Modularized solenopsis invicta prevention and control robot and prevention and control method thereof

Abstract

The invention discloses a modularized solenopsis invicta prevention and control robot and a prevention and control method thereof.The modularized solenopsis invicta prevention and control robot comprises a moving unit, a chemical killing unit, a physical killing unit, a recognition positioning unit, a detection obstacle avoidance unit and a control unit, the recognition positioning unit comprises a camera and an ultrasonic sensor, and a first support is fixed to the top end of the moving unit; a camera is fixed at the top end of the first bracket; an ultrasonic sensor is fixed at the front end of the moving unit; the detection and obstacle avoidance unit comprises a detection and obstacle avoidance module and an ultrasonic detector, the detection and obstacle avoidance module is fixed at the bottom end of the mobile unit, the ultrasonic detector is fixed at the front end of the mobile unit and electrically connected with the detection and obstacle avoidance module, and the ultrasonic sensor is electrically connected with the ultrasonic detector; the camera and the ultrasonic sensor are used for detecting the front environment in real time, intelligently judging and avoiding obstacles and moving to the designated position, different killing modes are selected according to different solenopsis invicta nests, and efficient and accurate killing is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of pest control, and particularly to a modular red imported fire ant control robot and its control method. Background Art

[0002] As a highly invasive alien species, the red imported fire ant has caused serious ecological and agricultural threats in many provinces and regions of our country; traditional methods for controlling red imported fire ants, such as physical, chemical, and biological methods, although effective in some cases, generally suffer from low efficiency, high cost, and environmental unfriendliness. Physical control measures usually require a large amount of manpower and time, while chemical control may lead to environmental pollution and toxicity risks to non-target organisms, and it is difficult to achieve precise and sustainable control effects in large-scale applications.

[0003] Current control technologies lack an intelligent solution that can operate efficiently in complex field environments. Especially in cases where long-term operation is required and the use of chemical agents is reduced, existing technologies often struggle to maintain high efficiency and environmental friendliness in large-scale red imported fire ant control tasks.

[0004] Therefore, it is particularly important to develop an intelligent, low-power and environmentally adaptable control system. Such a system not only needs to have high precision in identifying and locating red imported fire ant nests, but also needs to achieve breakthroughs in control efficiency and environmental friendliness to meet the needs of modern agriculture and ecological protection. Summary of the Invention

[0005] The purpose of the present invention is to provide a modular red imported fire ant control robot and its control method, aiming to improve control efficiency, reduce the use of chemical agents, and have good adaptability and low power consumption in complex field environments, and be able to support long-term large-scale red imported fire ant control tasks in vast farmland environments.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A modular red imported fire ant control robot includes:

[0008] A mobile unit;

[0009] A chemical disinfection unit, the chemical disinfection unit includes a separable liquid storage tank, a micro electric pump, a feeding pipe assembly, a fresh water spray head assembly, and a pesticide spray head. The separable liquid storage tank and the micro electric pump are fixed on the top of the mobile unit. The micro electric pump is communicated with the separable liquid storage tank. One end of the feeding pipe assembly is communicated with the separable liquid storage tank, and the other end of the feeding pipe assembly is fixedly connected with the fresh water spray head assembly and the pesticide spray head;

[0010] Physical disinfection unit, the physical disinfection unit includes a fuel tank, a telescopic pipeline assembly and a flame nozzle. The fuel tank is fixed at the top of the mobile unit. One end of the telescopic pipeline assembly is connected to the fuel tank, and the other end is provided with the flame nozzle. The top of the telescopic pipeline assembly is fixedly connected to the bottom end of the material conveying pipe assembly;

[0011] Identification and positioning unit, the identification and positioning unit includes a camera and a fourth ultrasonic sensor. A first bracket is fixed at the top of the mobile unit, the camera is fixed at the top of the first bracket, and the fourth ultrasonic sensor is fixed at the front end of the first bracket;

[0012] Detection and obstacle avoidance unit, the detection and obstacle avoidance unit includes a detection and obstacle avoidance module and an ultrasonic detector. The detection and obstacle avoidance module is fixed at the bottom end of the mobile unit, the ultrasonic detector is fixed at the front end of the mobile unit, and the ultrasonic detector is electrically connected to the detection and obstacle avoidance module;

[0013] Control unit, the control unit is electrically connected to the camera, ultrasonic detector, telescopic pipeline assembly, switch system, pesticide nozzle, fresh water nozzle assembly, flame nozzle, mobile unit and micro electric pump.

[0014] Further, the control unit includes a Windows terminal and a control center, a Raspberry Pi, a control board, a switch system and a hard disk installed on the mobile unit. The Windows terminal is electrically connected to the control center and the Raspberry Pi. The control center is electrically connected to the Raspberry Pi, the control board and the hard disk. The Raspberry Pi is electrically connected to the hard disk. The Raspberry Pi is electrically connected to the camera, ultrasonic sensor and ultrasonic detector; the control board is electrically connected to the hard disk, telescopic pipeline assembly and switch system, and the switch system is electrically connected to the pesticide nozzle, fresh water nozzle assembly, flame nozzle, mobile unit and micro electric pump.

[0015] Further, the mobile unit includes a vehicle body, a brake disc, a differential and wheels. The two wheels are arranged at the front sides of both sides of the vehicle body and are connected by a steering shaft. The brake disc is fixed at the bottom end of the vehicle body and abuts against the top end of the front drive axle. The two wheels are arranged at the rear sides of both sides of the vehicle body and are connected by two half shafts. A differential is arranged between the two half shafts. The differential is fixed at the bottom end of the vehicle body. The first bracket, the split liquid storage tank and the fuel tank are successively fixed at the top of the vehicle body. The ultrasonic sensor and the ultrasonic detector are successively fixed at the front end of the vehicle body. The detection and obstacle avoidance module is fixed at the bottom end of the vehicle body. The Windows terminal, control center, Raspberry Pi, control board, switch system and hard disk are all fixed on the vehicle body. The control center is electrically connected to the brake disc and the differential.

[0016] Further, it further includes a bumper for protecting the vehicle body, and the bumper is fixed to the front end of the vehicle body.

[0017] Further, the telescopic pipe assembly includes a fixed pipe, a telescopic pipe, a hose, and a rotating tripod. One end of the fixed pipe is fixedly connected to the outer wall of the fuel tank, and the other end is fixedly connected to the rotating tripod. The top end of the fixed pipe is fixedly connected to the bottom end of the material conveying pipe assembly. One end of the telescopic pipe is fixedly connected to the rotating tripod, and the other end is provided with the flame nozzle. The hose is arranged inside the fixed pipe and the telescopic pipe. One end of the hose is communicated with the fuel tank, and the other end is connected to the flame nozzle.

[0018] Further, the telescopic pipe includes multiple pipe bodies, and adjacent pipe bodies are connected by a buckle mechanism, and the buckle mechanism is electrically connected to the control board.

[0019] Further, the fresh water sprinkler assembly includes a water column sprinkler and a fog sprinkler. The water column sprinkler and the fog sprinkler are fixedly connected to the other end of the material conveying pipe assembly. Solenoid valves are arranged inside both the water column sprinkler and the fog sprinkler, and the Raspberry Pi is electrically connected to the solenoid valves.

[0020] Further, a coupler is fixed to the bottom end of the vehicle body, and one end of the coupler is fixedly connected to one end of the differential.

[0021] Further, a plurality of through holes for fixing the camera are formed in the first bracket, and the camera is fixed to the first bracket through bolts and nuts passing through the through holes.

[0022] Further, a battery for power supply is also fixed to the vehicle body.

[0023] A prevention and control method for a modular red imported fire ant prevention and control robot is also disclosed, including

[0024] S1: Set the patrol path of the red imported fire ant prevention and control robot;

[0025] S2: During the patrol, monitor in real time through the camera and send the image data to the Windows side through the Raspberry Pi;

[0026] S3: Perform real-time nest identification and positioning on the Windows side;

[0027] S4: When a red imported fire ant nest is detected, the Windows side generates a control command and transmits it to the robot control center through the network;

[0028] S5: After the control center receives the command, it uses the ultrasonic sensor to process the data it obtains through the control board and sends it to the Windows side through the Raspberry Pi system for further precise positioning, and generates a control command to make the robot move to the specified position;

[0029] S6: Perform chemical disinfection and physical disinfection at the specified position;

[0030] S7: After the disinfection task is completed, the robot automatically returns to the patrol path and continues to work, forming a cycle.

[0031] The present invention discloses the following technical effects: The present invention discloses a modular red fire ant prevention and control robot and its prevention and control method. The present invention integrates a high-definition camera, an intelligent disinfection device, a control board, and an all-terrain mobile platform to form a set of efficient and environmentally friendly intelligent prevention and control systems; among them, the modular red fire ant robot uses the camera to capture image data of the operation area, judge whether there is an ant nest, and perform positioning, uses the ultrasonic sensor to detect the front environment in real time, intelligently judges and avoids obstacles, moves to the specified position, realizes high-precision fixed-point disinfection, selects different disinfection modes for different red fire ant nests, realizes efficient and precise disinfection, has high professionalism and effectiveness, can also be used in other pest control fields, and has a wide range of applications; compared with traditional prevention and control methods, this robot improves the disinfection efficiency, combines physical disinfection and chemical disinfection, effectively reduces the use of chemical agents, meets the needs of modern agriculture and ecological protection, reduces the environmental damage, has high environmental protection performance and low energy consumption; through its flexible hardware configuration, the robot can operate in vast farmlands for a long time, especially suitable for large-scale operations in complex outdoor environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the following described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0033] Figure 1 : Side view of a modular red fire ant prevention and control robot of the present invention;

[0034] Figure 2 : Front view of a modular red fire ant prevention and control robot of the present invention;

[0035] Figure 3 : Bottom view of a modular red fire ant prevention and control robot of the present invention;

[0036] Figure 4 : Rear view of a modular red fire ant prevention and control robot of the present invention;

[0037] Figure 5 : Flow chart of the prevention and control method of a modular red imported fire ant prevention and control robot of the present invention;

[0038] Figure 6 : Schematic diagram of the data transmission relationship of the control unit of a modular red imported fire ant prevention and control robot of the present invention;

[0039] Figure 7 : Schematic diagram of the chemical and physical disinfection structures of a modular red imported fire ant prevention and control robot of the present invention;

[0040] Figure 8 : Schematic diagram of the rotating tripod structure of a modular red imported fire ant prevention and control robot of the present invention;

[0041] Specifically, 1. Detachable liquid storage tank; 11. Chemical liquid tank; 12. Fresh water tank; 2. Micro electric pump; 3. Fuel tank; 4. Support for the feeding pipe assembly; 5. Feeding pipe assembly; 51. First feeding pipe; 52. Second feeding pipe; 53. First ultrasonic sensor; 54. Second ultrasonic sensor; 6. Telescopic pipe assembly; 61. Fixed pipe; 62. Telescopic pipe; 63. Hose; 64. Third ultrasonic sensor; 7. Rotating tripod; 71. First outer cylindrical damping rotating shaft; 72. Second outer cylindrical damping rotating shaft; 73. First inner cylindrical damping rotating shaft; 74. Second inner cylindrical damping rotating shaft; 75. Ball bearing; 751. Connecting rod; 752. Ball head; 753. Support; 76. Connecting shaft; 77. Connecting block; 8. Pesticide spray head; 9. Fresh water spray head assembly; 10. Flame outlet; 11. Camera; 12. Data line 1; 13. First support; 14. Fourth ultrasonic sensor; 15. Data line 2; 16. Ultrasonic detector; 17. Anti-collision bar; 18. Support plate 1; 19. Second support; 20. Support plate 2; 21. Control board; 22. Third support; 23. Raspberry Pi; 24. Hard disk; 25. Switch system; 26. Bearing; 27. Coupler; 28. Fourth support; 29. Control center; 30. Battery; 31. Protection plate; 32. Wheel; 33. Brake disc; 34. Detection and obstacle avoidance module; 35. Partition; 36. Differential. Detailed implementation manners

[0042] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0043] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the drawings and specific implementation manners.

[0044] The specific embodiments are as follows:

[0045] As Figures 1 to 8 shown;

[0046] The present invention discloses a modular fire ant prevention and control robot, including a mobile unit, a chemical disinfection unit, a physical disinfection unit, an identification and positioning unit, a detection and obstacle avoidance unit, and a control unit;

[0047] The chemical disinfection unit includes a separable liquid storage tank 1, a micro electric pump 2, a feeding pipe assembly 5, a fresh water nozzle assembly 9, and a pesticide nozzle 8. The separable liquid storage tank 1 and the micro electric pump 2 are fixed on the top of the mobile unit. The micro electric pump 2 is communicated with the separable liquid storage tank 1. One end of the feeding pipe assembly 5 is communicated with the separable liquid storage tank 1, and the other end of the feeding pipe assembly 5 is fixedly connected with the fresh water nozzle assembly 9 and the pesticide nozzle 8;

[0048] The physical disinfection unit includes a fuel tank 3, a telescopic pipe assembly 6, and a flame outlet 10. The fuel tank 3 is fixed on the top of the mobile unit. One end of the telescopic pipe assembly 6 is communicated with the fuel tank 3, and the other end is provided with the flame outlet 10. The top of the telescopic pipe assembly 6 is fixedly connected with the bottom end of the feeding pipe assembly 5;

[0049] The identification and positioning unit includes a camera 11 and a fourth ultrasonic sensor 14. A first bracket 13 is fixed on the top of the mobile unit. The camera 11 is fixed on the top of the first bracket 13, and the fourth ultrasonic sensor 14 is fixed at the front end of the first bracket 13;

[0050] The detection and obstacle avoidance unit includes a detection and obstacle avoidance module 34 and an ultrasonic detector 16. The detection and obstacle avoidance module 34 is fixed at the bottom end of the mobile unit, and the ultrasonic detector 16 is fixed at the front end of the mobile unit. The ultrasonic detector 16 is electrically connected with the detection and obstacle avoidance module 34;

[0051] The control unit includes a Windows terminal, and a control center 29, a Raspberry Pi 23, a control board 21, a switch system 25, and a hard disk 24 installed on the mobile unit. The Windows terminal is electrically connected with the control center 29 and the Raspberry Pi 23. The control center 29 is electrically connected with the Raspberry Pi 23, the control board 21, and the hard disk 24. The Raspberry Pi 23 is electrically connected with the hard disk 24. The Raspberry Pi 23 is electrically connected with the camera, the ultrasonic sensor, and the ultrasonic detector; The control board 21 is electrically connected with the hard disk 24, the telescopic pipe assembly, and the switch system 25. The switch system 25 is electrically connected with the pesticide nozzle 8, the fresh water nozzle assembly 9, the flame outlet 10, the mobile unit, and the micro electric pump 2.

[0052] In this embodiment, the Windows terminal establishes network communication with the control center 29 through the TCP / IP protocol for instruction transmission and data interaction; the control center 29 is respectively connected to the Raspberry Pi 23 and the control board 21 via the serial communication protocol. Among them, the Raspberry Pi 23 is directly connected to the hard disk 24 through pins, and the hard disk 24 is used to store images and sensor data. The Raspberry Pi 23 obtains real-time information of the ultrasonic sensor and the infrared temperature sensor through the SPI interface; the control board 21 controls the switch system 25 to drive the micro electric pump 2 to start and stop through a relay, and outputs a PWM signal to control the solenoid valves inside the pesticide nozzle 8 and the fresh water nozzle assembly 9 through the switch system 25, thereby switching the working mode of the nozzles; the mobile unit is connected to the control center 29 through pins, and the mobile unit receives the motion instructions transmitted by the CAN bus; the switch system 25 is electrically connected to the control center 29 through pins.

[0053] In this embodiment, the material conveying pipe assembly 5 includes a first material conveying pipe 51 and a second material conveying pipe 52, and the separable liquid storage tank 1 includes a liquid medicine tank 11 and a fresh water tank 12; one end of the first material conveying pipe 51 is communicated with one end of the fresh water tank 12, and the other end is provided with a fresh water nozzle assembly 9. One end of the second material conveying pipe 52 is communicated with one end of the liquid medicine tank 11, and the other end is provided with a pesticide nozzle 8; a first ultrasonic sensor 53 is fixed at one end of the first material conveying pipe 51 close to the fresh water nozzle assembly 9, and a second ultrasonic sensor 54 is fixed at one end of the second material conveying pipe 52 close to the fresh water nozzle 8.

[0054] The present invention has two disinfection modes: chemical disinfection and physical disinfection. When needed, the micro electric pump 2 can be used to spray through the first material conveying pipe 51 and the second material conveying pipe 52 by the fresh water nozzle assembly 9 or the pesticide nozzle 8 in two different spraying modes; in specific use, the fresh water nozzle assembly 9 can be used for the preliminary wetting treatment of the red imported fire ant nest, and then the pesticide nozzle 8 can be used to spray pesticides specifically, which can effectively kill the red imported fire ants in the nest; the fuel tank 3, the telescopic pipe assembly 6 and the flame outlet 10 of the physical disinfection unit can burn the ant nest at high temperature, and can quickly eliminate the red imported fire ants on the surface and in the shallow layer of the ant nest, cooperating with the chemical disinfection, and striking the red imported fire ants from different angles to improve the prevention and control effect;

[0055] The present invention is provided with a camera 11 capable of acquiring image information of the surrounding environment. Through image recognition technology, features such as the location of the red imported fire ant nest and the scale of the ant colony can be accurately identified. The fourth ultrasonic sensor 14 can measure the distance between the robot and the target object (such as an ant nest, sundries, a stone pile), providing distance information for the precise disinfection of the robot. Specifically, in a complex terrain environment, the camera 11 identifies an object suspected to be an ant nest, and the fourth ultrasonic sensor 14 quickly measures the distance to help the robot accurately drive towards the target for disinfection operations. At the same time, the ultrasonic detector 16 is installed at the front end of the mobile unit, which can detect the distance and position information of the obstacles ahead in real time and transmit the signal to the detection and obstacle avoidance module 34. When an obstacle is detected, the detection and obstacle avoidance module 34 feeds back to the control center 29 through the control board 21, and the control center 29 timely adjusts the movement direction of the mobile unit to avoid the robot colliding with obstacles, ensuring safe and stable driving in complex terrains such as areas with more grass and stones and successfully completing the red imported fire ant prevention and control task.

[0056] In the present invention, each prevention and control unit adopts a modular design. When a certain unit fails, it is convenient to repair or replace it individually without large-scale disassembly of the entire robot, enabling flexible replacement and upgrade of each hardware component of the system. This not only makes the maintenance and upgrade of the system more convenient but also provides sufficient support for future function expansion. Specifically, if the spout 10 of the physical disinfection unit is blocked, the spout 10 or the telescopic pipe assembly 6 can be directly disassembled and repaired without affecting the normal operation of other units.

[0057] At the same time, the modular design is also conducive to future upgrading of each unit according to actual needs or adding new prevention and control modules. The Windows terminal of the control unit, the control center 29, the Raspberry Pi 23, the control board 21, as well as the switch system 25 and the hard disk 24 work together. Among them, the Windows terminal can be input with instructions by the operator, such as setting the disinfection area, selecting the disinfection mode, etc. The Raspberry Pi 23 analyzes and processes the image data collected by the camera 11. The control center 29 coordinates and controls the work of the mobile unit, the chemical disinfection unit, and the physical disinfection unit according to various information, including data from the detection and obstacle avoidance module 34, the identification and positioning unit, etc. The hard disk 24 can store relevant data during the operation of the robot, such as the location, time, and ant nest situation of each disinfection, facilitating subsequent analysis and summary of the red imported fire ant prevention and control work and optimizing the prevention and control strategy.

[0058] In this embodiment, the camera 11 is a high-resolution camera 11 that captures image data of the operation area in real time. The camera 11 is selected based on its high sensitivity and anti-interference ability to ensure clear images can be obtained under different environmental lighting conditions.

[0059] The image recognition and positioning program of the present invention is written in Python, performs image processing based on the OpenCV library, combines with the YOLOv11 target detection algorithm, and continuously optimizes the recognition performance by continuously iteratively training the model and combining the feedback in actual applications, so as to maintain a high recognition accuracy in various complex environments; the automated annotation process and parameter configuration provide adaptability and stability for the model to ensure its high precision and real-time performance in the red imported fire ant nest recognition task.

[0060] In this embodiment, the disinfection and extermination module uses the micro electric pump 2 as the main body, which can provide sufficient water pressure to damage the structure of the red imported fire ant nest; the Raspberry Pi 23 operates the disinfection and extermination device by controlling the GPIO pins (the GPIO port can be configured as input or output through the program) according to the recognition result sent by the Windows side. The fresh water nozzle assembly 9 can select the water column mode or the spray mode according to the control board 21. When the red imported fire ant nest is small, it can automatically select the water column mode for spraying to more quickly damage the structure of the red imported fire ant nest and enable the pesticide sprayed by the pesticide nozzle 8 to better penetrate into the red imported fire ant nest for disinfection and prevention of red imported fire ants; when the red imported fire ant nest is large, it can automatically select the spray mode for spraying to control and hinder the activity ability of red imported fire ants within the largest range and cooperate with the pesticide sprayed by the pesticide nozzle 8 to disinfect and prevent red imported fire ants to the greatest extent to reduce the survival rate of red imported fire ants; when the geographical environment around the red imported fire ant nest is not flammable and the water column is not easy to damage the structure of the red imported fire ant nest, etc., the device can, through the regulation of the control board 21, quickly identify the environment around the red imported fire ant nest and adjust to the efficient flame spraying direction and spraying speed, and can identify the size of the red imported fire ant nest to regulate the flame spraying size to achieve efficient disinfection and extermination.

[0061] In this embodiment, the control center 29 is used to receive and process instructions from the Windows side and execute the instructions.

[0062] In this embodiment, the mobile unit includes a vehicle body, a brake disc 33, a differential 36 and wheels 32. Two wheels 32 are arranged at the front sides of both sides of the vehicle body and are connected by a steering shaft. The brake disc 33 is fixed at the bottom end of the vehicle body and abuts against the top end of the front drive axle. Two wheels 32 are arranged at the rear sides of both sides of the vehicle body and are connected by two half shafts. A differential 36 is arranged between the two half shafts. The differential 36 is fixed at the bottom end of the vehicle body. A first bracket 13, a split liquid storage tank 1 and a fuel tank 3 are successively fixed at the top end of the vehicle body. An ultrasonic sensor 14 and an ultrasonic detector 16 are successively fixed at the front end of the vehicle body. A detection and obstacle avoidance module 34 is fixed at the bottom end of the vehicle body. The control center 29, the Raspberry Pi 23, the control board 21, the switch system 25 and the hard disk 24 are fixed on the vehicle body. The control center 29 is electrically connected to the brake disc 33 and the differential 36.

[0063] During the actual operation of the present invention, when the robot needs to bypass an ant nest or other obstacles, the differential 36 adjusts the rotational speeds of the left and right wheels 32 according to the steering requirements, making the turning smoother, avoiding problems such as wheel 32 slipping or insensitive steering, and ensuring the stability of the vehicle during turning; when the robot completes the disinfection task in an area or encounters an emergency, such as approaching the edge of a steep terrain or a suddenly appearing large obstacle, the brake disc 33 abuts against the top of the front drive axle, and receives a braking signal through the control center 29, capable of quickly braking the wheels 32, preventing accidents such as the robot colliding or falling, and ensuring the safety of the operation.

[0064] In this embodiment, the vehicle body includes a first support plate 18, a second bracket 19, a second support plate 20, a third bracket 22, a fourth bracket 28, a protective plate 31, and a partition plate 35. A differential 36 is fixed between the two protective plates 31. At the top of both sides of each protective plate 31, a fourth bracket 28 is fixedly connected. At the top of the four fourth brackets 28, a second support plate 20 is fixedly connected. At the top of the second support plate 20, four third brackets 22 are fixedly connected. At the top of the third brackets 22, another second support plate 20 is fixedly connected. At the top of the other second support plate 20, a second bracket 19 is fixedly connected. At the top of the second bracket 19, a first support plate 18 is fixedly connected. On the first support plate 18, a split liquid storage tank 1, a micro electric pump 2, a fuel tank 3, and a feed pipe assembly bracket 4 are fixed. The feed pipe assembly bracket 4 is used to fix the first feed pipe 51 and the second feed pipe 52. A Raspberry Pi 23, a battery 30, and a control center 29 are arranged between the two second support plates 20; the battery 30 is isolated from the internal circuit by the partition plate 35, and the protective plate 31 protects the internal structure.

[0065] In this embodiment, it further includes a bumper 17 for protecting the vehicle body, and the bumper 17 is fixed at the front end of the vehicle body.

[0066] The bumper 17 of the present invention is fixed at the front end of the vehicle body. During the movement of the robot, especially in a complex working environment, it may encounter some accidental collision situations, such as hitting a stone, a branch, or other hard objects. The bumper 17 can first bear these collision forces, avoiding damage to the vehicle body such as dents and deformations during the collision, ensuring the normal operation of the vehicle body, and providing stable data support for the detection and obstacle avoidance of the robot.

[0067] In this embodiment, the telescopic pipeline assembly 6 includes a fixed pipe 61, a telescopic pipe 62, a hose 63 and a rotating tripod 7. One end of the fixed pipe is fixedly connected to the outer wall of the fuel tank 3, and the other end is fixedly connected to the rotating tripod 7. The top end of the fixed pipe 61 is fixedly connected to the bottom ends of the first feeding pipe 51 and the second feeding pipe 52. One end of the telescopic pipe 62 is fixedly connected to the rotating tripod 7, and the other end is provided with a flame nozzle 10. The hose 63 is arranged inside the fixed pipe 61 and the telescopic pipe 62. One end of the hose 63 is communicated with the fuel tank 3, and the other end is fixedly connected to the flame nozzle 10. A third ultrasonic sensor 64 is fixedly mounted on the telescopic pipe 62 near the flame nozzle 10.

[0068] In this embodiment, the hose 63 has a three-layer laminated structure. The inner layer is made of corrosion-resistant and low-friction PTFE material; the middle layer is a stainless steel wire spiral winding; the outer layer is neoprene, which has good fire resistance, tear resistance and wear resistance.

[0069] In this embodiment, the telescopic pipe 62 includes multiple pipe bodies, and adjacent pipe bodies are connected by a locking mechanism. The locking mechanism is electrically connected to the control board 21.

[0070] In this embodiment, the diameter of each pipe body of the present invention decreases along the direction from the fuel tank 3 to the flame nozzle 10. The lock in the locking mechanism is a U-shaped metal part, which is fixed to the outer wall of the telescopic pipe through a hinge shaft. A wedge-shaped block matching with the U-shaped metal part is arranged on the outer wall of the telescopic pipe; when locked, the lock can fix the current length to prevent sliding or retraction; when telescoping, the lock is released to enable the pipe body to slide under the action of gravity. The control board 21 monitors the distance between the flame nozzle and the red imported fire ant nest in real time through the ultrasonic sensor. When the telescopic pipeline assembly reaches the preset ideal distance, the locking mechanism automatically locks to fix the current length and complete the adjustment.

[0071] In this embodiment, the rotating tripod 7 includes a first outer cylindrical damping rotating shaft 71, a second outer cylindrical damping rotating shaft 72, a first inner cylindrical damping rotating shaft 73, a second inner cylindrical damping rotating shaft 74, a connecting shaft 76, a connecting block 77 and a ball bearing 75. The connecting shaft 76 sequentially passes through the first outer cylindrical damping rotating shaft 71, the first inner cylindrical damping rotating shaft 73, the second inner cylindrical damping rotating shaft 74, and the second outer cylindrical damping rotating shaft 72. The connecting shaft 76 is fixedly connected to the first outer cylindrical damping rotating shaft 71 and the second outer cylindrical damping rotating shaft 72. The outer surfaces of the first outer cylindrical damping rotating shaft 71 and the second outer cylindrical damping rotating shaft 72 are fixedly connected to one end of the first telescopic tube 21 away from the fuel tank 2. The inner surface of the first outer cylindrical damping rotating shaft 71 is in contact with the outer surface of the first inner cylindrical damping rotating shaft 73. The inner surface of the second outer cylindrical damping rotating shaft 72 is in contact with the outer surface of the second inner cylindrical damping rotating shaft 74. And the first outer cylindrical damping rotating shaft 71, the second outer cylindrical damping rotating shaft 72 and the first inner cylindrical damping rotating shaft 73, the second inner cylindrical damping rotating shaft 74 rotate coaxially relative to each other. The lower surfaces of the first inner cylindrical damping rotating shaft 73 and the second inner cylindrical damping rotating shaft 74 are fixedly connected to the connecting block 77. The lower surface of the connecting block 77 is fixedly connected to the top end of the ball bearing 75

[0072] The cylindrical damping rotating shaft of the present invention can adjust the smoothness and resistance of rotation, enabling the telescopic tube to achieve controllable rotation in a single axis clockwise or counterclockwise. The ball bearing can rotate at multiple angles, enabling the telescopic tube to adjust the angle in any direction in three-dimensional space

[0073] In this embodiment, the ball bearing 75 includes a connecting rod 751, a ball head 752, and a support 753. One end of the connecting rod 751 is fixedly connected to the lower surface of the connecting block 77. The other end of the connecting rod 751 is fixedly connected to the ball head 752. The ball head 752 is arranged inside the groove on the upper surface of the support 753. The support 753 is fixedly connected to the second telescopic tube 22

[0074] The ball bearing 75 of the present invention realizes multi-angle free rotation through the ball head 752 and the groove on the support 753, allowing adjustment in any direction in three-dimensional space, making the physical disinfection mechanism more flexible in facing nests in different situations

[0075] In this embodiment, the fresh water sprinkler assembly 9 includes a water column sprinkler and a mist sprinkler. The water column sprinkler and the mist sprinkler are fixedly connected to the other end of the material conveying pipe assembly 5. Solenoid valves are arranged inside both the water column sprinkler and the mist sprinkler. The solenoid valves are electrically connected to the Raspberry Pi 23

[0076] The solenoid valve of the present invention can receive instructions from the Raspberry Pi: in the water column mode, the solenoid valve of the mist sprinkler is closed, and the solenoid valve of the water column sprinkler is opened, and water flows out from the water column sprinkler; in the spraying mode, the solenoid valve of the water column sprinkler is closed, and the solenoid valve of the mist sprinkler is opened, and water flows out from the mist sprinkler

[0077] In this embodiment, a coupler 27 is fixed to the bottom end of the vehicle body, and one end of the coupler 27 is fixedly connected to one end of the differential 36.

[0078] One end of the coupler 27 of the present invention is fixedly connected to one end of the differential 36 and fixed to the bottom end of the vehicle body. This structural design enhances the connection stability of the differential 36 on the vehicle body, and at the same time, some other devices or tools can be conveniently mounted through the coupler 27, providing the possibility of expansion for the machine vehicle.

[0079] In this embodiment, a plurality of through holes for fixing the camera 11 are formed in the first bracket 13, and the camera 11 is fixed to the first bracket 13 through bolts and nuts passing through the through holes.

[0080] The present invention fixes the camera 11 through the through holes on the first bracket 13 by bolts and nuts, enabling the camera 11 to be firmly mounted on the first bracket 13; since vibrations will inevitably occur during the movement and operation of the robot, this fixing method can prevent the camera 11 from loosening, shifting or falling due to vibrations, ensuring that the camera 11 is always in a stable working position and providing a reliable image acquisition function for the recognition and positioning unit; specifically, when the robot travels on uneven ground or performs physical disinfection tasks, the strong vibrations generated will not affect the pointing and angle of the camera 11, ensuring that it can accurately capture the surrounding environment information; and according to actual needs, the angle and height of the camera 11 can be finely adjusted by selecting different through hole positions or adjusting the tightness of the bolts and nuts to obtain the best field of view and shooting angle, meeting the recognition and positioning requirements for the red imported fire ant prevention and control area under different environments and tasks.

[0081] In this embodiment, a battery 30 for power supply is also fixed to the vehicle body.

[0082] The battery 30 of the present invention provides continuous power support for each unit and component of the entire red imported fire ant prevention and control robot. With the self - carried battery 30, the robot no longer depends on external power sources and can move and operate freely in areas far from power sockets. Especially in places such as parks, farmlands, and mountain forests in the wild where power facilities are far away, it can independently complete the red imported fire ant prevention and control work without being restricted by the length of the power cord, greatly improving the autonomy and flexibility of the robot, enabling it to flexibly reach various complex terrains and remote areas for operation.

[0083] In this embodiment, the control board 21 is an Arduino control board, which is connected to the ultrasonic detector 16 through a pin interface and connected to the Raspberry Pi 23 and the robot control center 29 through the data line two 15; the Raspberry Pi 23 system is connected to the camera 11, the hard disk 24 and the switch system 25 through the data line one 12 for uniformly processing data and executing control instructions.

[0084] On the Windows side, the natural environment variables such as temperature, humidity, wind speed, and soil variables of the surrounding environment can be calculated through the information provided by the detection and obstacle avoidance module. After calculating the optimal flame injection size, the command is sent to the spout 10 to prevent the occurrence of fires.

[0085] The control board 21, as the core control unit of the device, is responsible for receiving and processing the instructions from the image recognition module and can perform the overall control operation of the hardware device module. The high compatibility and scalability of the Arduino control board provide technical support for the overall stability and real-time performance of the system.

[0086] In this embodiment, the Windows-side program design consists of an identification and positioning program, an automatic control program, and an image recognition module. The identification and positioning program is written in Python, performs image processing based on the OpenCV library, and combines the YOLOv11 target detection algorithm to ensure high precision and real-time performance. By continuously iteratively training the model and combining the feedback in actual applications, the system continuously optimizes the recognition performance, thereby maintaining a high recognition accuracy in various complex environments. The automated annotation process and carefully adjusted parameter configuration provide adaptability and stability to the model, enabling it to perform excellently in the red imported fire ant nest recognition task. The automatic control program is written in Python on the Raspberry Pi 23 and works in coordination with the Arduino system, responsible for the real-time response and spraying control after target recognition. When a red imported fire ant nest is recognized, the Raspberry Pi 23 controls the spraying device to perform precise operations by analyzing the data, and the control board 21 receives the infrared sensor information to guide the spraying position, ensuring the accuracy and efficiency of the operation. The image recognition module runs on the Windows side, responsible for precisely locating and recognizing the red imported fire ant nest and transmitting the instructions to the Raspberry Pi 23, which then executes the automatic control program. The program design module adopts distributed processing. By concentrating the image recognition task on the Windows side for operation and the Raspberry Pi 23 only responsible for executing the control operation, this division of labor reduces the computational burden on the Raspberry Pi 23, significantly reduces the overall power consumption, ensures the efficient operation of the system, and extends the operation time of the device.

[0087] In this embodiment, the Windows side issues a command for the trolley to patrol a specified path, and the mobile unit executes the command. At the same time, the intelligent recognition module and the program design module cooperate to detect in real time whether a red imported fire ant nest appears. When the identification and positioning program discovers a red imported fire ant nest, a control command is generated and transmitted to the Raspberry Pi 23 via TCP. After receiving the command, the Raspberry Pi 23 accurately locates the red imported fire ant nest through the ultrasonic sensor 14 and runs the automatic control program. After reaching the specified position, the Raspberry Pi 23 controls the control board 21 to perform an accurate spraying task. After the spraying task is completed, the Raspberry Pi 23 returns to the original position where it left the patrol path through the automatic control program and continues to patrol, forming a loop.

[0088] The present invention also discloses a prevention and control method for a modular red imported fire ant prevention and control robot, including

[0089] S1: Set the patrol path of the red imported fire ant prevention and control robot;

[0090] S2: During the patrol, the camera 11 monitors in real time and sends the image data to the Windows side through the Raspberry Pi 23;

[0091] S3: Perform real-time nest identification and positioning on the Windows side;

[0092] S4: When a red imported fire ant nest is detected, the Windows side generates a control command and transmits it to the robot control center 29 through the network;

[0093] S5: After receiving the command, the control center 29 processes the data obtained by the ultrasonic sensor 14 through the control board 21 and sends it to the Windows side through the Raspberry Pi 23 system for further precise positioning, and generates a control command to make the robot move to the specified position;

[0094] S6: Perform precise chemical and physical disinfection at the specified position;

[0095] S7: After the disinfection task is completed, the robot automatically returns to the patrol path and continues to operate, forming a cycle.

[0096] The working principle of a modular red imported fire ant prevention and control robot and its prevention and control method of the present invention: First, the operator turns on the robot, equips it with the battery 30, ensures that each unit (mobile unit, chemical disinfection unit, physical disinfection unit, identification and positioning unit, detection and obstacle avoidance unit, and control unit) is powered on normally, and at the same time, the connection between each component is normal.

[0097] Set the patrol path of the red imported fire ant prevention and control robot, which is the best route planned according to information such as the terrain of the area to be prevented and controlled and the historical appearance area of red imported fire ants.

[0098] The robot starts to move along the set patrol path. The vehicle body of the mobile unit travels with the cooperation of the differential 36, the wheels 32, and the wheels 32, and the brake disc 33 is ready to brake at any time. At the same time, the detection and obstacle avoidance module 34 and the ultrasonic detector 16 in the detection and obstacle avoidance unit start to work, detecting the terrain and obstacle information in front of and below the robot.

[0099] During the patrol, the camera 11 of the identification and positioning unit keeps working, collects images of the surrounding environment, and sends the image data to the Windows side through the Raspberry Pi 23. The camera 11 will be kept stable by the bolt and nut mounting structure fixed on the first bracket 13. Through the through hole on the first bracket 13, it can ensure that the camera 11 is at an appropriate angle and height to obtain clear images.

[0100] The Windows side analyzes the image data transmitted from the camera 11 and conducts real-time nest identification and positioning. This may use image recognition algorithms to identify possible red fire ant nests based on the appearance characteristics of red fire ant nests (such as the shape, color, size of the ant mound, etc.).

[0101] When the Windows side identifies a possible nest, it will generate corresponding control commands and transmit them to the control center 29 of the robot through the network.

[0102] After receiving the control command, the control center 29 triggers the ultrasonic sensor 14 to work. The ultrasonic sensor 14 processes the data it measures (such as the distance to the nest, etc.) through the detection and obstacle avoidance module 34 and the control board 21 in the detection and obstacle avoidance unit, and then sends it to the Windows side through the Raspberry Pi 23 system.

[0103] Based on this information, the Windows side further adjusts the control command to ensure that the robot can accurately move to the designated position of the red fire ant nest. During the movement, the detection and obstacle avoidance unit continuously monitors the surrounding environment. If an obstacle is encountered, the detection and obstacle avoidance module 34 will feedback the information to the control board 21, and the control board 21 adjusts the movement of the moving unit through the control center 29, such as controlling the brake disc 33 to brake and the differential 36 to adjust the rotation speed of the wheels 32, etc., so that the robot bypasses the obstacle and approaches the nest safely and accurately.

[0104] When the robot reaches the designated position, the control center 29 starts the chemical disinfection unit and the physical disinfection unit according to the control command.

[0105] Chemical disinfection unit: The control center 29 controls the micro electric pump 2 to extract liquid from the detachable liquid storage tank 1 and sprays it out through the feeding pipe assembly 5 from the fresh water nozzle assembly 9 and the pesticide nozzle 8 respectively. The fresh water nozzle assembly 9 can be used to spray the ant nest first to soak the ant nest, and then the pesticide nozzle 8 sprays pesticides to disinfect the red fire ants in the ant nest.

[0106] Physical disinfection unit: Meanwhile, the control center 29 controls the fuel tank 3 to deliver fuel to the flame nozzle 10 through the telescopic pipeline assembly 6. The flame nozzle 10 sprays flames to physically disinfect the red imported fire ants on the surface and in the shallow layer of the ant nest. During the physical disinfection process, the telescopic pipeline assembly 6 can adjust its length as needed to achieve an appropriate spraying distance. At the same time, its top abuts against the bottom end of the material conveying pipe assembly 5 to ensure the compactness of the structure.

[0107] After completing the disinfection task, the robot, under the control of the control center 29, starts moving again according to the preset patrol path and continues the patrol operation.

[0108] During subsequent patrols, the robot will repeat the above operations such as patrol, identification and positioning, and disinfection to form a cyclic operation and continuously prevent and control red imported fire ants.

[0109] During the whole working process, the control unit plays a core coordinating and controlling role. The Windows side is the interface for operators to interact with the robot, and parameters can be adjusted and instructions can be issued as needed; the control center 29 receives and executes commands to coordinate the work of each unit; the Raspberry Pi 23 processes and transmits data; the control board 21 processes information such as the detection and obstacle avoidance module 34; the switch system 25 controls the opening and closing of each unit; the hard disk 24 stores various data during the working process of the robot, such as patrol paths, disinfection records, nest positions, etc., for subsequent analysis and optimization of the working performance of the robot; during the whole working process, the anti-collision bar 17 protects the vehicle body and the ultrasonic sensor 14, the coupler 27 ensures the stable connection of the differential 36, and the battery 30 on the vehicle body continuously provides power support for the robot, enabling the robot to continuously and efficiently complete the prevention and control task of red imported fire ants in various complex environments.

[0110] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0111] In the description of the present invention, it should also be noted that, unless otherwise clearly specified and defined, the terms "set", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0112] The embodiments described above are only descriptions of the preferred modes of the present invention and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A modular red fire ant control robot, characterized by: include Mobile unit; A chemical disinfection unit, the chemical disinfection unit comprising a separate liquid storage tank, a micro electric pump, a feed pipe assembly, a fresh water nozzle assembly and a pesticide nozzle, the separate liquid storage tank and the micro electric pump are fixed at the top of the mobile unit, the micro electric pump is connected to the separate liquid storage tank, one end of the feed pipe assembly is connected to the separate liquid storage tank, and the other end of the feed pipe assembly is provided with the fresh water nozzle assembly and the pesticide nozzle; A physical disinfection unit, the physical disinfection unit comprising a fuel tank, a telescopic pipe assembly and a flamethrower, the fuel tank being fixed to the top of the mobile unit, one end of the telescopic pipe assembly being connected to the fuel tank, and the other end being provided with the flamethrower, the top of the telescopic pipe assembly being fixedly connected to the bottom of the feed pipe assembly; An identification and positioning unit, the identification and positioning unit includes a camera and a fourth ultrasonic sensor, a first bracket is fixed on the top of the mobile unit, the camera is fixed on the top of the first bracket, and the fourth ultrasonic sensor is fixed on the front end of the first bracket; A detection and obstacle avoidance unit, the detection and obstacle avoidance unit comprising a detection and obstacle avoidance module and an ultrasonic detector, the detection and obstacle avoidance module is fixed at the bottom of the mobile unit, the ultrasonic detector is fixed at the front end of the mobile unit, and the ultrasonic detector is electrically connected to the detection and obstacle avoidance module; A control unit is electrically connected to the camera, the ultrasonic detector, the telescopic pipe assembly, the switch system, the pesticide spray head, the fresh water spray head assembly, the flame nozzle, the mobile unit and the micro electric pump.

2. A modular red fire ant control robot according to claim 1, characterized in that: The control unit includes a Windows end and a control center, a Raspberry Pi, a control panel, a switch system and a hard disk installed on the mobile unit. The Windows end is electrically connected to the control center and the Raspberry Pi, the control center is electrically connected to the Raspberry Pi, the control panel and the hard disk, the Raspberry Pi is electrically connected to the hard disk, and the Raspberry Pi is electrically connected to the camera, the ultrasonic sensor and the ultrasonic detector; the control panel is electrically connected to the hard disk, the telescopic pipe assembly and the switch system, and the switch system is electrically connected to the pesticide nozzle, the fresh water nozzle assembly, the flame nozzle, the mobile unit and the micro electric pump.

3. A modular red fire ant control robot according to claim 2, characterized in that: The mobile unit includes a vehicle body, a brake disc, a differential and wheels, the two wheels are arranged at the front of both sides of the vehicle body and are connected by a steering shaft, the brake disc is fixed to the bottom of the vehicle body and abuts against the top of the front drive axle, the two wheels are arranged at the rear of both sides of the vehicle body and are connected by two half-axles, a differential is arranged between the two half-axles, the differential is fixed to the bottom of the vehicle body, the first bracket, the separate liquid storage tank and the fuel tank are fixed in sequence at the top of the vehicle body, the ultrasonic sensor and the ultrasonic detector are fixed in sequence at the front end of the vehicle body, and a detection and obstacle avoidance module is fixed to the bottom of the vehicle body, the control center, Raspberry Pi, control board, switch system and hard disk are all fixed on the vehicle body, and the control center is electrically connected to the brake disc and the differential.

4. A modular red fire ant control robot according to claim 2, characterized in that: The telescopic pipe assembly includes a fixed pipe, a telescopic pipe, a hose and a rotating tripod, one end of the fixed pipe is fixedly connected to the outer wall of the fuel tank, and the other end is fixedly connected to the rotating tripod, the top end of the fixed pipe is fixedly connected to the bottom end of the feed pipe assembly, one end of the telescopic pipe is fixedly connected to the rotating tripod, and the other end is provided with the flamethrower, the hose is arranged inside the fixed pipe and the telescopic pipe, one end of the hose is communicated with the fuel tank, and the other end is connected to the flamethrower.

5. A modular red fire ant control robot according to claim 4, characterized in that: The telescopic tube includes multiple sections of tube bodies, and adjacent tube bodies are connected by a locking mechanism, and the locking mechanism is electrically connected to the control board.

6. The modular red fire ant control robot according to claim 1, characterized in that: The fresh water nozzle assembly includes a water column nozzle and a mist nozzle, the water column nozzle and the mist nozzle are connected to the other end of the feed pipe assembly, and solenoid valves are arranged in the water column nozzle and the mist nozzle, and the Raspberry Pi is electrically connected to the solenoid valve.

7. The modular red fire ant control robot according to claim 3, characterized in that: A coupler is fixed at the bottom end of the vehicle body, and one end of the coupler is fixedly connected to one end of the differential.

8. The modular red fire ant control robot according to claim 1, characterized in that: A plurality of through holes are provided on the first bracket, and the camera is fixed on the first bracket by bolts and nuts passing through the through holes.

9. The modular red fire ant control robot according to claim 1, characterized in that: A battery for power supply is also fixed on the vehicle body.

10. A method for controlling red imported fire ants using a modularized red imported fire ant control robot according to any one of claims 1 to 9, characterized in that: The steps include: S1: Set the patrol path of the red fire ant control robot; S2: During patrol, the camera is used for real-time monitoring and the image data is sent to the Windows terminal via the Raspberry Pi; S3: Real-time nest identification and positioning on Windows side; S4: When a red fire ant nest is detected, the Windows terminal generates a control command and transmits it to the robot control center; S5: After receiving the command, the control center uses the ultrasonic sensor to process the data obtained by the control board and then sends it to the Windows end through the Raspberry Pi system to further accurately locate the robot and generate a control command to move the robot to the specified position; S6: Carry out chemical and physical disinfection at designated locations; S7: After the disinfection task is completed, the robot automatically returns to the patrol path and continues to work, forming a cycle.

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