A machine vision detection device for fruit and vegetable diseases and pests based on drones

Abstract

This invention belongs to the field of unmanned aerial vehicle (UAV) technology, specifically a machine vision detection device for fruit and vegetable pests and diseases based on UAVs. It includes a UAV body with flight components and a detection component for detecting pests and diseases. A square frame houses an adjustment mechanism for adjusting the position of a support plate. One end of the support plate is fixedly connected to a frame with a through groove and a limiting groove inside. A sliding plate passes through the limiting groove, and a push plate is fixedly connected to the sliding plate. A transmission mechanism is located inside the support plate. This UAV-based machine vision detection device for fruit and vegetable pests and diseases, by using the push plate and support plate, can conveniently acquire images of clustered branches and leaves, allowing operators to monitor pest and disease information in real time. By dispersing clustered branches and leaves, it effectively eliminates blind spots caused by overlapping and obstruction, avoiding missed detections and misjudgments due to obstruction.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, specifically a machine vision detection device for fruit and vegetable pests and diseases based on UAVs. Background Technology

[0002] The drone-based machine vision detection device for fruit and vegetable diseases and pests combines the advantages of drone mobile inspection with machine vision intelligent recognition technology. It can quickly cover large areas of fruit and vegetable planting, achieve efficient and accurate detection of diseases and pests, and effectively make up for the shortcomings of traditional manual inspection, such as low efficiency, strong subjectivity, and high missed detection rate. It provides key technical support for green prevention and control of fruits and vegetables, precision application of pesticides, and intelligent and data-driven management of the entire planting process.

[0003] A Chinese patent with publication number CN118651429A discloses a visual monitoring device for rice pests based on a drone. The technical solution includes a drone and a holding housing. The holding housing is fixedly connected to the bottom of the drone. A holding cavity is formed at the bottom of the holding housing, and a seedling-pulling component is connected to the bottom of the holding cavity via a lifting support frame. A lifting drive structure is installed inside the holding housing and connected to the lifting support frame. A shooting unit is installed at the bottom of the holding housing. A back-end control center is used to analyze the input rice field distribution map and construct a flight detection route, control the lifting drive structure to drive the seedling-pulling component to descend, and then conduct flight detection. The shooting unit captures photo frames, and the back-end control center analyzes the captured photo frames to obtain the pest types and damage values. The seedling-pulling component is used to separate rice seedlings, preventing them from deviating under airflow, thus enabling targeted video capture of rice seedlings.

[0004] Existing drone-based machine vision detection devices for fruit and vegetable diseases and pests have poor detection performance in areas with densely packed branches and leaves. The dense overlapping of branches and leaves directly obscures the fruit, leaves, and lesions, making it impossible for the camera to effectively capture key lesions, creating blind spots in the collection. Furthermore, the interlacing of branches and leaves easily causes cluttered light and shadow, resulting in problems such as shadows, blurriness, and insufficient contrast in the image, making it difficult to clearly display the characteristics of lesions. At the same time, the inner canopy and lower branches and leaves cannot be effectively photographed, and only surface information can be collected, which cannot comprehensively reflect the overall disease and pest situation of the plant.

[0005] Therefore, the present invention provides a machine vision detection device for fruit and vegetable diseases and pests based on unmanned aerial vehicles (UAVs). Summary of the Invention

[0006] To overcome the shortcomings of existing technologies and solve the problem of poor detection results in areas with clustered branches and leaves, this invention proposes a machine vision detection device for fruit and vegetable diseases and pests based on unmanned aerial vehicles (UAVs).

[0007] The technical solution adopted by the present invention to solve its technical problem is: the machine vision detection device for fruit and vegetable diseases and pests based on drones according to the present invention includes a drone body, a flight component is provided on the drone body, a detection component for detecting fruit and vegetable diseases and pests is provided on the drone body, a base frame is fixedly connected to the bottom of the drone body, and a buffer block is fixedly provided on the base frame.

[0008] A square frame is fixedly mounted on the base frame. A support plate passes through the inside of the square frame. An adjustment mechanism for adjusting the position of the support plate is provided inside the square frame. A frame is fixedly connected to one end of the support plate. A through groove is provided inside the frame. A limit groove is provided inside the frame. A sliding plate passes through the limit groove, and one end of the sliding plate extends into the through groove. A push plate is fixedly connected to the sliding plate. A transmission mechanism is provided inside the support plate.

[0009] The support plate has protective boxes symmetrically arranged at its bottom. The protective boxes are equipped with a wind-powered mechanism. Spray holes are symmetrically arranged on the frame. A load-bearing plate is fixedly arranged on the base frame and is used to support the bottom of the square frame. The bottom of the protective box is equipped with a pruning mechanism for pruning branches and leaves.

[0010] Preferably, the top of the drone body is provided with a protective shell, the detection component includes a visible light main camera and a multispectral camera, the visible light main camera is embedded inside the drone body, and the multispectral camera is fixedly installed at the bottom of the drone body, with the multispectral camera located on one side of the base frame;

[0011] The flight assembly includes a support arm and a rotor power assembly. The support arm is symmetrically arranged on the UAV body, and the rotor power assembly for enabling the UAV body to fly is mounted on the support arm.

[0012] Preferably, the adjustment mechanism includes a mounting block, a servo motor, a reducer, a threaded rod, and a threaded cylinder. The mounting block is fixed inside the square frame, the reducer is fixed inside the mounting block, the servo motor is fixed on one side of the mounting block, and the output end of the servo motor is fixedly connected to the input end of the reducer. One end of the threaded rod is fixedly connected to the output end of the reducer. The threaded cylinder corresponding to the threaded rod is fixed inside the support plate, and the outer surface of the threaded rod is threadedly connected to the inside of the threaded cylinder. Guide cylinders are symmetrically arranged inside the support plate, and guide rods are inserted through the guide cylinders, with one end of the guide rods fixedly connected to the inner wall of the square frame.

[0013] Preferably, the transmission mechanism includes a square groove, a strip plate, a first rack, and a drive assembly. The square groove is disposed inside the support plate and is located above the threaded cylinder. The strip plate is fixed inside the square frame and passes through the square groove. The first rack is symmetrically disposed on the strip plate. The drive assembly is disposed inside the support plate.

[0014] Preferably, the drive assembly includes a movable groove, a first rotating shaft, a driven gear, a first sprocket, and a chain. The movable groove is disposed inside the support plate and is located on one side of the square groove. The first rotating shaft is rotatably disposed inside the movable groove. The driven gear is fixed on the first rotating shaft and meshes with a corresponding first rack. The first sprocket is fixed on the first rotating shaft and is located on one side of the driven gear. The chain is sleeved on the first sprocket.

[0015] Preferably, the support plate has a groove inside, and the groove is connected to the movable groove. A second rotating shaft is symmetrically arranged inside the groove, and one end of the second rotating shaft extends out of the support plate. A second sprocket is fixedly arranged on the second rotating shaft, and the second sprocket and the first sprocket are connected by chain drive. A transmission gear is fixedly arranged on the second rotating shaft.

[0016] Preferably, the frame has a guide groove inside, and the guide groove is connected to the through groove. A driven plate passes through the guide groove. One end of the driven plate is fixedly connected to a corresponding sliding plate. A second rack is fixedly installed on the driven plate, and the second rack meshes with a corresponding transmission gear.

[0017] Preferably, the trimming mechanism includes a strip frame, a control module, a slide groove, blades, and a first electric push rod. The strip frame is fixedly connected to the bottom of the second rotating shaft. The control module is located at the bottom of the strip frame. The slide groove is located inside the strip frame. The blades are symmetrically arranged inside the slide groove. The first electric push rod, corresponding to the first blade, is fixed inside the slide groove. The telescopic end of the first electric push rod is fixedly connected to the first blade. The control module is electrically connected to the first electric push rod.

[0018] Preferably, the protective box has symmetrically arranged circular holes corresponding to the second rotating shaft, and the second rotating shaft passes through the circular holes. A second electric push rod is fixedly installed inside the protective box.

[0019] Preferably, the wind power mechanism includes a wind box, a through hole, a third rotating shaft, a second gear, and a fan. The wind box is located inside the protective box, and the telescopic end of the second electric push rod is fixedly connected to the wind box. The through hole is located on the wind box. The third rotating shaft is rotatably located inside the wind box. The second gear is fixed on the third rotating shaft, and one side of the second gear is located inside the through hole. The fan is fixed inside the wind box. A first pulley is fixedly installed on the third rotating shaft. The impeller inside the fan is connected to a second pulley, and the first pulley and the second pulley are connected by a belt drive. An air inlet pipe is connected to the input end of the fan, and the other end of the air inlet pipe extends out of the protective box. A delivery hose is connected to the output end of the fan. A spray hole corresponding to the fan is provided on the front of the frame, and one end of the delivery hose is connected to the spray hole. A first gear is provided inside the protective box, and the second rotating shaft is fixedly connected to the center position of the first gear. The first gear and the circular hole are concentrically arranged, and the first gear is located on one side of the second gear.

[0020] The beneficial effects of this invention are as follows:

[0021] 1. The UAV-based machine vision detection device for fruit and vegetable pests and diseases described in this invention, by setting up a push plate and a support plate, can conveniently collect images of clustered branches and leaves, allowing operators to grasp information on fruit and vegetable pests and diseases in real time. After the push plate is positioned to one side of the collection position, the servo motor is controlled to drive the reducer to run. The reducer drives the threaded rod to rotate. The threaded rod and the threaded cylinder cooperate to adjust the position of the support plate. During the movement of the support plate, the guide rod and the guide cylinder cooperate to achieve guidance and limit, ensuring that the support plate moves smoothly. When the support plate moves, it drives the push plate to move synchronously. Under the coordinated action of the frame, the clustered branches and leaves are dispersed, thereby completing the image collection operation. It can effectively eliminate the collection blind spots caused by overlapping branches and leaves, avoid missed detections and misjudgments caused by occlusion, and greatly improve the accuracy of pest and disease identification and analysis.

[0022] 2. The machine vision detection device for fruit and vegetable pests based on unmanned aerial vehicles (UAVs) of the present invention, through the cooperative arrangement of a driven plate and a pusher plate, can realize the operation of clearing away clustered branches and leaves, facilitating image acquisition of densely foliaged areas. When the second rotating shaft rotates, it drives the transmission gear to rotate. The transmission gear meshes with the second rack and drives the second rack to move. The second rack drives the driven plate to move. The driven plate is guided and limited by a guide groove to ensure smooth and reliable movement. During the displacement of the driven plate, the pusher plate moves synchronously through a sliding plate. The pusher plate can disperse the clustered branches and leaves, creating favorable conditions for image information acquisition, effectively eliminating the blind spots caused by overlapping branches and leaves, and ensuring the accuracy and completeness of image information acquisition.

[0023] 3. The machine vision detection device for fruit and vegetable diseases and pests based on UAV described in this invention, by setting up a fan and spray nozzles, can ensure the accuracy of image information acquisition in the area of ​​clustered branches and leaves. When the second rotating shaft rotates, it drives the third rotating shaft to rotate through the meshing transmission of the second gear and the first gear. The third rotating shaft drives the fan to operate through the cooperation of the first pulley and the second pulley. The fan draws in outside air through the air intake pipe, and the generated airflow enters the delivery hose and is guided to the spray nozzles. The air is sprayed out directionally from the spray nozzles and acts on the clustered branches and leaves, which can gently push the branches and leaves apart, keep the branches and leaves in the shooting area in a relaxed state, and will not damage the fruit and vegetable plants. It also eliminates local obstruction and facilitates high-quality image information acquisition.

[0024] 4. The machine vision detection device for fruit and vegetable diseases and pests based on UAV described in this invention, through the cooperation of the blade and the second rotating shaft, can prune the branches and leaves of plants, ensuring efficient image information acquisition. The operation of the first electric push rod can drive the blade to move out of the slide groove. When the second rotating shaft rotates, it drives the blade to make a circular motion through the strip frame. The pruning is completed when the blade comes into contact with the branches and leaves. It can effectively reduce the excessive foliage and cross-over, reduce the probability of branches and leaves gathering and blocking, improve the light transmission conditions of the plant canopy, create a clear and open shooting environment for image acquisition, improve the integrity and accuracy of the acquired data, and facilitate operators to grasp the information on fruit and vegetable diseases and pests in real time. Attached Figure Description

[0025] The invention will now be further described with reference to the accompanying drawings.

[0026] Figure 1 This is a perspective view of the machine vision detection device for fruit and vegetable diseases and pests based on drones according to the present invention.

[0027] Figure 2 This is a schematic diagram of the structure of the UAV body in this invention;

[0028] Figure 3 This is a schematic diagram of the base frame structure in this invention;

[0029] Figure 4 This is a schematic diagram of the square frame structure in this invention;

[0030] Figure 5 This is a schematic diagram of the push plate and through slot in this invention;

[0031] Figure 6 This is a schematic diagram of the support plate in this invention;

[0032] Figure 7 This is a schematic diagram of the structure of the strip plate and the movable groove in this invention;

[0033] Figure 8 This is the present invention. Figure 7 Enlarged structural diagram of A in the middle;

[0034] Figure 9 This is a schematic diagram of the structure of the second rotating shaft and the driven plate in this invention;

[0035] Figure 10 This is a schematic diagram of the structure of the bar frame in this invention;

[0036] Figure 11 This is a schematic diagram of the protective box in this invention;

[0037] Figure 12 This is a schematic diagram of the third rotating shaft and the fan in this invention.

[0038] In the diagram: 1. UAV body; 2. Protective shell; 3. Visible light main camera; 4. Support arm; 5. Rotor powertrain; 6. Base frame; 7. Buffer block; 8. Load-bearing plate; 9. Multispectral camera; 10. Square frame; 11. Mounting block; 12. Servo motor; 13. Reducer; 14. Threaded rod; 15. Guide rod; 16. Support plate; 17. Guide cylinder; 18. Threaded cylinder; 19. Square groove; 20. Strip plate; 21. First rack; 22. Movable groove; 23. First rotating shaft; 24. Driven gear; 25. First sprocket; 26. Chain; 27. Groove; 28. Second rotating shaft; 29. ​​Transmission. 30. Gear; 31. Second sprocket; 32. Frame; 33. Through groove; 34. Limiting groove; 35. Guide groove; 36. Driven plate; 37. Second rack; 38. Sliding plate; 39. Push plate; 40. First gear; 41. Strip frame; 42. Control module; 43. Slide groove; 44. Blade; 45. First electric push rod; 46. Protective box; 47. Round hole; 48. Second electric push rod; 49. Bellows; 50. Through hole; 51. Third rotating shaft; 52. First pulley; 53. Second gear; 54. Fan; 55. Second pulley; 56. Air inlet pipe; 57. Delivery hose; 58. Spray nozzle. Detailed Implementation

[0039] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0040] like Figures 1 to 12As shown in the embodiment of the present invention, a machine vision detection device for fruit and vegetable pests based on a drone includes a drone body 1, a flight component mounted on the drone body 1, a detection component for detecting fruit and vegetable pests mounted on the drone body 1, a base frame 6 fixedly connected to the bottom of the drone body 1, a buffer block 7 fixedly mounted on the base frame 6, a square frame 10 fixedly mounted on the base frame 6, a support plate 16 passing through the inside of the square frame 10, an adjustment mechanism for adjusting the position of the support plate 16 inside the square frame 10, and a frame 31 fixedly connected to one end of the support plate 16. The frame 31 is provided with a through groove 32, and a limiting groove 33 is provided inside the frame 31. A sliding plate 37 is passed through the limiting groove 33, and one end of the sliding plate 37 extends into the through groove 32. A push plate 38 is fixedly connected to the sliding plate 37. A transmission mechanism is provided inside the support plate 16. A protective box 45 is symmetrically provided at the bottom of the support plate 16. A wind mechanism is provided inside the protective box 45. Spray holes 57 are symmetrically provided on the frame 31. A load-bearing plate 8 is fixedly provided on the base frame 6, and the load-bearing plate 8 is used to support the bottom of the square frame 10. A pruning mechanism for pruning branches and leaves is provided at the bottom of the protective box 45.

[0041] The electronic devices on the drone-based machine vision detection device for fruit and vegetable diseases and pests are all electrically connected to the battery components and control modules inside the drone body 1, and can be remotely controlled to operate the electronic devices.

[0042] The flight component drives the UAV body 1 to perform flight operations. During the flight, the UAV body 1 completes the acquisition of fruit and vegetable images through the detection component. The image analysis can accurately identify the status of fruit and vegetable diseases and pests, making it convenient for personnel to grasp the information on fruit and vegetable diseases and pests in real time.

[0043] Clumps of branches and leaves can significantly hinder the acquisition of image information on fruit and vegetable pests and diseases. To ensure the accuracy of image information acquisition when collecting images of clumps of branches and leaves, after the drone body 1 flies to the acquisition location and positions the push plate 38 to one side of the acquisition location, the control adjustment mechanism drives the support plate 16 to move. The movement of the support plate 16, in conjunction with the frame 31, causes the push plate 38 to move to one side. The push plate 38 can push the branches and leaves to move, thus separating the clumps of branches and leaves. At the same time, through the transmission mechanism and the sliding plate 37, the push plate 38 can be unfolded, thereby dispersing the clumps of branches and leaves. The convenient detection component can capture images of clustered branches and leaves, ensuring the accuracy of image information acquisition. It can effectively eliminate blind spots caused by overlapping branches and leaves, enabling the detection component to fully acquire images of leaves and fruits inside and outside the plant canopy, as well as the upper and lower layers. It ensures that the lesion area is clear and unobstructed, which can significantly improve image clarity and feature integrity, avoid missed detection and misjudgment caused by occlusion, and greatly improve the accuracy of pest and disease identification and analysis. At the same time, the automated leaf thinning does not require manual intervention and will not damage the fruit and vegetable plants, improve the collection coverage and operation efficiency, and provide real and reliable data support for precise prevention and control.

[0044] When adjusting the position of the support plate 16, the wind mechanism is driven by the transmission mechanism to generate wind flow. The wind can be directed to one side through the nozzle 57, which can gently push aside the gathered branches and leaves, keep the branches and leaves in the shooting area spread out, not damage the fruit and vegetable plants, eliminate local obstruction, and ensure the accuracy of image acquisition.

[0045] When collecting images of clustered branches and leaves, the pruning mechanism can be used to prune the plant's branches and leaves appropriately, which can effectively reduce excessive foliage and overlapping, reduce the risk of branches and leaves blocking the view, improve ventilation and light transmission in the plant canopy, create a clear and open shooting environment for image collection, and improve the integrity and accuracy of the collected data.

[0046] Furthermore, a protective shell 2 is provided on the top of the drone body 1, and the detection components include a visible light main camera 3 and a multispectral camera 9. The visible light main camera 3 is embedded inside the drone body 1, and the multispectral camera 9 is fixedly provided on the bottom of the drone body 1, and the multispectral camera 9 is located on one side of the base frame 6.

[0047] The flight assembly includes a support arm 4 and a rotor power assembly 5. The support arm 4 is symmetrically arranged on the UAV body 1, and the rotor power assembly 5 for enabling the UAV body 1 to fly is installed on the support arm 4.

[0048] With the cooperation of the support arm 4 and the rotor power assembly 5, the UAV body 1 can fly. The UAV body 1 uses a visible light main camera 3 and a multispectral camera 9 to collect images of branches and leaves. The visible light main camera 3 can obtain clear texture outlines and color details of plant branches and leaves, accurately identify intuitive lesions and morphological features. The multispectral camera 9 can penetrate the surface branches and leaves, capture spectral information of the canopy interior and shaded areas, and identify early latent diseases and pests and physiological stress (existing technology). The fusion of the two data can achieve complementarity between surface intuitive features and deep spectral features, effectively reduce the impact of branch and leaf shading on the collection, improve the integrity of image information and the accuracy of disease and pest diagnosis, realize early detection and early warning of diseases and pests, and provide comprehensive and reliable data support for precise monitoring and control.

[0049] Furthermore, the adjustment mechanism includes a mounting block 11, a servo motor 12, a reducer 13, a threaded rod 14, and a threaded cylinder 18. The mounting block 11 is fixed inside the square frame 10, the reducer 13 is fixed inside the mounting block 11, the servo motor 12 is fixed on one side of the mounting block 11, and the output end of the servo motor 12 is fixedly connected to the input end of the reducer 13. One end of the threaded rod 14 is fixedly connected to the output end of the reducer 13. The threaded cylinder 18 corresponding to the threaded rod 14 is fixed inside the support plate 16, and the outer surface of the threaded rod 14 is threadedly connected to the inside of the threaded cylinder 18. Guide cylinders 17 are symmetrically arranged inside the support plate 16, and guide rods 15 pass through the guide cylinders 17, and one end of the guide rods 15 is fixedly connected to the inner wall of the square frame 10.

[0050] The electronic device is electrically connected to the battery assembly and control module on the drone body 1, and can remotely control the operation of the electronic device. Controlling the servo motor 12 will drive the reducer 13 to move. The movement of the reducer 13 will drive the threaded rod 14 to rotate. When the threaded rod 14 rotates, it can adjust the position of the support plate 16 through the threaded cylinder 18. When the support plate 16 moves, it can be guided by the guide rod 15 and the guide cylinder 17 to make the support plate 16 move smoothly. When the support plate 16 moves, it will drive the push plate 38 to move. Through the frame 31, it can push the clustered branches and leaves to disperse for image acquisition.

[0051] Furthermore, the transmission mechanism includes a square groove 19, a strip plate 20, a first rack 21, and a drive assembly. The square groove 19 is disposed inside the support plate 16 and is located above the threaded cylinder 18. The strip plate 20 is fixed inside the square frame 10 and passes through the square groove 19. The first rack 21 is symmetrically disposed on the strip plate 20. The drive assembly is disposed inside the support plate 16.

[0052] When adjusting the position of the support plate 16, the square groove 19 and the strip plate 20 cooperate to guide the support plate 16. When the support plate 16 moves, it will drive the drive component to move. The first rack 21 will cooperate to make the drive component move.

[0053] Furthermore, the drive assembly includes a movable slot 22, a first rotating shaft 23, a driven gear 24, a first sprocket 25, and a chain 26. The movable slot 22 is disposed inside the support plate 16 and is located on one side of the square slot 19. The first rotating shaft 23 is rotatably disposed inside the movable slot 22. The driven gear 24 is fixed on the first rotating shaft 23 and meshes with the corresponding first rack 21. The first sprocket 25 is fixed on the first rotating shaft 23 and is located on one side of the driven gear 24. The chain 26 is sleeved on the first sprocket 25.

[0054] When the position of the support plate 16 is adjusted, the driven gear 24 will move. Through the engagement of the first rack 21, the driven gear 24 will rotate. The driven gear 24 will drive the first rotating shaft 23 to rotate. The rotation of the first rotating shaft 23 will drive the second sprocket 30 to rotate through the engagement of the first sprocket 25 and the chain 26.

[0055] Furthermore, the support plate 16 is provided with a groove 27, and the groove 27 is connected to the movable groove 22. A second rotating shaft 28 is symmetrically arranged inside the groove 27, and one end of the second rotating shaft 28 extends out of the support plate 16. A second sprocket 30 is fixedly arranged on the second rotating shaft 28, and the second sprocket 30 and the first sprocket 25 are connected by a chain 26. A transmission gear 29 is fixedly arranged on the second rotating shaft 28.

[0056] When the first rotating shaft 23 rotates and drives the second sprocket 30 to rotate through the cooperation of the first sprocket 25 and the chain 26, it will drive the second rotating shaft 28 to rotate. When the second rotating shaft 28 rotates, it will drive the transmission gear 29 to rotate.

[0057] Furthermore, a guide groove 34 is provided inside the frame 31, and the guide groove 34 is connected to the through groove 32. A driven plate 35 is inserted inside the guide groove 34. One end of the driven plate 35 is fixedly connected to the corresponding sliding plate 37. A second rack 36 is fixedly installed on the driven plate 35, and the second rack 36 meshes with the corresponding transmission gear 29.

[0058] When the transmission gear 29 rotates, the second rack 36 can move. When the second rack 36 moves, it will drive the driven plate 35 to move. When the driven plate 35 moves, it will move smoothly through the guide groove 34. When the driven plate 35 moves, it will drive the push plate 38 to move synchronously through the sliding plate 37. When the push plate 38 moves, it can push the clustered branches and leaves to disperse, which is convenient for collecting image information.

[0059] When the sliding plate 37 moves, the limiting groove 33 can guide the sliding plate 37 to move smoothly.

[0060] Furthermore, the trimming mechanism includes a strip frame 40, a control module 41, a slide 42, a blade 43, and a first electric push rod 44. The strip frame 40 is fixedly connected to the bottom of the second rotating shaft 28. The control module 41 is located at the bottom of the strip frame 40. The slide 42 is located inside the strip frame 40. The blades 43 are symmetrically arranged inside the slide 42. The first electric push rod 44, corresponding to the first blade 43, is fixed inside the slide 42. The telescopic end of the first electric push rod 44 is fixedly connected to the first blade 43. The control module 41 is electrically connected to the first electric push rod 44.

[0061] When the second rotating shaft 28 rotates, it will drive the strip frame 40 to rotate. The blade 43 is located inside the slide groove 42 and will not prune the branches and leaves. When it is necessary to prune the branches and leaves, the first electric push rod 44 can be activated by the control module 41 to push the blade 43 to move. After the blade 43 moves out of the slide groove 42, the second rotating shaft 28 rotates and drives the blade 43 to rotate in a circle through the strip frame 40. The blade 43 rotates and comes into contact with the branches and leaves, which can prune the branches and leaves. This facilitates the collection of image information and allows personnel to keep track of fruit and vegetable pest and disease information in real time.

[0062] In the drone-based machine vision detection device for fruit and vegetable diseases and pests, the control module 41 is electrically connected to the first electric push rod 44 and can control the operation of the first electric push rod 44. The other electronic devices in the drone-based machine vision detection device for fruit and vegetable diseases and pests are electrically connected to the battery pack on the drone body 1.

[0063] Furthermore, the protective box 45 is symmetrically provided with round holes 46 corresponding to the second rotating shaft 28, and the second rotating shaft 28 passes through the round holes 46. The second electric push rod 47 is fixedly installed inside the protective box 45.

[0064] The round hole 46 facilitates the rotation of the second rotating shaft 28, and the protective box 45 provides installation space for the second electric push rod 47. The position of the bellows 48 can be adjusted through the second electric push rod 47.

[0065] Furthermore, the wind power mechanism includes a wind box 48, a through hole 49, a third rotating shaft 50, a second gear 52, and a fan 53. The wind box 48 is located inside the protective box 45, and the telescopic end of the second electric push rod 47 is fixedly connected to the wind box 48. The through hole 49 is located on the wind box 48. The third rotating shaft 50 is rotatably mounted inside the wind box 48. The second gear 52 is fixed on the third rotating shaft 50, and one side of the second gear 52 is located inside the through hole 49. The fan 53 is fixed inside the wind box 48. A first pulley 51 is fixedly mounted on the third rotating shaft 50. The impeller inside the fan 53 is connected to a second pulley 51. The fan 53 has a pulley 54, and the first pulley 51 and the second pulley 54 are connected by belt drive. The input end of the fan 53 is connected to the air inlet pipe 55, and the other end of the air inlet pipe 55 extends out of the protective box 45. The output end of the fan 53 is connected to the conveying hose 56. The front of the frame 31 is provided with a spray hole 57 corresponding to the fan 53, and one end of the conveying hose 56 is connected to the spray hole 57. The protective box 45 is provided with a first gear 39, and the second rotating shaft 28 is fixedly connected to the center position of the first gear 39. The first gear 39 and the round hole 46 are concentrically arranged, and the first gear 39 is located on one side of the second gear 52.

[0066] When the second rotating shaft 28 rotates, it drives the first gear 39 to rotate. When the first gear 39 and the second gear 52 are not meshed, the wind power mechanism will not be driven to move and generate wind. When it is necessary to drive the wind power mechanism to move and generate wind, the operation of the second electric push rod 47 will adjust the position of the bellows 48. When the bellows 48 moves, it will drive the second gear 52 to move synchronously through the third rotating shaft 50, so that the second gear 52 and the first gear 39 mesh. Then, when the second rotating shaft 28 rotates, the second gear 52 and the first gear 39 will work together to drive the third rotating shaft 50 to rotate. When the third rotating shaft 50 rotates, it drives the fan 53 to move through the cooperation of the first pulley 51 and the second pulley 54. The fan 53 draws in outside air through the air inlet pipe 55. The movement of the fan 53 generates airflow. After the airflow enters the inside of the delivery hose 56, it can be directed to the inside of the nozzle 57 through the delivery hose 56. The nozzle 57 directs the airflow to one side, which is directed towards the clustered branches and leaves. This can separate the clustered branches and leaves, keep the branches and leaves in the shooting area spread out, and at the same time, it will not damage the fruit and vegetable plants, eliminate local obstruction, and facilitate the acquisition of image information.

[0067] Working Principle: First, the drone body 1 is propelled into flight by the cooperation of the support arm 4 and the rotor power assembly 5. During flight, the drone body 1 uses a visible light main camera 3 and a multispectral camera 9 to collaboratively acquire images of branches and leaves. The visible light main camera 3 captures clear texture outlines and color details of the plant's branches and leaves, accurately identifying visible lesions and morphological features. The multispectral camera 9 penetrates the surface of the branches and leaves, capturing spectral information from the canopy interior and shaded areas, identifying early-stage latent pests and diseases and physiological stress. The fusion of these two data sets complements the visual features of the surface and the deep spectral features, effectively reducing the impact of foliage obstruction on data acquisition, improving image integrity and the accuracy of pest and disease diagnosis, enabling early detection and warning of pests and diseases, and providing comprehensive and reliable data for precise monitoring and control. Support is provided to facilitate real-time monitoring of fruit and vegetable pest and disease information. However, clustered branches and leaves significantly hinder the acquisition of images related to these pests and diseases. To ensure accuracy when acquiring images of clustered branches and leaves, the drone body 1 flies to the acquisition location. Once the push plate 38 is positioned to one side of the acquisition point, the servo motor 12 drives the reducer 13. The reducer 13 rotates the threaded rod 14, which, in conjunction with the threaded cylinder 18, adjusts the position of the support plate 16. As the support plate 16 moves, it is guided by the guide rod 15 and guide cylinder 17, ensuring smooth movement. This movement of the support plate 16 also drives the push plate 38, which, in conjunction with the frame 31, pushes... When the clustered branches and leaves disperse, image acquisition is performed. Adjusting the position of the support plate 16 moves the driven gear 24. Through the engagement of the first rack 21, the driven gear 24 rotates, which in turn drives the first rotating shaft 23. The rotation of the first rotating shaft 23, through the engagement of the first sprocket 25 and chain 26, drives the second sprocket 30, which in turn drives the second rotating shaft 28. The rotation of the second rotating shaft 28 drives the transmission gear 29, which in turn moves the second rack 36. The movement of the second rack 36 moves the driven plate 35. The movement of the driven plate 35, through the engagement of the guide groove 34, ensures smooth movement. The movement of the driven plate 35, through the engagement of the sliding plate 37, further facilitates smooth movement. The push plate 38 moves synchronously, which disperses the clustered branches and leaves, facilitating image information acquisition and ensuring accuracy. It effectively eliminates blind spots caused by overlapping branches and leaves, allowing the detection component to fully acquire images of leaves and fruits inside and outside the plant canopy, ensuring clear and unobstructed disease areas. This significantly improves image clarity and feature integrity, avoiding missed detections and misjudgments due to occlusion, and greatly enhancing the accuracy of pest and disease identification and analysis. Automated leaf thinning requires no manual intervention, does not damage fruit and vegetable plants, improves collection coverage and operational efficiency, and provides reliable data support for precise control. Furthermore, when adjusting the position of the support plate 16, the wind-powered mechanism needs to be driven to generate wind.Controlling the operation of the second electric push rod 47 adjusts the position of the bellows 48. When the bellows 48 moves, it drives the second gear 52 to move synchronously via the third rotating shaft 50, causing the second gear 52 to mesh with the first gear 39. Consequently, when the second rotating shaft 28 rotates, the engagement of the second gear 52 and the first gear 39 drives the third rotating shaft 50 to rotate. The rotation of the third rotating shaft 50, through the engagement of the first pulley 51 and the second pulley 54, drives the fan 53. The fan 53 draws in outside air through the air inlet pipe 55. The movement of the fan 53 generates airflow, which enters the delivery hose 56 and flows through it to the nozzle 57. The nozzle 57 directs the airflow to one side, towards the clustered branches and leaves, thus parting them and keeping the branches and leaves in the shooting area open without damaging the fruit and vegetable plants. Partial shading facilitates image information acquisition. When acquiring images of clustered branches and leaves, the rotation of the second rotating shaft 28 drives the strip frame 40 to rotate. The blade 43, located inside the groove 42, does not prune the branches and leaves. When pruning is required, the control module 41 activates the first electric push rod 44, which moves the blade 43 out of the groove 42. After the blade 43 moves out of the groove, the rotation of the second rotating shaft 28 drives the blade 43 to rotate circumferentially through the strip frame 40. The rotating blade 43 then contacts the branches and leaves, pruning them. This facilitates image information acquisition, allowing personnel to monitor fruit and vegetable pest and disease information in real time. It effectively reduces excessive foliage growth and overlapping, lowers the risk of shading by clustered branches and leaves, improves ventilation and light penetration in the plant canopy, creates a clear and open shooting environment for image acquisition, and enhances the completeness and accuracy of the acquired data.

[0068] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned aerial vehicle (UAV)-based fruit and vegetable disease and pest machine vision detection device, characterized in that: Includes a drone body (1), on which a flight component is provided, and on which a detection component for detecting diseases and pests of fruits and vegetables is provided, and a base frame (6) is fixedly connected to the bottom of the drone body (1), and a buffer block (7) is fixedly provided on the base frame (6). A square frame (10) is fixedly installed on the base frame (6). A support plate (16) is inserted inside the square frame (10). An adjustment mechanism for adjusting the position of the support plate (16) is provided inside the square frame (10). A frame (31) is fixedly connected to one end of the support plate (16). A through groove (32) is provided inside the frame (31). A limiting groove (33) is provided inside the frame (31). A sliding plate (37) is inserted inside the limiting groove (33), and one end of the sliding plate (37) extends into the through groove (32). A push plate (38) is fixedly connected to the sliding plate (37). A transmission mechanism is provided inside the support plate (16). The support plate (16) is symmetrically provided with a protective box (45) at the bottom. The protective box (45) is provided with a wind mechanism. The frame (31) is symmetrically provided with spray holes (57). The base frame (6) is fixedly provided with a load-bearing plate (8), and the load-bearing plate (8) is used to support the bottom of the square frame (10). The bottom of the protective box (45) is provided with a pruning mechanism for pruning branches and leaves.

2. The unmanned aerial vehicle based fruit and vegetable disease and pest machine vision detection device according to claim 1, characterized in that: The top of the UAV body (1) is provided with a protective shell (2). The detection component includes a visible light main camera (3) and a multispectral camera (9). The visible light main camera (3) is embedded inside the UAV body (1). The multispectral camera (9) is fixedly provided at the bottom of the UAV body (1) and is located on one side of the base frame (6). The flight assembly includes a support arm (4) and a rotor power assembly (5). The support arm (4) is symmetrically arranged on the UAV body (1), and the rotor power assembly (5) for enabling the UAV body (1) to fly is mounted on the support arm (4). 3.The UAV-based fruit and vegetable disease and pest machine vision detection device according to claim 1, characterized in that: The adjustment mechanism includes a mounting block (11), a servo motor (12), a reducer (13), a threaded rod (14), and a threaded cylinder (18). The mounting block (11) is fixed inside the square frame (10). The reducer (13) is fixed inside the mounting block (11). The servo motor (12) is fixed on one side of the mounting block (11), and the output end of the servo motor (12) is fixedly connected to the input end of the reducer (13). One end of the threaded rod (14) is fixedly connected to the output end of the reducer (13). The threaded cylinder (18) corresponding to the threaded rod (14) is fixed inside the support plate (16), and the outer surface of the threaded rod (14) is threadedly connected to the inside of the threaded cylinder (18). The support plate (16) is symmetrically provided with guide cylinders (17). A guide rod (15) passes through the inside of the guide cylinder (17), and one end of the guide rod (15) is fixedly connected to the inner wall of the square frame (10).

4. The unmanned aerial vehicle based fruit and vegetable disease and pest machine vision detection device according to claim 3, characterized in that: The transmission mechanism includes a square groove (19), a strip plate (20), a first rack (21), and a drive assembly. The square groove (19) is disposed inside the support plate (16) and is located above the threaded cylinder (18). The strip plate (20) is fixed inside the square frame (10) and passes through the square groove (19). The first rack (21) is symmetrically disposed on the strip plate (20). The drive assembly is disposed inside the support plate (16). 5.The UAV-based fruit and vegetable disease and pest machine vision detection device according to claim 4, characterized in that: The drive assembly includes a movable slot (22), a first rotating shaft (23), a driven gear (24), a first sprocket (25), and a chain (26). The movable slot (22) is disposed inside the support plate (16) and is located on one side of the square slot (19). The first rotating shaft (23) is rotatably disposed inside the movable slot (22). The driven gear (24) is fixed on the first rotating shaft (23) and meshes with the corresponding first rack (21). The first sprocket (25) is fixed on the first rotating shaft (23) and is located on one side of the driven gear (24). The chain (26) is sleeved on the first sprocket (25). 6.The UAV-based fruit and vegetable disease and pest machine vision detection device according to claim 5, characterized in that: The support plate (16) has a groove (27) inside, and the groove (27) is connected to the movable groove (22). The groove (27) has a second rotating shaft (28) symmetrically arranged inside, and one end of the second rotating shaft (28) extends out of the support plate (16). A second sprocket (30) is fixedly arranged on the second rotating shaft (28), and the second sprocket (30) and the first sprocket (25) are connected by a chain (26). A transmission gear (29) is fixedly arranged on the second rotating shaft (28). 7.The UAV-based fruit and vegetable disease and pest machine vision detection device according to claim 1, characterized in that: The frame (31) is provided with a guide groove (34) inside, and the guide groove (34) is connected to the through groove (32). A driven plate (35) is inserted inside the guide groove (34). One end of the driven plate (35) is fixedly connected to the corresponding sliding plate (37). A second rack (36) is fixedly installed on the driven plate (35), and the second rack (36) meshes with the corresponding transmission gear (29). 8.The UAV-based fruit and vegetable disease and pest machine vision detection device according to claim 7, characterized in that: The trimming mechanism includes a strip frame (40), a control module (41), a slide groove (42), a blade (43), and a first electric push rod (44). The strip frame (40) is fixedly connected to the bottom of the second rotating shaft (28). The control module (41) is located at the bottom of the strip frame (40). The slide groove (42) is located inside the strip frame (40). The blades (43) are symmetrically arranged inside the slide groove (42). The first electric push rod (44) corresponding to the first blade (43) is fixed inside the slide groove (42). The telescopic end of the first electric push rod (44) is fixedly connected to the first blade (43). The control module (41) is electrically connected to the first electric push rod (44). 9.The UAV-based fruit and vegetable disease and pest machine vision detection device according to claim 8, characterized in that: The protective box (45) is symmetrically provided with circular holes (46) corresponding to the second rotating shaft (28), and the second rotating shaft (28) passes through the circular holes (46). The protective box (45) is fixedly provided with a second electric push rod (47). 10.The UAV-based fruit and vegetable disease and pest machine vision detection device according to claim 9, characterized in that: The wind power mechanism includes a windbox (48), a through hole (49), a third rotating shaft (50), a second gear (52), and a fan (53). The windbox (48) is located inside a protective box (45), and the telescopic end of the second electric push rod (47) is fixedly connected to the windbox (48). The through hole (49) is located on the windbox (48). The third rotating shaft (50) is rotatably located inside the windbox (48). The second gear (52) is fixed on the third rotating shaft (50), and one side of the second gear (52) is located inside the through hole (49). The fan (53) is fixed inside the windbox (48). A first pulley (51) is fixedly installed on the third rotating shaft (50). The impeller inside the fan (53) is connected to... The second pulley (54) is connected to the first pulley (51) and the second pulley (54) by belt drive. The input end of the fan (53) is connected to the air inlet pipe (55), and the other end of the air inlet pipe (55) extends out of the protective box (45). The output end of the fan (53) is connected to the conveying hose (56). The front of the frame (31) is provided with a spray hole (57) corresponding to the fan (53), and one end of the conveying hose (56) is connected to the spray hole (57). The protective box (45) is provided with a first gear (39), and the second rotating shaft (28) is fixedly connected to the center position of the first gear (39). The first gear (39) and the round hole (46) are concentrically arranged. The first gear (39) is located on one side of the second gear (52).

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