Radius-adaptive full-coverage ant cave bait killing robot

Abstract

The invention discloses a radius-adaptive full-coverage ant cave bait killing robot which comprises a bait conveying mechanism, a radius adjusting mechanism, a height adjusting mechanism, a moving mechanism, a control mechanism and a detection mechanism. The moving mechanism is connected with the control mechanism and the detection mechanism; the detection mechanism is electrically connected with the control mechanism; the top of the height adjusting mechanism is connected with the bait conveying mechanism; the radius adjusting mechanism comprises a first motor, a power transmission assembly, a gear assembly, a synchronous disc and a telescopic assembly. The first motor is connected with the first supporting plate and fixedly connected with the power transmission assembly. The power transmission assembly is fixedly connected with the gear assembly; the gear assembly is connected with the synchronous disc; the synchronous disc is fixedly connected with the telescopic assembly; the telescopic assembly is fixedly connected with the bait conveying mechanism; the first motor, the moving mechanism, the height adjusting mechanism and the bait conveying mechanism are electrically connected with the control mechanism. The throwing radius and height are automatically adjusted, and accurate bait killing is achieved; the use of pesticides is reduced, and the negative effects on beneficial organisms and ecological environment are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of pest control machinery, in particular to a radius-adaptive full-coverage anthill bait-killing robot. Background Art

[0002] Currently, agricultural pest control relies heavily on chemical, physical, and mechanical methods. Long-term use of chemical pest control can easily lead to pest resistance, and pesticide residues can contaminate soil and water sources, harming both the ecological environment and human health.

[0003] Although physical and mechanical pest control methods are usually complicated to operate and inefficient, it is difficult to achieve precise pest control in large areas or complex terrains, and the control effect on pests is limited; in contrast, bait killing can achieve precise pest control by luring pests to ingest specific agents, avoiding environmental pollution and resource waste caused by large-scale spraying, and has less impact on non-target organisms, and has higher ecological safety; however, traditional bait killing methods have problems such as uneven bait delivery and insufficient coverage, especially in complex environments and pest nests, which are prone to omissions, resulting in some pests failing to come into contact with the bait.

[0004] Existing ant nest bait-killing robots, such as CN118192551A, disclose a legged inspection robot based on an improved ant colony algorithm and its sequential operation optimization method. This legged inspection robot primarily comprises a trunk frame, a dual-optical pan-tilt camera, an environmental perception unit, and four three-degree-of-freedom parallel legs. These three-degree-of-freedom parallel legs provide a large load capacity while reducing the leg inertia of the legged inspection robot. The robot primarily comprises a leg base, three joint motors, three struts, and a foot end. In order to solve the problem that the power module carried by the legged inspection robot can only provide limited energy, a method based on the improved ant colony algorithm is proposed to realize the inspection of N task points and minimize the total inspection length of the substation; the legged inspection robot in the prior art is only suitable for two-dimensional plane coverage, the bait placement height is fixed, and the coverage blind area is significant; and CN109699605A discloses a composite device for trapping termites, which includes a first shell and a second shell arranged inside the first shell, a plurality of first termite chewing materials are arranged between the first shell and the second shell, and a plurality of second termite chewing materials and a plurality of termite poison baits are arranged inside the second shell; the trapping device in this prior art improves the bait delivery efficiency through a layered bait design, but lacks a linkage adjustment mechanism for height and radius.

[0005] Therefore, those skilled in the art are in urgent need of providing a radius-adaptive, full-coverage ant nest bait-killing robot that reduces blind spots by adjusting the release height and release radius. Summary of the Invention

[0006] The purpose of the present invention is to provide a radius-adaptive, full-coverage ant nest bait-killing robot to solve the problems existing in the above-mentioned prior art.

[0007] A radius-adaptive, full-coverage anthill bait-killing robot, comprising: a bait conveying mechanism, a radius adjustment mechanism, a height adjustment mechanism, a moving mechanism, a control mechanism, and a detection mechanism; the upper end of the moving mechanism is fixedly connected to a support plate 1 via a support column 1; the top surface of the support plate 1 is fixedly connected to the height adjustment mechanism; the upper end of the moving mechanism is also connected to the control mechanism; the front end of the moving mechanism is connected to the detection mechanism; the detection mechanism is electrically connected to the control mechanism; the top surface of the height adjustment mechanism is connected to the bait conveying mechanism; the radius adjustment mechanism comprises a motor 1, a power transmission assembly, a gear assembly, a synchronous disc, and a telescopic assembly; the motor 1 is connected to the top surface of the support plate 1, and the output end of the motor 1 is fixedly connected to the power transmission assembly facing upward; the top end of the power transmission assembly is fixedly connected to the gear assembly; the top end of the gear assembly is connected to the synchronous disc; the top surface of the synchronous disc is fixedly connected to the telescopic assembly; the telescopic assembly is fixedly connected to the bait conveying mechanism and is close to the discharge end of the bait conveying mechanism; the motor 1, the moving mechanism, the height adjustment mechanism, and the bait conveying mechanism are respectively electrically connected to the control mechanism.

[0008] Preferably, the height adjustment mechanism includes a scissor arm, a scissor arm base, a support platform and an electric push rod; the top and bottom ends of the multiple scissor arms are respectively hinged to the scissor arm base; the scissor arm base at the top end of the scissor arm is fixedly connected to the bottom surface of the support platform; the scissor arm base at the bottom end of the scissor arm is fixedly connected to the top surface of the support plate one; the electric push rod is fixedly connected to the support plate one, and the pushing end of the electric push rod is fixedly connected to the support platform facing upward; the top surface of the support platform is fixedly connected to the bait conveying mechanism; the electric push rod is electrically connected to the control mechanism.

[0009] Preferably, the power transmission assembly includes a rotating disc 1, an I-shaped rod and a rotating disc 2; the center of the bottom surface of the rotating disc 1 is fixedly connected to the output end of the motor 1; the top surface of the rotating disc 1 is fixedly connected to a connecting block 1 away from the center; the bottom surface of the rotating disc 2 is fixedly connected to a connecting block 2 away from the center; a through hole 1 is respectively provided at both ends of the I-shaped rod; the connecting block 1 and the connecting block 2 are respectively inserted into the through hole 1 and movably connected to the I-shaped rod; the top surface of the rotating disc 2 is fixedly connected to the gear assembly.

[0010] Preferably, the gear assembly includes a rotating shaft 1, a rotating shaft 2, a rotating shaft 3, a gear 1, a gear 2, a gear 3, a cylindrical rotating shaft and an inverted E-shaped fixed frame; one end of the rotating shaft 1 is fixedly connected to the center of the circle of the top surface of the rotating disk 2, and the other end is fixedly connected to the center of the circle of the bottom surface of the cylindrical rotating shaft; the middle position of the rotating shaft 2 is fixedly connected to the gear 1; the bottom and top ends of the rotating shaft 3 are fixedly connected to the gear 2 and the gear 3 respectively; the rotating shaft 3 is fixedly connected to a retaining ring 1 and a retaining ring 2 near the gear 2 and the gear 3 respectively; teeth are fixedly connected to the outer surface of the cylindrical rotating shaft with teeth meshing with the gear 2, and the teeth on the outer surface of the cylindrical rotating shaft are close to the lower end of the cylindrical rotating shaft; the horizontal plate at the lower end of the inverted E-shaped fixed frame is provided with a through hole 2 and is rotatably connected to the rotating shaft 1 through the through hole 2 and is located between the rotating disk 2 and the cylindrical rotating shaft; the middle of the inverted E-shaped fixed frame The horizontal plate is provided with through holes three and four in sequence toward the vertical plate of the inverted E-shaped fixing frame; the inverted E-shaped fixing frame is rotatably connected to the outer surface of the cylindrical rotating shaft through the through hole four and is close to the top end of the cylindrical rotating shaft; the inverted E-shaped fixing frame is rotatably connected to the rotating shaft three through the through hole three and is located between the retaining ring one and the gear two; the horizontal plate at the upper end of the inverted E-shaped fixing frame is provided with through holes five and six in sequence toward the vertical plate of the inverted E-shaped fixing frame; the inverted E-shaped fixing frame is fixedly connected to the rotating shaft two through the through hole six and is located between the gear one and the cylindrical rotating shaft; the inverted E-shaped fixing frame is rotatably connected to the rotating shaft three through the through hole five and is located between the gear three and the retaining ring two; the top surfaces of the rotating shaft two and the gear one are fixedly connected to the synchronous disk respectively; the teeth on the outer surface of the cylindrical rotating shaft are meshed with the gear two; and the gear three is meshed with the gear one.

[0011] Preferably, the telescopic assembly includes motor three, a sleeve, a screw, a fixed plate and a moving block; the two fixed plates are arranged in parallel and the opposite surfaces are fixedly connected to the slide rails; the moving block is arranged between the two fixed plates and is slidably connected to the slide rail through a slide groove one; the two fixed plates and the motor three are fixedly connected to the top surface of the synchronous disc respectively; the output end of the motor three is fixedly connected to the screw in the direction of the moving block; the other end of the screw is threadedly connected to the moving block; the end face of the moving block away from the motor three is an arc-shaped surface and is fixedly connected to the sleeve; the sleeve is fixedly connected to the bait conveying mechanism; the motor three is electrically connected to the control mechanism.

[0012] Preferably, the bait conveying mechanism includes a shell, a feed funnel, a belt conveyor, a discharge funnel, an opening and closing hopper, a bait conveying pipe and a transmission device; the shell is fixedly connected to the support platform; the front end of the bottom surface of the shell and the rear end of the top surface are respectively provided with a through hole seven and a through hole eight; the top surface of the shell is fixedly connected to the feed funnel, and the feed funnel is located at the upper end of the through hole eight; the bottom surface of the shell is fixedly connected to the discharge funnel, and the discharge funnel is located at the lower end of the through hole seven; the inner side surface of the shell is rotatably connected to the roller shaft of the belt conveyor; one end of the roller shaft of the belt conveyor near the rear end passes through the shell and is fixedly connected to the transmission device; the discharge funnel is rotatably connected to the bait conveying pipe, and the discharge port of the bait conveying pipe is fixedly connected to the opening and closing hopper.

[0013] Preferably, the bait conveying pipeline includes conveying pipe 1, conveying pipe 2 and conveying pipe 3; the feed end of conveying pipe 1 is upward and rotatably connected to the discharge funnel, the discharge end of conveying pipe 1 is toward the front end of the bait killing robot and is fixedly connected with two sliders near the discharge end; conveying pipe 2 is L-shaped, and the horizontal pipe at the upper end of conveying pipe 2 is provided with two slide grooves 2; the discharge end of conveying pipe 1 is inserted into the horizontal pipe at the upper end of conveying pipe 2 and the slider is located in the slide groove 2; the discharge end of conveying pipe 2 is downward and is sleeved on the outside of conveying pipe 3; the outer surface of conveying pipe 3 near the discharge end is fixedly connected to the inner surface of the sleeve; the discharge end of conveying pipe 3 is fixedly connected to the opening and closing hopper.

[0014] Preferably, the transmission device includes motor 2, rotating shaft 4, gear 4, gear 5, gear 6, gear 7, a chain and a semicircular plate; the motor 2 is fixedly connected to the side of the shell; one end of the roller shaft of the belt conveyor near the rear end passes through the shell and is fixedly connected to the gear 4; the flat end of the semicircular plate is fixedly connected to the top surface of the support platform; the rotating shaft 4 passes through the semicircular plate and is rotatably connected to the semicircular plate; the two ends of the rotating shaft 4 are respectively fixedly connected to the gear 5 and the gear 6; the gear 5 is meshed with the gear 4; the output end of the motor 2 is fixedly connected to the gear 7; the gear 7 is meshed with the gear 6 through the chain; the motor 2 is electrically connected to the control mechanism.

[0015] Preferably, the mobile mechanism includes a front-end frame, a rear-end frame, wheels, battery 1, battery 2, a drive assembly and a front axle; the front-end frame is detachably connected to the rear-end frame; the placement platform of the front-end frame is lower than the placement platform of the rear-end frame; the lower end of the rear-end frame is fixedly connected to the drive assembly, and the drive shaft of the drive assembly is fixedly connected to the two wheels; the front-end frame is rotatably connected to the front axle, and the front axle is fixedly connected to the two wheels; the bottom ends of the four wheels are located in the same plane; the lower end of the rear-end frame is fixedly connected to battery 1, and battery 1 is electrically connected to the drive assembly; the upper end of the front-end frame is fixedly connected to battery 2, and battery 2 is electrically connected to battery 1 and the control mechanism respectively; the drive assembly is electrically connected to the control mechanism; the upper end of the rear-end frame is fixedly connected to the support plate 2 through support column 2; the upper end of the support plate 2 is fixedly connected to the support plate 1 through support column 1; the upper end of the support plate 2 is fixedly connected to the control mechanism; the upper end of the front-end frame is fixedly connected to the detection mechanism.

[0016] Preferably, the detection mechanism includes an infrared detector, a camera and an ultrasonic sensor; a mounting plate is fixedly connected to the upper end of the front end frame; the front end of the mounting plate is fixedly connected to the camera, ultrasonic sensor and infrared detector respectively; the camera, ultrasonic sensor and infrared detector are electrically connected to the control mechanism and battery 2 respectively.

[0017] Compared with the existing technology, the present invention provides a radius-adaptive, full-coverage ant nest bait-killing robot, which has the following beneficial effects:

[0018] 1. The height adjustment mechanism and radius adjustment mechanism can automatically adjust the release radius and height, flexibly adjust the bait coverage range, achieve accurate and efficient bait killing effect, and thus reduce the blind area of ​​bait killing, which not only improves the bait utilization rate, but also reduces the burden of manual operation.

[0019] 2. The cooperation between the detection and control agencies is automated, while reducing the large-scale use of pesticides and effectively reducing the negative impact on beneficial organisms and the ecological environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic structural diagram of the radius adjustment mechanism of the present invention;

[0023] Figure 3 This is a schematic structural diagram of the height adjustment mechanism of the present invention;

[0024] Figure 4 This is an exploded schematic diagram of the radius adjustment mechanism and telescopic assembly of the present invention;

[0025] Figure 5 Schematic diagram of the belt conveyor of the present invention;

[0026] Figure 6 This is an exploded schematic diagram of the bait delivery pipeline of the present invention;

[0027] Figure 7 Schematic diagram of the transmission structure of the present invention;

[0028] Figure 8 It is an enlarged structural diagram of the transmission device of the present invention;

[0029] Figure 9 It is a schematic diagram of the decomposition of the moving mechanism and the detection mechanism of the present invention.

[0030] Among them: 1 is the bait conveying mechanism; 101 is the housing; 102 is the feeding funnel; 103 is the belt conveyor; 104 is the discharging funnel; 105 is the opening and closing hopper; 106 is the bait conveying pipe; 1061 is the conveying pipe 1; 1062 is the conveying pipe 2; 10621 is the chute 2; 1063 is the conveying pipe 3; 107 is the transmission device; 1071 is the motor 2; 1072 is the rotating shaft 4; 1073 is the gear 4; 1074 is the gear 5; 1075 is Gear 6; 1076 is gear 7; 1077 is a chain; 1078 is a semicircular plate; 2 is a radius adjustment mechanism; 201 is motor 1; 202 is a power transmission assembly; 2021 is rotating disc 1; 2022 is an I-shaped rod; 2023 is rotating disc 2; 203 is a gear assembly; 2031 is rotating shaft 1; 2032 is rotating shaft 2; 2033 is rotating shaft 3; 20331 is locking ring 1; 20332 is locking ring 2; 2034 is gear 1 ; 2035 is gear 2; 2036 is gear 3; 2037 is cylindrical shaft; 2038 is inverted E-shaped fixed frame; 204 is synchronous disc; 205 is telescopic assembly; 2051 is motor 3; 2052 is sleeve; 2053 is screw rod; 2054 is fixed plate; 20541 is slide rail; 2055 is moving block; 20551 is slide 1; 3 is height adjustment mechanism; 301 is scissor arm; 302 is scissor arm base; 303 is support platform; 3 04 is an electric push rod; 4 is a moving mechanism; 401 is a front frame; 402 is a rear frame; 403 is a wheel; 404 is battery one; 405 is battery two; 406 is a drive assembly; 407 is a front axle; 5 is a control mechanism; 6 is a detection mechanism; 601 is an infrared detector; 602 is a camera; 603 is an ultrasonic sensor; 7 is a support column one; 8 is a support plate one; 9 is a slider; 10 is a support column two; 11 is a support plate two; 12 is a mounting plate. DETAILED DESCRIPTION

[0031] 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.

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] like Figure 1-2As shown, a radius adaptive full coverage ant nest bait killing robot includes: a bait conveying mechanism 1, a radius adjustment mechanism 2, a height adjustment mechanism 3, a moving mechanism 4, a control mechanism 5 and a detection mechanism 6; the upper end of the moving mechanism 4 is fixedly connected to a support plate 8 through a support column 7; the top surface of the support plate 8 is fixedly connected to the height adjustment mechanism 3; the upper end of the moving mechanism 4 is also connected to the control mechanism 5; the front end of the moving mechanism 4 is connected to the detection mechanism 6; the detection mechanism 6 is electrically connected to the control mechanism 5; the top surface of the height adjustment mechanism 3 is connected to the bait conveying mechanism 1; the radius adjustment mechanism 2 includes a motor 201, a power transmission component 202, a gear component 20 3. Synchronous disc 204 and telescopic assembly 205; the motor 201 is connected to the top surface of the support plate 8, and the output end of the motor 201 is fixedly connected to the power transmission assembly 202 facing upward; the top of the power transmission assembly 202 is fixedly connected to the gear assembly 203; the top of the gear assembly 203 is connected to the synchronous disc 204; the top surface of the synchronous disc 204 is fixedly connected to the telescopic assembly 205; the telescopic assembly 205 is fixedly connected to the bait conveying mechanism 1 and is close to the discharge end of the bait conveying mechanism 1; the motor 201, the moving mechanism 4, the height adjustment mechanism 3 and the bait conveying mechanism 1 are electrically connected to the control mechanism 5 respectively.

[0034] In the present invention, the upper end of the moving mechanism 4 is fixedly connected to the control mechanism 5 by bolts; the front end of the moving mechanism 4 is fixedly connected to the detection mechanism 6 by bolts; the top surface of the height adjustment mechanism 3 is fixedly connected to the rear end of the bottom plate of the shell 101 of the bait conveying mechanism 1 by bolts; the motor 201 is fixedly connected to the top surface of the support plate 8 by bolts; two support columns 7 are provided, one close to the front end of the support plate 8 and the other close to the rear end of the support plate 8; the power transmission component 202 is used to transmit the power output of the motor 201 to the front end of the moving mechanism 4; the synchronous disc 204 ... 1. The cooperation of the power transmission component 202 and the gear component 203 drives the telescopic component 205 to rotate in radius; the telescopic component 205 is used to adjust the bait placement position laterally; the height adjustment mechanism and the radius adjustment mechanism can automatically adjust the placement radius and height, flexibly adjust the bait coverage range, achieve accurate and efficient bait killing effect, and thus reduce the blind area of ​​bait killing, which not only improves the bait utilization rate, but also reduces the burden of manual operation; the cooperation of the detection mechanism and the control mechanism realizes automation, while reducing the large-scale use of pesticides, and effectively reducing the negative impact on beneficial organisms and the ecological environment.

[0035] In the present invention, the control mechanism 5 runs on the Raspberry Pi platform, is developed in the Python programming language, uses the Open Source Computer Vision Library (OpenCV) for image processing, and combines the YOLOv11 target detection algorithm to achieve high-precision recognition and real-time response capabilities for pest nests; through automated image analysis, the system can quickly and accurately locate pest nests in complex environments, and perform in-depth analysis of the detected image information to improve recognition accuracy and adaptability.

[0036] In the present invention, the control mechanism 5 includes an Arduino control panel, which is responsible for coordinating the operation of the detection mechanism 6, the bait conveying mechanism 1, the radius adjustment mechanism 2, the height adjustment mechanism 3 and the moving mechanism 4; when a pest nest is detected, the control mechanism 5, through precise data analysis, directs the bait conveying mechanism 1 to adjust to a suitable rotation radius and a suitable height through the radius adjustment mechanism 2 and the height adjustment mechanism 3, thereby achieving precise delivery; through dynamic control of the telescopic component 205, the minimum rotation radius of the bait conveying mechanism 1 can be accurately set to adapt to the requirements of different nest sizes, reduce bait waste and enhance the prevention and control effect.

[0037] In the present invention, the control mechanism 5 adopts distributed processing. By concentrating the image recognition task on the Windows side, the Raspberry Pi is only responsible for executing the control operation. This division of labor reduces the computing burden of the Raspberry Pi, significantly reduces the overall power consumption, ensures the efficient operation of the system, and extends the operating time of the equipment.

[0038] In an exemplary embodiment, Figure 3 As shown, the height adjustment mechanism 3 includes a scissor arm 301, a scissor arm base 302, a support platform 303 and an electric push rod 304; the top and bottom ends of the multiple scissor arms 301 are respectively hinged to the scissor arm base 302; the scissor arm base 302 at the top of the scissor arm 301 is fixedly connected to the bottom surface of the support platform 303; the scissor arm base 302 at the bottom end of the scissor arm 301 is fixedly connected to the top surface of the support plate 8; the electric push rod 304 is fixedly connected to the support plate 8, and the pushing end of the electric push rod 304 is fixedly connected to the support platform 303 facing upward; the top surface of the support platform 303 is fixedly connected to the bait conveying mechanism 1; the electric push rod 304 is electrically connected to the control mechanism 5.

[0039] In the present invention, the control mechanism 5 controls the electric push rod 304 to push the support platform 303 , and at the same time the scissor arm 301 moves longitudinally through the scissor arm base 302 to achieve height adjustment of the bait conveying mechanism 1 .

[0040] In an exemplary embodiment, Figure 4 As shown, the power transmission assembly 202 includes a rotating disc 1 2021, an I-shaped rod 2022 and a rotating disc 2 2023; the center of the bottom surface of the rotating disc 1 2021 is fixedly connected to the output end of the motor 1 201; the top surface of the rotating disc 1 2021 is fixedly connected to a connecting block 1 away from the center; the bottom surface of the rotating disc 2 2023 is fixedly connected to a connecting block 2 away from the center; a through hole 1 is respectively provided at both ends of the I-shaped rod 2022; the connecting block 1 and the connecting block 2 are respectively inserted into the through hole 1 and movably connected to the I-shaped rod 2022; the top surface of the rotating disc 2 2023 is fixedly connected to the gear assembly 203.

[0041] In the present invention, the motor 201 is started, the rotating disc 1 2021 rotates, and at the same time, the rotating disc 2 2023 is driven to rotate through the I-shaped rod 2022, that is, the rotational power of the rotating disc 1 2021 is transmitted to the rotating disc 2 2023; since the distance between the motor 201 and the bait conveying mechanism 1 is relatively far, it is necessary to further transmit the output power of the motor 201 to the front end of the device, and further connect the bait conveying mechanism 1 to realize the radius rotation adjustment.

[0042] In an exemplary embodiment, Figure 4As shown, the gear assembly 203 includes a rotating shaft 1 2031, a rotating shaft 2032, a rotating shaft 3 2033, a gear 1 2034, a gear 2035, a gear 3 2036, a cylindrical rotating shaft 2037 and an inverted E-shaped fixing frame 2038; one end of the rotating shaft 1 2031 is fixedly connected to the center of the top surface of the rotating disk 2023, and the other end is fixedly connected to the center of the bottom surface of the cylindrical rotating shaft 2037; the middle position of the rotating shaft 2032 is fixedly connected to the gear 1 2034; the bottom and top ends of the rotating shaft 3 2033 are respectively connected to the gear 2 2035 and the gear 3 2 036 is fixedly connected; the rotating shaft three 2033 is fixedly connected with a retaining ring 1 20331 and a retaining ring 20332 near the gear 2 2035 and the gear 3 2036 respectively; teeth meshing with the gear 2 2035 are fixedly connected around the outer surface of the cylindrical rotating shaft 2037, and the teeth on the outer surface of the cylindrical rotating shaft 2037 are close to the lower end of the cylindrical rotating shaft 2037; the horizontal plate at the lower end of the inverted E-shaped fixing frame 2038 is provided with a through hole 2 and is rotatably connected to the rotating shaft 1 2031 through the through hole 2 and is located between the rotating disk 2 2023 and the cylindrical rotating shaft 2037; the inverted E-shaped fixing frame 2038 is provided with a through hole 2 The horizontal plate in the middle of the E-shaped fixing frame 2038 is provided with through holes three and four in sequence toward the vertical plate of the inverted E-shaped fixing frame 2038; the inverted E-shaped fixing frame 2038 is rotatably connected to the outer surface of the cylindrical rotating shaft 2037 through the through hole four and is close to the top of the cylindrical rotating shaft 2037; the inverted E-shaped fixing frame 2038 is rotatably connected to the rotating shaft three 2033 through the through hole three and is located between the retaining ring one 20331 and the gear two 2035; the horizontal plate at the upper end of the inverted E-shaped fixing frame 2038 is provided with through holes five and six in sequence toward the vertical plate of the inverted E-shaped fixing frame 2038; The inverted E-shaped fixing frame 2038 is fixedly connected to the rotating shaft 2032 through the through hole 6 and is located between the gear 1 2034 and the cylindrical rotating shaft 2037; the inverted E-shaped fixing frame 2038 is rotationally connected to the rotating shaft 3 2033 through the through hole 5 and is located between the gear 3 2036 and the retaining ring 2 20332; the top surfaces of the rotating shaft 2032 and the gear 1 2034 are respectively fixedly connected to the synchronous disc 204; the teeth on the outer surface of the cylindrical rotating shaft 2037 are engaged with the gear 2 2035; the gear 3 2036 is engaged with the gear 1 2034.

[0043] In the present invention, the horizontal plate in the middle of the inverted E-shaped fixing frame 2038 is away from the vertical plate direction end of the inverted E-shaped fixing frame 2038 and is sequentially provided with through hole three and through hole four toward the vertical plate direction of the inverted E-shaped fixing frame 2038; the horizontal plate at the upper end of the inverted E-shaped fixing frame 2038 is away from the vertical plate direction end of the inverted E-shaped fixing frame 2038 and is sequentially provided with through hole five and through hole six toward the vertical plate direction of the inverted E-shaped fixing frame 2038.

[0044] In the present invention, rotating disc 2023 drives rotating shaft 1 2031 to rotate, rotating shaft 1 2031 drives cylindrical rotating shaft 2037 to rotate, and the teeth on the outer surface of cylindrical rotating shaft 2037 further drive gear 2 2035 to rotate; since rotating shaft 3 2033 is fixedly connected to gear 2 2035 and gear 3 2036 respectively, when gear 2 2035 rotates, rotating shaft 3 2033 and gear 3 2036 rotate simultaneously; gear 3 2036 drives gear 1 2034 and rotating shaft 2 2032 to rotate, gear 1 2034 and rotating shaft 2 2032 drive inverted E-shaped fixing frame 2038 to rotate, gear 1 2034 and rotating shaft 2 2032 simultaneously drive synchronous disc 204 to rotate; the rotation of synchronous disc 204 drives telescopic assembly 205 to rotate, thereby realizing precise control of the rotation radius, flexibly adjusting the bait coverage range, achieving accurate and efficient bait killing effect, and thereby reducing bait killing blind spots.

[0045] In the present invention, the maximum diameter of gear one 2034 is greater than the maximum diameter of the teeth of the cylindrical rotating shaft 2037, gear three 2036 and gear two 2035; the diameter of the cylindrical rotating shaft 2037 is greater than the diameter of the rotating shaft one 2031, which makes the center of gravity more stable; the weight of the vertical plate of the inverted E-shaped fixing frame 2038 is the same as the weight of gear three 2036, rotating shaft three 2033 and gear two 2035, thereby achieving counterweight, and the rotating disc two 2023 will not tilt due to unstable center of gravity during use; since the rotating shaft one 2031, the cylindrical rotating shaft 2037 and the rotating shaft three 2033 are respectively rotatably connected to the inverted E-shaped fixing frame 2038, the power transmitted to gear three 2036 is decelerated when it is transmitted to gear one 2034; therefore, the gear assembly 203 has the comprehensive effects of deceleration, counterweight and height adaptation, thereby achieving precise control of the rotation radius while more accurately grasping the position of the discharge port, thereby achieving precise and efficient bait killing.

[0046] In an exemplary embodiment, Figure 4As shown, the telescopic assembly 205 includes a motor 3 2051, a sleeve 2052, a screw 2053, a fixed plate 2054 and a moving block 2055; the two fixed plates 2054 are arranged in parallel and the opposite surfaces are fixedly connected to the slide rails 20541; the moving block 2055 is arranged between the two fixed plates 2054 and is slidably connected to the slide rails 20541 through the slide groove 1 20551; the two fixed plates 2054 and the motor 3 2051 are respectively connected to the synchronous The top surface of the disc 204 is fixedly connected; the output end of the motor three 2051 is fixedly connected to the screw rod 2053 toward the moving block 2055; the other end of the screw rod 2053 is threadedly connected to the moving block 2055; the end face of the moving block 2055 away from the motor three 2051 is an arc-shaped surface and is fixedly connected to the sleeve 2052; the sleeve 2052 is fixedly connected to the bait conveying mechanism 1; the motor three 2051 is electrically connected to the control mechanism 5.

[0047] In the present invention, a threaded hole with a certain depth is provided in the middle position of the surface of the moving block 2055 facing the direction of the motor three 2051, and the screw rod 2053 is threadedly connected to the moving block 2055; when the motor three 2051 drives the screw rod 2053 to rotate, it drives the moving block 2055 to move along the slide rail 20541 toward the direction of the motor three 2051 or away from the motor three 2051 through the slide groove one 20551, thereby driving the opening and closing hopper 105 to move horizontally; while the opening and closing hopper 105 moves horizontally, the conveying pipe two 1062 moves horizontally at the same time through the slider 9 and the slide groove two 10621; thereby realizing the horizontal movement of the device, flexibly adjusting the bait coverage range, achieving accurate and efficient bait killing effect, and reducing the bait killing blind spot.

[0048] In an exemplary embodiment, Figure 5-7 As shown, the bait conveying mechanism 1 includes a shell 101, a feeding funnel 102, a belt conveyor 103, a discharging funnel 104, an opening and closing hopper 105, a bait conveying pipe 106 and a transmission device 107; the shell 101 is fixedly connected to the support platform 303; the front end of the bottom surface and the rear end of the top surface of the shell 101 are respectively provided with a through hole seven and a through hole eight; the top surface of the shell 101 is fixedly connected to the feeding funnel 102, and the feeding funnel 102 is located at the upper end of the through hole eight; The bottom surface of the shell 101 is fixedly connected to the discharge funnel 104, and the discharge funnel 104 is located at the lower end of the through hole seven; the inner side surface of the shell 101 is rotatably connected to the roller shaft of the belt conveyor 103; one end of the roller shaft of the belt conveyor 103 near the rear end passes through the shell 101 and is fixedly connected to the transmission device 107; the discharge funnel 104 is rotatably connected to the bait conveying pipe 106, and the discharge port of the bait conveying pipe 106 is fixedly connected to the opening and closing hopper 105.

[0049] In an exemplary embodiment, Figure 6 As shown, the bait delivery pipe 106 includes a delivery pipe 1 1061, a delivery pipe 2 1062 and a delivery pipe 3 1063; the feed end of the delivery pipe 1 1061 is upwardly connected to the discharge funnel 104, the discharge end of the delivery pipe 1 1061 is toward the front end of the bait killing robot and is fixedly connected to two sliders 9 near the discharge end; the delivery pipe 2 1062 is L-shaped, and the horizontal pipe at the upper end of the delivery pipe 2 1062 is provided with two chute 2 10621; the discharge end of the delivery pipe 1 1061 is inserted into The upper end of the conveying pipe 2 1062 is a horizontal tube and the slider 9 is located in the slide groove 2 10621; the discharge end of the conveying pipe 2 1062 faces downward and is sleeved on the outside of the conveying pipe 3 1063; the outer surface of the conveying pipe 3 1063 close to the discharge end is fixedly connected to the inner surface of the sleeve 2052; the discharge end of the conveying pipe 3 1063 is fixedly connected to the opening and closing hopper 105; in the present invention, the inner walls of the conveying pipe 1 1061, the conveying pipe 2 1062 and the conveying pipe 3 1063 are all provided with an anti-stick coating.

[0050] In an exemplary embodiment, Figure 5 、 Figure 7 as well as Figure 8 As shown, the transmission device 107 includes a second motor 1071, a fourth rotating shaft 1072, a fourth gear 1073, a fifth gear 1074, a sixth gear 1075, a seventh gear 1076, a chain 1077, and a semicircular plate 1078; the second motor 1071 is fixedly connected to the side of the housing 101; one end of the roller shaft of the belt conveyor 103 near the rear end passes through the housing 101 and is fixedly connected to the fourth gear 1073; the flat end of the semicircular plate 1078 is fixedly connected to the top surface of the support platform 303; The rotating shaft 4 1072 passes through the semicircular plate 1078 and is rotatably connected to the semicircular plate 1078; the two ends of the rotating shaft 4 1072 are fixedly connected to the gear 5 1074 and the gear 6 1075 respectively; the gear 5 1074 is meshed with the gear 4 1073; the output end of the motor 2 1071 is fixedly connected to the gear 7 1076; the gear 7 1076 is meshed with the gear 6 1075 through the chain 1077; the motor 2 1071 is electrically connected to the control mechanism 5.

[0051] In the present invention, the opening and closing hopper 105 is a hollow conical structure with an open top and fixedly connected to the discharge end of the conveying pipe 3 1063; the opening and closing hopper 105 has symmetrical opening and closing plates on the left and right sides at its bottom end, and the opening and closing plates are hinged to the side walls of the opening and closing hopper 105 through hinges. When the bait passes through the opening and closing plates, the opening and closing plates on the left and right sides are forced to expand outward around the hinges to form a cylindrical material spreading channel. After the material spreading is completed, the opening and closing plates close to the initial conical shape; the inner surface of the horizontal tube at the lower end of the conveying pipe 2 1062 is close to the outer surface of the conveying pipe 3 1063.

[0052] In the present invention, when the electric push rod 304 pushes the support platform 303 upward, the delivery tube 2 1062 moves upward at the same time, and the delivery tube 3 1063 remains stationary; when the electric push rod 304 is pushed upward to the highest point, the delivery tube 3 1063 remains inside the delivery tube 2 1062, and the bait delivery channel is always formed.

[0053] In an exemplary embodiment, Figure 1 and Figure 9 As shown, the mobile mechanism 4 includes a front-end frame 401, a rear-end frame 402, wheels 403, a battery 1 404, a battery 2 405, a drive assembly 406 and a front axle 407; the front-end frame 401 is detachably connected to the rear-end frame 402; the placement platform of the front-end frame 401 is lower than the placement platform of the rear-end frame 402; the lower end of the rear-end frame 402 is fixedly connected to the drive assembly 406, and the drive shaft of the drive assembly 406 is fixedly connected to the two wheels 403; the front-end frame 401 is rotatably connected to the front axle 407, and the front axle 407 is fixedly connected to the two wheels 403; the bottom ends of the four wheels are located in the same plane; the rear-end frame The lower end of the frame 402 is fixedly connected to the battery 1 404, and the battery 1 404 is electrically connected to the drive assembly 406; the upper end of the front end frame 401 is fixedly connected to the battery 2 405, and the battery 2 405 is electrically connected to the battery 1 404 and the control mechanism 5 respectively; the drive assembly 406 is electrically connected to the control mechanism 5; the upper end of the rear end frame 402 is fixedly connected to the support plate 2 11 through the support column 2 10; the upper end of the support plate 2 11 is fixedly connected to the support plate 1 8 through the support column 1 7; the upper end of the support plate 2 11 is fixedly connected to the control mechanism 5; the upper end of the front end frame 401 is fixedly connected to the detection mechanism 6.

[0054] In the present invention, the drive assembly 406 includes a third motor and a differential. The differential regulates the rotation rate of the wheel 403, allowing the robot to move freely in farmland or other complex terrains, expanding the operating range; battery 1 404 and battery 2 405 are provided to enable the robot to work for a longer time.

[0055] In an exemplary embodiment, Figure 1 and Figure 9 As shown, the detection mechanism 6 includes an infrared detector 601, a camera 602 and an ultrasonic sensor 603; the upper end of the front end frame 401 is fixedly connected to a mounting plate 12; the front end of the mounting plate 12 is fixedly connected to the camera 602, the ultrasonic sensor 603 and the infrared detector 601 respectively; the camera 602, the ultrasonic sensor 603 and the infrared detector 601 are electrically connected to the control mechanism 5 and the battery 2 405 respectively.

[0056] In the present invention, camera 602 uses a lens made of high-transmittance glass or optical-grade plastic to enhance light transmission, thereby improving imaging quality and transmitting clear and stable images. It has a high-resolution imaging function, can clearly obtain visual information of the surrounding environment, and has specific operating modes for low-light or no-light environments, ensuring stable operation under various lighting conditions. The ultrasonic sensor 603 accurately detects the position, distance, and shape of surrounding objects by emitting ultrasonic waves of a specific frequency and detecting the echo time and intensity after the ultrasonic waves hit the surface of the object. It can effectively capture surrounding environmental information in complex environments. Working in conjunction with camera 602, the data obtained by the two are supplemented and verified by a specific data fusion algorithm, which can accurately identify pests and their nests, ensure the accuracy and integrity of the collected data, and increase the data accuracy to above a specific value. In a no-light environment, the infrared detector 601 activates the fill light function of camera 602 and can capture abnormal temperature areas around the ant nest through thermal imaging, generating thermal signal data and transmitting it to the Arduino board.

[0057] In the present invention, the control mechanism 5 can preset a patrol route through the data transmitted by the detection mechanism 6, automatically direct the device to patrol along the preset route, and identify the pest nest information in real time by analyzing the detection data; the workflow of the present invention is as follows: S1: setting the patrol path of the radius-adaptive full-coverage ant nest bait-killing robot; S2: during the patrol, real-time monitoring is performed through the camera 602 and the image data is sent to the control mechanism 5 through the Raspberry Pi; S3: real-time nest identification and positioning is performed in the control mechanism 5; S4: when the red fire ant nest is detected, the control mechanism 5 calculates the optimal disinfecting parameters through the distributed architecture, generates control instructions and sends them back to the Raspberry Pi; S5: the robot moves to the target position, and the ultrasonic wave corrects the positioning in real time; S6: the scissor arm adjusts the bait height, the gear group drives the screw to adjust the radius, and the conveyor belt accurately spreads the bait to cover the nest, achieving uniform coverage of the poison bait; S7: after the disinfecting, the control mechanism 5 re-measures the bait coverage effect. If there is an uncovered area, the killing path is automatically planned and the second baiting is performed. After completion, the preset path is returned to continue patrolling, forming a fully closed-loop automated operation cycle.

[0058] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are 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 cannot be understood as a limitation on the present invention.

[0059] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A radius-adaptive, full-coverage anthill bait-killing robot, characterized in that: include: A bait conveying mechanism (1), a radius adjusting mechanism (2), a height adjusting mechanism (3), a moving mechanism (4), a control mechanism (5), and a detection mechanism (6); The upper end of the moving mechanism (4) is fixedly connected to a support plate (8) via a support column (7); the top surface of the support plate (8) is fixedly connected to the height adjustment mechanism (3); The upper end of the moving mechanism (4) is also connected to the control mechanism (5); the front end of the moving mechanism (4) is connected to the detection mechanism (6); the detection mechanism (6) is electrically connected to the control mechanism (5); The top surface of the height adjustment mechanism (3) is connected to the bait delivery mechanism (1); The radius adjustment mechanism (2) comprises a motor (201), a power transmission assembly (202), a gear assembly (203), a synchronous disc (204) and a telescopic assembly (205); The motor 1 (201) is connected to the top surface of the support plate 1 (8), and the output end of the motor 1 (201) is fixedly connected to the power transmission component (202) facing upward; The top end of the power transmission component (202) is fixedly connected to the gear component (203); the top end of the gear component (203) is connected to the synchronization disc (204); The top surface of the synchronization disc (204) is fixedly connected to the telescopic assembly (205); The telescopic component (205) is fixedly connected to the bait conveying mechanism (1) and is close to the discharge end of the bait conveying mechanism (1); The motor 1 (201), the moving mechanism (4), the height adjustment mechanism (3) and the bait conveying mechanism (1) are electrically connected to the control mechanism (5) respectively.

2. The radius-adaptive, full-coverage ant nest bait-killing robot according to claim 1, characterized in that: The height adjustment mechanism (3) comprises a scissor arm (301), a scissor arm base (302), a support platform (303) and an electric push rod (304); The top and bottom ends of the plurality of scissor arms (301) are respectively hinged to the scissor arm base (302); the scissor arm base (302) at the top end of the scissor arm (301) is fixedly connected to the bottom surface of the support platform (303); the scissor arm base (302) at the bottom end of the scissor arm (301) is fixedly connected to the top surface of the support plate (8); The electric push rod (304) is fixedly connected to the support plate (8), and the pushing end of the electric push rod (304) is fixedly connected to the support platform (303) with its pushing end facing upward; The top surface of the support platform (303) is fixedly connected to the bait conveying mechanism (1); The electric push rod (304) is electrically connected to the control mechanism (5).

3. The radius-adaptive, full-coverage ant nest bait-killing robot according to claim 2, characterized in that: The power transmission assembly (202) comprises a first rotating disc (2021), an I-shaped rod (2022) and a second rotating disc (2023); The center of the bottom surface of the rotating disc 1 (2021) is fixedly connected to the output end of the motor 1 (201); the top surface of the rotating disc 1 (2021) is fixedly connected to a connecting block 1 away from the center of the circle; The bottom surface of the second rotating disc (2023) is fixedly connected with a second connecting block away from the center of the circle; The two ends of the I-shaped rod (2022) are respectively provided with a through hole 1; the connecting block 1 and the connecting block 2 are respectively inserted into the through hole 1 and movably connected to the I-shaped rod (2022); The top surface of the second rotating disc (2023) is fixedly connected to the gear assembly (203).

4. The radius-adaptive, full-coverage ant nest bait-killing robot according to claim 3, characterized in that: The gear assembly (203) includes a rotating shaft 1 (2031), a rotating shaft 2 (2032), a rotating shaft 3 (2033), a gear 1 (2034), a gear 2 (2035), a gear 3 (2036), a cylindrical rotating shaft (2037), and an inverted E-shaped fixing frame (2038); One end of the rotating shaft 1 (2031) is fixedly connected to the center of the top surface of the rotating disk 2 (2023), and the other end is fixedly connected to the center of the bottom surface of the cylindrical rotating shaft (2037); The middle position of the second rotating shaft (2032) is fixedly connected to the first gear (2034); The bottom end and the top end of the rotating shaft 3 (2033) are fixedly connected to the gear 2 (2035) and the gear 3 (2036) respectively; the rotating shaft 3 (2033) is fixedly connected to a retaining ring 1 (20331) and a retaining ring 2 (20332) near the gear 2 (2035) and the gear 3 (2036) respectively; Teeth meshing with the second gear (2035) are fixedly connected around the outer surface of the cylindrical rotating shaft (2037), and the teeth on the outer surface of the cylindrical rotating shaft (2037) are close to the lower end of the cylindrical rotating shaft (2037); A second through hole is formed on the horizontal plate at the lower end of the inverted E-shaped fixing frame (2038) and is rotatably connected to the first rotating shaft (2031) through the second through hole and is located between the second rotating disc (2023) and the cylindrical rotating shaft (2037); A third through hole and a fourth through hole are sequentially formed on the horizontal plate in the middle of the inverted E-shaped fixing frame (2038) in a direction toward the vertical plate of the inverted E-shaped fixing frame (2038); the inverted E-shaped fixing frame (2038) is rotatably connected to the outer surface of the cylindrical rotating shaft (2037) through the fourth through hole and is close to the top end of the cylindrical rotating shaft (2037); the inverted E-shaped fixing frame (2038) is rotatably connected to the rotating shaft (2033) through the third through hole and is located between the first retaining ring (20331) and the second gear (2035); A fifth through hole and a sixth through hole are sequentially formed on the horizontal plate at the upper end of the inverted E-shaped fixing frame (2038) in a direction toward the vertical plate of the inverted E-shaped fixing frame (2038); the inverted E-shaped fixing frame (2038) is fixedly connected to the second rotating shaft (2032) through the sixth through hole and is located between the first gear (2034) and the cylindrical rotating shaft (2037); the inverted E-shaped fixing frame (2038) is rotationally connected to the third rotating shaft (2033) through the fifth through hole and is located between the third gear (2036) and the second retaining ring (20332); The top surfaces of the second rotating shaft (2032) and the first gear (2034) are respectively fixedly connected to the synchronous disc (204); The teeth on the outer surface of the cylindrical rotating shaft (2037) mesh with the gear 2 (2035); and the gear 3 (2036) meshes with the gear 1 (2034).

5. The radius-adaptive, full-coverage ant nest bait-killing robot according to claim 4, characterized in that: The telescopic assembly (205) includes a third motor (2051), a sleeve (2052), a screw rod (2053), a fixed plate (2054) and a moving block (2055); The two fixed plates (2054) are arranged in parallel and their opposite surfaces are fixedly connected to the slide rails (20541) respectively; the moving block (2055) is arranged between the two fixed plates (2054) and is slidably connected to the slide rails (20541) through a first slide groove (20551); The two fixed plates (2054) and the motor three (2051) are respectively fixedly connected to the top surface of the synchronous disc (204); The output end of the motor three (2051) is fixedly connected to the screw rod (2053) in the direction of the moving block (2055); the other end of the screw rod (2053) is threadedly connected to the moving block (2055); The end surface of the moving block (2055) away from the motor three (2051) is an arc-shaped surface and is fixedly connected to the sleeve (2052); The sleeve (2052) is fixedly connected to the bait delivery mechanism (1); The motor three (2051) is electrically connected to the control mechanism (5).

6. The radius-adaptive, full-coverage ant nest bait-killing robot according to claim 5, characterized in that: The bait conveying mechanism (1) comprises a housing (101), a feeding hopper (102), a belt conveyor (103), a discharging hopper (104), an opening and closing hopper (105), a bait conveying pipe (106) and a transmission device (107); The shell (101) is fixedly connected to the support platform (303); the front end of the bottom surface and the rear end of the top surface of the shell (101) are respectively provided with a through hole seven and a through hole eight; the top surface of the shell (101) is fixedly connected to the feeding funnel (102), and the feeding funnel (102) is located at the upper end of the through hole eight; the bottom surface of the shell (101) is fixedly connected to the discharging funnel (104), and the discharging funnel (104) is located at the lower end of the through hole seven; The inner side surface of the housing (101) is rotatably connected to the roller shaft of the belt conveyor (103); one end of the roller shaft of the belt conveyor (103) near the rear end passes through the housing (101) and is fixedly connected to the transmission device (107); The discharge funnel (104) is rotatably connected to the bait delivery pipe (106), and the discharge port of the bait delivery pipe (106) is fixedly connected to the opening and closing hopper (105).

7. The radius-adaptive, full-coverage ant nest bait-killing robot according to claim 6, characterized in that: The bait delivery pipeline (106) includes a delivery pipe 1 (1061), a delivery pipe 2 (1062) and a delivery pipe 3 (1063); The feed end of the conveying pipe 1 (1061) is rotatably connected to the discharge funnel (104) upward, and the discharge end of the conveying pipe 1 (1061) faces the front end of the bait-killing robot and is fixedly connected to two sliders (9) near the discharge end; The second conveying pipe (1062) is L-shaped, and the horizontal pipe at the upper end of the second conveying pipe (1062) is provided with two second chutes (10621); the discharge end of the first conveying pipe (1061) is inserted into the horizontal pipe at the upper end of the second conveying pipe (1062) and the slider (9) is located in the second chutes (10621); The discharge end of the second conveying pipe (1062) faces downward and is sleeved on the outside of the third conveying pipe (1063); the outer surface of the third conveying pipe (1063) close to the discharge end is fixedly connected to the inner surface of the sleeve (2052); The discharge end of the conveying pipe three (1063) is fixedly connected to the opening and closing hopper (105).

8. The radius-adaptive, full-coverage ant nest bait-killing robot according to claim 7, characterized in that: The transmission device (107) includes a second motor (1071), a fourth rotating shaft (1072), a fourth gear (1073), a fifth gear (1074), a sixth gear (1075), a seventh gear (1076), a chain (1077), and a semicircular plate (1078). The second motor (1071) is fixedly connected to the side of the housing (101); one end of the roller shaft of the belt conveyor (103) near the rear end passes through the housing (101) and is fixedly connected to the fourth gear (1073); The flat end of the semicircular plate (1078) is fixedly connected to the top surface of the support platform (303); the rotating shaft (1072) passes through the semicircular plate (1078) and is rotatably connected to the semicircular plate (1078); the two ends of the rotating shaft (1072) are respectively fixedly connected to the gear (1074) and the gear (1075); The gear five (1074) is meshed with the gear four (1073); The output end of the motor 2 (1071) is fixedly connected to the gear 7 (1076); the gear 7 (1076) is meshed with the gear 6 (1075) via the chain (1077); The second motor (1071) is electrically connected to the control mechanism (5).

9. The radius-adaptive, full-coverage ant nest bait-killing robot according to claim 8, characterized in that: The mobile mechanism (4) includes a front frame (401), a rear frame (402), wheels (403), a first battery (404), a second battery (405), a drive assembly (406), and a front axle (407); The front-end vehicle frame (401) and the rear-end vehicle frame (402) are detachably connected; the placement platform of the front-end vehicle frame (401) is lower than the placement platform of the rear-end vehicle frame (402); The lower end of the rear-end frame (402) is fixedly connected to the drive assembly (406), and the drive shaft of the drive assembly (406) is fixedly connected to the two wheels (403); the front-end frame (401) is rotatably connected to the front axle (407), and the front axle (407) is fixedly connected to the two wheels (403); the bottom ends of the four wheels are located in the same plane; The lower end of the rear frame (402) is fixedly connected to the battery 1 (404), and the battery 1 (404) is electrically connected to the drive assembly (406); the upper end of the front frame (401) is fixedly connected to the battery 2 (405), and the battery 2 (405) is electrically connected to the battery 1 (404) and the control mechanism (5) respectively; The driving assembly (406) is electrically connected to the control mechanism (5); The upper end of the rear end frame (402) is fixedly connected to the second support plate (11) via the second support column (10); the upper end of the second support plate (11) is fixedly connected to the first support plate (8) via the first support column (7); The upper end of the second support plate (11) is fixedly connected to the control mechanism (5); the upper end of the front frame (401) is fixedly connected to the detection mechanism (6).

10. The radius-adaptive, full-coverage ant nest bait-killing robot according to claim 9, characterized in that: The detection mechanism (6) includes an infrared detector (601), a camera (602) and an ultrasonic sensor (603); The upper end of the front frame (401) is fixedly connected to a mounting plate (12); The front end of the mounting plate (12) is fixedly connected to the camera (602), the ultrasonic sensor (603) and the infrared detector (601) respectively; The camera (602), ultrasonic sensor (603) and infrared detector (601) are electrically connected to the control mechanism (5) and the second battery (405) respectively.

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