Truss type adjustable robot Chinese herbal medicine growth information acquisition system

Abstract

The invention relates to the technical field of information acquisition, and discloses a truss-type adjustable robot Chinese herbal medicine growth information acquisition system, which comprises a support module, a three-axis motion module, a three-axis motion module and a three-axis motion module, the three-axis movement module is connected with the supporting module and comprises an X-axis movement mechanism, a Y-axis movement mechanism and a Z-axis movement mechanism, the X-axis movement mechanism can drive the Y-axis movement mechanism to move front and back, the Y-axis movement mechanism can drive the Z-axis movement mechanism to move left and right, and the Z-axis movement mechanism can drive the visual collection module to move up and down; and the visual acquisition module is connected with the three-axis motion module and is used for acquiring a plant image through an optical sensing unit and transmitting the plant image to the edge calculation module through an MIPI CSI interface. The system effectively overcomes the defects that wheel type equipment is easy to roll and flight equipment is easy to disturb plants, and can adapt to complex terrain environments such as mountainous regions and terraced fields.

Description

Technical Field

[0001] This invention relates to the field of information acquisition technology, specifically a truss-type adjustable robot system for acquiring information on the growth of Chinese herbal medicines. Background Technology

[0002] The Traditional Chinese Medicine (TCM) Medicinal Herb Growth Information Collection System is an intelligent agricultural monitoring platform integrating Internet of Things (IoT) technology, automated control, and data analysis to acquire dynamic biological information of individual plants during their growth process. By deploying a sensor network and visual acquisition units in the planting area, and leveraging the flexible movement and precise positioning capabilities of a gantry-type adjustable robotic platform, the system achieves comprehensive three-dimensional spatial monitoring of large-scale planting areas. The massive amounts of crop phenotypic data collected are processed to extract key indicators characterizing plant health and growth trends, constructing a dynamic digital twin of growth. This provides effective data support for refined planting management decisions such as precision irrigation, intelligent fertilization, pest and disease early warning, and harvest period prediction. Simultaneously, the system can establish a traceable database of TCM medicinal herb growth information, helping to improve crop quality, increase medicinal herb yield, and promote the standardization and intelligentization of production management.

[0003] In existing technologies, wheeled equipment can cause seedling damage due to imbalance of the center of gravity when operating on slopes, and the downdraft of rotary-wing drones can damage the integrity of plants. Furthermore, traditional equipment cannot be stably deployed on sloping mountainous and terraced terrain. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a truss-type adjustable robot for collecting information on the growth of Chinese herbal medicines, solving the problem that existing equipment cannot adapt to different terrains, thus damaging the plants.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a truss-type adjustable robot system for collecting information on the growth of Chinese herbal medicines, comprising:

[0006] Support module, used to adjust the height of the three-axis motion module;

[0007] The three-axis motion module, connected to the support module, includes an X-axis motion mechanism, a Y-axis motion mechanism, and a Z-axis motion mechanism. The X-axis motion mechanism can drive the Y-axis motion mechanism to move back and forth, the Y-axis motion mechanism can drive the Z-axis motion mechanism to move left and right, and the Z-axis motion mechanism can drive the vision acquisition module to move up and down.

[0008] The visual acquisition module, connected to the three-axis motion module, is used to acquire plant images through the optical sensing unit and transmit them to the edge computing module through the MIPI CSI interface;

[0009] The edge computing module is connected with the visual acquisition module and is used for running a YOLOv8n model to analyze plant image data and output pest information to the human-computer interaction module, and simultaneously generates three-axis displacement according to target coordinates and outputs to the three-axis movement module.

[0010] The energy management module provides rated voltage and current for the three-axis movement module and the edge computing module through lithium battery units.

[0011] The human-computer interaction module receives mobile phone instructions through a Bluetooth unit and transmits them to the edge computing module, and displays the recognition result by using a display screen.

[0012] The safety protection module cuts off the power supply of the three-axis movement module and the edge computing module by means of a photoelectric sensor and an emergency stop button.

[0013] Preferably, the support module comprises a fixed frame, the bottom of the fixed frame is provided with a plurality of electric push rods, the output ends of the plurality of electric push rods are fixedly connected with the fixed frame, and the top of the support module is fixedly connected with the X-axis movement mechanism.

[0014] Preferably, the X-axis movement mechanism comprises two X-axis stepping motors, one X-axis lead screw is fixedly arranged at the output end of each of the two X-axis stepping motors, X-axis guide rails are arranged below the two X-axis stepping motors and the X-axis lead screws, and the two X-axis guide rails are fixed to the two fixed frames on the two sides; the two X-axis lead screws are connected with a sliding block through threads; and the sliding block is driven by threads and can slide on the X-axis guide rails.

[0015] Preferably, the Y-axis movement mechanism comprises one Y-axis stepping motor, one Y-axis lead screw is fixedly arranged at the output end of the Y-axis stepping motor, Y-axis guide rails are arranged on one side of the Y-axis stepping motor and the Y-axis lead screw, and the two ends of the Y-axis guide rails are fixed to the two X-axis sliding blocks, respectively; the Y-axis lead screw is connected with a sliding block through threads; and the sliding block is driven by threads and can slide on the Y-axis guide rails.

[0016] Preferably, the Z-axis movement mechanism comprises one Z-axis stepping motor, one Z-axis lead screw is fixedly arranged at the output end of the Z-axis stepping motor, Z-axis guide rails are arranged on one side of the Z-axis stepping motor and the Z-axis lead screw, and the Z-axis guide rails are fixed to the Y-axis sliding block; the Z-axis lead screw is connected with a connecting block through threads; and the connecting block is driven by threads and can slide on the Z-axis guide rails.

[0017] Preferably, the edge computing module comprises:

[0018] The inference prediction unit is used for processing the received plant image, and inferring and predicting plant pest information according to a pre-trained YOLOv8n target detection model.

[0019] The motion control unit is used for outputting pulse control signals to the motor driver of the three-axis motion module through a PWM interface.

[0020] Preferably, the visual acquisition module comprises:

[0021] An optical sensing unit is used for acquiring images through a visual sensor and transmitting the images to the edge computing module.

[0022] A vibration isolation unit is used for suppressing mechanical vibration through a silica gel shock absorber arranged at the connection position of the visual sensor and the Z-axis motion mechanism, and the thickness of the silica gel shock absorber is 3mm.

[0023] Preferably, the energy management module comprises:

[0024] A lithium battery unit, when the capacity of the lithium battery unit is 90Wh, can continuously output a maximum current of 12A.

[0025] A boost circuit unit is used for outputting a 24V voltage to drive the motor.

[0026] A buck circuit unit is used for outputting a 3.3V voltage to drive the edge computing module.

[0027] Preferably, the human-computer interaction module comprises:

[0028] A display screen is used for displaying the plant disease and pest text identified by the edge computing module.

[0029] A Bluetooth unit is used for receiving mobile phone remote control information and sending the information to the edge computing module.

[0030] Preferably, the safety protection module comprises:

[0031] A photoelectric sensor is fixed to the stroke end position of the three-axis motion module, and is used for detecting the moving position and triggering the X-axis stepper motor, the Y-axis stepper motor and the Z-axis stepper motor to stop urgently when the position is out of limit.

[0032] An emergency stop button is connected in series to the output loop of the lithium battery unit, and when the emergency stop button is pressed, the power supply of the whole system can be physically cut off.

[0033] The present application provides a truss type adjustable robot Chinese herbal medicine growth information acquisition system.

[0034] 1、The present application can compensate the ground undulation in real time by extending multiple electric push rods to different heights, ensure the horizontal stability of the three-axis motion module plane, effectively overcome the defects of easy rolling of wheeled equipment and easy disturbance of plant by flying equipment, and be suitable for complex terrain environments such as mountains and terraces.

[0035] 2、The application realizes 0.025mm level stepping precision through the cooperation of the motor and the adoption of the lead screw on the X / Y / Z axis of the three-axis movement module, generates the optimal movement path by combining the YOLOv8n model, and drives the visual sensor to accurately position, solves the problems of large positioning error of artificial inspection, image blur caused by the hovering shaking of the sling platform, and improves the single plant monitoring efficiency.

[0036] 3、The application realizes the real-time monitoring of the three-axis stroke end point through the photoelectric sensor, triggers the corresponding motor enable signal immediately after the interruption, and cooperates with the emergency stop button to physically cut off the lithium battery power supply circuit, forms double protection of signal interruption and hardware power-off, realizes the rapid braking of the equipment when the stroke is out of limit or abnormal, solves the safety loophole of single software limit protection failure and single emergency stop button cutting off partial circuit of the traditional equipment, and solves the hardware damage and safety accident risk caused by mechanical out-of-control of the Chinese herbal medicine information acquisition equipment in complex environment. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 is a perspective view of the truss type adjustable robot Chinese herbal medicine growth information acquisition system of the application;

[0038] Figure 2 is Figure 1 an enlarged view of position A;

[0039] Figure 3 is a system architecture diagram of the truss type adjustable robot Chinese herbal medicine growth information acquisition system of the application;

[0040] Figure 4 is a main program flow chart of the truss type adjustable robot Chinese herbal medicine growth information acquisition system of the application.

[0041] 1, support module; 101, fixed frame; 102, electric push rod; 2, three-axis movement module; 201, X-axis guide rail; 202, X-axis stepping motor; 203, X-axis lead screw; 204, Y-axis guide rail; 205, Y-axis stepping motor; 206, Y-axis lead screw; 207, Z-axis guide rail; 208, Z-axis stepping motor; 209, Z-axis lead screw; 210, connecting block; 3, visual acquisition module; 301, visual sensor; 302, silica gel shock absorber; 4, edge computing module; 5, energy management module; 6, human-computer interaction module; 7, safety protection module; 701, photoelectric sensor; 702, emergency stop button. DETAILED DESCRIPTION

[0042] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings of the specification of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0043] Please refer to the drawings of the specification of the present application Figure 1 - the drawings of the specification of the present application Figure 3 The embodiment of the present application provides a truss type adjustable robot Chinese herbal medicine growth information acquisition system, which comprises:

[0044] The support module 1 is used to adjust the height of the three-axis motion module 2.

[0045] The three-axis motion module 2 is connected with the support module 1 and comprises an X-axis motion mechanism, a Y-axis motion mechanism and a Z-axis motion mechanism. The X-axis motion mechanism can drive the Y-axis motion mechanism to move forward and backward, the Y-axis motion mechanism can drive the Z-axis motion mechanism to move left and right, and the Z-axis motion mechanism can drive the visual acquisition module 3 to move up and down.

[0046] The visual acquisition module 3 is connected with the three-axis motion module 2 and is used to acquire plant images through an optical sensing unit and transmit the plant images to the edge computing module 4 through a MIPI CSI interface.

[0047] The edge computing module 4 is connected with the visual acquisition module 3 and is used to run a YOLOv8n model to analyze plant image data and output pest information to the human-computer interaction module 6, and simultaneously generate a three-axis displacement amount according to a target coordinate and output the three-axis displacement amount to the three-axis motion module 2.

[0048] The energy management module 5 provides rated voltage and current for the three-axis motion module 2 and the edge computing module 4 through lithium battery units.

[0049] The human-computer interaction module 6 receives mobile phone instructions through a Bluetooth unit and transmits the mobile phone instructions to the edge computing module 4, and displays recognition results by using a display screen.

[0050] The safety protection module 7 cuts off the power supply of the three-axis motion module 2 and the edge computing module 4 by means of a photoelectric sensor 701 and an emergency stop button 702.

[0051] Specifically, the fixed frame 101 is dynamically adjusted by the electric push rod 102 of the support module 1 to prevent the device from shaking when used on a slope; the lead screw transmission mechanism of the three-axis motion module 2 achieves a positioning accuracy of ±0.1mm, the visual acquisition module 3 transmits images to the K230 processor of the edge computing module 4 through the MIPICSI interface, and the local YOLOv8n model compression recognition delay is within 0.2 seconds; the man-machine interaction module 6 displays the spatiotemporal binding data in real time through the Bluetooth-LCD chain, and completely eradicates the missing of artificial record coordinates; the safety protection module 7 triggers the EN=0 interruption with the photoelectric sensor 701, and cooperates with the emergency stop button 702 to physically cut off the lithium battery circuit, thereby reducing the collision accident rate.

[0052] Referring to the accompanying Figure 1 and the accompanying Figure 2 , the support module 1 includes a fixed frame 101, and the bottom of the fixed frame 101 is provided with a plurality of electric push rods 102, the output ends of the plurality of electric push rods 102 are fixedly connected with the fixed frame 101, and the top of the support module 1 is fixedly connected with an X-axis motion mechanism.

[0053] Specifically, the support module 1 dynamically adjusts the fixed frame 101 through the plurality of electric push rods 102 arranged at the bottom of the fixed frame 101, maintains a horizontal error of ≤0.5° in a terrain with a slope ≤25°, solves the problem of wheel-type device rollover risk on a slope and error caused by swinging of a sling platform, provides a zero offset reference for the three-axis motion module, and guarantees subsequent image acquisition and positioning accuracy.

[0054] Referring to the accompanying Figure 1 and the accompanying Figure 2 , the X-axis motion mechanism includes two X-axis stepping motors 202; one X-axis lead screw 203 is fixedly arranged at the output end of each of the two X-axis stepping motors 202; X-axis guide rails 201 are arranged below the two X-axis stepping motors 202 and the X-axis lead screws 203, and are fixed to the two fixed frames 101 on the sides; the two X-axis lead screws 203 are each connected with a sliding block through a thread; the two sliding blocks are driven by the thread and can slide on the X-axis guide rails 201.

[0055] Specifically, the X-axis motion mechanism is symmetrically distributed through the two X-axis guide rails 201, the X-axis lead screws 203 are synchronously rotated by the X-axis stepping motors 202, and the Y-axis motion mechanism is stably moved forward and backward without bias load. The lateral torsion deformation and displacement out-of-sync problem of the traditional single-track structure are eliminated, a precise motion reference is provided for the three-axis system, and the stability of high-definition image capture of the visual acquisition module 3 is guaranteed.

[0056] Referring to the accompanying Figure 1 and the accompanying Figure 2The Y-axis movement mechanism comprises a Y-axis stepping motor 205; a Y-axis screw 206 is fixedly arranged at an output end of the Y-axis stepping motor 205; a Y-axis guide rail 204 is arranged on one side of the Y-axis stepping motor 205 and the Y-axis screw 206, and both ends of the Y-axis guide rail 204 are fixed to two X-axis sliders respectively; the Y-axis screw 206 is threadedly connected with a slider; and the slider is driven by threads and can slide on the Y-axis guide rail 204.

[0057] Specifically, the Y-axis movement mechanism drives the Y-axis screw 206 to rotate through the Y-axis guide rail 204 and the Y-axis stepping motor 205 directly connected with the Y-axis guide rail 204, so as to realize accurate positioning of the Z-axis movement mechanism left and right, ensure consistency of plant image acquisition positions, and improve accuracy of subsequent AI recognition.

[0058] Referring to the accompanying drawings Figure 1 and the accompanying drawings Figure 2 The Z-axis movement mechanism comprises a Z-axis stepping motor 208; a Z-axis screw 209 is fixedly arranged at an output end of the Z-axis stepping motor 208; a Z-axis guide rail 207 is arranged on one side of the Z-axis stepping motor 208 and the Z-axis screw 209, and the Z-axis guide rail 207 is fixed to the Y-axis slider; the Z-axis screw 209 is threadedly connected with a connecting block 210; and the connecting block 210 is driven by threads and can slide on the Z-axis guide rail 207.

[0059] Specifically, the Z-axis screw 209 is driven to rotate by the Z-axis stepping motor 208, and the connecting block 210 is driven to realize vertical lifting movement, so as to eliminate height positioning deviation, provide a zero-jitter vertical positioning reference for the vision acquisition module 3, and ensure stability of high-definition image acquisition of different canopies of plants.

[0060] Referring to the accompanying drawings Figure 3 The edge computing module 4 comprises:

[0061] An inference and prediction unit is configured to process the received plant images and infer and predict plant pest and disease information according to a pre-trained YOLOv8n target detection model;

[0062] A motion control unit is configured to output a pulse control signal to a motor driver of the three-axis movement module 2 through a PWM interface.

[0063] Specifically, the YOLOv8n model is locally run on the processor through the inference and prediction unit, the plant images transmitted by the vision acquisition module 3 are real-time analyzed as pest and disease identification results, diagnosis lag caused by cloud transmission delay is prevented, the motion control unit outputs a 400Hz pulse through the PWM interface to accurately drive the three-axis motor, the screw transmission mechanism is quickly positioned, image blurring caused by positioning error and motion jitter in artificial inspection is prevented, and the accuracy of Chinese herbal medicine pest and disease identification is improved.

[0064] Referring to the accompanying drawings Figure 3The visual acquisition module 3 comprises:

[0065] An optical sensing unit is configured to acquire images through the visual sensor 301 and transmit the images to the edge computing module 4.

[0066] A vibration isolation unit is configured to suppress mechanical vibration through a silica gel shock absorber 302, which is arranged at a connection position between the visual sensor 301 and the Z-axis movement mechanism and has a thickness of 3 mm.

[0067] Specifically, the visual sensor 301 directly captures high-definition images of the plants and transmits the images to the edge computing module 4 in real time for identification and analysis. Meanwhile, the 3-mm silica gel shock absorber 302 forms a mechanical vibration isolation layer between the sensor and the Z-axis connecting block 210, effectively suppressing the 6-100 Hz high-frequency vibration generated by the three-axis movement, solving the defect of image blurring caused by motor vibration in the traditional hard connection scheme, and making the image usability rate under mobile acquisition, thereby ensuring the accuracy of AI pest identification.

[0068] Referring to the accompanying drawings Figure 3 The energy management module 5 comprises:

[0069] A lithium battery unit, which has a capacity of 90 Wh and can continuously output a maximum current of 12 A;

[0070] A boost circuit unit configured to output a 24-V voltage to drive the motor;

[0071] A buck circuit unit configured to output a 3.3-V voltage to drive the edge computing module.

[0072] Specifically, a 7500-mAh lithium battery unit provides a 12-V basic power supply, which is converted to 24 V by an XL6019 boost circuit to drive the three-axis motor, and is converted to 3.3 V by a buck circuit to supply the main control module, thereby realizing the collaborative power supply of a single power supply to high and low voltage devices, solving the problems of voltage conflict caused by multiple batteries in parallel and insufficient endurance caused by low conversion efficiency in the traditional scheme, and ensuring the continuous and stable operation of the system in the field without commercial power supply.

[0073] Referring to the accompanying drawings Figure 3 The human-computer interaction module 6 comprises:

[0074] A display screen configured to display the pest text identified by the edge computing module 4;

[0075] A Bluetooth unit configured to receive mobile phone remote control information and send the information to the edge computing module 4.

[0076] Specifically, the display screen of the LCD displays the pest identification result text sent by the edge computing module 4 in real time, and the Bluetooth unit supports two modes of remote control by the mobile phone, realizing real-time monitoring and precise control of the running state of the equipment in the complex field environment, solving the problems of missing coordinate information in traditional manual recording and inability to intervene in emergency situations in time, providing intuitive plant health data and control methods, and improving the accuracy and operation flexibility of Chinese herbal medicine growth information acquisition.

[0077] Referring to the drawings Figure 1 The safety protection module 7 comprises:

[0078] The photoelectric sensor 701 is fixed at the stroke end position of the three-axis motion module 2, and is used for detecting the moving position and triggering the X-axis stepper motor 202, the Y-axis stepper motor 205 and the Z-axis stepper motor 208 to stop suddenly when the limit is exceeded;

[0079] The emergency stop button 702 is connected in series to the lithium battery unit output loop, and when pressed, can physically cut off the power supply of the whole system.

[0080] Specifically, the photoelectric sensor 701 is fixed at the stroke end position of the three-axis motion mechanism, and detects the position of the sliding table in real time and triggers the motor enable signal interrupt (EN=0) immediately when the limit is exceeded, forcing the corresponding axis stepper motor to stop rotating; at the same time, the emergency stop button 702 is physically connected in series to the lithium battery output loop, and when manually triggered, directly cuts off the power supply of the whole system, thus building a double protection mechanism of electronic signal interruption and hardware circuit interruption, solving the risk of position loss leading to reset collision or abnormality of the main control module caused by single software limit protection in traditional equipment in the event of power failure, realizing fast and safe braking of the equipment in the event of mechanical overtravel, motor stall and other faults, and reducing the rate of collision accidents.

[0081] Although embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and alterations can be made thereto without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A truss type adjustable robot Chinese herbal medicine growth information acquisition system, characterized in that, The application relates to a plant disease and pest detection device, which comprises the following components: a support module (1) for adjusting the height of a three-axis movement module (2); the three-axis movement module (2) is connected with the support module (1) and comprises an X-axis movement mechanism, a Y-axis movement mechanism and a Z-axis movement mechanism, the X-axis movement mechanism can drive the Y-axis movement mechanism to move back and forth, the Y-axis movement mechanism can drive the Z-axis movement mechanism to move left and right, and the Z-axis movement mechanism can drive a visual acquisition module (3) to move up and down; the visual acquisition module (3) is connected with the three-axis movement module (2) and is used for acquiring plant images through an optical sensing unit and transmitting the plant images to an edge computing module (4) through an MIPI CSI interface; the edge computing module (4) is connected with the visual acquisition module (3) and is used for running a YOLOv8n model to analyze plant image data and output pest information to a man-machine interaction module (6), and simultaneously generating three-axis displacement and outputting the three-axis displacement to the three-axis movement module (2); an energy management module (5) provides rated voltage and current for the three-axis movement module (2) and the edge computing module (4) through lithium battery units; the man-machine interaction module (6) receives mobile phone instructions through a Bluetooth unit and transmits the mobile phone instructions to the edge computing module (4), and displays the recognition result through a display screen; a safety protection module (7) cuts off the power supply of the three-axis movement module (2) and the edge computing module (4) through a photoelectric sensor (701) and an emergency stop button (702).

2. The truss type adjustable robot Chinese herbal medicine growth information acquisition system according to claim 1, characterized in that: The support module (1) comprises a fixed frame (101), a plurality of electric push rods (102) are arranged at the bottom of the fixed frame (101), the output ends of the electric push rods (102) are fixedly connected with the fixed frame (101), and the top of the support module (1) is fixedly connected with the X-axis movement mechanism.

3. The truss type adjustable robot Chinese herbal medicine growth information acquisition system according to claim 1, characterized in that: The X-axis movement mechanism comprises two X-axis stepping motors (202), one X-axis lead screw (203) is fixedly arranged at the output end of each X-axis stepping motor (202), X-axis guide rails (201) are arranged below the X-axis stepping motors (202) and the X-axis lead screws (203) and are fixed to the two fixed frames (101), the two X-axis lead screws (203) are connected with a sliding block through threads, and the sliding block is driven by threads and can slide on the X-axis guide rails (201).

4. The truss type adjustable robot Chinese herbal medicine growth information acquisition system according to claim 1, characterized in that: The Y-axis movement mechanism comprises a Y-axis stepping motor (205), a Y-axis lead screw (206) is fixedly arranged at the output end of the Y-axis stepping motor (205), a Y-axis guide rail (204) is arranged on one side of the Y-axis stepping motor (205) and the Y-axis lead screw (206) and is fixed to the two X-axis sliding blocks, the Y-axis lead screw (206) is connected with a sliding block through threads, and the sliding block is driven by threads and can slide on the Y-axis guide rail (204).

5. The truss type adjustable robot Chinese herbal medicine growth information acquisition system according to claim 1, characterized in that: The Z-axis movement mechanism comprises a Z-axis stepping motor (208); a Z-axis screw (209) is fixedly arranged at the output end of the Z-axis stepping motor (208); a Z-axis guide rail (207) is arranged on one side of the Z-axis stepping motor (208) and the Z-axis screw (209) and is fixed to the Y-axis slider; the Z-axis screw (209) is connected with a connecting block (210) through threads; the connecting block (210) is driven by threads and can slide on the Z-axis guide rail (207).

6. The truss type adjustable robot Chinese herbal medicine growth information acquisition system according to claim 1, characterized in that, The edge computing module (4) comprises: An inference prediction unit is configured to process a received plant image and infer and predict plant pest information according to a pre-trained YOLOv8n target detection model; A motion control unit is configured to output a pulse control signal to a motor driver of the three-axis movement module (2) through a PWM interface.

7. The truss type adjustable robot Chinese herbal medicine growth information acquisition system according to claim 1, characterized in that, The visual acquisition module (3) comprises: An optical sensing unit is configured to acquire an image through a visual sensor (301) and transmit the image to the edge computing module (4); A vibration isolation unit is configured to suppress mechanical vibration through a silica gel shock absorber (302) arranged at a connection position of the visual sensor (301) and the Z-axis movement mechanism, and the thickness of the silica gel shock absorber (302) is 3 mm.

8. The truss type adjustable robot Chinese herbal medicine growth information acquisition system according to claim 1, characterized in that, The energy management module (5) comprises: A lithium battery unit is capable of continuously outputting a maximum current of 12 A when the capacity of the lithium battery unit is 90 Wh; A boost circuit unit is configured to output a 24 V voltage to drive a motor; A buck circuit unit is configured to output a 3.3 V voltage to drive the edge computing module.

9. The truss type adjustable robot Chinese herbal medicine growth information acquisition system according to claim 1, characterized in that, The human-computer interaction module (6) comprises: A display screen is configured to display pest text identified by the edge computing module (4); A Bluetooth unit is configured to receive mobile phone remote control information and transmit the information to the edge computing module (4).

10. The truss type adjustable robot Chinese herbal medicine growth information acquisition system according to claim 1, characterized in that, The safety protection module (7) comprises: A photoelectric sensor (701) is fixed at an endpoint position of the three-axis movement module (2) and is configured to detect a moving position and trigger an X-axis stepping motor (202), a Y-axis stepping motor (205) and a Z-axis stepping motor (208) to stop urgently when the moving position is out of limit; An emergency stop button (702) is connected in series to a lithium battery unit output loop and can physically cut off power supply of the whole system when pressed.

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