Inspection and hit integrated unmanned pest removal device under close planting and narrow ridge conditions

Abstract

The invention provides a check-and-hit integrated unmanned pest removal device under close planting and narrow ridge conditions, which comprises a mother vehicle, a son vehicle and an unmanned aerial vehicle, the mother vehicle is provided with a mother storage box, the mother vehicle is suitable for running in a channel in a field, the son vehicle is provided with a spraying assembly, the spraying assembly is communicated with the mother storage box through a first pipeline, and the son vehicle can run in two directions between ridges; the child vehicle comprises a child storage box and a chassis, the child storage box comprises a first shell and a second shell, the first shell and the second shell are symmetrically arranged along a first face, the projection of the first face on the chassis extends along the diagonal line of the chassis, and the distance between the first shell and the second shell in the extension direction of the diagonal line is gradually increased and then gradually decreased. The unmanned aerial vehicle is arranged on the sub-vehicle in a liftable mode, and a camera module is arranged on the unmanned aerial vehicle so that insect plants can be recognized. The inspection and punching integrated unmanned pest removal device under the conditions of close planting and narrow ridges has the advantages of being small and exquisite in structure, high in pest removal efficiency and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of crop pest control equipment, and in particular to an unmanned pest control device integrating detection and control under densely planted and narrow ridge conditions. Background Art

[0002] In related technologies, some greenhouses are relatively small, with very narrow spacing between plants. This small spacing between ridges makes it difficult for existing small and medium-sized greenhouse robots to enter. Alternatively, they may come into excessive contact with plants on either side during operation, causing collisions. This reduces the efficiency of the robots and disrupts the normal development of the plants, leaving no room for maneuvering. Furthermore, pest and disease detection and pesticide application cannot be performed simultaneously within the greenhouse; they must be performed first and then applied, resulting in low efficiency. Summary of the Invention

[0003] The present invention provides an integrated unmanned pest control device for densely planted and narrow ridges, which is used to solve the defect in the prior art that the ridge spacing is too small and it is difficult for greenhouse robots to enter, thereby achieving miniaturization and less damage to plants, while also improving the pest control efficiency.

[0004] The present invention provides an unmanned pest control device for densely planted plants and narrow ridges, comprising: A mother vehicle, wherein the mother vehicle is provided with a mother storage box and is suitable for traveling in a field passage; A sub-cart, wherein the sub-cart is provided with a spraying assembly, the spraying assembly is connected to the mother storage tank through a first pipe, and the sub-cart is capable of traveling in two directions between ridges; The sub-vehicle includes a sub-storage box and a chassis, the sub-storage box includes a first shell and a second shell, the first shell and the second shell are symmetrically arranged along a first plane, the projection of the first plane on the chassis extends along a diagonal line of the chassis, and the distance between the first shell and the second shell gradually increases and then gradually decreases in the extension direction of the diagonal line; A drone is mounted on the sub-vehicle in a liftable manner and is provided with a camera module for identifying pest-infested plants.

[0005] In some embodiments, the sub-vehicle is provided with a lifting and lowering platform, which is rotatably connected to the sub-storage box. The lifting and lowering platform has a folding position and a lifting and lowering position. In the folding position, the lifting and lowering platform is stacked in the sub-storage box, and the lifting and lowering platform is perpendicular to the ground. In the lifting and lowering position, the lifting and lowering platform is parallel to the ground.

[0006] In some embodiments, there are multiple sub-carts and multiple first pipelines, and the multiple sub-carts correspond one-to-one to the multiple first pipelines, and each sub-cart is connected to the mother car through the first pipeline.

[0007] In some embodiments, the spray assembly includes a support rod and a plurality of spray heads, wherein the support rod is connected to the sub-storage tank, and the plurality of spray heads are spaced apart on the support rod.

[0008] In some embodiments, in the extension direction of the diagonal line, the sub-storage box has a first end and a second end, the support rod includes a first support rod and a second support rod, the first support rod is provided with a plurality of first nozzles arranged at intervals, and the second support rod is provided with a plurality of second nozzles arranged at intervals, and the first nozzles and the second nozzles are respectively facing the two sides of the driving direction of the sub-vehicle.

[0009] In some embodiments, the sub-cart has a first end and a second end arranged opposite to each other in the width direction thereof, the first support rod is arranged at the first end of the sub-cart, the second support rod is arranged at the second end of the sub-cart, the first nozzle is arranged toward the second end of the sub-cart, and the second nozzle is arranged toward the first end of the sub-cart.

[0010] In some embodiments, the unmanned pest control device for dense planting and narrow ridge conditions also includes a controller, and the mother vehicle, the child vehicle and the drone are all electrically connected to the controller. The controller is provided with a display screen to display the image information collected by the camera module.

[0011] In some embodiments, a locking assembly is provided on the take-off and landing platform, and the locking assembly is used to lock or release the drone.

[0012] In some embodiments, the integrated unmanned pest control device for densely planted and narrow ridge conditions further includes a storage component, on which the first pipe is wound, and the storage component is capable of unfolding or retracting the first pipe.

[0013] In some embodiments, both the sub-vehicle and the mother vehicle are tracked vehicles.

[0014] In the embodiment of the present invention, the unmanned pest control device for detecting and spraying pests in densely planted narrow ridges is made of a sub-storage box made of a first shell and a second shell with an arc. The overall volume of the sub-storage box is small, so that the sub-vehicle can travel between ridges. Moreover, the surfaces of the first shell and the second shell of the sub-storage box have an arc, which makes it easier for the blades to slide over, thereby reducing damage to crops. Secondly, after the sub-vehicle reaches the end of the ridge, it can return without turning around, and even if there is no space to turn around between the ridges, it will not affect the operation of the sub-vehicle. In addition, the drone can detect the location of the next insect-infested plant while the sub-vehicle is spraying pesticides, so that finding pests and diseases and spraying pesticides can be carried out simultaneously, which is conducive to improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 It is a schematic diagram of the overall structure of the unmanned pest control device for dense planting and narrow ridge conditions provided by the present invention.

[0017] Figure 2 It is a schematic diagram of multiple sub-vehicles of the integrated unmanned pest control device for dense planting and narrow ridge conditions provided by the present invention when in operation.

[0018] Figure 3 The present invention is a schematic diagram of the working diagram of the sub-vehicle and the main vehicle of the integrated unmanned pest control device for dense planting and narrow ridge conditions provided by the present invention.

[0019] Figure 4 The diagram is a top view of the sub-vehicle of the unmanned pest control device for detecting and eliminating pests under densely planted narrow ridge conditions provided by the present invention, located between ridges.

[0020] Figure 5 The present invention is a schematic front view of a sub-vehicle of the integrated unmanned pest control device for densely planted and narrow ridges provided by the present invention between ridges.

[0021] Figure 6 The present invention provides a schematic diagram of the folding position and the take-off and landing position of the lift platform of the integrated unmanned pest control device for densely planted and narrow ridges.

[0022] Reference numerals: 100. Unmanned pest control device for densely planted and narrow ridges; 1. Mother car; 11. Mother storage box; 2. Sub-carriage; 21. Sub-storage box; 211. First housing; 212. Second housing; 22. First pipeline; 23. Lifting platform; 24. Spraying assembly; 241. Support rod; 2411. First support rod; 2412. Second support rod; 242. Spray head; 2421. First spray head; 2422. Second spray head; 25. Chassis; 3. Drone. DETAILED DESCRIPTION

[0023] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0024] like Figures 1 to 6 As shown, an embodiment of the present invention discloses an integrated unmanned pest control device 100 for densely planted and narrow ridges, comprising a mother vehicle 1, a sub-vehicle 2 and a drone 3.

[0025] The mother vehicle 1 is provided with a mother storage box 11 and the mother vehicle 1 is suitable for traveling in passages in fields.

[0026] The sub-carriage 2 is provided with a spraying assembly 24 , which is connected to the mother storage box 11 through a first pipe 22 , so that the sub-carriage 2 can travel in two directions between ridges.

[0027] The sub-vehicle 2 includes a sub-storage box 21 and a chassis 25. The sub-storage box 21 includes a first shell 211 and a second shell 212. The first shell 211 and the second shell 212 are arranged symmetrically along the first surface. The projection of the first surface on the chassis 25 extends along the diagonal of the chassis 25. In the extension direction of the diagonal, the distance between the first shell 211 and the second shell 212 first gradually increases and then gradually decreases.

[0028] The drone 3 is mounted on the vehicle 2 in a liftable manner. The drone 3 is provided with a camera module for identifying pest-infested plants.

[0029] For example, the mother vehicle 1 is provided with a mother storage tank 11 for storing liquid medicine, and the mother vehicle 1 can travel in an artificial channel in a field.

[0030] Each sub-vehicle 2 is equipped with a spraying assembly 24, which is connected to the mother storage tank 11 on the mother vehicle 1 through their respective corresponding first pipes 22, so that the medicine in the mother storage tank 11 can flow to the spraying assembly 24 through the first pipe 22, and then be sprayed into the field.

[0031] The sub-cart 2 is designed to be suitable for traveling between ridges and can travel in both directions in a narrow space, that is, both ends of the sub-cart 2 can be used as the front of the vehicle. When the sub-cart 2 reaches the end of the ridge, it can return without turning around, thereby increasing the flexibility and work efficiency of the sub-cart 2.

[0032] The sub-cart 2 is equipped with a sub-storage box 21, which consists of two curved first and second shells 211 and 212. The sub-storage box 21 has a blade-like cross-section, narrow at the ends and wide in the middle. The chassis 25 is generally rectangular, and the sub-storage boxes 21 are arranged along the diagonals of the chassis 25. The cross-section of the sub-storage box 21 is symmetrical. The first surface is a plane perpendicular to the surface of the chassis 25 and passing through the diagonal of the chassis 25. The first and second shells 211 and 212 are arranged symmetrically about the first surface. As the spacing between plants in greenhouses is typically very narrow, the structure of the sub-storage box 21 effectively reduces the area of ​​the sub-cart 2, allowing it to pass smoothly under densely planted, narrow ridges. The curved surfaces of the first and second shells 211 and 212 facilitate the sliding of blades, minimizing damage to crops. The sub-storage boxes 21 are arranged along the diagonals of the chassis 25 to prevent tipping.

[0033] Moreover, the shape of the sub-storage box 21 can facilitate the passage of airflow, reducing the impact of airflow on the sub-vehicle 2, so that it can also be used in windy weather.

[0034] In addition, a drone 3 is provided on the sub-vehicle 2. The drone 3 is equipped with a camera module and can identify plants affected by insect pests, thereby achieving precise pesticide application.

[0035] When the unmanned pest control device 100 is working under dense planting and narrow ridge conditions, first, in the operation preparation stage, the mother vehicle 1 is parked on the artificial passage of the greenhouse, it does not enter the ridges, and the mother storage box 11 stores liquid medicine.

[0036] Next, drone 3 takes off. While in flight, it uses its camera module to capture images of the crops and locate the plants. It then transmits the images and location information back to the controller. When the operator identifies an infested plant, it controls sub-carriage 2 to move to the furrow where the plant is located. As sub-carriage 2 moves, drone 3 continues its inspection, controlling sub-carriage 2 to move to the next infested plant.

[0037] In related technologies, some greenhouses are relatively small, with very narrow spacing between plants. This small spacing between ridges makes it difficult for existing small and medium-sized greenhouse robots to enter. Alternatively, they may come into excessive contact with plants on either side during operation, causing collisions. This reduces the efficiency of the robots and disrupts the normal development of the plants, leaving no room for maneuvering. Furthermore, pest and disease detection and pesticide application cannot be performed simultaneously within the greenhouse; they must be performed first and then applied, resulting in low efficiency.

[0038] In the embodiment of the present invention, the unmanned pest control device 100 for detecting and pest control under densely planted narrow ridge conditions, the sub-storage box 21 is made of a first shell 211 and a second shell 212 with an arc, and the overall volume of the sub-storage box 21 is relatively small, so that the sub-carriage 2 can travel between ridges. Moreover, the surfaces of the first shell 211 and the second shell 212 of the sub-storage box 21 have an arc, which makes it easier for the blades to slide over, thereby reducing damage to crops. Secondly, after the sub-carriage 2 reaches the end of the ridge, it can return without turning around, and even if there is no space to turn around between the ridges, it does not affect the operation of the sub-carriage 2. In addition, the drone 3 can detect the location of the next insect-infested plant while the sub-carriage 2 is spraying pesticides, so that finding pests and diseases and spraying pesticides can be carried out simultaneously, which is conducive to improving work efficiency.

[0039] The unmanned pest control device 100 for detecting and striking pests in densely planted and narrow ridge conditions according to an embodiment of the present invention not only improves the efficiency of plant pest control but also reduces labor costs by integrating the medicine supply function of the mother vehicle 1, the execution capability of the sub-vehicle 2, and the reconnaissance function of the drone 3. It is particularly suitable for greenhouse environments under densely planted and narrow ridge conditions.

[0040] In some embodiments, a lifting and lowering platform 23 is provided on the sub-vehicle 2, and the lifting and lowering platform 23 is rotatably connected to the sub-storage box 21. The lifting and lowering platform 23 has a folding position and a lifting and lowering position. In the folding position, the lifting and lowering platform 23 is stacked in the sub-storage box 21, and the lifting and lowering platform 23 is perpendicular to the ground. In the lifting and lowering position, the lifting and lowering platform 23 is parallel to the ground.

[0041] For example, Figure 1 and Figure 6 As shown, the landing platform 23 is rotatably connected to the sub-storage box 21, for example, by a hinge. Thus, the landing platform 23 can be folded and stored in the sub-storage box 21 when not in use. At this time, the landing platform 23 remains perpendicular to the ground and is positioned close to the inner wall of the sub-storage box 21, thereby protecting the drone 3 and other items from external factors. When the drone 3 needs to take off, the take-off and landing platform 23 can be adjusted to a take-off and landing position parallel to the ground, thereby providing a stable and spacious take-off and landing area for the drone 3, ensuring that the drone 3 can take off and land safely and efficiently.

[0042] In some embodiments, there are multiple sub-carts 2 and multiple first pipes 22 , and the multiple sub-carts 2 correspond one-to-one to the multiple first pipes 22 , and each sub-cart 2 is connected to the mother car 1 through the first pipe 22 .

[0043] For example, in a large-scale greenhouse or field environment, multiple sub-vehicles 2 can enter different ridges to perform precise spraying tasks, and each sub-vehicle 2 is connected to the mother vehicle 1 located on the field channel through its corresponding first pipe 22, ensuring a continuous and stable supply of medicine and avoiding the problem of operation interruption caused by insufficient medicine. In addition, such a configuration also makes it convenient for operators to dynamically adjust work deployment according to actual needs, such as increasing the number of sub-vehicles 2 or adjusting the working path of sub-vehicle 2 in areas with serious pests and diseases. The integrated unmanned pest control device 100 for dense planting and narrow ridge conditions realizes the effective allocation and utilization of resources through this modular design, which not only meets the needs of farmland of different sizes, but also embodies a high degree of adaptability and practicality.

[0044] In some embodiments, the spray assembly 24 includes a support rod 241 and a plurality of spray heads 242 . The support rod 241 is connected to the sub-storage tank 21 , and the plurality of spray heads 242 are spaced apart on the support rod 241 .

[0045] For example, Figure 4 and Figure 5 As shown, multiple nozzles 242 are evenly spaced apart along the support rod 241. This layout not only ensures the uniformity of the pesticide spraying, but also can adjust the angle and spacing of the nozzles 242 according to actual needs to adapt to the requirements of different crop heights and densities, so that both low vegetables and taller fruit trees can obtain an ideal coverage effect. Through such a design, the spraying assembly 24 can minimize omissions and repeated spraying when performing tasks, thereby improving the efficiency and accuracy of pesticide application.

[0046] In some embodiments, in the diagonal extension direction, the sub-storage box 21 has a first end and a second end, the support rod 241 includes a first support rod 2411 and a second support rod 2412, the first support rod 2411 is provided with a plurality of first nozzles 2421 arranged at intervals, and the second support rod 2412 is provided with a plurality of second nozzles 2422 arranged at intervals, and the first nozzles 2421 and the second nozzles 2422 are respectively facing the two sides of the driving direction of the sub-vehicle 2.

[0047] For example, Figure 4 and Figure 5As shown, the first support rod 2411 and the second support rod 2412 are respectively arranged at the two ends of the sub-storage box 21, wherein the first support rod 2411 is provided with a plurality of first nozzles 2421 arranged at intervals, and these nozzles 242 are evenly distributed along the support rod 241, and can provide accurate and uniform spraying of the medicine to one side of the driving direction of the sub-vehicle 2; similarly, the second support rod 2412 is also provided with a plurality of second nozzles 2422 arranged at intervals, and the second nozzles 2422 are opposite to the first nozzles 2421 and are responsible for spraying the crops on the other side. Through this double-sided design, the first nozzles 2421 and the second nozzles The heads 2422 process the crops on both sides of the sub-carriage 2 respectively, which not only achieves a full coverage spraying effect, but also reduces the possibility of omissions and repeated spraying. Whether in narrow ridges or wider planting areas, such a layout can ensure that the pesticide can effectively contact each crop, thereby improving the efficiency and accuracy of pesticide application. At the same time, the two groups of nozzles 242 can work independently and can adjust the spraying parameters of each side according to actual needs, further enhancing the flexibility and adaptability of the equipment, so that the unmanned pest control device 100 for detecting and striking the entire densely planted narrow ridge conditions can operate efficiently in different agricultural environments.

[0048] In some embodiments, the sub-carriage 2 has a first end and a second end arranged relatively to each other in the width direction thereof, the first support rod 2411 is arranged at the first end of the sub-carriage 2, the second support rod 2412 is arranged at the second end of the sub-carriage 2, the first nozzle 2421 is arranged toward the second end of the sub-carriage 2, and the second nozzle 2422 is arranged toward the first end of the sub-carriage 2.

[0049] For example, Figure 5 As shown, the width direction of the sub-vehicle 2 is perpendicular to the driving direction of the sub-vehicle 2. For the convenience of description, Figure 5 The left and right directions in the figure are regarded as the width directions of the vehicle 2.

[0050] The first end of sub-carriage 2 is the left end of sub-carriage 2, and the second end of sub-carriage 2 is the right end of sub-carriage 2. The first support rod 2411 is located at the left end of sub-carriage 2, and the second support rod 2412 is located at the right end of sub-carriage 2. Because the first support rod 2411 is closer to the plants on the left, the spray stroke is too short when spraying the solution, resulting in a small coverage area. Therefore, the first nozzle 2421 on the first support rod 2411 is oriented to spray the solution to the right, thereby increasing the spray stroke and thereby increasing the coverage area. Similarly, the second nozzle 2422 on the second support rod 2412 is oriented to spray the solution to the left. This increases the spray area of ​​sub-carriage 2 and improves the pest control effect.

[0051] In some embodiments, the unmanned pest control device 100 for densely planted and narrow ridges also includes a controller, and the mother vehicle 1, the child vehicle 2 and the drone 3 are all electrically connected to the controller. The controller is provided with a display screen to display the image information collected by the camera module.

[0052] The controller realizes centralized control of the mother vehicle 1, the sub-vehicle 2 and the drone 3, wherein the mother vehicle 1, the sub-vehicle 2 and the drone 3 are all connected to the controller through electrical connections, ensuring the immediacy and accuracy of data transmission, making the entire operation process more coordinated and efficient; the controller is equipped with a display screen, which can display the image information collected by the camera module carried by the drone 3 in real time, which provides intuitive visual feedback for the operators, so that they can timely understand the health status of crops and environmental conditions and make corresponding decisions accordingly. For example, when the drone 3 finds that there are pest and disease problems in a certain area during an aerial inspection, the operator can observe the specific location and affected range through the display screen, and then accurately guide the sub-vehicle 2 to go to the location for targeted treatment. This design not only greatly improves the accuracy and efficiency of the operation, but also reduces the need for manual inspection and reduces labor costs, thereby improving the intelligence level of the integrated unmanned pest control device 100 under dense planting and narrow ridge conditions.

[0053] In some embodiments, a locking component is provided on the take-off and landing platform 23 , and the locking component is used to lock or release the drone 3 .

[0054] For example, a locking component is provided on the take-off and landing platform 23, which can firmly lock the drone 3 on the take-off and landing platform 23 when it is not in use, preventing the drone 3 from slipping or being damaged due to factors such as accidental collisions or strong winds. When it is necessary to perform a mission, the locking component can quickly release the drone 3 so that it can take off smoothly. Similarly, after completing the mission, when the drone 3 returns to the take-off and landing platform 23, the locking component can play a role again, fixing the drone 3 and ensuring its stable docking, thus preparing for the next take-off. This design not only improves the safety and reliability of operation, but also simplifies the deployment and recovery process of the drone 3, allowing the entire system to operate efficiently even in complex and changeable outdoor environments. By integrating the locking component, the take-off and landing platform 23 can not only protect the expensive drone 3 equipment from damage, but also enhance the automation level of the integrated unmanned pest control device 100 under dense planting and narrow ridge conditions, reduce the need for manual intervention, and further improve operational efficiency and flexibility.

[0055] In some embodiments, the integrated unmanned pest control device 100 for densely planted and narrow ridges further includes a storage assembly, on which the first pipe 22 is wound, and the storage assembly can unfold or retract the first pipe 22 .

[0056] The storage assembly is used to manage and organize the first pipe 22 so that the first pipe 22 can be wound on the storage assembly. This design helps to keep the work site clean and tidy and prevent operational inconvenience or potential safety hazards caused by pipe interlacing or entanglement.

[0057] Optionally, the storage assembly is installed on the sub-trolley 2, ensuring that no matter how the sub-trolley 2 moves between ridges, the first pipe 22 can be smoothly deployed or retracted.

[0058] For example, when the sub-trolley 2 needs to move away from the mother vehicle 1 and enter the ridge to perform operations, as the distance increases, the first pipe 22 will be automatically released from the storage component. When the operation is completed, the sub-trolley 2 returns to a position close to the mother vehicle 1, the storage component can effectively rewind the first pipe 22. This mechanism not only simplifies the operating process, but also improves the flexibility and adaptability of the system, allowing the entire equipment to operate efficiently in field environments of different sizes and shapes. By integrating the storage component, the overall coordination and practicality of the system are further enhanced, and intelligent agricultural management is achieved.

[0059] In some embodiments, both the sub-vehicle 2 and the mother vehicle 1 are tracked vehicles, thereby enabling the sub-vehicle 2 and the mother vehicle 1 to travel stably on various complex terrains, whether it is soft land, muddy ground or other difficult-to-pass areas, the tracked design can provide better traction and stability, reduce damage to the soil structure, and help protect the farmland environment. In addition, the tracked design also helps to disperse the weight of the vehicle, reduce the pressure on the ground, further reduce the compaction effect on the cultivated layer, and help maintain the soil's air permeability and moisture retention capacity, thereby promoting the healthy growth of crops.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An unmanned pest control device for densely planted and narrow ridges, characterized in that: include: A mother vehicle, wherein the mother vehicle is provided with a mother storage box, and the mother vehicle is suitable for traveling in a passage in a field; A sub-cart, wherein the sub-cart is provided with a spraying assembly, the spraying assembly is connected to the mother storage tank through a first pipeline, and the sub-cart can travel in two directions between ridges; The sub-carriage comprises a sub-storage box and a chassis, the sub-storage box comprises a first shell and a second shell, the first shell and the second shell are symmetrically arranged along a first plane, the projection of the first plane on the chassis extends along a diagonal line of the chassis, and the distance between the first shell and the second shell gradually increases and then gradually decreases in the extension direction of the diagonal line; A drone is mounted on the sub-vehicle in a liftable manner and is provided with a camera module for identifying pest-infested plants.

2. The unmanned pest control device for densely planted narrow ridges according to claim 1, characterized in that: The sub-trolley is provided with a lifting and lowering platform, which is rotatably connected to the sub-storage box. The lifting and lowering platform has a folding position and a lifting and lowering position. In the folding position, the lifting and lowering platform is stacked in the sub-storage box and the lifting and lowering platform is perpendicular to the ground. In the lifting and lowering position, the lifting and lowering platform is parallel to the ground.

3. The unmanned pest control device for densely planted and narrow ridges according to claim 2, characterized in that: There are multiple sub-carts and multiple first pipelines, and the multiple sub-carts correspond to the multiple first pipelines one by one, and each of the sub-carts is connected to the mother car through the first pipeline.

4. The unmanned pest control device for densely planted narrow ridges according to any one of claims 1 to 3, characterized in that: The spray assembly comprises a support rod and a plurality of spray heads, wherein the support rod is connected to the sub-storage box, and the plurality of spray heads are arranged on the support rod at intervals.

5. The unmanned pest control device for densely planted and narrow ridges according to claim 4, characterized in that: In the extension direction of the diagonal line, the sub-storage box has a first end and a second end, the support rod includes a first support rod and a second support rod, the first support rod is provided with a plurality of first nozzles arranged at intervals, and the second support rod is provided with a plurality of second nozzles arranged at intervals, and the first nozzles and the second nozzles are respectively facing the two sides of the driving direction of the sub-vehicle.

6. The unmanned pest control device for densely planted and narrow ridges according to claim 5, characterized in that: The sub-cart has a first end and a second end arranged opposite to each other in its width direction, the first support rod is arranged at the first end of the sub-cart, the second support rod is arranged at the second end of the sub-cart, the first nozzle is arranged toward the second end of the sub-cart, and the second nozzle is arranged toward the first end of the sub-cart.

7. The unmanned pest control device for densely planted and narrow ridges according to claim 1, characterized in that: It also includes a controller, and the mother vehicle, the child vehicle and the drone are all electrically connected to the controller. The controller is provided with a display screen to display the image information collected by the camera module.

8. The unmanned pest control device for densely planted and narrow ridges according to claim 2, characterized in that: The take-off and landing platform is provided with a locking component, and the locking component is used to lock or release the UAV.

9. The unmanned pest control device for densely planted and narrow ridges according to claim 1, characterized in that: It also includes a storage assembly, on which the first pipe is wound, and the storage assembly can unfold or retract the first pipe.

10. The unmanned pest control device for densely planted and narrow ridges according to claim 1, characterized in that: The sub-vehicle and the mother vehicle are both tracked vehicles.

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