Asparagus lettuce disease and insect pest recognition and treatment device

Abstract

The invention relates to the technical field of crop treatment, in particular to an asparagus lettuce disease and insect pest recognition and treatment device which comprises a frame module. The spraying module is composed of a left spraying mechanism, a right spraying mechanism, an upper spraying mechanism arranged at the upper ends of the left spraying mechanism and the right spraying mechanism and a pesticide storage box arranged behind the upper end of the upper spraying mechanism, and the left spraying mechanism and the right spraying mechanism further comprise a three-cone linkage mechanism; by arranging the left and right reducing outer discs and the left and right reducing inner discs, a driven bevel gear is driven by a driving bevel gear to drive a mechanism to swing up and down according to a preset path, and drives a left and right reducing shaft to rotate, so that the left and right reducing inner discs rotate, and the spraying radius is increased and decreased; the diameter changing principle of the upper spraying mechanism is the same as that of the lower spraying mechanism, so that the spraying range can be flexibly adjusted when the device sprays pesticide, and the pesticide spraying mechanism can be tightly attached to the form of asparagus lettuce so as to ensure that the pesticide can uniformly cover all parts of crops.

Description

Technical Field

[0001] The invention relates to the technical field of crop management, and in particular to a lettuce pest and disease identification and management device. Background Art

[0002] The present invention belongs to an intelligent plant protection machine. In the field of crop management, automated management and mechanical devices, for the prevention and control of common diseases and insect pests of lettuce crops, the existing technology mainly relies on traditional chemical pesticide spraying and manual inspection and processing. A more advanced technology is to introduce automated management. For example, some intelligent monitoring systems based on sensors and image recognition technology have been applied to farmland to monitor crop growth status and the occurrence of diseases and insect pests in real time. These systems can automatically collect data and provide farmers with disease and insect pest warnings and prevention suggestions through algorithm analysis. Traditional disease and insect pest prevention methods usually rely on large-scale spraying of pesticides. Although it can effectively control diseases and insect pests to a certain extent, due to the limitations of farmers' skills, this method of applying pesticides is often extremely blind, and long-term use will lead to enhanced drug resistance of bacteria and viruses, environmental pollution, and pesticide residues in agricultural products, posing a potential threat to human health and the ecological environment. Manual spraying of pesticides, removal of diseased plants, etc. are not only inefficient, but also difficult to ensure the timeliness, uniformity and thoroughness of management.

[0003] The invention of publication number: CN115777656A proposes a compact pesticide application drone. Although this device can spray pesticides over a large area, it is difficult to meet the requirements of refined management. It cannot implement precise pesticide application according to the different growth stages and disease conditions of vegetables. This limits the improvement of pesticide use efficiency to a certain extent and may lead to waste of resources and further damage to the environment.

[0004] Therefore, in view of the fact that it is difficult to achieve the requirements of refined management by spraying pesticides on large areas of lettuce crops, and it is impossible to implement precise pesticide application according to the different growth stages and disease conditions of vegetables, which limits the improvement of pesticide use efficiency, a lettuce pest and disease identification and control device can be designed to enable the device to flexibly adjust the spraying range when spraying pesticides, and allow the mechanism for spraying medicine to fit closely to the shape of the lettuce, so as to ensure that the pesticide can evenly cover all parts of the crop, thereby solving the telescopic problem. Summary of the invention

[0005] In order to overcome the problem that large-scale spraying of pesticides is difficult to achieve the requirements of refined management during the disease and pest control of lettuce crops, it is impossible to implement precise application of pesticides according to the different growth stages and disease conditions of vegetables, which limits the improvement of pesticide use efficiency.

[0006] The technical scheme of the present invention is: a lettuce pest identification and control device, comprising a frame module; further comprising a spraying module, a stump eradication module is installed in the frame module, a spraying module is installed below the front end of the stump eradication module, a visual module is installed at the front end of the spraying module, and a control module is installed behind the upper end of the frame module;

[0007] The spray module is composed of left and right spray mechanisms, an upper spray mechanism arranged at the upper ends of the left and right spray mechanisms, and a medicine storage box arranged at the rear of the upper end of the upper spray mechanism, and the medicine storage box is connected with the left and right spray mechanisms and the upper spray mechanism through a pipeline, wherein the left and right spray mechanisms are composed of left and right reducing mechanisms, a mounting fixing seat installed on the outer sides of the left and right reducing mechanisms, and a three-cone linkage mechanism installed on the mounting fixing seat, and the left and right reducing mechanisms are arranged as two left and right reducing mechanisms;

[0008] The left and right variable diameter mechanisms include left and right variable diameter outer discs, left and right variable diameter inner discs, left and right nozzle bodies, left and right pagoda shafts, shaft frames, left and right nozzle bearing groups, variable diameter disc inner bearings and left and right variable diameter shafts; the upper spraying mechanism includes an upper variable diameter outer disc, an upper variable diameter inner disc, an upper nozzle body, an upper pagoda shaft, an upper nozzle bearing, a fixing frame, a second motor frame, a first coupling, a second motor body, a second flange, a transmission shaft and an upper variable diameter shaft;

[0009] The three-cone linkage mechanism includes a reduction motor installed on a mounting base, a first motor frame is installed on the reduction motor, a linkage spindle is installed on the output shaft of the reduction motor, and the linkage spindle is installed on the mounting base, an active bevel gear is installed on the linkage spindle, a fixed bevel gear body is provided at the rear end of the active bevel gear, and the fixed bevel gear body is fixedly connected to the mounting base, a driven bevel gear is meshed between the active bevel gear and the fixed bevel gear body, and the driven bevel gear is installed on the left and right reducing shafts.

[0010] Preferably, when the motor starts and drives the active bevel gear to rotate, the three-cone linkage mechanism starts to operate to ensure that the speed difference between the gears can be accurately controlled, wherein the fixed bevel gear body is fixed in this mechanism, and the specially designed driven bevel gear, driven by the active bevel gear, will drive the mechanism to swing up and down according to a preset path. At the same time, the self-rotation of the driven bevel gear not only drives its own movement, but also drives the left and right reducing shafts to rotate, thereby causing the left and right reducing inner disks to rotate. Since the left and right reducing inner disks and the left and right reducing outer disks are provided with grooves, the left and right sprinkler heads can move along the grooves of the left and right reducing outer disks, thereby realizing the enlargement and reduction of the spraying radius. The diameter-changing principle of the upper spraying mechanism is the same as this. This function The realization of this function enables the device to flexibly adjust the spraying range when spraying pesticides. When it is necessary to cover the more luxuriant leaves of the plant, the spraying range can be increased by increasing the diameter of the variable diameter disk, and the spraying mechanism can be used to evenly spray the pesticide on the leaf surface. When the variable diameter disk reaches the maximum radius, a short "dead point" state will appear. In this state, the rotation of the gear will be precisely restricted, thereby stopping its upward swinging action. Subsequently, the motor reverses and the spraying mechanism begins to swing downward. As the spraying range becomes smaller, the pesticide can be accurately sprayed onto the slender stems of the plant. When the spraying range reaches its minimum, the spraying mechanism will encounter another "dead point" at the bottom again, and the gear will also stop rotating at this time.

[0011] Preferably, left and right reducing inner disks are installed inside the left and right reducing outer disks, three left and right nozzle bodies are arranged on the outside of the left and right reducing outer disks, left and right pagoda shafts are installed on the inner sides of the left and right nozzle bodies, shaft frames are fixedly connected to the inner sides of the left and right reducing outer disks, left and right nozzle bearing groups are installed on the left and right pagoda shafts, reducing disc inner bearings are commonly installed between the left and right reducing outer disks and the left and right reducing inner disks, left and right reducing shafts are installed in the middle of the shaft frame, and the inner ends of the left and right reducing shafts are meshed with the three-cone linkage mechanism through fixed bevel gears.

[0012] Preferably, an upper reducing inner disk is installed inside the upper reducing outer disk, three upper nozzle bodies are arranged at the lower end of the upper reducing outer disk, an upper pagoda shaft is installed at the upper end of the upper nozzle body, an upper nozzle bearing is installed on the upper pagoda shaft, a fixing frame is installed on the upper reducing outer disk, a second motor frame is arranged at the upper end of the fixing frame, a motor body is installed in the second motor frame, a first coupling is installed on the output shaft at the lower end of the motor body, an upper reducing shaft is installed at the lower end of the first coupling, a flange is installed on the upper end surface of the upper reducing inner disk, a transmission shaft is installed in the flange, and the left and right pagoda shafts and the upper pagoda shaft are connected to the medicine storage box through water pipes.

[0013] Preferably, the vision module consists of a U-shaped track arranged at the front end of the left and right spraying mechanisms, a synchronous belt drive group installed at the lower end of the U-shaped track, a camera group installed on one side of the U-shaped track, and a fixed group installed at the lower end of one side of the synchronous belt drive group; the U-shaped track includes two straight track groups distributed on the left and right, and the upper ends of the straight track groups are each installed with a 90° arc track, and the two 90° arc tracks are butt joint with each other, and the lower end of the straight track group on one side is installed with a driving pulley box, and the lower end of the straight track group on the other side is installed with a driven pulley box.

[0014] Preferably, the driving pulley box includes a synchronous belt body, and the synchronous belt body is arranged inside the straight track group, the 90° arc track, the driving pulley box and the driven pulley box, the lower end of one side of the synchronous belt body is engaged with the driving pulley body, and the driving pulley body is arranged in the driving pulley box, the lower end of the other side of the synchronous belt body is engaged with the driven pulley body, and the driven pulley body is arranged in the driven pulley box, a synchronous belt buckle is installed on the synchronous belt body, and the synchronous belt buckle is located at the upper end of the driven pulley body, and a visual motion motor is arranged at the front end of the driving pulley body.

[0015] Preferably, the camera group includes a first pulley installed on one side of the synchronous belt buckle, and an OpenMV camera is installed on one side of the first pulley; the fixed group includes a track fixing group arranged inside the straight track group, a third motor frame arranged at the lower end of the driving pulley body, and a second coupling arranged between the visual motion motor and the driving pulley body, and the second coupling is fixedly connected to the driving pulley body and the output shaft of the visual motion motor at the same time, and the visual motion motor is installed at the front end of the third motor frame.

[0016] Preferably, the stump eradication module consists of a chain drive group arranged on one side of the rear end of a synchronous belt drive group and a lifting mechanism installed on the chain drive group; the chain drive group includes a driving sprocket, and a driving motor is installed on one side of the driving sprocket, a driven sprocket is arranged at the lower end of the driving sprocket, and a chain is meshed together on the outer sides of the driving sprocket and the driven sprocket, a driving shaft is fixedly connected to the driving sprocket, and a driven shaft is fixedly connected to the driven sprocket.

[0017] Preferably, the lifting mechanism includes a split grooved frame arranged on one side of the chain, four-wheel pulleys are installed inside the front and rear ends of the split grooved frame, anti-slip plates are installed outside the four-wheel pulleys, a slide rail group is installed in the middle of the split grooved frame, a slider body is arranged on the slide rail group, a pin shaft is installed on one side of the slider body, and the pin shaft is arranged as a part of the chain, a slider connector is installed on the other side of the slider body, a nail plate fixing beam is installed on the slider connector, and the nail plate body is fixedly connected to one side of the nail plate fixing beam.

[0018] Preferably, the frame module consists of a frame body arranged outside the medicine storage box, a separation mechanism arranged on one side of the chain transmission group, a recovery bin arranged at the front end of the separation mechanism, and a wheel group installed on both sides of the lower end of the frame body.

[0019] Beneficial effects of the present invention:

[0020] By setting the left and right reducing outer disks and the left and right reducing inner disks, when the motor starts and drives the active bevel gear to rotate, the three-cone linkage mechanism starts to operate to ensure that the speed difference between the gears can be accurately controlled, wherein the fixed bevel gear body is fixed in this mechanism, and the specially designed driven bevel gear, driven by the active bevel gear, will drive the mechanism to swing up and down according to a preset path. At the same time, the self-rotation of the driven bevel gear not only drives its own movement, but also drives the left and right reducing shafts to rotate, thereby rotating the left and right reducing inner disks. Since the left and right reducing inner disks and the left and right reducing outer disks are provided with grooves, the left and right sprinkler bodies can move along the left and right reducing outer disk grooves, thereby realizing the enlargement and reduction of the spraying radius. The reducing principle of the upper spraying mechanism is the same, thereby enabling the device to flexibly adjust the spraying range when spraying pesticides. When it is necessary to cover the more prosperous leaves of the plant, the spraying range is increased by increasing the diameter of the reducing disk, and the upper spraying mechanism can be used to evenly spray the pesticide on the leaf surface. When the variable diameter disc reaches the maximum radius, there will be a short "dead point" state. In this state, the rotation of the gear will be precisely limited, thereby stopping its upward swinging movement. Subsequently, the motor reverses and the spraying mechanism begins to swing downward. As the spraying range becomes smaller, the pesticide can be accurately sprayed onto the slender stems of the plants. When the spraying range reaches the minimum, the spraying mechanism will encounter another "dead point" at the bottom again, and the gears will also stop rotating. Thus, through the swing of the differential mechanism and the limit device that combines the variable diameter mechanism into one, highly precise spraying with a wide top and a narrow bottom is achieved, so that the spraying mechanism can swing up and down flexibly, fit the shape of the lettuce closely, and dynamically adjust the spraying radius during the spraying process to ensure that the pesticide can evenly cover all parts of the crop, while reducing unnecessary waste and reducing pollution. In view of the wide leaves of lettuce crops, this design pays special attention to improving the pesticide coverage effect on the leaves to meet its relatively high demand for medication. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Shown is a schematic diagram of the overall structure of a device for identifying and controlling plant diseases and insect pests of lettuce according to the present invention;

[0022] Figure 2 Shown is a schematic diagram of the structure of a medicine storage box of a lettuce pest and disease identification and treatment device of the present invention;

[0023] Figure 3 Shown is a schematic diagram of the recovery bin structure of a lettuce pest and disease identification and treatment device of the present invention;

[0024] Figure 4 Shown is a schematic diagram of the three-cone linkage mechanism structure of a lettuce pest and disease identification and treatment device of the present invention;

[0025] Figure 5 Shown is a schematic diagram of the left and right pagoda shaft structure of a lettuce pest and disease identification and treatment device of the present invention;

[0026] Figure 6 Shown is a schematic diagram of the upper pagoda through-axis structure of a lettuce pest and disease identification and treatment device of the present invention;

[0027] Figure 7 Shown is a schematic diagram of the second motor frame structure of a lettuce pest and disease identification and treatment device of the present invention;

[0028] Figure 8 Shown is a schematic diagram of a 90° arc track structure of a lettuce pest and disease identification and treatment device of the present invention;

[0029] Fig. 9 Shown is a schematic diagram of the structure of the driving pulley body of a lettuce pest and disease identification and treatment device of the present invention;

[0030] Fig.10 Shown is a schematic diagram of the structure of a driven pulley body of a lettuce pest and disease identification and treatment device of the present invention;

[0031] Fig.11 Shown is a schematic diagram of the OpenMV camera structure of a lettuce pest and disease identification and control device of the present invention;

[0032] Fig.12 Shown is a schematic diagram of the structure of a track fixing component group of a lettuce pest and disease identification and treatment device of the present invention;

[0033] Fig.13 Shown is a schematic diagram of the active sprocket structure of a lettuce pest and disease identification and treatment device of the present invention;

[0034] Fig.14 Shown is a schematic diagram of the structure of a slider body of a lettuce pest and disease identification and treatment device of the present invention;

[0035] Fig.15 The figure shows the structure of the nail plate body of the lettuce pest identification and treatment device of the present invention. Figure 1 ;

[0036] Fig.16 Shown is a schematic diagram of the left and right variable diameter outer disk structure of a lettuce pest and disease identification and treatment device of the present invention;

[0037] Fig.17Shown is a schematic diagram of the left and right variable diameter inner disk structure of a lettuce pest and disease identification and treatment device of the present invention;

[0038] Fig.18 Shown is a schematic diagram of the structure of the left and right nozzle bodies of a lettuce pest and disease identification and treatment device of the present invention;

[0039] Fig.19 Shown is a schematic diagram of the axle frame structure of a lettuce pest and disease identification and treatment device of the present invention;

[0040] Fig. 20 Shown is a schematic diagram of the structure of an upper variable diameter outer disk of a lettuce pest and disease identification and treatment device of the present invention;

[0041] Fig.21 Shown is a schematic diagram of the fixing frame structure of a lettuce pest and disease identification and treatment device of the present invention;

[0042] Fig. 22 Shown is a schematic diagram of the straight track group structure of a lettuce pest identification and treatment device of the present invention;

[0043] Fig.23 Shown is a schematic diagram of the first pulley structure of a lettuce pest and disease identification and treatment device of the present invention;

[0044] Fig.24 Shown is a schematic diagram of the synchronous belt buckle structure of a lettuce pest and disease identification and treatment device of the present invention;

[0045] Fig.25 Shown is a schematic diagram of the principle of a lettuce pest identification and treatment device of the present invention using a differential speed variation mechanism to swing up and down;

[0046] Fig.26 The figure shows a working schematic diagram of a diameter-changing mechanism of a device for identifying and treating pests and diseases of lettuce according to the present invention;

[0047] Fig. 27 The figure shows the structure of the nail plate body of the lettuce pest identification and treatment device of the present invention. Figure 2 .

[0048] Description of the accompanying drawings: 1. Spraying module; 2. Visual module; 3. Stump eradication module; 4. Frame module; 5. Control module; 11. Left and right spraying mechanisms; 12. Upper spraying mechanism; 13. Medicine storage box; 111. Left and right variable diameter mechanism; 112. Three-cone linkage mechanism; 113. Mounting seat; 1111. Left and right variable diameter outer disk; 1112. Left and right variable diameter inner disk; 1113. Left and right nozzle bodies; 1114. Left and right pagoda shafts; 1115. Shaft frame; 1116. Left and right spray Head bearing group; 1117, reducer disc inner bearing; 1118, left and right reducer shafts; 121, upper reducer outer disc; 122, upper reducer inner disc; 123, upper nozzle body; 124, upper pagoda shaft; 125, upper nozzle bearing; 126, fixed frame; 127, second motor frame; 128, first coupling; 129, motor body; 1210, flange; 1211, transmission shaft; 1212, upper reducer shaft; 21, U-shaped track; 22, synchronous belt drive group; 23, camera Group; 24, fixed group; 211, straight track group; 212, 90° arc track; 213, active pulley box; 214, driven pulley box; 221, synchronous belt body; 222, active pulley body; 223, driven pulley body; 224, synchronous belt buckle; 225, visual motion motor; 231, OpenMV camera; 232, first pulley; 241, track fixing component group; 242, third motor frame; 243, second coupling; 31, chain drive group; 3 2. Lifting mechanism; 311. Driving sprocket; 312. Driven sprocket; 313. Chain; 314. Driving shaft; 315. Driven shaft; 321. Nail plate body; 322. Nail plate fixing beam; 323. Pin shaft; 324. Slider body; 325. Slider connector; 326. Slide rail assembly; 327. Split-type slotted frame; 328. Four-wheel pulley; 329. Anti-slip plate; 41. Frame body; 42. Separation mechanism; 43. Wheel assembly; 44. Recovery bin; 5. Control module. DETAILED DESCRIPTION

[0049] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0050] See also Figure 1-Figure 15The present invention provides an embodiment: a lettuce pest identification and control device, comprising a frame module 4; and a spraying module 1, a stump eradication module 3 is installed in the frame module 4, the spraying module 1 is installed below the front end of the stump eradication module 3, a visual module 2 is installed at the front end of the spraying module 1, and a control module 5 is installed behind the upper end of the frame module 4. The spraying module 1 is composed of left and right spraying mechanisms 11, an upper spraying mechanism 12 arranged at the upper ends of the left and right spraying mechanisms 11, and a medicine storage box 13 arranged at the rear of the upper end of the upper spraying mechanism 12, and the medicine storage box 13 is connected to the left and right spraying mechanisms through a pipeline. 11 is connected to the upper spraying mechanism 12, wherein the left and right spraying mechanisms 11 are composed of left and right diameter reducing mechanisms 111, a mounting and fixing seat 113 installed on the outer sides of the left and right diameter reducing mechanisms 111, and a three-cone linkage mechanism 112 installed on the mounting and fixing seat 113. The left and right diameter reducing mechanisms 111 are arranged as two left and right diameter reducing mechanisms 111. The left and right diameter reducing mechanisms 111 include left and right diameter reducing outer disks 1111, left and right diameter reducing inner disks 1112, left and right nozzle bodies 1113, left and right pagoda shafts 1114, shaft frames 1115, left and right nozzle bearing groups 1116, diameter reducing disk inner bearings 1117, and left and right diameter reducing shafts 1118;The upper spraying mechanism 12 includes an upper reducing outer disk 121, an upper reducing inner disk 122, an upper nozzle body 123, an upper pagoda shaft 124, an upper nozzle bearing 125, a fixing frame 126, a second motor frame 127, a first coupling 128, a second motor body 129, a second flange 1210, a transmission shaft 1211, and an upper reducing shaft 1212. The three-cone linkage mechanism 112 includes a reduction motor installed on a mounting base 113, a first motor frame is installed on the reduction motor, a linkage spindle is installed on the output shaft of the reduction motor, and the linkage spindle is installed on the mounting base 113, and the linkage A driving bevel gear is installed on the driving main shaft, and a fixed bevel gear body is provided at the rear end of the driving bevel gear, and the fixed bevel gear body is fixedly connected to the mounting fixing seat 113. A driven bevel gear is meshed between the driving bevel gear and the fixed bevel gear body, and the driven bevel gear is installed on the left and right reducing shafts 1118. When the motor starts and drives the driving bevel gear to rotate, the three-cone linkage mechanism 112 starts to operate to ensure that the speed difference between the gears can be accurately controlled. Among them, the fixed bevel gear body is fixed in this mechanism, and the specially designed driven bevel gear, driven by the driving bevel gear, will drive the mechanism to follow a preset path. The left and right reducing shafts 1118 can be rotated to rotate, and the left and right reducing inner disks 1112 can be rotated. Since the left and right reducing inner disks 1112 and the left and right reducing outer disks 1111 are provided with grooves, the left and right spray head bodies 1113 can be moved along the grooves of the left and right reducing outer disks 1111, so as to realize the enlargement and reduction of the spraying radius. The diameter-changing principle of the upper spraying mechanism 12 is the same. The realization of this function enables the device to flexibly adjust the spraying range when spraying pesticides. When it is necessary to cover the more luxuriant leaves of the plants, When the diameter of the variable diameter disc is increased, the spraying range is increased, and the spraying mechanism 12 can be used to evenly spray the pesticide on the leaf surface. When the variable diameter disc reaches the maximum radius, a short "dead point" state will appear. In this state, the rotation of the gear will be accurately restricted, thereby stopping its upward swinging action. Subsequently, the motor reverses and the spraying mechanism begins to swing downward. As the spraying range becomes smaller, the pesticide can be accurately sprayed on the slender stem of the plant. When the spraying range reaches the minimum, the spraying mechanism will encounter another "dead point" at the bottom again, and the gear will also stop rotating. ;

[0051] See also Figure 4-Figure 12In this embodiment, left and right variable diameter inner disks 1112 are installed inside the left and right variable diameter outer disks 1111, three left and right nozzle bodies 1113 are arranged outside the left and right variable diameter outer disks 1111, left and right pagoda shafts 1114 are installed inside the left and right nozzle bodies 1113, shaft frames 1115 are fixed inside the left and right variable diameter outer disks 1111, left and right nozzle bearing groups 1116 are installed on the left and right pagoda shafts 1114, and left and right variable diameter outer disks 1111 The reducing disc inner bearing 1117 is installed between the left and right reducing inner discs 1112. The left and right reducing shafts 1118 are installed in the middle of the shaft frame 1115. The inner ends of the left and right reducing shafts 1118 are meshed with the three-cone linkage mechanism 112 through fixed bevel gears. The upper reducing inner disc 122 is installed inside the upper reducing outer disc 121. The lower end of the upper reducing outer disc 121 is provided with three upper nozzle bodies 123. The upper end of the upper nozzle body 123 is provided with an upper bevel gear. The upper pagoda shaft 124 is provided with an upper nozzle bearing 125, the upper variable diameter outer disk 121 is provided with a fixing frame 126, the upper end of the fixing frame 126 is provided with a second motor frame 127, a motor body 129 is installed in the second motor frame 127, a first coupling 128 is installed on the output shaft at the lower end of the motor body 129, an upper variable diameter shaft 1212 is installed at the lower end of the first coupling 128, and the upper end surface of the upper variable diameter inner disk 122 is provided with a A flange 1210 is provided, a transmission shaft 1211 is provided in the flange 1210, the left and right pagoda shafts 1114 and the upper pagoda shaft 124 are both connected to the medicine storage box 13 through a water pipe, and the visual module 2 is composed of a U-shaped track 21 arranged at the front end of the left and right spraying mechanism 11, a synchronous belt transmission group 22 installed at the lower end of the U-shaped track 21, a camera group 23 installed at one side of the U-shaped track 21, and a fixed group 24 installed at the lower end of one side of the synchronous belt transmission group 22;The U-shaped track 21 includes two straight track groups 211 distributed on the left and right, and the upper ends of the straight track groups 211 are each installed with a 90° arc track 212, and the two 90° arc tracks 212 are connected to each other, and the lower end of the straight track group 211 on one side is installed with a driving pulley box 213, and the lower end of the straight track group 211 on the other side is installed with a driven pulley box 214, and the driving pulley box 213 includes a synchronous belt body 221, and the synchronous belt body 221 is arranged inside the straight track group 211, the 90° arc track 212, the driving pulley box 213 and the driven pulley box 214, and the synchronous belt The lower end of one side of the body 221 is meshed with a driving pulley body 222, and the driving pulley body 222 is arranged in the driving pulley box 213, the lower end of the other side of the synchronous belt body 221 is meshed with a driven pulley body 223, and the driven pulley body 223 is arranged in the driven pulley box 214, a synchronous belt buckle 224 is installed on the synchronous belt body 221, and the synchronous belt buckle 224 is located at the upper end of the driven pulley body 223, a visual motion motor 225 is arranged at the front end of the driving pulley body 222, and the camera group 23 includes a first pulley installed on one side of the synchronous belt buckle 224 232, an OpenMV camera 231 is installed on one side of the first pulley 232; the fixing group 24 includes a track fixing member group 241 arranged inside the straight track group 211, a third motor frame 242 arranged at the lower end of the active pulley body 222, and a second coupling 243 arranged between the visual motion motor 225 and the active pulley body 222, and the second coupling 243 is fixedly connected to the output shafts of the active pulley body 222 and the visual motion motor 225 at the same time, and the visual motion motor 225 is installed at the front end of the third motor frame 242, and the OpenMV camera 231 is installed on the first pulley 232, and the first pulley 232 is fixed on the synchronous belt body 221 through the synchronous belt buckle 224, and is driven by the visual motion motor 225, and moves with the synchronous belt body 221. The synchronous belt body 221 realizes transmission through the precise engagement between its belt teeth and the synchronous belt body 221. This design ensures that there is no relative sliding between the two during the movement, and the synchronization of the circumferential speed is matched, so that the visual motion mechanism can identify the lettuce from all angles, realize the identification without blind spots, and provide a solid foundation for the early detection of pests and diseases through meticulous identification. ;

[0052] See also Figure 1 , Figure 3 , Fig.13 , Fig.14 , Fig.15 and Fig. 27In this embodiment, the stump eradication module 3 is composed of a chain transmission group 31 arranged on one side of the rear end of the synchronous belt transmission group 22, and a lifting mechanism 32 installed on the chain transmission group 31; the chain transmission group 31 includes a driving sprocket 311, and a driving motor is installed on one side of the driving sprocket 311, and a driven sprocket 312 is arranged at the lower end of the driving sprocket 311, and a chain 313 is meshed together on the outer sides of the driving sprocket 311 and the driven sprocket 312, a driving shaft 314 is fixedly connected to the driving sprocket 311, and a driven shaft 315 is fixedly connected to the driven sprocket 312, and the lifting mechanism 32 includes a split-type belt groove frame arranged on one side of the chain 313 The frame 327 is provided with a four-wheel pulley 328 installed at both ends of the split grooved frame 327, and an anti-slip plate 329 is installed on the outside of the four-wheel pulley 328. A slide rail group 326 is installed in the middle of the split grooved frame 327, and a slider body 324 is arranged on the slide rail group 326. A pin shaft 323 is installed on one side of the slider body 324, and the pin shaft 323 is arranged as a part of the chain 313. A slider connector 325 is installed on the other side of the slider body 324, and a nail plate fixing beam 322 is installed on the slider connector 325. A nail plate body 321 is fixedly connected to one side of the nail plate fixing beam 322. The frame module 4 is composed of The frame body 41 is arranged on the outside of the medicine storage box 13, the separation mechanism 42 is arranged on one side of the chain transmission group 31, the recovery bin 44 is arranged at the front end of the separation mechanism 42, and the wheel group 43 is installed on both sides of the lower end of the frame body 41. The frame is built with aluminum profiles. The chain 313 cooperates with the driving sprocket 311 and the driven sprocket 312. The driving sprocket 311 and the driven sprocket 312 are opposite to each other up and down; one of the pin shafts 323 on the chain 313 cooperates with the slider body 324, and the slider body 324 is an intermediate piece for coordinating the nail plate fixing beam 322 with the chain transmission movement. The slider body 324 consists of two detachable split belts. The groove frame 327 limits the relative displacement in the vertical direction, while the left and right displacement of the slider depends on the movement of the chain link. In order to make the movement of the slider body 324 more stable and reliable, a four-wheel pulley 328 is symmetrically arranged in the split groove frame 327. The rubber wheels of the four-wheel pulley 328 can just fit into the grooves of the two left and right profiles. In order to limit the displacement of the four-wheel pulley 328, an anti-slip plate 329 is wrapped around the outside of the four-wheel pulley 328 to prevent the four-wheel pulley 328 from slipping horizontally. Generally, the top of the chain link in the chain drive is the initial position, and the position of the plant below the central axis of the driven sprocket 312 is the working position.When the diseased plant needs to be pulled up, the active sprocket 311 rotates clockwise, and the slider body 324 driven by the chain link moves from the initial position from top to bottom, while driving the nail plate body 321 downward. When it is near the working position, which is also the driven sprocket 312, the chain 313 begins to bend, and the slider body 324 moves horizontally with the chain link relative to the slide rail group 326 in the split grooved frame 327. At this moment, the nails of the nail plate body 321 are inserted into the stem of the plant, and then the chain link bypasses the driven sprocket 312 and moves upward. The nail plate body 321 pulls up the plant with the upward movement of the slider body 324, and the nails on the nail plate body 321 have an upward angle. This upward angle is used to prevent the lettuce from falling off during the upward transportation process, and is more conducive to the separation mechanism to peel it off; after passing the initial position again, the lettuce on the nail plate body 321 is separated by the separation mechanism 42 and sent to the recovery bin 44, so that when the lettuce plants in the farmland have been invaded by pests and diseases to the point where they cannot be cured by medicine, they can be directly eradicated to prevent the spread of viruses and bacteria to other surrounding plants, and at the same time meet the compactness requirements of the device. In addition, due to the slender growth characteristics of lettuce, it is impossible to efficiently remove the diseased plants with ordinary shovels, spades, and rakes, while the present device greatly improves the efficiency of eradicating diseased plants. ;

[0053] When in use, the control module 5 contains electronic components such as a walking control unit, a visual control unit, a water pump, a solenoid valve, and a stump rooting control unit. The walking control unit is responsible for controlling the device to move along a preset route; the visual control unit controls the movement and shooting of the camera, and accurately determines the pest and disease status of the lettuce by comparing it with the disease database; the water pump and the solenoid valve system work together to ensure that the corresponding agent can be accurately sprayed; and the stump rooting control unit controls the device to remove the lettuce with serious diseases; the OpenMV camera 231 is installed on the first pulley 232, and the first pulley 232 is fixed to the synchronous belt body 221 through the synchronous belt buckle 224, and is driven by the visual motion motor 225, and moves with the synchronous belt body 221. The synchronous belt body 221 realizes transmission through the precise engagement between its belt teeth and the synchronous belt body 221. This design ensures that there is no relative sliding between the two during the movement, and matches the synchronization of the circumferential speed, so that the visual motion mechanism can identify the lettuce from all angles, and realizes no-dead-angle identification. Through meticulous identification, a solid foundation is provided for the early detection of pests and diseases;

[0054] When the motor starts and drives the active bevel gear to rotate, the three-cone linkage mechanism 112 starts to operate to ensure that the speed difference between the gears can be accurately controlled. Among them, the fixed bevel gear body is fixed in this mechanism, and the specially designed driven bevel gear, driven by the active bevel gear, will drive the mechanism to swing up and down according to the preset path. At the same time, the rotation of the driven bevel gear not only drives its own movement, but also drives the left and right reducing shafts 1118 to rotate, thereby causing the left and right reducing inner disks 1112 to rotate. Since the left and right reducing inner disks 1112 and the left and right reducing outer disks 1111 are provided with grooves, the left and right spray head bodies 1113 can move along the grooves of the left and right reducing outer disks 1111, thereby realizing the enlargement and reduction of the spraying radius. The reducing principle of the upper spraying mechanism 12 is the same. The realization of this function enables the device to flexibly adjust the spraying range when spraying pesticides. When it is necessary to cover the more prosperous leaves of the plant, the spraying range is increased by increasing the diameter of the reducing disk, and the upper spraying mechanism 12 can be used to make the pesticides uniform. Spraying to the leaf surface, and when the variable diameter disc reaches the maximum radius, there will be a short "dead point" state. In this state, the rotation of the gear will be precisely limited, thereby stopping its upward swinging action. Subsequently, the motor reverses and the spraying mechanism begins to swing downward. As the spraying range becomes smaller, the pesticide can be accurately sprayed to the slender stems of the plant. When the spraying range reaches the minimum, the spraying mechanism will encounter another "dead point" at the bottom again, and the gear will also stop rotating. Thus, through the swing of the differential mechanism and the limit device that combines the variable diameter mechanism into one, highly accurate spraying with a wide top and a narrow bottom is achieved, so that the spraying mechanism can flexibly swing up and down, can closely fit the shape of the lettuce, and can dynamically adjust the spraying radius during the spraying process to ensure that the pesticide can evenly cover all parts of the crop, while reducing unnecessary waste and reducing pollution. In view of the wide leaves of lettuce crops, this design pays special attention to improving the pesticide coverage effect of the leaves to meet its relatively high demand for medication;

[0055] The three-cone linkage mechanism 112 in the spraying mechanism is shown in the attached manual. Fig.25 As shown in the figure, the dynamic characteristics of the bevel gear are utilized, and the variable diameter plate in the spraying mechanism is as shown in the appendix of the manual. Fig.26 As shown, the left and right variable diameter inner discs 1112 in the device utilize the kinematic performance of the cam, and the design of the contour curve thereof can achieve a longer spraying time for the leaves relative to the roots, and reasonably distribute the spraying amount;

[0056] Generally, the top of the chain link in the chain drive is taken as the initial position, and the position of the plant below the central axis of the driven sprocket 312 is taken as the working position; when the diseased plant needs to be pulled up, the active sprocket 311 rotates clockwise, and the slider body 324 driven by the chain link moves from the initial position to the bottom, while driving the nail plate body 321 downward. When it is near the working position, which is also the driven sprocket 312, the chain 313 begins to bend, and the slider body 324 moves horizontally with the chain link relative to the slide rail group 326 in the split grooved frame 327. At this moment, the nails of the nail plate body 321 are inserted into the stem of the plant, and then the chain link bypasses the driven sprocket 312 and moves upward. The nail plate body 321 pulls up the plant with the upward movement of the slider body 324 In addition, the nails on the nail plate body 321 have an upward angle, which is used to prevent the lettuce from falling off during the upward transportation process, and is more conducive to the separation mechanism to peel it off; after passing the initial position again, the lettuce on the nail plate body 321 is separated by the separation mechanism 42 and sent to the recovery bin 44, so that when the lettuce plants in the farmland have been invaded by pests and diseases to the point where they cannot be cured by medicine, they can be directly eradicated to prevent them from spreading viruses and bacteria to other surrounding plants, and at the same time meet the compactness requirements of the device. In addition, due to the relatively slender growth characteristics of lettuce, it is impossible to efficiently remove the diseased plants with ordinary shovels, spades, and rakes, while the present device greatly improves the efficiency of eradicating diseased plants.

[0057] Through the above steps, by setting the left and right variable diameter outer disks 1111 and the left and right variable diameter inner disks 1112, the driven bevel gear is driven by the active bevel gear to drive the mechanism to swing up and down according to a preset path, and drive the left and right variable diameter shafts 1118 to rotate, so that the left and right variable diameter inner disks 1112 rotate. Since the left and right variable diameter inner disks 1112 and the left and right variable diameter outer disks 1111 are provided with grooves, the left and right spray head bodies 1113 can move along the grooves of the left and right variable diameter outer disks 1111, thereby realizing the enlargement and reduction of the spraying radius, and the variable diameter principle of the upper spraying mechanism 12 is the same, so that the device can flexibly adjust the spraying range when spraying pesticides. When it is necessary to cover the more prosperous leaves of the plant, the spraying range is increased by increasing the diameter of the variable diameter disk, and the upper spraying mechanism 12 can be used to evenly spray the pesticide on the leaf surface. When the variable diameter disk reaches the maximum radius, a short "dead point" will appear. State, in this state, the rotation of the gear will be precisely limited, thereby stopping its upward swinging movement. Subsequently, the motor reverses and the spraying mechanism begins to swing downward. As the spraying range becomes smaller, the pesticide can be accurately sprayed onto the slender stems of the plants. When the spraying range reaches the minimum, the spraying mechanism will encounter another "dead point" at the bottom again, and the gear will also stop rotating. Thus, through the swing of the differential mechanism and the limit device combining the diameter-changing mechanism into one, highly precise spraying with a wide top and a narrow bottom is achieved, so that the mechanism for spraying the medicine can swing up and down flexibly, can fit the shape of the lettuce closely, and can dynamically adjust the spraying radius during the spraying process to ensure that the pesticide can evenly cover all parts of the crop, while reducing unnecessary waste and reducing pollution. In view of the characteristics of the wide leaves of lettuce crops, this design pays special attention to improving the pesticide coverage effect on the leaves to meet its relatively high demand for medicine.

Claims

1. A device for identifying and controlling lettuce pests and diseases, comprising a frame module (4); characterized in that: It also includes a spraying module (1), a stump eradication module (3) is installed in the frame module (4), the spraying module (1) is installed below the front end of the stump eradication module (3), the visual module (2) is installed at the front end of the spraying module (1), and a control module (5) is installed behind the upper end of the frame module (4); The spraying module (1) is composed of left and right spraying mechanisms (11), an upper spraying mechanism (12) arranged at the upper ends of the left and right spraying mechanisms (11), and a medicine storage box (13) arranged at the rear of the upper end of the upper spraying mechanism (12), and the medicine storage box (13) is connected with the left and right spraying mechanisms (11) and the upper spraying mechanism (12) through a pipeline, wherein the left and right spraying mechanisms (11) are composed of left and right diameter reducing mechanisms (111), a mounting fixing seat (113) installed outside the left and right diameter reducing mechanisms (111), and a three-cone linkage mechanism (112) installed on the mounting fixing seat (113), and the left and right diameter reducing mechanisms (111) are arranged as two left and right diameter reducing mechanisms (111); The left and right diameter-changing mechanism (111) comprises left and right diameter-changing outer disks (1111), left and right diameter-changing inner disks (1112), left and right nozzle bodies (1113), left and right pagoda shafts (1114), shaft frames (1115), left and right nozzle bearing groups (1116), diameter-changing disk inner bearings (1117) and left and right diameter-changing shafts (1118); the upper spraying mechanism (12) comprises an upper diameter-changing outer disk (121), an upper diameter-changing inner disk (122), an upper nozzle body (123), an upper pagoda shaft (124), an upper nozzle bearing (125), a fixing frame (126), a second motor frame (127), a first coupling (128), a second motor body (129), a second flange (1210), a transmission shaft (1211) and an upper diameter-changing shaft (1212); The three-cone linkage mechanism (112) comprises a reduction motor mounted on a mounting base (113), a first motor frame mounted on the reduction motor, a linkage main shaft mounted on the output shaft of the reduction motor, and the linkage main shaft mounted on the mounting base (113), a driving bevel gear mounted on the linkage main shaft, a fixed bevel gear body is arranged at the rear end of the driving bevel gear, and the fixed bevel gear body is fixedly connected to the mounting base (113), a driven bevel gear is meshed between the driving bevel gear and the fixed bevel gear body, and the driven bevel gear is mounted on the left and right reducing shafts (1118).

2. A lettuce pest identification and control device according to claim 1, characterized in that: Left and right reducing inner disks (1112) are installed inside the left and right reducing outer disks (1111), three left and right nozzle bodies (1113) are arranged outside the left and right reducing outer disks (1111), left and right pagoda shafts (1114) are installed inside the left and right nozzle bodies (1113), shaft frames (1115) are fixed inside the left and right reducing outer disks (1111), left and right nozzle bearing groups (1116) are installed on the left and right pagoda shafts (1114), reducing disc inner bearings (1117) are installed between the left and right reducing outer disks (1111) and the left and right reducing inner disks (1112), left and right reducing shafts (1118) are installed in the middle of the shaft frame (1115), and the inner ends of the left and right reducing shafts (1118) are meshed with the three-cone linkage mechanism (112) through fixed bevel gears.

3. A lettuce pest identification and control device according to claim 2, characterized in that: An upper reducing inner disk (122) is installed inside the upper reducing outer disk (121), three upper nozzle bodies (123) are arranged at the lower end of the upper reducing outer disk (121), an upper pagoda shaft (124) is installed at the upper end of the upper nozzle body (123), an upper nozzle bearing (125) is installed on the upper pagoda shaft (124), a fixing frame (126) is installed on the upper reducing outer disk (121), a second motor frame (127) is arranged at the upper end of the fixing frame (126), and the second motor frame (127) is provided at the upper end of the fixing frame (126). A motor body (129) is installed in the inner plate (127), a first coupling (128) is installed on the output shaft at the lower end of the motor body (129), an upper reducer shaft (1212) is installed at the lower end of the first coupling (128), a flange (1210) is installed on the upper end surface of the upper reducer inner plate (122), a transmission shaft (1211) is installed in the flange (1210), and the left and right pagoda shafts (1114) and the upper pagoda shaft (124) are connected to the medicine storage box (13) through a water pipe.

4. The device for identifying and controlling lettuce pests and diseases according to claim 1, characterized in that: The visual module (2) is composed of a U-shaped track (21) arranged at the front end of the left and right spraying mechanisms (11), a synchronous belt transmission group (22) installed at the lower end of the U-shaped track (21), a camera group (23) installed on one side of the U-shaped track (21), and a fixing group (24) installed at the lower end of one side of the synchronous belt transmission group (22); the U-shaped track (21) includes two left and right distributed straight track groups (211), the upper ends of the straight track groups (211) are both installed with 90° circular arc tracks (212), and the two 90° circular arc tracks (212) are connected to each other, the lower end of the straight track group (211) on one side is installed with a driving pulley box (213), and the lower end of the straight track group (211) on the other side is installed with a driven pulley box (214).

5. The device for identifying and controlling lettuce pests and diseases according to claim 4, characterized in that: The driving pulley box (213) comprises a synchronous belt body (221), and the synchronous belt body (221) is arranged inside the straight track group (211), the 90° arc track (212), the driving pulley box (213) and the driven pulley box (214); the lower end of one side of the synchronous belt body (221) is meshed with a driving pulley body (222), and the driving pulley body (222) is arranged in the driving pulley box (213); the lower end of the other side of the synchronous belt body (221) is meshed with a driven pulley body (223), and the driven pulley body (223) is arranged in the driven pulley box (214); a synchronous belt buckle (224) is installed on the synchronous belt body (221), and the synchronous belt buckle (224) is located at the upper end of the driven pulley body (223); and a visual motion motor (225) is arranged at the front end of the driving pulley body (222).

6. The device for identifying and controlling lettuce pests and diseases according to claim 5, characterized in that: The camera group (23) comprises a first pulley (232) installed on one side of a synchronous belt buckle (224), and an OpenMV camera (231) is installed on one side of the first pulley (232); the fixing group (24) comprises a track fixing member group (241) arranged inside the straight track group (211), a third motor frame (242) arranged at the lower end of the driving pulley body (222), and a second coupling (243) arranged between the visual motion motor (225) and the driving pulley body (222), and the second coupling (243) is fixedly connected to the output shafts of the driving pulley body (222) and the visual motion motor (225) at the same time, and the visual motion motor (225) is installed at the front end of the third motor frame (242).

7. The device for identifying and controlling lettuce pests and diseases according to claim 4, characterized in that: The stump eradication module (3) is composed of a chain transmission group (31) arranged on one side of the rear end of a synchronous belt transmission group (22) and a lifting mechanism (32) installed on the chain transmission group (31); the chain transmission group (31) includes a driving sprocket (311), and a driving motor is installed on one side of the driving sprocket (311); a driven sprocket (312) is arranged at the lower end of the driving sprocket (311); a chain (313) is meshed on the outer sides of the driving sprocket (311) and the driven sprocket (312); a driving shaft (314) is fixedly connected to the driving sprocket (311), and a driven shaft (315) is fixedly connected to the driven sprocket (312).

8. The device for identifying and controlling lettuce pests and diseases according to claim 4, characterized in that: The lifting mechanism (32) includes a split grooved frame (327) arranged on one side of the chain (313), four-wheel pulleys (328) are installed inside the front and rear ends of the split grooved frame (327), and anti-slip plates (329) are installed outside the four-wheel pulleys (328). A slide rail group (326) is installed in the middle of the split grooved frame (327), and a slider body (324) is arranged on the slide rail group (326). A pin shaft (323) is installed on one side of the slider body (324), and the pin shaft (323) is set as a part of the chain (313). A slider connector (325) is installed on the other side of the slider body (324), a nail plate fixing beam (322) is installed on the slider connector (325), and a nail plate body (321) is fixedly connected to one side of the nail plate fixing beam (322).

9. The device for identifying and controlling lettuce pests and diseases according to claim 1, characterized in that: The frame module (4) is composed of a frame body (41) arranged outside the medicine storage box (13), a separation mechanism (42) arranged on one side of the chain transmission group (31), a recovery bin (44) arranged at the front end of the separation mechanism (42), and a wheel group (43) installed on both sides of the lower end of the frame body (41).

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