An agricultural inspection robot carrying multi-point environmental information collection mechanism

Abstract

The present invention relates to a multi-point environmental information collection mechanism carried by an agricultural inspection robot, and belongs to the technical field of agricultural environmental monitoring. It includes a C-shaped frame with an upper arm and a lower arm; a purge module, including purge ports respectively arranged on the upper arm and the lower arm; a capture module, arranged at the throat of the C-shaped frame, and having a capture port arranged toward the opening of the C-shaped frame; a transmission mechanism connected to a sampling belt; the transmission mechanism is configured to respond to the geographical location information of the agricultural inspection robot to drive the sampling belt to move according to the target moving distance. The purge module can actively peel off the settled spores attached to the surface of the crop, and cooperate with the capture module to efficiently capture these settled spores together with the original suspended spores in the air, and finally generate a physical sample of the spatial distribution of pathogen spores that can be directly traced to a specific geographical section.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural environment detection, and in particular relates to a multi-point environmental information collection mechanism carried by an agricultural inspection robot. Background Art

[0002] With the rapid development of modern agriculture toward precision, intelligence, and automation, the use of robotics for agricultural production management has become a significant trend. Agricultural inspection robots, whether aerial unmanned aerial vehicles (UAVs) or ground-based unmanned vehicles (UGVs), have been widely used in a variety of fields, including crop growth monitoring, variable-rate pesticide application, weed identification, and yield estimation. The core value of these robots lies in their ability to replace human labor, performing large-scale, long-term, and repetitive data collection and operations, thereby improving production efficiency and reducing management costs.

[0003] Among various agricultural environmental information sources, monitoring airborne pathogen spores (particularly fungal spores) carried by wind and rain is of paramount importance. Crop diseases caused by fungal and other pathogens are one of the main causes of agricultural yield reduction and economic losses worldwide. Traditional disease control relies on passive responses after visible lesions appear in the field, often missing the optimal time for control, resulting in large amounts of pesticides and poor results.

[0004] To monitor pathogen spores in the air, existing technologies mainly use two methods. The first is a fixed spore capture device, which is placed at a fixed location in the field, similar to a weather station, and can record the changes in spore concentration at that single location over time. However, this "point-to-surface" method is completely unable to reflect the uneven spatial distribution of pathogen spores in vast farmland. For example, due to factors such as wind direction, topography, and planting density, the spore concentration at the edge and center of a field, and on the windward and leeward slopes, may differ by dozens of times. The information provided by fixed equipment has limited guidance for large-scale precision prevention and control.

[0005] The second type is simple mobile sampling devices, such as single-channel samplers carried on a person's back or mounted on a common vehicle. Although these devices are mobile, their sampling method is single-point. To obtain data from different locations, a "stop-and-go" approach must be adopted, sampling point by point. This is extremely inefficient and cannot meet the needs of large-scale, time-sensitive inspections. More importantly, they cannot achieve parallel sampling at multiple points in the horizontal direction, which means that cross-sectional data cannot be obtained for an area, making it difficult to analyze the lateral spread of the disease. Summary of the Invention

[0006] In order to solve the above-mentioned problems in the prior art, the present invention provides an agricultural inspection robot-mounted multi-point environmental information collection mechanism.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is:

[0008] Provided is a multi-point environmental information collection mechanism for an agricultural inspection robot, comprising:

[0009] A C-shaped frame having upper and lower arms;

[0010] a purge module, comprising purge ports respectively provided on the upper arm and the lower arm;

[0011] a capture module disposed at the throat of the C-shaped frame and having a capture port disposed toward the opening of the C-shaped frame, and a sampling space for a movable sampling belt disposed inside the capture module;

[0012] a transmission mechanism connected to the sampling belt;

[0013] Wherein, the transmission mechanism is configured to drive the sampling belt to move according to the target moving distance in response to the geographic location information of the agricultural inspection robot.

[0014] Preferably, the transmission mechanism has:

[0015] A control module, the control module is configured as:

[0016] Receiving geographic location information from the positioning system of the agricultural inspection robot and calculating the travel distance;

[0017] determining a target moving distance of the sampling zone according to a relationship between the travel distance and a predetermined ratio;

[0018] generating and sending to an execution module a driving instruction for achieving the target moving distance;

[0019] and the execution module, which is connected to the sampling belt and is used to drive the sampling belt to move in response to the driving instruction.

[0020] Preferably, the purge port comprises:

[0021] a first purge port located in the upper arm and a second purge port located in the lower arm;

[0022] Wherein, the first purge port and the second purge port are both arranged obliquely toward the capture port;

[0023] The first purge port and the second purge port are both slit-type openings and are configured to eject laminar air curtains in opposite directions to form an airflow convergence area inside the C-shaped frame;

[0024] Furthermore, the capture port is located in the airflow convergence area.

[0025] Preferably, the capture module includes:

[0026] a capture manifold, wherein the capture port corresponding to the airflow convergence area is formed on the capture manifold;

[0027] The consumables bin is connected to the air flow channel of the capture manifold and is configured to detachably install a disposable sampling box with the sampling belt encapsulated therein.

[0028] Preferably, the disposable sampling box comprises:

[0029] A sampling box body, wherein a sampling window corresponding to the opening position of the consumables bin is formed on the sampling box body, and the sampling window is sealed by a breakable protective film in an initial state;

[0030] A supply wheel, a take-up wheel, and a reel-type sampling tape pre-wound therebetween are all arranged inside the sampling box body;

[0031] and a power coupling interface for receiving power from the transmission mechanism.

[0032] Preferably, it includes:

[0033] A locking structure is provided in the consumables bin;

[0034] Wherein, the snap-fit ​​structure is configured to snap the disposable sampling box into the consumables bin.

[0035] Preferably, the sampling belt has:

[0036] a sticky sampling layer for capturing and fixing environmental information samples;

[0037] and an anti-adhesion base layer which is arranged opposite to the adhesive sampling layer and is used to prevent cross contamination of samples between layers when the sampling tape is rolled up.

[0038] Preferably, the capture manifold has:

[0039] Non-linear inertial graded airway;

[0040] A sedimentation tank is connected to the inertial classification air channel and is used to collect large particle impurities separated due to inertia.

[0041] Preferably, the execution module is a driving motor, and the power output shaft of the driving motor is power-coupled to the take-up pulley through the power coupling interface.

[0042] Preferably, it includes:

[0043] a sampling assembly bracket, the C-shaped frame being mounted to the sampling assembly bracket;

[0044] Wherein, the sampling assembly bracket is configured to form a mechanical connection with the agricultural inspection robot.

[0045] Preferably, it includes:

[0046] a secondary arm, wherein the secondary arm is arranged below the C-shaped frame;

[0047] Wherein, the auxiliary arm has a blowing port, and the blowing port is configured to deliver an airflow toward the C-shaped frame.

[0048] The present invention provides a multi-point environmental information collection mechanism carried by an agricultural inspection robot. The beneficial effects of the present invention are embodied in:

[0049] The purge module actively removes settled spores attached to crop surfaces and, in conjunction with the capture module, efficiently captures these settled spores along with existing suspended spores in the air, ensuring comprehensive and representative sample sources. The transmission mechanism accurately synchronizes and encodes the collected continuous samples with the real-time geographic location of the agricultural inspection robot. This ultimately generates a physical sample of the spatial distribution of pathogen spores that can be directly traced to a specific geographic region, providing data support for agricultural disease prevention and control. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is one of the cross-sectional views of a multi-point environmental information collection mechanism on an agricultural inspection robot proposed by the present invention;

[0051] Figure 2 for Figure 1 A local enlarged schematic diagram at point A;

[0052] Figure 3 for Figure 1 A partial enlarged schematic diagram at point B;

[0053] Figure 4 This is a front view of a disposable sampling box in a multi-point environmental information collection mechanism of an agricultural inspection robot proposed by the present invention;

[0054] Figure 5 This is a cross-sectional view of a disposable sampling box in a multi-point environmental information collection mechanism carried by an agricultural inspection robot proposed by the present invention;

[0055] Figure 6 This is the second cross-sectional view of the multi-point environmental information collection mechanism on an agricultural inspection robot proposed by the present invention.

[0056] Description of reference numerals:

[0057] 1. C-shaped frame; 101. Upper arm; 102. Lower arm; 2. Purge module; 201. Purge port; 3. Capture module; 301. Capture port; 302. Sampling belt; 3021. Viscous sampling layer; 3022. Anti-adhesion base layer; 303. Capture manifold; 304. Consumables bin; 3041. First airflow interface; 3042. Second airflow interface; 3043. Mounting port; 305. Sedimentation tank; 4. Transmission mechanism; 5. Disposable sampling box; 501. Sampling window; 502. Protective film; 503. Supply pulley; 504. Take-up pulley; 505. Power coupling interface; 506. Connection port; 6. Clamping structure; 7. Sampling assembly bracket; 801. Purge air pump; 802. Suction pump; 9. Auxiliary arm. DETAILED DESCRIPTION

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0059] See also Figures 1-6 As shown, the specific embodiments provided by the present invention are as follows:

[0060] like Figures 1 to 5 As shown, an embodiment of the present invention proposes a multi-point environmental information collection mechanism carried by an agricultural inspection robot, including a C-shaped frame 1.

[0061] The C-shaped frame 1 serves as the main bearing structure and functional skeleton of the entire collection mechanism. On the one hand, it is provided with a connection assembly for forming a detachable mechanical and electrical connection with the agricultural inspection robot; on the other hand, it provides an installation station for other modules of the present invention.

[0062] Specifically, the C-shaped frame 1 comprises an upper arm 101 and a lower arm 102, and a throat portion connecting the upper arm 101 and the lower arm 102. The upper arm 101 and the lower arm 102 together define a semi-open sampling cavity.

[0063] The purge module 2 is symmetrically arranged on the upper arm 101 and the lower arm 102 of the C-shaped frame 1. The purge module 2 includes purge ports 201 respectively opened on the upper arm 101 and the lower arm 102. In a preferred embodiment, the purge ports 201 are a plurality of side-by-side slit-type laminar flow nozzles. These nozzles are all tilted toward the inside of the C-shaped frame 1, that is, the nozzles of the upper arm 101 are tilted downward, and the nozzles of the lower arm 102 are tilted upward. When working, they are configured to spray smooth, non-turbulent laminar air curtains in opposite directions. These two opposing air curtains will form a stable airflow convergence area in the central area of ​​the sampling chamber, which can perform gentle and efficient air blowing on the upper and lower surfaces of the branches and leaves at the same time to remove environmental information samples such as spores attached thereto.

[0064] The capture module 3 has its main body arranged at the throat of the C-shaped frame 1 .

[0065] The capture module 3 has a central capture opening 301 facing the opening of the C-shaped frame 1. The capture opening 301 corresponds to the airflow convergence area in space, ensuring that the purged and stripped samples can be efficiently sucked into the capture module 3.

[0066] This embodiment can be configured into at least the following two working modes according to different agricultural production requirements and operating environments:

[0067] One operating mode, defined as wide-area boundary patrol mode, is suitable for routine disease risk surveys across large areas of farmland. In this mode, the agricultural inspection robot does not need to enter crop planting areas and only travels along well-maintained non-planting areas such as ridges, mechanized farming roads, and greenhouse access roads.

[0068] At this point, the C-shaped frame 1 doesn't come into direct contact with the crops. Its purge module 2 works in conjunction with the capture module 3. The airflow ejected from the purge ports 201 of the upper and lower arms 101 and 102 is no longer primarily used to purge the crops. Instead, it works together to form a convergence zone in front of the capture port 301, actively drawing the windswept ambient air and the suspended spores within it into the capture port 301. This significantly increases the air sampling volume per unit time, improving the probability of capturing regional pathogen spores transported over long distances.

[0069] If the background spore concentration collected for several consecutive days is very low, farmers can safely postpone or cancel large-scale preventive spraying; conversely, if an abnormally high background concentration is detected, a more sophisticated second working mode can be immediately activated.

[0070] Another operating mode, defined as inter-row precision operation, is used to conduct high-resolution disease inspections and source tracing after a risk warning is detected in Mode 1 or after high-risk areas are identified through other methods (such as drone remote sensing or manual observation). In this mode, the agricultural inspection robot enters and moves between crop rows, weaving through the crops.

[0071] After entering the row, the robot sets the operating height of the C-shaped frame 1 to a predetermined height of the crop canopy (eg, the area with the densest canopy).

[0072] The agricultural inspection robot then activates its cruise function. It uses its lateral ranging sensors to continuously monitor the distance between itself and the crop rows and adjusts its path in real time to maintain a relatively close lateral distance from the crop canopy.

[0073] During this continuous, side-to-side movement, crop branches and leaves continually sweep past the semi-open sampling chamber. At this point, the laminar air curtain ejected by upper arm 101 removes settled spores from the upper leaf surface, while the air curtain from lower arm 102 treats the lower leaf surface. The removed spores, along with any airborne spores already suspended in the air, are captured by the central capture port 301 at the throat of the C-shaped frame 1 and continuously recorded on the sampling strip 302 in a spatially resolved manner.

[0074] In one embodiment, the spacing between the upper arm 101 and the lower arm 102 of the C-shaped frame 1 is adjustable. However, considering the cost, a variety of C-shaped frames 1 with different spacing specifications can be provided to meet the sampling needs of different agricultural environments.

[0075] In a specific embodiment, a sampling assembly bracket 7 is further included, and the C-shaped frame 1 is finally installed on the agricultural inspection robot through the sampling assembly bracket 7.

[0076] In order to achieve rapid installation and replacement, the connection end of the sampling assembly bracket 7 is a standardized mechanical quick-release interface.

[0077] For example, a base (female port) with a V-groove or a dovetail groove can be fixedly installed on the robot platform, and a matching quick-release plate (male port) is correspondingly provided at the bottom of the sampling assembly bracket 7 .

[0078] In practice, the user or operator can easily slide or snap the quick-release plate of the collection mechanism into the base of the robot platform without any tools, and securely lock it with a locking handle or push-type buckle. The entire collection mechanism can be quickly removed in less than a minute by reversing the operation.

[0079] In conjunction with the mechanical quick-release interface, an integrated electronic control interface is also included to achieve electrical and data connections.

[0080] Preferably, the interface is a single, multi-pin heavy-duty connector. When the mechanical quick-release interface is locked, the electrical control interface also automatically completes the connection.

[0081] Through this interface, all power transmission and two-way data communication from the robot platform to this collection mechanism can be completed.

[0082] In another preferred embodiment, the sampling assembly bracket 7 itself can also be installed on a vertical lifting module, which allows the entire C-shaped frame 1 to be raised and lowered according to the different heights of crops, thereby further enhancing the scene adaptability.

[0083] In a specific embodiment, the purge port 201 should be connected to a purge gas pump 801 . Correspondingly, the capture module 3 should include an air pump 802 .

[0084] like Figure 6 As shown, in a specific embodiment, a secondary arm 9 may be further included.

[0085] Specifically, the auxiliary arm 9 is independently provided below the C-shaped frame 1 and has one or more blowing ports on the auxiliary arm 9. The blowing ports are configured to deliver a turbulent airflow upwards toward the sampling cavity of the C-shaped frame 1.

[0086] This upward, turbulent airflow can stir and lift pathogen spores (for example, those caused by soil-borne or near-surface diseases like sclerotinia rot and root rot) attached to mulch or low fallen leaves, bringing them into the capture range of the C-shaped frame 1. This greatly expands the types of pathogens that can be detected and enables simultaneous monitoring of soil-borne and airborne diseases.

[0087] On the other hand, the rising airflow generated by the auxiliary arm 9 can act as a supporting air cushion, lifting the spore cloud blown off by the upper arm 101 of the C-shaped frame 1. This can effectively reduce the sedimentation loss of particles under the action of gravity, thereby further improving the overall capture efficiency of canopy sampling.

[0088] In this embodiment, the transmission mechanism 4 is connected to the movable sampling belt 302 to drive the movable sampling belt 302 to move.

[0089] Specifically, the transmission mechanism 4 includes a control module and an execution module. The control module, such as an embedded MCU or an algorithm module within the main control software, is configured to receive real-time geographic location information from a positioning system such as RTK-GPS onboard the agricultural inspection robot. Based on this continuous location information, it calculates the robot's actual travel distance, converts it into the target travel distance of the sampling belt 302 within this time period based on a user-defined ratio, and ultimately generates corresponding drive instructions.

[0090] The execution module responds to the driving instruction from the control module and drives the sampling belt 302 to move the target moving distance. In this way, the geographical path information of the robot is encoded into the physical location of the sampling belt 302.

[0091] Specifically, the predetermined proportional relationship is a linear proportional coefficient K that can be configured by the user according to different work tasks.

[0092] The linear proportional coefficient K defines the conversion relationship between the target moving distance of the sampling belt 302, i.e., L1, and the travel distance of the robot, i.e., L2, namely:

[0093] L1 = K * L2;

[0094] In a preferred embodiment, the scaling factor K is user selectable in the control software:

[0095] For example, when conducting a detailed investigation of the source of a disease in a small, focused area, the user can select a larger scaling factor to achieve high spatial resolution, such as setting K = 1 / 1000. With this setting, the control module calculates the target movement distance of the sampling belt 302 to be 1 mm for every meter the robot travels. Equivalently, for every 10 meters the robot travels, the sampling belt 302 moves 1 cm.

[0096] Alternatively, when routinely screening a large farm area, users can maximize consumables usage by selecting a smaller scaling factor to achieve wide-area coverage. For example, setting K = 1 / 10000 would require the robot to travel 100 meters for the sampling belt 302 to move 1 centimeter. While this mode offers lower spatial resolution, it significantly saves consumables and expands the area covered by a single inspection.

[0097] Of course, in a wider crop planting environment, the moving distance of the sampling belt 302 can be further increased, such as preferably selected between 1 cm and 10 cm.

[0098] It should be noted that the synchronous driving method based on real-time geographic location information adopted in this embodiment is path-independent.

[0099] Rather than performing complex geometric calculations on a macroscopic curved path, the control module decomposes the robot's motion trajectory into a number of absolute coordinate points collected at a high frequency (e.g., 5 to 20 times per second). The control module calculates the minute linear distances between each pair of adjacent coordinate points in real time and accumulates these minute distances to obtain the robot's actual travel distance along any given path. Therefore, when performing geolocation encoding, its accuracy is independent of the geometry of the path. Whether the robot is following a straight vertical or horizontal line, following the contour lines of a mountain terrace, or even a spiral around a specific target, the system ensures that the distance traveled by the sampling belt 302 maintains a constant proportional relationship with the actual length of the path the robot has traveled, thereby ensuring the ultimate accuracy and reliability of the data.

[0100] In a preferred embodiment, the agricultural inspection robot's route is linear. This significantly enhances the intuitiveness and convenience of subsequent manual analysis. In this mode, the one-dimensional linear position on the sampling strip 302 can be mapped to a similarly one-dimensional linear path in the field, allowing analysts to quickly locate problems through simple physical measurements (e.g., using a ruler).

[0101] like Figures 4 and 5 As shown, in this embodiment, the sampling band 302 includes:

[0102] a viscous sampling layer 3021 for capturing and fixing environmental information samples;

[0103] and an anti-adhesion base layer 3022 disposed opposite to the viscous sampling layer 3021 and used to prevent cross-contamination of samples between layers when the sampling tape 302 is rolled up.

[0104] The viscous sampling layer 3021 serves as the working surface of the sampling strip 302, enabling sample capture. This layer can be composed of a thin layer of a biocompatible material that maintains stable adhesion, such as medical-grade silicone grease or polyisobutylene (PIB). The material is selected based on its ability to instantly and firmly adhere to high-speed impacting microspore particles while remaining chemically reactive enough to interfere with subsequent biological analysis (such as DNA extraction or cell culture).

[0105] The anti-adhesion base layer 3022, serving as the structural support layer of the sampling strip 302, has an anti-adhesion treatment applied to its outer surface (i.e., the surface in contact with the adhesive sampling layer 3021 of the upper sampling strip 302). In a preferred embodiment, the base layer can be made of a polyester (PET) film, which has been siliconized (coated with silicone oil) or directly coated with a polytetrafluoroethylene (PTFE, also known as Teflon) film. These materials have extremely low surface energy, exhibiting excellent non-stick properties and chemical inertness.

[0106] When the sampling tape 302 is rolled up layer by layer on the take-up wheel 504 of the dark box, the anti-adhesion base layer 3022 of the upper sampling tape 302 will cover the sticky sampling layer 3021 of the lower sampling tape 302, just like the isolation paper of double-sided tape, effectively preventing the captured spore samples from being imprinted, damaged or transferred.

[0107] In this embodiment, the capture module 3 is integrally mounted on the throat of the C-shaped frame 1 and mainly consists of two parts: a capture manifold 303 and a consumables bin 304 .

[0108] The capture manifold 303 is the core channel structure for guiding and pre-processing the sample airflow. Its front end is integrally formed with the capture port 301, which faces the opening of the C-shaped frame 1 and aligns with the airflow convergence area formed by the purge module 2 to ensure maximum efficiency in collecting the exfoliated sample particles.

[0109] To enhance the purity of the final sample, in a preferred embodiment, the internal airflow channel of the capture manifold 303 is a non-linear inertial graded airway, such as an S-shaped curved structure. When the airflow carrying Doppler particles passes through this curved airway at high speed, relatively large non-target particles (such as dust and sand) are separated from the mainstream airflow due to their own inertia. This airway is also connected to a settling tank 305 for collecting these large impurities, thereby achieving physical pre-purification of the target sample.

[0110] The consumables bin 304 has opposite sidewalls with a first airflow interface 3041 and a second airflow interface 3042. The first airflow interface 3041 is used to connect to the capture manifold 303, and the second airflow interface 3042 is used to connect to the suction pump 802.

[0111] Among them, the upper wall surface of the consumables bin 304 is provided with an installation opening 3043 for installing the disposable sampling box 5, for allowing the user to insert or remove the disposable sampling box 5. After the disposable sampling box 5 is placed in, the installation opening 3043 can be sealed by a sealing cover.

[0112] The disposable sampling box 5 is a standardized consumable module. In a specific embodiment, the disposable sampling box 5 has a sampling window 501 on its main body that corresponds to the first airflow interface 3041 of the consumable compartment 304. Initially, the sampling window 501 is sealed by a breakable protective film 502. During use, the operator can directly pierce the protective film 502 and place the disposable sampling box 5 into the consumable compartment 304. Furthermore, the disposable sampling box 5 has a connection port 506 that corresponds to the second airflow interface 3042 of the consumable compartment 304. Initially, the connection port 506 is also sealed by a breakable protective film 502, which is removed during use.

[0113] More specifically, the specific structure of the disposable sampling box 5 includes a sampling box body, a wheel assembly and a roll-type sampling belt 302.

[0114] The sampling box body is presented as a box. Inside the sampling box body, a wheel assembly is rotatably connected. The wheel assembly includes a supply reel 503 and a take-up reel 504. The sampling tape 302 is wound between the supply reel 503 and the take-up reel 504. In addition, the take-up reel 504 should be formed with a power coupling interface 505, through which the power shaft of the execution module is connected to the take-up reel 504. When the execution module performs power drive, the take-up reel 504 can be driven to rotate, thereby driving the sampling tape 302 to move. Of course, the supply reel 503 can be rotatably connected to the inside of the disposable sampling box 5 via a torsion spring to ensure that the sampling tape 302 is in a taut state.

[0115] In a specific implementation, the execution module is specifically a motor, and the power shaft of the motor can be spline-coupled to the power coupling interface 505 .

[0116] In this embodiment, a snap-fit ​​structure 6 is further included. The snap-fit ​​structure 6 is used to fix the disposable sampling box 5. Specifically, in a preferred embodiment, the snap-fit ​​structure 6 is a magnetic snap-fit ​​structure 6.

[0117] Specifically, it includes one or more magnetic sheets disposed on the inner wall of the consumables bin 304, as well as a magnetic sheet disposed on the inner wall of the disposable sampling box 5. When installing the disposable sampling box 5, the user only needs to push the disposable sampling box 5 into the consumables bin 304. The magnetic sheets form a magnetic connection to secure the disposable sampling box 5 in the consumables bin 304.

[0118] After the disposable sampling box 5 is installed in place, the first airflow interface 3041 is docked with the sampling window 501 , and the second airflow interface 3042 is docked with the connection port 506 .

[0119] In a preferred embodiment, the sampling window 501 of the disposable sampling cartridge 5 is a rectangular slit of fixed physical size, wherein the long side of the rectangular slit is parallel to the width of the sampling belt 302 and the short side of the rectangular slit is parallel to the moving direction of the sampling belt 302.

[0120] For example, the long side of the rectangular slit (corresponding to the width of the sampling strip 302) can be 50 mm. This wide dimension ensures that it receives the majority of the airflow from the capture port 301, enabling high-throughput sampling. Meanwhile, the short side of the slit (i.e., the dimension in the direction of movement of the sampling strip 302) can be relatively narrow, for example, only 2-10 mm. This ensures that at any given moment, only a 2-10 mm wide area of ​​the sampling strip 302 is exposed to the sample airflow.

[0121] In a specific embodiment, in order to ensure airtightness, an annular, highly elastic sealing structure is provided around the two airflow interfaces (ie, the first airflow interface 3041 and the second airflow interface 3042 ) of the consumables bin 304 .

[0122] Preferably, the sealing structure is an O-shaped or rectangular sealing ring made of silicone or EPDM rubber.

[0123] In actual application scenarios, in a preferred embodiment, the multi-point environmental information collection mechanism of the agricultural inspection robot of the present invention is constructed as or carried on a multi-degree-of-freedom robotic arm.

[0124] This type of robotic arm-based structure can be implemented in two ways, but not limited to:

[0125] First, the C-shaped frame 1, through its connection assembly, acts as an independent end effector and is modularly mounted on the end flange of a well-established industrial or collaborative robotic arm (e.g., a six-axis robotic arm). The robotic arm is then fixed to the body platform of the agricultural inspection robot.

[0126] Secondly, the robotic arm itself constitutes a sampling assembly bracket 7 for connecting the C-shaped frame 1 and the agricultural inspection robot, and the base of the robotic arm is connected to the robot platform.

[0127] The robotic arm's multi-dimensional motion capabilities allow the C-shaped frame 1 to approach crops in any desired position (e.g., horizontal, vertical, tilted, or even inverted). This allows sampling to extend beyond the perimeter of the crop canopy, enabling precise penetration into dense foliage, enabling targeted and multi-point sampling in specific areas characterized by poor ventilation, high humidity, and the greatest potential for disease. Furthermore, the robotic arm's flexibility enables the collection mechanism to dynamically navigate obstacles (such as thick tree trunks, field posts, or wires) in complex environments, adapting to the irregular shapes of crops.

[0128] Of course, the agricultural inspection robot can be selected into various types to adapt to different agricultural operation environments.

[0129] For example, in a greenhouse or shed environment with a flat ground and standardized paths, wheeled AGVs (automated guided vehicles) or track-mounted robots can be chosen to pursue higher operating efficiency and lower costs.

[0130] In orchards, hills or field environments with soft soil and complex terrain, in order to obtain better passability and operating stability, a crawler all-terrain chassis robot is preferred.

[0131] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An agricultural inspection robot-mounted multi-point environmental information collection mechanism, characterized in that: include: A C-shaped frame having upper and lower arms; a purge module, comprising purge ports respectively provided on the upper arm and the lower arm; a capture module disposed at the throat of the C-shaped frame and having a capture port disposed toward the opening of the C-shaped frame, and a sampling space for a movable sampling belt disposed inside the capture module; a transmission mechanism connected to the sampling belt; Wherein, the transmission mechanism is configured to drive the sampling belt to move according to the target moving distance in response to the geographical location information of the agricultural inspection robot; The transmission mechanism comprises: A control module, the control module is configured as: Receiving geographic location information from the positioning system of the agricultural inspection robot and calculating the travel distance; determining a target moving distance of the sampling zone according to a relationship between the travel distance and a predetermined ratio; generating and sending to an execution module a driving instruction for achieving the target moving distance; And the execution module is connected to the sampling belt and is used to drive the sampling belt to move in response to the driving instruction, ensuring that a constant proportional relationship is maintained between the moving distance of the sampling belt and the actual path length traveled by the robot.

2. The multi-point environmental information collection mechanism carried by an agricultural inspection robot according to claim 1, characterized in that: The purge port comprises: a first purge port located in the upper arm and a second purge port located in the lower arm; Wherein, the first purge port and the second purge port are both arranged obliquely toward the capture port; The first purge port and the second purge port are both slit-type openings and are configured to eject laminar air curtains in opposite directions to form an airflow convergence area inside the C-shaped frame; Furthermore, the capture port is located in the airflow convergence area.

3. The multi-point environmental information collection mechanism carried by an agricultural inspection robot according to claim 2, characterized in that: The capture module includes: a capture manifold, wherein the capture port corresponding to the airflow convergence area is formed on the capture manifold; The consumables bin is connected to the air flow channel of the capture manifold and is configured to detachably install a disposable sampling box with the sampling belt encapsulated therein.

4. The agricultural inspection robot-mounted multi-point environmental information collection mechanism according to claim 3, characterized in that: The disposable sampling box comprises: A sampling box body, wherein a sampling window corresponding to the opening position of the consumables bin is formed on the sampling box body, and the sampling window is sealed by a breakable protective film in an initial state; A supply wheel, a take-up wheel, and a reel-type sampling tape pre-wound therebetween are all arranged inside the sampling box body; and a power coupling interface for receiving power from the transmission mechanism.

5. The multi-point environmental information collection mechanism carried by an agricultural inspection robot according to claim 4, characterized in that: include: A locking structure is provided in the consumables bin; Wherein, the snap-fit ​​structure is configured to snap the disposable sampling box into the consumables bin.

6. The multi-point environmental information collection mechanism carried by an agricultural inspection robot according to claim 4, characterized in that: The sampling belt has: a sticky sampling layer for capturing and fixing environmental information samples; and an anti-adhesion base layer which is arranged opposite to the adhesive sampling layer and is used to prevent cross contamination of samples between layers when the sampling tape is rolled up.

7. The multi-point environmental information collection mechanism carried by an agricultural inspection robot according to claim 3, characterized in that: The capture manifold has: Non-linear inertial graded airway; A sedimentation tank is connected to the inertial classification air channel and is used to collect large particle impurities separated due to inertia.

8. The agricultural inspection robot-mounted multi-point environmental information collection mechanism according to claim 4, characterized in that: The execution module is a driving motor, and the power output shaft of the driving motor is power-coupled to the take-up pulley through the power coupling interface.

9. The agricultural inspection robot-mounted multi-point environmental information collection mechanism according to claim 1, characterized in that: include: a secondary arm, wherein the secondary arm is arranged below the C-shaped frame; Wherein, the auxiliary arm has a blowing port, and the blowing port is configured to deliver an airflow toward the C-shaped frame.

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