank body and the mobile trolley and is inserted into the constant temperature battery pack, a heating component is provided in the mobile trolley, and the heating component is sleeved on the outside of the heat exchange tube;

[0023] The constant temperature battery pack comprises an anti-collision shell, a heat exchange seat is arranged in the anti-collision shell, and the heat exchange pipe is connected to the heat exchange seat;

[0024] A power battery pack is provided on the side of the heat exchange seat, and a plurality of support bases are provided at the bottom of the power battery pack, the top end of the support base is fixed to the power battery pack, and the bottom end thereof is fixed to the anti-collision shell;

[0025] An adsorption expansion pad is laid at the bottom of the anti-collision shell, a U-shaped tube is provided at the bottom of the heat exchange seat, the bottom of the U-shaped tube is in contact with the adsorption expansion pad, and the U-shaped tube is connected to the heat exchange seat.

[0026] Furthermore, the heating component includes a heating wire, the heating wire is coiled outside the heat exchange tube, and a heat insulation layer is provided at a contact position between the heating component and the tank body and a contact position between the heating component and the constant temperature battery pack;

[0027] A flow cavity and a static cavity are provided in the heat exchange seat, the flow cavity is communicated with the heat exchange tube, the static cavity is communicated with the U-shaped tube, and a heat exchange partition is provided between the flow cavity and the static cavity;

[0028] A heat exchange pump is provided in the flow cavity, and a plurality of check plates are provided on one side of the outlet of the heat exchange pump;

[0029] The support base includes a bottom end, which is fixed to the anti-collision shell, a bellows is provided above the bottom end, an outer tube body is fixed above the bellows, the outer tube body is fixed to the power battery pack, a support baffle is provided in the bellows, a first spring is provided below the support baffle, one end of the first spring is fixed to the support baffle and the other end thereof is fixed to the bottom end, a second spring is provided above the support baffle, one end of the second spring is fixed to the support baffle and the other end thereof is fixed to the outer tube body, and the outer tube body is filled with elastic filling.

[0030] Furthermore, the spraying device includes a lifting rod, the lifting rod is fixed on the mobile trolley, the top of the lifting rod is provided with an angle adjustment component, the angle adjustment component is connected to a nozzle, and the nozzle is provided with a flow adjustment component;

[0031] The lifting rod comprises an outer cylinder, an inner cylinder is sleeved in the outer cylinder, a lifting drive motor is arranged at the bottom of the outer cylinder, a screw rod is connected to the output end of the lifting drive motor, the screw rod passes through the inner cylinder and extends into the inner cylinder, and the screw rod is threadedly connected to the inner cylinder;

[0032] A rotation drive motor is provided at the top of the inner cylinder, a rotation internal gear ring is provided at the bottom of the nozzle, and a rotation drive gear meshing with the rotation internal gear ring is provided on the rotation drive motor;

[0033] The spray head comprises a spray cylinder, the spray port is located at one end of the spray cylinder, a heat dissipation cover is provided on the end surface of the other end of the spray cylinder, a flow regulating valve is provided in the spray cylinder, and the flow regulating valve is connected to the solenoid valve;

[0034] The angle adjustment assembly includes an angle rotation bearing and an angle drive motor, and the angle rotation bearing and the angle drive motor are symmetrically distributed with the axis of the spray barrel as the center.

[0035] A method for preventing and controlling pests and diseases in a greenhouse environment, comprising the following steps:

[0036] The mobile car is driven to inspect in the greenhouse, and crop picture information is collected through the camera, and terrain information is collected through the obstacle avoidance radar;

[0037] Determine the state of crop pests and diseases according to the image information, and determine the state of the pests and diseases as a stable state or a pathological state;

[0038] Determine the terrain environment and generate an inspection route based on the terrain information;

[0039] When the crop pest and disease state is stable, the mobile vehicle continues to inspect along the inspection route; when the crop pest and disease state is pathological, the collection position of the corresponding image information is marked on the inspection route, and the spraying device is started when the mobile vehicle moves to the marked position;

[0040] When the image information collected at the marked position is determined to be in a stable state, the mark is cancelled.

[0041] In summary, the present invention has the following beneficial effects compared with the prior art:

[0042] The present invention uses a mobile vehicle equipped with a camera to perform inspections with the assistance of an obstacle avoidance radar. When crop pests and diseases are detected during the inspection, a spraying device is turned on to control the pests and diseases. During the inspection, the crops can also be sprayed with the spraying device for prevention and control, thereby playing a role in preventing and controlling crop pests and diseases. This embodiment, through the combination of a camera, an obstacle avoidance radar and a spraying device, can effectively achieve the effect of timely control of pests and diseases and pre-prevention of pests and diseases. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0044] Figure 1 It is a schematic diagram of the structure of the device of the present invention;

[0045] Figure 2 It is a structural schematic diagram of another viewing angle of the device of the present invention;

[0046] Figure 3 It is a schematic diagram of the structure of the spraying device of the present invention;

[0047] Figure 4 is a cross-sectional view of the spraying device of the present invention;

[0048] Figure 5 This is an exploded view of the nozzle of the present invention;

[0049] Figure 6 It is a schematic diagram of the structure of the liquid storage tank and the constant temperature battery pack of the present invention;

[0050] Figure 7 This is a schematic diagram of the support base structure of the present invention;

[0051] Figure 8 This is a cross-sectional view of the obstacle avoidance radar of the present invention;

[0052] Fig. 9 It is a schematic diagram of the internal structure of the radar outer casing of the present invention;

[0053] Fig.10 This is a schematic diagram of the cooling base plate structure of the present invention;

[0054] Fig.11 is a flow chart of the method of the present invention;

[0055] The reference numerals represent: 1. mobile car; 2. laser radar; 3. camera; 4. spraying device; 5. liquid storage tank; 6. guardrail; 7. GPS antenna; 8. control box; 9. carbon dioxide concentration sensor; 10. light sensor; 11. temperature and humidity sensor; 12. obstacle avoidance radar; 13. constant temperature battery pack; 14. solenoid valve; 41. lifting rod; 42. nozzle; 43. angle adjustment component; 44. flow adjustment component; 411. outer cylinder; 412. lifting drive motor; 413. screw rod; 414. inner cylinder; 4 21. Rotating drive motor; 422. Rotating inner gear ring; 423. Flow regulating valve; 424. Heat dissipation cover; 425. Spraying cylinder; 426. Spraying port; 431. Angle rotating bearing; 432. Angle driving motor; 51. Tank; 52. Heat exchange tube; 53. Heating assembly; 531. Insulation layer; 532. Heating wire; 54. Heat exchange pump; 55. Check plate; 131. Flow cavity; 132. Heat exchange baffle; 133. Static cavity; 134. Heat exchange seat; 135. U-shaped tube; 136. Anti-collision shell; 13 7. Adsorption expansion pad; 138. Support base; 139. Power battery pack; 1381. Bottom end; 1382. First spring; 1383. Support baffle; 1384. Second spring; 1385. Bellows; 1386. Elastic filling; 1387. Outer tube; 121. Connecting column; 122. Connecting spring; 123. Connecting block; 124. Radar outer tube; 125. Support ring; 126. Elastic connecting assembly; 127. Radar body; 128. Cooling ring; 129. Cooling bottom plate; 1211. Connecting pipe ; 1212, circulation cavity; 1213, middle plate; 1214, air-cooling channel; 1215, circulation pump; 1216, outer covering layer; 1217, cooling seat body; 1261, rod body; 1262, first elastic support rod; 1263, second elastic support rod; 1291, plate body; 1292, circulation cavity; 1293, first bevel gear; 1294, second bevel gear; 1295, rotating drive rod; 1296, narrow tube; 1297, passive heat exchange roller; 1298, active heat exchange roller; 1299, driving connecting rod. DETAILED DESCRIPTION

[0056] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0057] Example:

[0058] like Figures 1 to 10 As shown, this embodiment relates to a control device for inspecting greenhouse environmental pests and diseases, including a mobile trolley 1, the mobile trolley 1 is equipped with a camera 3, the bottom of the mobile trolley 1 is equipped with a plurality of obstacle avoidance radars 12, the mobile trolley 1 is also provided with a liquid storage tank 5 and a spraying device 4, and the spraying device 4 is connected to the liquid storage tank 5 through a solenoid valve 14;

[0059] The spraying port 426 of the spraying device 4 can rotate circumferentially;

[0060] A constant temperature battery pack 13 is provided at the bottom of the mobile vehicle 1 , and the constant temperature battery pack 13 is located directly below the liquid storage tank 5 .

[0061] At present, when monitoring the status of crops in greenhouses, manual inspections and fixed-position sensor monitoring are usually used. The monitoring range of fixed-position sensors is limited. If it is necessary to fully cover the farming range in the greenhouse, many sensors need to be deployed, which is costly and has low returns. The error and labor cost of manual inspections are high, so manual inspections cannot be fully used for crop disease and pest prevention and control monitoring.

[0062] On this basis, neither manual inspections nor fixed-position sensors can be used to monitor pests and diseases in a timely manner, which can lead to the spread of pests and diseases and pose a risk of affecting crop growth.

[0063] In this embodiment, the mobile car 1 is used as a carrying body and moves according to the inspection track. The camera 3 is used to observe the crops in the greenhouse to determine whether there are pests and diseases. The obstacle avoidance radar 12 is used to identify the terrain in the greenhouse, which can effectively plan the inspection route and assist the mobile car 1 to avoid obstacles. The liquid storage tank 5 is used to store medicines, so that when pests and diseases are found, timely control of pests and diseases or preventive spraying of crops can be achieved through the spraying device 4. The spraying port 426 of the spraying device 4 can rotate circumferentially, so that the coverage of the spraying is increased. The constant temperature battery pack 13 can help the mobile car 1 improve its endurance by adjusting the constant temperature. And because the constant temperature battery pack 13 is located directly below the liquid storage tank 5, it can affect the liquid temperature in the liquid storage tank 5 to a certain extent, avoiding the liquid temperature in the liquid storage tank 5 from being too low.

[0064] In actual application of this embodiment, the mobile vehicle 1 is equipped with a camera 3 to perform inspections with the assistance of the obstacle avoidance radar 12. When crop pests and diseases are detected during the inspection, the spraying device 4 is turned on to control the pests and diseases. During the inspection process, the crops can also be sprayed with the spraying device 4 to prevent and control crop pests and diseases. This embodiment, through the combination of the camera 3, the obstacle avoidance radar 12 and the spraying device 4, can effectively achieve the effect of timely control of pests and diseases and pre-prevention of pests and diseases.

[0065] The obstacle avoidance radar 12 includes a radar outer sleeve 124, a radar body 127 is arranged inside the radar outer sleeve 124, a plurality of support rings 125 are arranged outside the radar body 127, and a buffer connection component is arranged on the top of each support ring 125, one end of the buffer connection component is fixed to the support ring 125, and the other end thereof passes through the radar outer sleeve 124 and is fixed to the mobile vehicle 1;

[0066] A plurality of elastic connection components 126 are provided between the radar body 127 and the support ring 125, and the elastic connection components 126 are used to support the radar body 127 and the support ring 125 to be coaxial;

[0067] The radar body 127 is provided with a plurality of cooling ring bodies 128 on the outer sleeve, an outer coating layer 1216 is provided between the cooling ring body 128 and the radar body 127 , the outer coating layer 1216 is in contact with the radar body 127 , and the cooling ring body 128 is movably connected to the outer coating layer 1216 .

[0068] In this embodiment, the obstacle avoidance radar 12 is used to externally protect the radar body 127 through the radar outer sleeve 124, and the radar body 127 is used to identify the terrain. The support ring 125 and the buffer connection component are used to suspend the radar body 127 at a coaxial position of the radar outer sleeve 124. The buffer connection component uses a buffering effect to enable the radar body 127 to avoid the vibration influence of the moving vehicle 1 during movement to a certain extent. The support ring 125 can evenly disperse the force of the radar body 127 in the circumferential direction through the action of the elastic connection component 126, thereby enhancing the stability of the position of the radar body 127. The elastic connection component 126 can not only play a supporting role, but also use its own elastic properties to achieve a buffering effect, thereby ensuring the equipment safety of the radar body 127 in use to a certain extent.

[0069] In this embodiment, the cooling ring 128 prevents the radar body 127 from overheating through contact heat exchange, and the outer coating layer 1216 can prevent the cooling ring 128 from direct contact with the radar body 127, thereby preventing wear of the radar body 127. The cooling ring 128 can effectively change the contact position of the cooling ring 128 and the outer coating layer 1216 through the movable connection with the outer coating layer 1216, thereby improving the heat exchange efficiency between the cooling ring 128 and the outer coating layer 1216, that is, improving the heat dissipation efficiency of the radar body 127.

[0070] A cooling bottom plate 129 is provided below the radar body 127 , and a portion of the cooling ring 128 is embedded in the cooling bottom plate 129 . The cooling bottom plate 129 is fixed to the radar outer sleeve 124 .

[0071] In this embodiment, the cooling base plate 129 enhances the heat dissipation efficiency of the radar body 127 by enhancing the heat dissipation efficiency of the cooling ring body 128. The cooling base plate 129 is fixed to the radar outer sleeve 124, and can provide support for the cooling ring body 128 on the basis of enhancing heat dissipation, thereby achieving the purpose of auxiliary support of the radar body 127.

[0072] A cooling seat 1217 is provided at the bottom of the radar outer sleeve 124, and a wind cooling channel 1214 is provided in the cooling seat 1217. The wind cooling channel 1214 runs through the radar outer sleeve 124. A middle plate 1213 is provided at the top of the wind cooling channel 1214. A circulation cavity 1212 is provided above the middle plate 1213. A circulation cavity 1292 is provided in the cooling bottom plate 129, and the circulation cavity 1292 and the circulation cavity 1212 are connected through a connecting pipe 1211.

[0073] A circulation pump 1215 is provided in the circulation chamber 1212 .

[0074] In this embodiment, the cooling seat body 1217 is used to accommodate the air-cooling channel 1214. The air-cooling channel 1214 improves the heat exchange efficiency by enhancing the flow rate through the narrow tube effect. The circulation chamber 1212 in the cooling seat body 1217 is filled with heat exchange liquid. The flow exchange of the liquid in the circulation cavity 1292 and the circulation cavity 1212 is achieved by driving the circulation pump 1215, thereby forming a heat exchange cycle between the air-cooling channel 1214 and the cooling base plate 129. The intermediate plate 1213 is used to block the heat exchange liquid, and is also used to enhance the heat exchange efficiency by adopting materials with high heat exchange efficiency.

[0075] The cooling bottom plate 129 includes a plate body 1291, and the flow cavity 1292 is located in the plate body 1291;

[0076] The plate body 1291 passes through the radar outer sleeve 124 and is fixed to the radar outer sleeve 124. The plate body 1291 is provided with a narrow tube 1296 passing through the plate body 1291. A rotation driving rod 1295 is provided in the narrow tube 1296. The rotation driving rod 1295 is rotatably connected with the narrow tube 1296. The rotation driving rod 1295 passes through the narrow tube 1296 and extends to the top of the narrow tube 1296. The rotation driving rod 1295 is fixed with a second bevel gear 1294, and the second bevel gear 1294 is meshed with a first bevel gear 1293.

[0077] The plate body 1291 is provided with a contact groove, an active heat exchange roller 1298 is provided in the contact groove, a passive heat exchange roller 1297 is provided on the side of the active heat exchange roller 1298, and the active heat exchange roller 1298 and the passive heat exchange roller 1297 are both rotatably connected to the plate body 1291;

[0078] A driving connecting rod 1299 is provided on the first bevel gear 1293 , one end of the driving connecting rod 1299 is eccentrically hinged to the end surface of the first bevel gear 1293 , and the other end of the driving connecting rod 1299 is eccentrically hinged to the end surface of the active heat exchange roller 1298 .

[0079] In this embodiment, the contact groove on the plate body 1291 is used to carry the active heat exchange roller 1298 and the passive heat exchange roller 1297. The narrow tube 1296 can achieve the purpose of increasing the air flow speed inside the narrow tube 1296 through the narrow tube effect, and use the air flow as a power to drive the rotation drive rod 1295 to rotate. The rotation drive rod 1295 is provided with a fan blade. When the rotation drive rod 1295 rotates, it can drive the second bevel gear 1294 to drive the first bevel gear 1293 to rotate, thereby realizing the change of rotation direction. The end face of the first bevel gear 1293, the driving connecting rod 1299, and the end face of the active heat exchange roller 1298 are connected. A crank-connecting rod mechanism is formed therebetween, so that the purpose of rotating the active heat exchange roller 1298 is achieved through the rotation of the first bevel gear 1293. The rotation of the active heat exchange roller 1298 will use friction to push the cooling ring body 128 to rotate. During the rotation of the cooling ring body 128, the passive heat exchange roller 1297 will be driven to rotate, thereby constantly changing the contact position of the active heat exchange roller 1298 and the cooling ring body 128, and constantly changing the contact position of the passive heat exchange roller 1297 and the cooling ring body 128. Therefore, on the basis of using the cooling base plate 129 to support the cooling ring body 128, the heat exchange efficiency between the cooling base plate 129 and the cooling ring body 128 can also be increased.

[0080] In this embodiment, the rotation of the rotating driving rod 1295 in the narrow tube 1296 drives the rotation of the second bevel gear 1294 and the first bevel gear 1293, so that the active heat exchange roller 1298 can rotate under the action of the driving connecting rod 1299. Through the active rotation of the active heat exchange roller 1298 and the passive rotation of the passive heat exchange roller 1297, the contact surface between the active heat exchange roller 1298 and the cooling ring body 128 and the contact surface between the passive heat exchange roller 1297 and the cooling ring body 128 are effectively accelerated, thereby achieving the purpose of enhancing the heat exchange efficiency between the cooling plate body 129 and the cooling ring body 128. The heat exchange of the cooling bottom plate 129 is achieved by the heat exchange of the heat exchange liquid in the circulation inner cavity 1292 and the circulation cavity 1212, and the heat exchange liquid is driven to circulate by the circulation pump 1215.

[0081] The buffer connection assembly includes a connection column 121, one end of which is fixed to the mobile trolley 1, and the other end thereof extends into the radar outer sleeve 124, a blind hole is provided at the bottom end of the connection column 121, a connection spring 122 is provided in the blind hole, one end of the connection spring 122 is fixed to the blind hole, and the other end thereof is connected to a connection block 123, and the connection block 123 is fixed to the support ring 125;

[0082] The elastic connection component 126 includes a rod body 1261, which spans several support rings 125. The rod body 1261 is in contact with the inner side of the support ring 125. A first elastic support rod 1262 and a second elastic support rod 1263 are provided on the rod body 1261. One end of the first elastic support rod 1262 is hinged to the rod body 1261, and the other end thereof is hinged to the support ring 125. One end of the second elastic support rod 1263 is hinged to the rod body 1261, and the other end thereof is hinged to the radar body 127.

[0083] In this embodiment, in the buffer connection assembly, the connection column 121 is used to fix the connection position, and the connection spring 122 supports and buffers the connection block 123 by elastic expansion and contraction in the blind hole. The connection block 123 is fixed to the support ring 125, so when the buffer connection assembly is affected by vibration, the dynamic stability of the position of the connection block 123 can be guaranteed to a certain extent.

[0084] The rod body 1261 in the elastic connection component 126 can effectively disperse the force transmission of several support rings 125, so that the rod body 1261 can withstand the effects of all support rings 125, and the radar body 127, through the joint effect of the first elastic support rod 1262 and the second elastic support rod 1263, achieves the purpose of being coaxially arranged with the radar outer sleeve 124, thereby reducing the working blind area of ​​the radar body 127 and reducing the influence of external vibration on the radar body 127.

[0085] The first elastic support rod 1262 is hinged to the rod body 1261, and the first elastic support rod 1262 is hinged to the support ring 125. The two hinge positions can provide rotation margin for the first elastic support rod 1262, so that the first elastic support rod 1262 can consume the external vibration amplitude through the hinge position. One end of the second elastic support rod 1263 is hinged to the rod body 1261, and the other end thereof is hinged to the radar body 127, so that it can assist the radar body 127 in resisting external force without forming a confrontation with the radar body 127.

[0086] The liquid storage tank 5 includes a tank body 51, a heat exchange tube 52 is arranged in the tank body 51, the heat exchange tube 52 passes through the tank body 51 and the mobile vehicle 1 and is inserted into the constant temperature battery pack 13, a heating component 53 is arranged in the mobile vehicle 1, and the heating component 53 is sleeved on the outside of the heat exchange tube;

[0087] The constant temperature battery pack 13 includes an anti-collision shell 136, a heat exchange seat 134 is provided in the anti-collision shell 136, and the heat exchange pipe is connected to the heat exchange seat 134;

[0088] A power battery pack 139 is disposed on the side of the heat exchange seat 134, and a plurality of support bases 138 are disposed at the bottom of the power battery pack 139. The top of the support base 138 is fixed to the power battery pack 139, and the bottom of the support base 138 is fixed to the anti-collision housing 136.

[0089] An adsorption expansion pad 137 is laid at the bottom of the anti-collision shell 136 , a U-shaped tube 135 is provided at the bottom of the heat exchange seat 134 , the bottom of the U-shaped tube 135 is in contact with the adsorption expansion pad 137 , and the U-shaped tube 135 is connected to the heat exchange seat 134 .

[0090] At present, when a battery pack is used as a power source, the battery life is greatly affected by the external environment. Since the current common greenhouse environment covers a large area, the mobile vehicle 1 needs to move a longer distance during inspection. Although the ambient temperature of the greenhouse is normally in the range of 15 to 28°C, there are still situations where the temperature is low or high, such as a newly built greenhouse or a greenhouse that has not been handled in time after the outside temperature rises. Therefore, the environment in which the mobile vehicle 1 is located may have the risk of high or low temperature. Too high or too low temperature will have a greater impact on the battery life, resulting in a reduction in the moving distance of the mobile vehicle.

[0091] This embodiment uses a constant temperature battery pack 13 to ensure battery life, and the anti-collision shell 136 is used to ensure the safety of the power battery pack 139. The heat exchange tube 52 is inserted into the tank body 51 of the liquid storage tank 5. The heat exchange tube 52 and the heat exchange seat 134 in the constant temperature battery pack 13 are circulated, so that the liquid temperature in the liquid storage tank 5 and the temperature of the constant temperature battery pack 13 affect each other. When the ambient temperature is low, the heating effect of the heat exchange tube 52 by the heating component 53 can effectively achieve the joint heating of the medicine in the liquid storage tank 5 and the power battery pack 139, which can effectively avoid the problem of the medicine deteriorating after being cooled and the power battery pack 139 being reduced in battery life after being cooled.

[0092] When the ambient temperature is high, the heat of the power battery pack 139 can be transferred to the heat exchange tube 52 through the heat exchange seat 134. At this time, the heating component 53 is not turned on. The heat exchange tube 52 can bring the heat into the liquid storage tank 5, and utilize the larger heat dissipation space in the liquid storage tank 5 and the specific heat capacity of the agent itself to achieve heat exchange with the power battery pack 139, thereby avoiding overheating of the power battery pack 139.

[0093] The U-shaped tube 135 can provide more space for accommodating the heat exchanger, and in the present embodiment, when the anti-collision shell 136 is hit by the bottom, if the impact force is too large, it may be deformed. After the anti-collision shell 136 is deformed, if the U-shaped tube 135 is squeezed, the liquid is adsorbed by the adsorption expansion pad 137. On the basis of preventing the liquid from affecting the power battery pack 139, it can also provide a certain buffering capacity through its own expansion, thereby assisting the support base 138 to avoid the impact damage of the power battery pack 139. Since the constant temperature battery pack 13 is located at the bottom of the mobile car 1, only the impact damage of the bottom needs to be considered, and the side impact is resisted by the body of the mobile car 1. The support base 138 in the present embodiment is located below the power battery pack 139, which can effectively help the power battery pack 139 resist the external force impact at the bottom.

[0094] The heating assembly 53 includes a heating wire 532, which is coiled outside the heat exchange tube. A heat insulation layer 531 is provided at the contact position between the heating assembly 53 and the tank body 51 and the contact position between the heating assembly 53 and the constant temperature battery pack 13.

[0095] In this embodiment, the thermal insulation layer 531 is used to isolate heat to prevent the heating wire 532 from directly affecting the tank body 51 and the constant temperature battery pack 13. The heating wire 532 heats the heat exchange tube 52 by coiling, so that the heat exchange tube 52 is heated more evenly, and the thermal insulation layer 531 itself has a certain ductility, so as to accommodate the expanded volume of the heat exchange tube 52 after heating.

[0096] The heat exchange seat 134 is provided with a flow cavity 131 and a static cavity 133, the flow cavity 131 is in communication with the heat exchange tube 52, the static cavity 133 is in communication with the U-shaped tube 135, and a heat exchange baffle 132 is provided between the flow cavity 131 and the static cavity 133;

[0097] In this embodiment, the flow cavity 131 and the static cavity 133 are both used for heat exchange. The flow cavity 131 is connected with the heat exchange tube 52 so that the temperature in the flow cavity 131 can reach a dynamic balance with the temperature in the tank 51. When the U-tube 135 is normal, the static cavity 133 is connected with the U-tube 135, so that the heat exchange amount between the flow cavity 131 and the static cavity 133 can be improved. When the U-tube 135 is damaged, the heat exchange liquid in the static cavity 133 can flow out of the static cavity 133 and expand through the adsorption and expansion pad 137, thereby playing a certain degree of buffering effect. Since the liquid in the static cavity 133 is released in advance, liquid splashing will not occur when the static cavity 133 is damaged, thereby avoiding damage to the power battery pack 139.

[0098] A heat exchange pump 54 is disposed in the flow cavity 131, and a plurality of check plates 55 are disposed on one side of the outlet of the heat exchange pump 54;

[0099] In this embodiment, the heat exchange pump 54 is used to drive the fluid in the flow cavity 131 to flow, and the check plate 55 can effectively prevent the fluid in the flow cavity 131 from flowing back and causing damage to the heat exchange pump 54 .

[0100] The support base 138 includes a bottom end 1381, which is fixed to the anti-collision shell 136. A bellows 1385 is provided above the bottom end 1381, and an outer tube body 1387 is fixed above the bellows 1385. The outer tube body 1387 is fixed to the power battery pack 139. A support baffle 1383 is provided inside the bellows 1385. A first spring 1382 is provided below the support baffle 1383. One end of the first spring 1382 is fixed to the support baffle 1383 and the other end thereof is fixed to the bottom end 1381. A second spring 1384 is provided above the support baffle 1383. One end of the second spring 1384 is fixed to the support baffle 1383 and the other end thereof is fixed to the outer tube body 1387. The outer tube body 1387 is filled with elastic filling 1386.

[0101] In this embodiment, the bottom end 1381 is used to enhance the stability of the connection between the support base 138 and the anti-collision shell 136. The bellows 1385 is separated by the support partition 1383, and the first spring 1382 and the second spring 1384 are used to support the upper and lower sides of the support partition 1383 respectively. Therefore, when the bottom end 1381 is subjected to external force, the part transmitted to the bellows 1385 is divided into two sections, so that the bellows 1385 part can buffer the external force more stably, and can better maintain the safety of the power battery pack 139 when subjected to external force impact.

[0102] The spraying device 4 includes a lifting rod 41, the lifting rod 41 is fixed on the mobile vehicle 1, the top of the lifting rod 41 is provided with an angle adjustment component 43, the angle adjustment component 43 is connected to a nozzle 42, and the nozzle 42 is provided with a flow adjustment component 44;

[0103] The lifting rod 41 comprises an outer cylinder 411, an inner cylinder 414 is sleeved in the outer cylinder 411, a lifting drive motor 412 is provided at the bottom of the outer cylinder 411, a screw rod 413 is connected to the output end of the lifting drive motor 412, the screw rod 413 passes through the inner cylinder 414 and extends into the inner cylinder 414, and the screw rod 413 is threadedly connected to the inner cylinder 414;

[0104] A rotation drive motor 421 is provided at the top of the inner cylinder 414, a rotation inner gear ring 422 is provided at the bottom of the nozzle 42, and a rotation drive gear meshing with the rotation inner gear ring 422 is provided on the rotation drive motor 421;

[0105] The spray head 42 includes a spray barrel 425, the spray port 426 is located at one end of the spray barrel 425, and a heat dissipation cover 424 is provided on the end surface of the other end of the spray barrel 425. A flow regulating valve 423 is provided in the spray barrel 425, and the flow regulating valve 423 is connected to the solenoid valve 14;

[0106] The angle adjustment assembly 43 includes an angle rotation bearing 431 and an angle drive motor 432 . The angle rotation bearing 431 and the angle drive motor 432 are symmetrically distributed with the axis of the spray barrel 425 as the center.

[0107] In order to ensure the comprehensiveness and accuracy of the pesticide spraying, the spraying device 4 is installed on the top of the mobile car 1 and connected to the liquid storage tank through a pipeline. The nozzle 42 is designed with adjustable angle and height to adapt to the growth height and spraying requirements of different crops. During the pesticide spraying process, some pesticides may adhere to the surface of the spraying device 4. Long-term exposure to high temperature may cause pesticide residue and corrosion. In addition, the performance of components such as the solenoid valve 14 in the spraying device 4 is prone to instability at high temperatures, which in turn affects the accuracy and uniformity of the spraying. Therefore, a heat dissipation cover 424 is added to the nozzle 42 to maintain the stability of the spraying device 4 by lowering the system temperature, reduce the risk of pesticide residue and corrosion, and ensure that the pesticide can be accurately sprayed according to the preset parameters or sprayed according to the parameters provided by the operation information.

[0108] In this embodiment, the lifting rod 41 utilizes the threaded connection between the screw rod 413 and the inner cylinder 414. When the screw rod 413 is driven to rotate, the relative positions of the inner cylinder 414 and the outer cylinder 411 can be adjusted, thereby realizing the lifting and lowering of the lifting rod 41, and the rotating drive motor 421 can drive the rotating inner gear ring 422 to rotate, thereby driving the nozzle 42 to rotate circumferentially.

[0109] like Fig.11 As shown, a method for preventing and controlling pests and diseases in a greenhouse environment includes the following steps:

[0110] The mobile vehicle 1 is driven to inspect in the greenhouse, and the camera 3 is used to collect crop image information, and the obstacle avoidance radar 12 is used to collect terrain information;

[0111] Determine the state of crop pests and diseases according to the image information, and determine the state of the pests and diseases as a stable state or a pathological state;

[0112] Determine the terrain environment and generate an inspection route based on the terrain information;

[0113] When the crop pest state is stable, the mobile vehicle 1 continues to inspect along the inspection route. When the crop pest state is pathological, the collection position of the corresponding image information is marked on the inspection route, and the mobile vehicle 1 starts the spraying device 4 when it moves to the marked position.

[0114] When the image information collected at the marked position is determined to be in a stable state, the mark is cancelled and the inspection continues.

[0115] The mobile car 1 is driven by a left motor and a right motor, and the laser radar 2 installed at the front end of the mobile car 1 and the four obstacle avoidance radars 12 installed at the bottom emit laser beams and radar waves that bounce off the surface of obstacles, and receive the reflected laser beams or radar waves through a receiver to calculate the distance and angle of the obstacle relative to the mobile car 1, thereby assisting the mobile car 1 in avoiding obstacles during movement.

[0116] The laser radar 2 emits a laser beam at a fixed angle through the laser head. When the emitted laser beam encounters an obstacle, it will be reflected back, and the receiver in the laser radar system will receive the reflected laser signal. The distance between the obstacle and the car is determined by the triangular relationship between the emitted light, the obstacle, and the receiver, combined with the length of time of the entire process. The distance calculation formula is as follows:

[0117]

[0118] Where: D is the distance between the car and the obstacle, t1 is the time when the radar emits the laser, t2 is the time when the radar receives the laser, and C is the speed of light.

[0119] The laser radar 2 can collect distance and angle information. When an obstacle is detected, it will output a point at the angle according to the distance to the obstacle; when no obstacle is detected, it will output nothing. This information is mixed and processed to form point cloud data, which is transmitted to the control center, that is, the control center of the entire mobile car 1. The control unit receives instructions from the computer. During the automatic operation, the control unit controls itself, but the computer can interrupt the operation of the mobile car 1 and control the motor module of the mobile car 1 through the control center, thereby controlling the obstacle avoidance direction of the mobile car 1. The specific obstacle avoidance process is as follows:

[0120] When the distance between the mobile car 1 and the obstacle in front is set to be less than 450mm, it is determined that there is an obstacle in front that needs to be avoided. When the distance to the obstacle calculated by the laser receiver receiving the reflected laser beam is less than 450mm, the obstacle avoidance operation will be performed; and when the distance between the mobile car 1 and the obstacle in front is set to be less than 150mm, it is not suitable to directly perform the obstacle avoidance operation. The control center controls the mobile car 1 to reverse until the distance to the obstacle calculated by the laser receiver receiving the reflected laser beam is greater than 150mm, and then the obstacle avoidance operation is performed; the speed of the mobile car 1 will be reduced to 60mm / s, and the position of the obstacle to the mobile car 1 is determined by the point cloud data formed by the radar, so as to turn left and right to Obstacle avoidance judgment: when an obstacle is detected at the right end of the mobile car 1, the control center will control the mobile car 1 to turn left, and use the laser radar 2 and the obstacle avoidance radar 12 to jointly determine whether the mobile car 1 has left the obstacle. When the laser radar 2 detects that the distance between the mobile car 1 and the obstacle is greater than one car body, it will issue a command to turn right and return to the original driving path to restore the original speed. When an obstacle is detected at the left end of the mobile car 1, the control center will control the mobile car 1 to turn right, and use the laser radar 2 and the obstacle avoidance radar 12 to jointly determine whether the car has left the obstacle. When the laser radar 2 detects that the distance between the car and the obstacle is greater than one car body, it will issue a command to turn right and return to the original driving path to restore the original speed.

[0121] The mobile car 1 in this embodiment completes the driving operation through the action of the obstacle avoidance radar 12 and the laser radar 2. The mobile car 1 is equipped with a GPS antenna 7. The inspection route is formed by the moving trajectory of the mobile car 1 recorded by the GPS antenna 7. During the inspection process, the environmental data is monitored through the carbon dioxide concentration sensor 9, the light sensor 10, and the temperature and humidity sensor 11 arranged on the control box 8.

[0122] This embodiment effectively implements pest control of crops in the greenhouse by planning the inspection route and controlling the spraying device 4. This embodiment uses the laser radar 2 and the obstacle avoidance radar 12, which can sense the surrounding environment in real time and automatically avoid obstacles, thereby greatly improving the safety of driving, allowing the mobile car 1 to avoid most obstacles during driving and work normally.

[0123] In this embodiment, the mobile car 1 can have a certain self-processing ability when facing different driving situations, can effectively avoid most obstacles, and select appropriate methods to complete the obstacle avoidance action.

[0124] In this embodiment, the mobile vehicle 1 can solve obstacles encountered during the inspection route by itself without human action, thereby improving the continuity and efficiency of the driving process.

[0125] In this embodiment, the stable state of the crop pest state is a state where no pesticide spraying is required, and the morbid state of the crop pest state is a state where pesticide spraying is required, which has no necessary connection with whether the crop itself is already sick. When the image information determines that the crop has been sprayed with a sufficient amount of pesticide, it will also be determined to be in a stable state to avoid excessive pesticide spraying.

[0126] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A device for inspecting pests and diseases in greenhouse environment, comprising a mobile vehicle (1), the mobile vehicle (1) being equipped with a camera (3), and the bottom of the mobile vehicle (1) being equipped with a plurality of obstacle avoidance radars (12), characterized in that: The mobile vehicle (1) is also provided with a liquid storage tank (5) and a spraying device (4), and the spraying device (4) is connected to the liquid storage tank (5) via a solenoid valve (14); The spraying port (426) of the spraying device (4) is capable of circumferential rotation; A constant temperature battery pack (13) is provided at the bottom of the mobile vehicle (1), and the constant temperature battery pack (13) is located directly below the liquid storage tank (5).

2. A device for preventing and controlling pests and diseases in greenhouse environment according to claim 1, characterized in that: The obstacle avoidance radar (12) comprises a radar outer sleeve (124), a radar body (127) is arranged inside the radar outer sleeve (124), a plurality of support rings (125) are arranged outside the radar body (127), a buffer connection component is arranged on the top of each support ring (125), one end of the buffer connection component is fixed to the support ring (125), and the other end thereof passes through the radar outer sleeve (124) and is fixed to the mobile vehicle (1); A plurality of elastic connection components (126) are provided between the radar body (127) and the support ring (125), and the elastic connection components (126) are used to support the radar body (127) and the support ring (125) to be coaxial; The radar body (127) is provided with a plurality of cooling ring bodies (128) on its outer shell, an outer coating layer (1216) is provided between the cooling ring body (128) and the radar body (127), the outer coating layer (1216) is fitted to the radar body (127), and the cooling ring body (128) and the outer coating layer (1216) are movably connected.

3. A device for preventing and controlling pests and diseases in greenhouse environment according to claim 2, characterized in that: A cooling bottom plate (129) is provided below the radar body (127), the cooling ring body (128) is partially embedded in the cooling bottom plate (129), and the cooling bottom plate (129) is fixed to the radar outer sleeve (124).

4. A device for preventing and controlling pests and diseases in greenhouse environment according to claim 3, characterized in that: A cooling seat (1217) is provided at the bottom of the radar outer sleeve (124), a wind cooling channel (1214) is provided in the cooling seat (1217), the wind cooling channel (1214) passes through the radar outer sleeve (124), a middle plate (1213) is provided at the top of the wind cooling channel (1214), a circulation cavity (1212) is provided above the middle plate (1213), a circulation inner cavity (1292) is provided in the cooling bottom plate (129), and the circulation inner cavity (1292) and the circulation cavity (1212) are connected through a connecting pipe (1211); A circulation pump (1215) is provided in the circulation chamber (1212).

5. A device for preventing and controlling pests and diseases in greenhouse environments according to any one of claim 4, characterized in that: The cooling bottom plate (129) comprises a plate body (1291), and the flow inner cavity (1292) is located in the plate body (1291); The plate body (1291) passes through the radar outer sleeve (124) and is fixed to the radar outer sleeve (124); a narrow tube (1296) passing through the plate body (1291) is provided on the plate body (1291); a rotation driving rod (1295) is provided in the narrow tube (1296); the rotation driving rod (1295) is rotationally connected to the narrow tube (1296); the rotation driving rod (1295) passes through the narrow tube (1296) and extends to the top of the narrow tube (1296); a second bevel gear (1294) is fixed to the rotation driving rod (1295); and the second bevel gear (1294) is meshed with the first bevel gear (1293); The plate body (1291) is provided with a contact groove, an active heat exchange roller (1298) is provided in the contact groove, a passive heat exchange roller (1297) is provided on the side of the active heat exchange roller (1298), and the active heat exchange roller (1298) and the passive heat exchange roller (1297) are both rotatably connected to the plate body (1291); A driving connecting rod (1299) is provided on the first bevel gear (1293), one end of the driving connecting rod (1299) is eccentrically hinged to the end face of the first bevel gear (1293), and the other end of the driving connecting rod (1299) is eccentrically hinged to the end face of the active heat exchange roller (1298).

6. A device for preventing and controlling pests and diseases in greenhouse environment according to claim 2, characterized in that: The buffer connection assembly comprises a connection column (121), one end of the connection column (121) is fixed to the moving trolley (1), and the other end thereof extends into the radar outer sleeve (124); a blind hole is provided at the bottom end of the connection column (121), a connection spring (122) is provided in the blind hole, one end of the connection spring (122) is fixed to the blind hole, and the other end thereof is connected to a connection block (123), and the connection block (123) is fixed to the support ring (125); The elastic connection component (126) comprises a rod body (1261), wherein the rod body (1261) spans across a plurality of the support rings (125), the rod body (1261) contacts the inner side surface of the support ring (125), and a first elastic support rod (1262) and a second elastic support rod (1263) are provided on the rod body (1261), one end of the first elastic support rod (1262) is hinged to the rod body (1261), and the other end thereof is hinged to the support ring (125), and one end of the second elastic support rod (1263) is hinged to the rod body (1261), and the other end thereof is hinged to the radar body (127).

7. A device for preventing and controlling pests and diseases in greenhouse environment according to claim 1, characterized in that: The liquid storage tank (5) comprises a tank body (51), a heat exchange tube (52) is arranged inside the tank body (51), the heat exchange tube (52) passes through the tank body (51) and the mobile vehicle (1) and is inserted into the constant temperature battery pack (13), a heating component (53) is arranged inside the mobile vehicle (1), and the heating component (53) is sleeved on the outside of the heat exchange tube (52); The constant temperature battery pack (13) comprises an anti-collision shell (136), a heat exchange seat (134) is arranged inside the anti-collision shell (136), and the heat exchange pipe (52) is connected to the heat exchange seat (134); A power battery pack (139) is provided on the side of the heat exchange seat (134), and a plurality of support bases (138) are provided at the bottom of the power battery pack (139), wherein the top end of the support base (138) is fixed to the power battery pack (139), and the bottom end thereof is fixed to the anti-collision shell (136); An adsorption expansion pad (137) is laid at the bottom of the anti-collision shell (136), a U-shaped tube (135) is provided at the bottom of the heat exchange seat (134), the bottom of the U-shaped tube (135) is in contact with the adsorption expansion pad (137), and the U-shaped tube (135) is connected to the heat exchange seat (134).

8. A device for preventing and controlling pests and diseases in greenhouse environment according to claim 7, characterized in that: The heating component (53) comprises a heating wire (532), the heating wire (532) is coiled outside the heat exchange tube (52), and a heat insulation layer (531) is provided at a contact position between the heating component (53) and the tank body (51) and a contact position between the heating component (53) and the constant temperature battery pack (13); The heat exchange seat (134) is provided with a flow cavity (131) and a static cavity (133); the flow cavity (131) is in communication with the heat exchange tube (52); the static cavity (133) is in communication with the U-shaped tube (135); and a heat exchange baffle (132) is provided between the flow cavity (131) and the static cavity (133); A heat exchange pump (54) is provided in the flow cavity (131), and a plurality of check plates (55) are provided on one side of the outlet of the heat exchange pump (54); The support base (138) comprises a bottom end (1381), the bottom end (1381) is fixed to the anti-collision shell (136), a bellows (1385) is provided above the bottom end (1381), an outer tube (1387) is fixed above the bellows (1385), the outer tube (1387) is fixed to the power battery pack (139), a support baffle (1383) is provided inside the bellows (1385), and the support baffle (1383) ) is provided below the outer tube body (1387), one end of the first spring (1382) is fixed to the supporting baffle (1383) and the other end is fixed to the bottom end (1381), a second spring (1384) is provided above the supporting baffle (1383), one end of the second spring (1384) is fixed to the supporting baffle (1383) and the other end is fixed to the outer tube body (1387), and the outer tube body (1387) is filled with elastic filling (1386).

9. The device for preventing and controlling pests and diseases in greenhouse environment according to claim 1, characterized in that: The spraying device (4) comprises a lifting rod (41), the lifting rod (41) is fixed on the moving vehicle (1), an angle adjustment component (43) is provided at the top end of the lifting rod (41), a nozzle (42) is connected to the angle adjustment component (43), and a flow adjustment component (44) is provided in the nozzle (42); The lifting rod (41) comprises an outer cylinder (411), an inner cylinder (414) is sleeved inside the outer cylinder (411), a lifting drive motor (412) is provided at the bottom of the outer cylinder (411), an output end of the lifting drive motor (412) is connected to a screw rod (413), the screw rod (413) passes through the inner cylinder (414) and extends into the interior of the inner cylinder (414), and the screw rod (413) is threadedly connected to the inner cylinder (414); A rotation drive motor (421) is provided at the top of the inner cylinder (414), a rotation inner gear ring (422) is provided at the bottom of the nozzle (42), and a rotation drive gear meshing with the rotation inner gear ring (422) is provided on the rotation drive motor (421); The spray head (42) comprises a spray barrel (425), the spray port (426) is located at one end of the spray barrel (425), a heat dissipation cover (424) is provided on the end surface of the other end of the spray barrel (425), a flow regulating valve (423) is provided in the spray barrel (425), and the flow regulating valve (423) is connected to the solenoid valve (14); The angle adjustment assembly (43) comprises an angle rotation bearing (431) and an angle drive motor (432), and the angle rotation bearing (431) and the angle drive motor (432) are symmetrically distributed with the axis of the spray barrel (425) as the center.

10. A method for preventing and controlling pests and diseases in greenhouse environment, characterized in that: The following steps are involved: The mobile vehicle (1) is driven to inspect in the greenhouse, and crop image information is collected through the camera (3), and terrain information is collected through the obstacle avoidance radar (12); Determine the state of crop pests and diseases according to the image information, and determine the state of the pests and diseases as a stable state or a pathological state; Determine the terrain environment and generate an inspection route based on the terrain information; When the crop pest and disease state is stable, the mobile vehicle (1) continues to inspect along the inspection route; when the crop pest and disease state is pathological, the collection position of the corresponding image information is marked on the inspection route, and the spraying device (4) is started when the mobile vehicle (1) moves to the marked position; When the image information collected at the marked position is determined to be in a stable state, the mark is cancelled and the inspection continues.

Images