Greenhouse pest and disease damage intelligent inspection device based on multi-rotor unmanned aerial vehicle

Abstract

The invention relates to a greenhouse disease and insect pest intelligent inspection device based on a multi-rotor unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle inspection, the greenhouse disease and insect pest intelligent inspection device comprises inspection equipment and a multi-rotor mechanism arranged outside the inspection equipment, the inspection equipment comprises an unmanned aerial vehicle body and a detection camera rotationally installed on one side of the unmanned aerial vehicle body, a spraying structure and a gas transmission structure which are used for spraying chemicals and preventing blocking are arranged outside the unmanned aerial vehicle body, and a cleaning structure and a self-adaptive transmission structure which are in linkage with the gas transmission structure are arranged outside the unmanned aerial vehicle body. The greenhouse disease and insect pest intelligent inspection device based on the multi-rotor unmanned aerial vehicle has the advantages of synchronous linkage of pesticide spraying and nozzle anti-blocking, dynamic balance compensation of flight attitude and the like, accurate, efficient and comprehensive inspection of disease and insect pests in a complex airflow environment of a greenhouse is realized, the inspection quality and efficiency are effectively improved, and the inspection efficiency is improved. And healthy growth of crops is ensured.

Description

Technical Field

[0001] This invention relates to the field of drone inspection technology, specifically to an intelligent inspection device for pests and diseases in greenhouses based on multi-rotor drones. Background Technology

[0002] Greenhouses, as crucial carriers of efficient agricultural production, directly impact crop yield and quality through pest and disease control. With the development of smart agriculture, multi-rotor drones, due to their maneuverability and wide coverage, are increasingly being used for pest and disease inspection in greenhouses. Compared to open-air environments, the relatively enclosed space within a greenhouse reduces the impact of external winds on multi-rotor drones, improving flight stability to some extent. However, practical application reveals that greenhouses are not entirely windless. Complex airflow exists near ventilation openings and in areas of air disturbance between the greenhouse film and frame. This airflow is characterized by its suddenness and irregularity, still causing drone shaking or flight deviation. This results in blurred images captured by inspection cameras, reduced accuracy in pest and disease identification and location, and an inability to accurately pinpoint the location of pests and diseases, affecting the effectiveness of subsequent control measures.

[0003] Meanwhile, most existing intelligent inspection devices for greenhouse pests and diseases only have a single inspection function, making it difficult to simultaneously address pests and diseases in real time. The core reason for this problem is that multi-rotor drones have limited payload capacity. If additional pesticide storage tanks, spray pumps, and anti-clogging devices are added, the load on the drone will increase significantly, leading to a substantial reduction in flight endurance, further decrease in flight stability, and even the inability to complete a full inspection of a single greenhouse.

[0004] Therefore, it is urgent to improve the aforementioned equipment in order to solve the problems mentioned above. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an intelligent inspection device for pests and diseases in greenhouses based on multi-rotor drones. It has advantages such as synchronous linkage between pesticide spraying and nozzle anti-clogging, and dynamic balance compensation of flight attitude. It enables accurate, efficient, and comprehensive inspection of pests and diseases in the complex airflow environment of greenhouses, effectively improving the quality and efficiency of inspection and ensuring the healthy growth of crops.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an intelligent inspection device for greenhouse pests and diseases based on a multi-rotor drone, comprising an inspection device and a multi-rotor mechanism disposed outside the inspection device. The inspection device includes a drone body and a detection camera rotatably mounted on one side of the drone body. The drone body is provided with a spraying structure and an air conveying structure for spraying pesticides and preventing blockages. The drone body is also provided with a cleaning structure and an adaptive transmission structure that are respectively linked to the air conveying structure. The spraying structure includes a nozzle fixedly connected to the outside of the UAV body, a first piston cylinder disposed on one side of the outside of the UAV body, and a storage box. A first piston rod extending to its surface is slidably connected inside the first piston cylinder, and a first return spring is fixedly connected to the outer surface of the middle part of the first piston rod. The cleaning structure includes a fixed block disposed on the outside of the drone body, a sleeve fixedly connected to the bottom of the fixed block, an adjusting rod extending to the outside of the sleeve being slidably connected inside the sleeve, a cleaning brush fixedly connected to the bottom end of the adjusting rod, and an air blowing hole being opened inside the cleaning brush. The adaptive transmission structure includes a fixed frame and a guide plate fixedly connected to the outside of the UAV body. A transmission shaft is rotatably connected inside the fixed frame. A ring-shaped air guide is fixedly connected to the top end of the transmission shaft. A third return spring is sleeved on the transmission shaft. The upper end of the third return spring is fixedly connected to the air guide, and the lower end of the third return spring is fixedly connected to the fixed frame.

[0007] Furthermore, a plurality of nozzles are fixedly connected to the bottom side of the nozzle, a first abutting dome is fixedly connected to the top end of the first piston rod, and a limit ring is fixedly connected to the outer surface of the top end of the first piston rod, the limit ring abutting against the top end of the first return spring.

[0008] Furthermore, a first check valve is fixedly connected to both sides of the outside of the first piston cylinder. One of the first check valves is fixedly connected to the storage tank via an extraction pipe, and the other first check valve is fixedly connected to the nozzle via a delivery pipe.

[0009] Furthermore, the gas supply structure includes a second piston cylinder disposed on the other side of the outside of the UAV body, a second piston rod extending to its top is slidably connected inside the second piston cylinder, a second return spring is fixedly connected to the outer surface of the middle part of the second piston rod, and a second abutment dome is fixedly connected to the top end of the second piston rod.

[0010] Furthermore, both the first piston rod and the second piston rod are composed of a stopper rod and a stopper block, wherein the stopper block is a solid disc.

[0011] Furthermore, a second check valve is fixedly connected to both sides of the outer side of the second piston cylinder. An air inlet pipe is fixedly connected to the inside of one of the second check valves, and an air supply pipe is fixedly connected between the other second check valve and the nozzle. An air pumping pipe is fixedly connected between the bottom side of the air supply pipe and the cleaning brush.

[0012] Furthermore, the adjusting rod has a plurality of adjusting holes on its exterior, and the sleeve is threadedly connected to a locking knob extending into the adjusting holes. The cleaning brush can extend to the outer surface of the detection camera through the adjusting rod.

[0013] Furthermore, the air guide is rotatably connected to the surface of the fixed frame, the third return spring abuts against the surface of the fixed frame, a rotating disk is rotatably connected to one side of the top of the fixed frame, a roller is rotatably connected to the surface of the rotating disk, a slotted slide rod is slidably connected to the outside of the roller, one end of the slotted slide rod is hinged to the upper surface of the fixed frame, the other end of the slotted slide rod is rotatably connected to a fixed seat, a moving rod penetrating the guide plate is fixedly connected inside the fixed seat, and a synchronous belt assembly is fixedly connected between the drive shaft and the rotating disk.

[0014] Furthermore, there are two sets of guide plates, which are symmetrically distributed on the outside of the UAV body. Both ends of the moving rod are fixedly connected to wave seats. The two sets of wave seats abut against the first abutting dome and the second abutting dome, respectively. The moving rod is slidably connected inside the two sets of guide plates. The first piston cylinder and the second piston cylinder are fixedly connected to the outside of the two sets of guide plates, respectively.

[0015] Furthermore, the multi-rotor mechanism includes a mounting block fixedly connected to the inside of the UAV body. A dual-axis cylinder is fixedly installed inside the mounting block. A cross slider is fixedly connected to each of the two output ends of the dual-axis cylinder. A groove adapted to the cross slider is opened inside the UAV body. An extension frame is fixedly connected to the outside of the cross slider. A mounting shell is fixedly connected to one side of the extension frame. A propeller is rotatably installed inside the mounting shell.

[0016] Compared with the prior art, the present invention provides an intelligent inspection device for pests and diseases in greenhouses based on multi-rotor drones, which has the following beneficial effects: 1. This invention captures the relative airflow generated during the flight of a drone through a wind guide component, and then drives a rotating disk to rotate through a synchronous belt assembly; the rollers on the surface of the rotating disk slide in a slotted slide bar, pushing a moving rod to reciprocate along a guide plate; the wave seats at both ends of the moving rod respectively abut against a first abutment dome and a second abutment dome, driving the first piston rod and the second piston rod to press down alternately; the first piston cylinder draws in the agent from the storage tank through the extraction pipe and sprays it out from the nozzle through the delivery pipe; the second piston cylinder draws in air through the air inlet pipe and delivers high-pressure airflow to the blowing hole of the cleaning brush through the air delivery pipe and the air pumping pipe, realizing synchronous linkage between spraying and nozzle anti-clogging.

[0017] 2. In this invention, when the second piston rod is pressed down, the airflow is diverted through the air supply pipe to the air pumping pipe and sprayed out from the air blowing hole of the cleaning brush. At the same time, the cleaning brush can slide along the sleeve to the outer surface of the detection camera through the adjusting rod, and the position is fixed by the locking knob. This achieves dual cleaning of airflow blowing and physical wiping, which can promptly remove water vapor, dust and other contaminants from the surface of the detection camera, avoiding missed or false detection of pests and diseases due to blurred vision. Moreover, the height of the cleaning structure can be flexibly adjusted, improving the adaptability and thoroughness of cleaning.

[0018] 3. In this invention, when the air guide rotates under the action of airflow, the third return spring provides a reverse return torque, so that the air guide always maintains a dynamic balance with the airflow direction. The reciprocating motion of the moving rod is converted into intermittent impacts on the first and second piston rods through the wave seat, which indirectly adjusts the frequency of spraying and cleaning, forming a passive feedback on the flight attitude of the drone, so that the amount of pesticide sprayed and the airflow output pressure remain uniform. At the same time, the sliding cooperation between the moving rod and the guide plate limits the transmission direction and avoids wear caused by transmission deviation, making it suitable for the use scenario of complex airflow in greenhouses.

[0019] 4. This invention uses a dual-axis cylinder to drive a cross slider to move along a slide groove, adjusting the position of the extension frame and propeller, and changing the lift distribution. When the spraying or cleaning structure is running, the dual-axis cylinder can adjust the propeller position in real time to compensate for the load changes caused by the spraying or cleaning action, maintain flight balance, and enable the UAV to have good maneuverability in complex indoor environments, ensuring comprehensive coverage of the inspection range. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention; Figure 3 This is a cross-sectional view of the structure of the present invention; Figure 4 This is a schematic diagram of the multi-rotor mechanism of the present invention; Figure 5 This is a cross-sectional view of the spraying structure of the present invention; Figure 6 This is a cross-sectional view of the gas delivery structure of the present invention; Figure 7 This is a cross-sectional view of the cleaning structure of the present invention; Figure 8 This is a schematic diagram of the cleaning structure and adaptive transmission structure of the present invention.

[0021] In the diagram: 1. Inspection equipment; 11. UAV body; 12. Inspection camera; 2. Multi-rotor mechanism; 21. Mounting block; 22. Dual-axis cylinder; 23. Cross slider; 24. Extension frame; 25. Mounting shell; 26. Propeller; 3. Spraying structure; 31. Spray nozzle; 32. First piston cylinder; 33. First piston rod; 34. First abutment dome; 35. First return spring; 36. First check valve; 37. Storage tank; 38. Extraction pipe; 39. Delivery pipe; 4. Gas supply structure; 41. Second piston cylinder; 42. Second piston rod; 43. Second abutment dome 44. Dome; 45. Second return spring; 46. Second check valve; 47. Air inlet pipe; 48. Air delivery pipe; 5. Air pumping pipe; 6. Cleaning structure; 51. Fixing block; 52. Sleeve; 53. Adjusting rod; 54. Locking knob; 55. Cleaning brush; 56. Air blowing hole; 6. Adaptive transmission structure; 61. Fixing frame; 62. Drive shaft; 63. Air guide; 64. Third return spring; 65. Rotating disk; 66. Roller; 67. Slotted slide bar; 68. Guide plate; 69. Fixing seat; 610. Moving rod; 611. Wave seat; 612. Synchronous belt assembly. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Please see Figures 1 to 8 This embodiment of a greenhouse pest and disease intelligent inspection device based on a multi-rotor drone includes an inspection device 1 and a multi-rotor mechanism 2 set outside the inspection device 1. The inspection device 1 includes a drone body 11 and a detection camera 12 rotatably mounted on one side of the drone body 11. The drone body 11 is provided with a spraying structure 3 for spraying pesticides and an air conveying structure 4 for preventing blockage. The drone body 11 is also provided with a cleaning structure 5 and an adaptive transmission structure 6 that are respectively linked to the air conveying structure 4. The multi-rotor mechanism 2 includes a mounting block 21 fixedly connected inside the UAV body 11. A dual-axis cylinder 22 is fixedly mounted inside the mounting block 21. A cross-shaped slider 23 is fixedly connected to each of the two output ends of the dual-axis cylinder 22. The UAV body 11 has a groove inside that matches the cross-shaped slider 23. An extension frame 24 is fixedly connected to the outside of the cross-shaped slider 23. A mounting shell 25 is fixedly connected to one side of the extension frame 24. A propeller 26 is rotatably mounted inside the mounting shell 25. The dual-axis cylinder 22 of the multi-rotor mechanism 2 drives the cross-shaped slider 23 to slide along the groove of the UAV body 11, causing the extension frame 24 and the mounting shell 25 to extend and retract synchronously, thereby adjusting the deployment span of the propeller 26 inside the mounting shell 25. When navigating in narrow spaces, the dual-axis cylinder 22 retracts, causing the propeller 26 to move closer to the UAV body 11. When improved flight stability is required, the dual-axis cylinder 22 extends, increasing the deployment span of the propeller 26.

[0024] In this embodiment, the spraying structure 3 includes a spray pipe 31 fixedly connected to the outside of the UAV body 11, a first piston cylinder 32 disposed on one side of the outside of the UAV body 11, and a storage box 37. The first piston cylinder 32 is slidably connected to the inside of a first piston rod 33 extending to its surface, and a first return spring 35 is fixedly connected to the outer surface of the middle part of the first piston rod 33. In the spraying structure 3, the first piston rod 33 is pressed down under the drive of the adaptive transmission structure 6. When the first piston rod 33 slides in the first piston cylinder 32, the agent is delivered in one direction through the first check valves 36 on both sides. When the first piston rod 33 slides down, a negative pressure is formed in the first piston cylinder 32, and the agent is drawn from the storage tank 37 through the extraction pipe 38. When the first piston rod 33 slides up, the agent is delivered to the spray pipe 31 through the delivery pipe 39, and finally sprayed out through multiple nozzles on the bottom side of the spray pipe 31. At the same time, the airflow generated by the sliding of the second piston rod 42 of the air supply structure 4 is synchronously delivered to the spray pipe 31 through the second check valve 45 and the air supply pipe 47, which improves the atomization effect and spray range of the agent. Moreover, the airflow can continuously blow the nozzles during non-spraying intervals, solving the problem of agent residue blockage from the root and reducing the frequency of manual maintenance.

[0025] The nozzle 31 has multiple nozzles fixedly connected to its bottom side, and a first abutting dome 34 is fixedly connected to the top of the first piston rod 33. A limit ring is fixedly connected to the outer surface of the top of the first piston rod 33, and the limit ring abuts against the top of the first return spring 35.

[0026] Specifically, both sides of the outer side of the first piston cylinder 32 are fixedly connected to a first check valve 36. One of the first check valves 36 is fixedly connected to a extraction pipe 38 between itself and the storage tank 37, and the other first check valve 36 is fixedly connected to a delivery pipe 39 between itself and the nozzle 31.

[0027] In this embodiment, the gas supply structure 4 includes a second piston cylinder 41 disposed on the other side of the outside of the UAV body 11. A second piston rod 42 extending to its top is slidably connected inside the second piston cylinder 41. A second return spring 44 is fixedly connected to the outer surface of the middle part of the second piston rod 42. A second abutment dome 43 is fixedly connected to the top of the second piston rod 42.

[0028] The first piston rod 33 and the second piston rod 42 are both composed of a piston rod and a piston block, and the piston block is a solid disc.

[0029] Specifically, two second check valves 45 are fixedly connected to both sides of the outer side of the second piston cylinder 41. One of the second check valves 45 is fixedly connected to an air inlet pipe 46, and the other second check valve 45 is fixedly connected to an air supply pipe 47 between itself and the nozzle 31. An air pumping pipe 48 is fixedly connected to the bottom side of the air supply pipe 47 between itself and the cleaning brush 55. In the air supply structure 4, the second piston rod 42 is pressed down under the linkage, drawing in air through the second check valve 45 and the air inlet pipe 46, and then diverting it to the nozzle 31 and the air pumping pipe 48 via the air supply pipe 47. The airflow at the nozzle 31 creates a backlash force to prevent the nozzle from clogging, while the air pumping pipe 48 delivers the airflow to the air blowing hole 56 of the cleaning brush 55 to assist in cleaning the detection camera 12.

[0030] In this embodiment, the adaptive transmission structure 6 includes a fixed frame 61 and a guide plate 68 fixedly connected to the outside of the UAV body 11. A transmission shaft 62 is rotatably connected inside the fixed frame 61. A ring-shaped air guide 63 is fixedly connected to the top of the transmission shaft 62. A third return spring 64 is sleeved on the transmission shaft 62. The upper end of the third return spring 64 is fixedly connected to the air guide 63, and the lower end of the third return spring 64 is fixedly connected to the fixed frame 61. When the airflow intensity near the ventilation opening in the greenhouse changes abruptly, the rotational speed of the air guide 63 changes accordingly. At this time, the third return spring 64 on the bottom side of the air guide 63 buffers the speed fluctuation through its own elastic deformation, avoiding the sudden change in the speed of the transmission shaft 62 that would cause abnormal reciprocating speed of the moving rod 610, thereby ensuring the sliding stability of the first piston rod 33 and the second piston rod 42, and keeping the amount of pesticide sprayed and the airflow output pressure uniform.

[0031] The air guide 63 is rotatably connected to the surface of the fixed frame 61. The third return spring 64 abuts against the surface of the fixed frame 61. A rotating disk 65 is rotatably connected to one side of the top of the fixed frame 61. A roller 66 is rotatably connected to the surface of the rotating disk 65. A slotted slide rod 67 is slidably connected to the outside of the roller 66. One end of the slotted slide rod 67 is hinged to the upper surface of the fixed frame 61. The other end of the slotted slide rod 67 is rotatably connected to a fixed seat 69. A moving rod 610 that passes through the guide plate 68 is fixedly connected inside the fixed seat 69. A synchronous belt assembly 612 is fixedly connected between the drive shaft 62 and the rotating disk 65.

[0032] Specifically, the synchronous belt assembly 612 consists of a drive pulley, a driven pulley, and a synchronous belt. The drive pulley is fixedly connected to the bottom end of the drive shaft 62, the driven pulley is fixedly connected to the bottom side of the rotating disk 65, and the synchronous belt is connected to the outside of the drive pulley and the driven pulley. The air guide 63 rotates under the action of the airflow, driving the rotating disk 65 to rotate via the synchronous belt assembly 612, which in turn drives the slotted slide bar 67 and the moving rod 610 to reciprocate. The wave seats 611 at both ends of the moving rod 610 abut against the first abutment dome 34 and the second abutment dome 43 respectively, converting the airflow energy into the mechanical action of the spray structure 3 and the air delivery structure 4.

[0033] It should be noted that there are two sets of guide plates 68, which are symmetrically distributed on the outside of the UAV body 11. Both ends of the moving rod 610 are fixedly connected to wave seats 611. The two sets of wave seats 611 abut against the first abutting dome 34 and the second abutting dome 43 respectively. The moving rod 610 is slidably connected to the inside of the two sets of guide plates 68. The first piston cylinder 32 and the second piston cylinder 41 are fixedly connected to the outside of the two sets of guide plates 68 respectively.

[0034] In this embodiment, the cleaning structure 5 includes a fixing block 51 disposed outside the drone body 11. A sleeve 52 is fixedly connected to the bottom of the fixing block 51. An adjusting rod 53 extending to the outside is slidably connected inside the sleeve 52. A cleaning brush 55 is fixedly connected to the bottom end of the adjusting rod 53. An air blowing hole 56 is opened inside the cleaning brush 55. The high-pressure airflow generated by the second piston cylinder 41 of the air supply structure 4 is delivered to the cleaning brush 55 of the cleaning structure 5 through the air pumping pipe 48 branched from the air supply pipe 47, and finally sprayed out from the air blowing hole 56 of the cleaning brush 55. At the same time, the cleaning brush 55 can be adjusted to the outer surface of the detection camera 12 by adjusting the adjusting rod 53 of the cleaning structure 5 to slide along the sleeve 52. The locking knob 54 is inserted into the adjusting hole of the adjusting rod 53 to fix the position, realizing dual cleaning of airflow blowing and physical wiping.

[0035] The adjusting rod 53 has multiple adjusting holes on its outside, and the sleeve 52 has a locking knob 54 that extends into the adjusting holes on its outside thread. The cleaning brush 55 can extend to the outer surface of the detection camera 12 through the adjusting rod 53.

[0036] The working principle of the above embodiments is as follows: After the device is started, the multi-rotor mechanism 2 first adjusts the spread span of the propeller 26 according to the size of the greenhouse space; the dual-axis cylinder 22, fixed by the mounting block 21, drives the cross slider 23 to slide along the slide groove of the UAV body 11, causing the extension frame 24 and the mounting shell 25 to extend and retract synchronously; if the space inside the greenhouse is narrow, the dual-axis cylinder 22 retracts to bring the propeller 26 closer to the UAV body 11, avoiding interference with the greenhouse film and frame; if it is necessary to improve flight stability, the dual-axis cylinder 22 extends to increase the spread span of the propeller 26, ensuring stable flight attitude; During the flight of the drone, the airflow acts on the annular air guide 63 of the adaptive transmission structure 6, driving the transmission shaft 62 to rotate within the fixed frame 61. The transmission shaft 62 transmits the rotational power to the rotating disk 65 through the synchronous belt assembly 612. When the rotating disk 65 rotates, the rollers 66 on its surface slide within the slotted slide bar 67 and push the slotted slide bar 67 to swing around the hinge point with the fixed frame 61. This, in turn, drives the moving rod 610 to reciprocate along two sets of symmetrically distributed guide plates 68 via the fixed seat 69. During this process, if the airflow intensity near the ventilation opening in the shed changes abruptly, the third return spring 64, which abuts against the fixed frame 61 on the bottom side of the air guide 63, buffers the speed fluctuation through its own elastic deformation, preventing the sudden change in the speed of the transmission shaft 62 from causing abnormal reciprocating speed of the moving rod 610, thus ensuring stable power transmission. When the moving rod 610 slides back and forth, the wave seats 611 at both ends of it synchronously and alternately press against the first abutment dome 34 of the spraying structure 3 and the second abutment dome 43 of the gas conveying structure 4, respectively driving the two sets of piston assemblies to move. For the spraying structure 3, the first abutment dome 34 drives the first piston rod 33 to slide inside the first piston cylinder 32, which, together with the first check valves 36 on both sides of the first piston cylinder 32, realizes unidirectional delivery of the agent: when the first piston rod 33 slides downward, a negative pressure is formed inside the first piston cylinder 32, and the agent is drawn from the storage tank 37 through the extraction pipe 38; when the first piston rod 33 slides upward under the elastic restoring force of the first return spring 35, the agent is delivered to the storage tank 37 through the delivery pipe 39. The nozzle 31 ultimately sprays air through multiple nozzles on its bottom side. For the air supply structure 4, the second abutment dome 43 drives the second piston rod 42 to slide inside the second piston cylinder 41, which, together with the second check valves 45 on both sides of the second piston cylinder 41, achieves unidirectional airflow intake and output: when the second piston rod 42 slides downward, outside air enters the second piston cylinder 41 through the air inlet pipe 46; when the second piston rod 42 slides upward under the elastic restoring force of the second return spring 44, the compressed high-pressure airflow is delivered to the nozzle 31 through the air supply pipe 47, which works synergistically with the agent to improve the atomization effect and spray range, while continuously purging the nozzles during non-spraying intervals to prevent agent residue from clogging at the source. The air supply pipe 47 of the air supply structure 4 branches into a branch air pumping pipe 48, which delivers part of the high-pressure airflow to the cleaning brush 55 of the cleaning structure 5. The airflow is finally ejected from the air blowing hole 56 of the cleaning brush 55. According to the contamination of the detection camera 12, the operator can adjust the adjusting rod 53 of the cleaning structure 5 to slide along the sleeve 52, adjust the cleaning brush 55 to the outer surface of the detection camera 12, and then fix the position by screwing the locking knob 54 into the adjusting hole of the adjusting rod 53. This achieves dual cleaning of high-pressure airflow blowing and physical wiping, ensuring clear imaging of the detection camera 12 and guaranteeing the accuracy of pest and disease identification.

[0037] The installation, connection, or setting methods disclosed in this embodiment are all common mechanical connection methods. Any method that can achieve its beneficial effect can be implemented. In addition, the electrical components in this embodiment are all electrically connected to the main controller and the power supply. The main controller can be a conventional known device such as a computer that plays a control role. Those skilled in the art can control the electrical components through simple programming. Moreover, the existing disclosed power connection technology is also common knowledge in the field. Therefore, the specific structural composition and working principle will not be described in detail in this embodiment.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0039] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A greenhouse pest and disease intelligent inspection device based on a multi-rotor UAV, comprising inspection equipment (1) and a multi-rotor mechanism (2) disposed outside the inspection equipment (1), characterized in that: The inspection equipment (1) includes a drone body (11) and a detection camera (12) rotatably mounted on one side of the drone body (11). The drone body (11) is provided with a spraying structure (3) for spraying agents and preventing blockage and an air supply structure (4). The drone body (11) is also provided with a cleaning structure (5) and an adaptive transmission structure (6) that are respectively linked to the air supply structure (4). The spraying structure (3) includes a nozzle (31) fixedly connected to the outside of the UAV body (11), a first piston cylinder (32) disposed on one side of the outside of the UAV body (11), and a storage box (37). The first piston cylinder (32) is slidably connected to a first piston rod (33) extending to its surface. A first return spring (35) is fixedly connected to the outer surface of the middle part of the first piston rod (33). The cleaning structure (5) includes a fixing block (51) disposed outside the drone body (11), a sleeve (52) is fixedly connected to the bottom of the fixing block (51), an adjusting rod (53) extending to the outside is slidably connected inside the sleeve (52), a cleaning brush (55) is fixedly connected to the bottom end of the adjusting rod (53), and an air blowing hole (56) is opened inside the cleaning brush (55). The adaptive transmission structure (6) includes a fixed frame (61) and a guide plate (68) fixedly connected to the outside of the UAV body (11). The fixed frame (61) is rotatably connected to a transmission shaft (62). The top end of the transmission shaft (62) is fixedly connected to a wind guide (63) arranged in a ring. The transmission shaft (62) is fitted with a third return spring (64). The upper end of the third return spring (64) is fixedly connected to the wind guide (63), and the lower end of the third return spring (64) is fixedly connected to the fixed frame (61).

2. The intelligent inspection device for greenhouse pests and diseases based on a multi-rotor UAV as described in claim 1, characterized in that: The bottom side of the nozzle (31) is fixedly connected to a plurality of nozzles, the top end of the first piston rod (33) is fixedly connected to a first abutting dome (34), and a limit ring is fixedly connected to the outer surface of the top end of the first piston rod (33). The limit ring abuts against the top end of the first reset spring (35).

3. The intelligent inspection device for greenhouse pests and diseases based on a multi-rotor UAV as described in claim 1, characterized in that: Both sides of the first piston cylinder (32) are fixedly connected to a first check valve (36). One of the first check valves (36) is fixedly connected to a storage tank (37) via an extraction pipe (38), and the other first check valve (36) is fixedly connected to a delivery pipe (39) via a nozzle (31).

4. The intelligent inspection device for greenhouse pests and diseases based on a multi-rotor UAV according to claim 3, characterized in that: The gas supply structure (4) includes a second piston cylinder (41) disposed on the other side of the outside of the UAV body (11). A second piston rod (42) extending to its top is slidably connected inside the second piston cylinder (41). A second return spring (44) is fixedly connected to the outer surface of the middle part of the second piston rod (42). A second abutment dome (43) is fixedly connected to the top of the second piston rod (42).

5. The intelligent inspection device for greenhouse pests and diseases based on a multi-rotor UAV according to claim 4, characterized in that: The first piston rod (33) and the second piston rod (42) are both composed of a piston rod and a piston block, wherein the piston block is a solid disc.

6. The intelligent inspection device for greenhouse pests and diseases based on a multi-rotor UAV according to claim 5, characterized in that: The second piston cylinder (41) has two fixed connections to the outer sides of the second check valve (45). One of the second check valves (45) has a fixed connection to the air inlet pipe (46), and the other second check valve (45) has a fixed connection to the nozzle (31) with an air supply pipe (47). The bottom side of the air supply pipe (47) has a fixed connection to the cleaning brush (55) with an air pumping pipe (48).

7. The intelligent inspection device for greenhouse pests and diseases based on a multi-rotor UAV according to claim 1, characterized in that: The adjusting rod (53) has a plurality of adjusting holes on its outside. The sleeve (52) is threaded with a locking knob (54) extending into the adjusting holes. The cleaning brush (55) can extend through the adjusting rod (53) to the outer surface of the detection camera (12).

8. The intelligent inspection device for greenhouse pests and diseases based on a multi-rotor UAV according to claim 1, characterized in that: The air guide (63) is rotatably connected to the surface of the fixed frame (61). The third return spring (64) abuts against the surface of the fixed frame (61). A rotating disk (65) is rotatably connected to one side of the top of the fixed frame (61). A roller (66) is rotatably connected to the surface of the rotating disk (65). A slotted slide rod (67) is slidably connected to the outside of the roller (66). One end of the slotted slide rod (67) is hinged to the upper surface of the fixed frame (61). The other end of the slotted slide rod (67) is rotatably connected to a fixed seat (69). A moving rod (610) that penetrates the guide plate (68) is fixedly connected inside the fixed seat (69). A synchronous belt assembly (612) is fixedly connected between the drive shaft (62) and the rotating disk (65).

9. The intelligent inspection device for greenhouse pests and diseases based on a multi-rotor UAV according to claim 8, characterized in that: There are two sets of guide plates (68), which are symmetrically distributed on the outside of the UAV body (11). Both ends of the moving rod (610) are fixedly connected to wave seats (611). The two sets of wave seats (611) abut against the first abutting dome (34) and the second abutting dome (43) respectively. The moving rod (610) is slidably connected to the inside of the two sets of guide plates (68). The first piston cylinder (32) and the second piston cylinder (41) are fixedly connected to the outside of the two sets of guide plates (68) respectively.

10. The intelligent inspection device for greenhouse pests and diseases based on a multi-rotor UAV according to claim 1, characterized in that: The multi-rotor mechanism (2) includes a mounting block (21) fixedly connected inside the UAV body (11). A dual-axis cylinder (22) is fixedly installed inside the mounting block (21). A cross slider (23) is fixedly connected to each of the two output ends of the dual-axis cylinder (22). A groove adapted to the cross slider (23) is opened inside the UAV body (11). An extension frame (24) is fixedly connected to the outside of the cross slider (23). A mounting shell (25) is fixedly connected to one side of the extension frame (24). A propeller (26) is rotatably installed inside the mounting shell (25).

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