A rail type grass crop character detection device and method thereof

Abstract

This invention discloses a track-type trait detection device and method for gramineous crops, belonging to the field of maize planting technology. It includes a main frame and a greenhouse, with the main frame symmetrically fixedly installed on the front and rear sides inside the greenhouse. A longitudinal and transverse switching track mechanism is connected to the main frame; a self-driven moving mechanism is connected to the longitudinal and transverse switching track mechanism; a multi-station split detection mechanism is installed on the right side inside the greenhouse; the multi-station split detection mechanism includes a switching frame, a multi-station switching component, a first separation box, a second separation box, and a cooperating fixing component; a classification and processing module is connected to the first and second separation boxes. Through this method, the device can continuously assist in pollination of maize plants during the pollination period, ensuring not only high-quality maize yield and quality but also reducing the additional labor required for manual pollination, meeting the long-term, continuous operation requirements of large-scale greenhouse maize cultivation.

Description

Technical Field

[0001] This invention relates to the field of maize planting technology, specifically to a track-type gramineous crop trait detection device and method. Background Technology

[0002] With the rapid advancement of agricultural modernization and facility agriculture technology, greenhouse cultivation has become a core technology model for achieving high-quality maize planting, and it is widely used in the large-scale and standardized planting of high-quality sweet maize and breeding-specific maize. Greenhouse cultivation can effectively isolate adverse factors such as extreme weather and pest infestation by precisely controlling growth environmental factors such as temperature, humidity, light, water and fertilizer, providing stable and controllable environmental conditions for the entire growth cycle of maize.

[0003] Chinese patent CN117491070A discloses a remote sensing vehicle for detecting the growth status of corn crops, including a support frame device. The upper end of the support frame device is fixedly mounted with a downward-opening "C"-shaped support plate by multiple sets of bolts. Support rails are integrally formed on both the left and right sides of the lower end of the support plate. A sliding assembly is slidably connected between the two sets of support rails. A support rod is fixedly mounted at the lower end of the sliding assembly. A sliding plate is slidably sleeved around the support rod. A rotating cylinder is rotatably connected to the lower end of the sliding plate. A placement box is fixedly mounted on one side of the support frame device. The upper end of the placement box has multiple placement slots for storing collection cylinders. However, this device still has the following problems during use: First, the testing vehicle can only move back and forth in one direction, which cannot adapt to the layout characteristics of corn rows in the greenhouse. It cannot achieve seamless switching between rapid alignment between horizontal rows and full-plant testing within the vertical row. The testing coverage is low and cannot meet the testing needs of the entire area of ​​large-scale greenhouses. Second, the device cannot classify and detect corn plants according to their growth characteristics at different growth stages, and manual intervention is still required after detecting problematic corn plants, which is not suitable for the refined management of high-quality greenhouse corn cultivation. Third, integrating the soil sampling device and the testing mechanism into one unit will result in excessive load on the testing vehicle and increased energy consumption, affecting the equipment's endurance and operational accuracy, and failing to meet the long-term, continuous operation requirements of large-scale greenhouse corn planting.

[0004] Based on this, the present invention designs a track-type gramineous crop trait detection device and method to solve the above problems. Summary of the Invention

[0005] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a track-type gramineous crop trait detection device and method.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A track-type gramineous crop trait detection device includes a main frame and a greenhouse, as well as a longitudinal and transverse switching track mechanism, a self-driven moving mechanism, a multi-station split detection mechanism, and a classification and processing module. The main frame is symmetrically and fixedly installed on both the front and rear sides inside the greenhouse. A longitudinal and transverse switching track mechanism is connected to the main frame to facilitate the movement of the self-driven mobile mechanism; A self-driven moving mechanism for detecting and marking traits of maize at different growth stages is connected to a longitudinal and transverse switching track mechanism. The multi-station, split-type testing mechanism for classifying corn at different growth stages is installed inside the greenhouse on the right side. The multi-station split-type testing mechanism includes a switching frame, a multi-station switching component, a first separation box, a second separation box, and a fixing component; the switching frame is fixedly installed inside the greenhouse on the right side; the multi-station switching component is installed on the upper end of the switching frame; the first and second separation boxes are connected to the multi-station switching component; the fixing component is connected to the first separation box, the second separation box, and the self-driven moving mechanism. The sorting and processing module is connected to the first separation box and the second separation box; Furthermore, the longitudinal and transverse switching track mechanism includes fixed transverse guide rails, fixed longitudinal guide rails, and a switching component; several sets of fixed transverse guide rails are linearly and equally spaced and fixedly connected to the middle of the front and rear main frames; several sets of fixed longitudinal guide rails are linearly and equally spaced on the main frames and fixedly connected to the main frames; the switching component is connected to the front and rear fixed longitudinal guide rails. The classification and processing module includes an adjustable pollination tapping mechanism for assisting pollination of corn plants in the flowering and grain-filling stage and a surrounding spraying mechanism for spraying pesticides on problematic corn plants. The adjustable pollination tapping mechanism is connected to the first separation box, and the surrounding spraying mechanism is connected to the second separation box. Furthermore, the self-driven moving mechanism includes a moving control component and a marking component; the moving control component is connected to a fixed transverse guide rail, a fixed longitudinal guide rail, and a reversing guide rail; the marking component is connected to the moving control component. Furthermore, the marking assembly includes a power distribution box, a retrieval shaft, a retrieval control motor, a retrieval rod, a marking dropper, and a storage tank; the power distribution box is fixedly installed at the lower end of the control box; the front and rear ends of the retrieval shaft are rotatably connected to the front and rear inner walls of the power distribution box; the retrieval control motor is fixedly installed at the rear end of the power distribution box; the output end of the retrieval control motor is fixedly connected to the retrieval shaft; the retrieval rod is fixedly connected to the retrieval shaft; the marking dropper is fixedly installed on the lower right side of the retrieval rod; and the storage tank is fixedly installed on the upper right side of the retrieval rod. Furthermore, the fixing components include a first L-shaped mating rod, a second L-shaped mating rod, a connecting module, and a locking module; the first L-shaped mating rod is fixedly installed on the upper right side of both the first separation box and the second separation box; The second L-shaped matching rod is fixedly installed on the lower right side of the recovery shaft; The locking module is installed on the second L-shaped matching rod; the connecting module is connected to the first separation box and the second separation box; Furthermore, the connecting module includes a connecting push cylinder, a connecting rod, a connecting linear guide rail module, a charging male connector, and a charging female connector; the first separation box and the second separation box are both equipped with the connecting push cylinder and the guide rail of the connecting linear guide rail module; the connecting rod is fixedly connected to the output end of the connecting push cylinder; the connecting rod is fixedly connected to the slider of the connecting linear guide rail module. The male charging connector is fixedly installed at the front end of the connecting rod; the female charging connector is fixedly installed at the upper end of the standby frame; the first L-shaped mating rod and the second L-shaped mating rod are both provided with connection holes at their adjacent ends; the upper end of the standby frame is also provided with connection holes. The connecting rod is inserted into the connecting hole; Furthermore, the locking module includes a locking push cylinder and a locking insert rod; the locking push cylinder is fixedly installed on the left end of the second L-shaped mating rod; the locking insert rod is fixedly connected to the output end of the locking push cylinder; both the second L-shaped mating rod and the connecting insert rod are provided with locking holes; the locking insert rod is inserted into the locking holes. Furthermore, the adjustable pollination tapping mechanism includes a pollination control motor, a rotating disk, a telescopic assembly, and a tapping rod; the pollination control motor is fixedly installed at the bottom of the first separation box; the rotating disk is rotatably installed at the bottom of the first separation box; the output end of the pollination control motor is fixedly connected to the rotating disk; the telescopic assembly is connected to the rotating disk. The striking rod is connected to the telescopic assembly; Furthermore, the surround spraying mechanism includes a folding control motor, an extension rod, a surround assembly, and a surround spray pipe; the folding control motor is fixedly installed at the inner bottom of the second separation box; the right side of the extension rod is rotatably connected to the bottom of the second separation box; the output end of the folding control motor is fixedly connected to the extension rod. The surround assembly is connected to the extension rod; the surround spray pipe is connected to the surround assembly.

[0007] To better achieve the objectives of this invention, the present invention also provides a method for using a track-mounted gramineous crop trait detection device, comprising the following steps: Step 1: When the switching component connects all the fixed transverse guide rails, the self-driven moving mechanism moves along the fixed transverse guide rails and the switching component to the switching component in the middle of the preset column. The switching component connects the two fixed longitudinal guide rails in front and behind the column and changes the orientation of the self-driven moving mechanism to ensure that the self-driven moving mechanism moves longitudinally along the fixed longitudinal guide rails and the switching component to perform an appearance inspection of the corn plants planted in the column. Step 2: If the corn plants are in the flowering and grain-filling stage, proceed to steps 3 and 4; if the corn plants are in the grain-forming stage, proceed to steps 5 and 6. Step 3: The self-driven moving mechanism moves along the fixed transverse guide rail to the position of the switching frame at the optimal pollination time each day and is connected and fixed to the first separation box by the matching fixing components, ensuring that the self-driven moving mechanism drives the adjustable pollination tapping mechanism to move together, which facilitates the subsequent auxiliary pollination of the corn plants. Step 4: The self-driven moving mechanism detects the growth status of the male and female ears of all corn plants in the greenhouse and determines whether the corn plant is in the optimal pollination period. If the corn plant is in the optimal pollination period, the adjustable pollination tapping mechanism moves down and taps the male ear repeatedly to ensure that the pollen on the male ear falls onto the silks of the female ear below the corn plant, completing the pollination operation. Otherwise, the mechanism will skip the corn plant and visually inspect the male and female ears of the next corn plant. This process continues until the growth status of all corn plants has been detected. Step 5: The multi-station switching component controls the alignment of the second separation box with the self-driven moving mechanism. The fixing component connects and fixes the second separation box with the self-driven moving mechanism to ensure that the self-driven moving mechanism can drive the surrounding spraying mechanism installed below the second separation box to move together and spray the corn plantation with fungi and insects. Step Six: The self-driven mobile mechanism detects and observes whether the ears and stems of all corn plants in the greenhouse are infected by fungi or insects; if the corn plants are infected, the self-driven mobile mechanism drives the surrounding spraying mechanism to spray the infected corn plant and all corn plants within the range of fungal and insect infection.

[0008] Compared with the prior art, the beneficial effects of this invention are as follows: 1. In the initial state, several sets of switching components are in a horizontal state and all fixed horizontal guide rails are connected, ensuring that the self-driven moving mechanism can move horizontally along the fixed horizontal guide rails and switching components and quickly align with corn plants in different columns in the greenhouse; when the self-driven moving mechanism needs to perform trait detection on the corn plants in that column, it moves to the switching component located in the middle of the column, and then the switching component changes to a vertical state and connects the two fixed vertical guide rails in front and behind the column, and changes the orientation of the self-driven moving mechanism, ensuring that the self-driven moving mechanism moves vertically along the fixed vertical guide rails and switching components, ensuring that the self-driven moving mechanism can perform trait detection on corn plants in a large-scale greenhouse, and the self-driven moving mechanism marks the corn plants with problems and sends the planting position of the corn plants in the greenhouse to the remote terminal in the hands of the operator, so that the operator can quickly locate the problem plants in the greenhouse through the markings and handle them in a timely manner, thereby improving the quality of high-quality corn planting; 2. When the corn plants are in the flowering and grain-filling stage, the self-driven moving mechanism will move to the right along the fixed transverse guide rail at the optimal pollination time each day (8:00 AM to 11:00 AM and 4:00 PM to 6:00 PM) to the position of the switching frame and align with the first separation box. Then, in conjunction with the fixing component, it will disconnect the first separation box from the multi-station switching component and connect and fix the first separation box to the self-driven moving mechanism. This ensures that the self-driven moving mechanism can drive the adjustable pollination tapping mechanism installed below the first separation box to move together, facilitating subsequent pollination of the corn plants. Subsequently, the self-driven moving mechanism moves along the fixed transverse guide rail, the switching component, and the fixed longitudinal guide rail, visually inspecting the growth status of the male and female ears of all corn plants in the greenhouse to determine if the corn plant is in the optimal pollination period (the male ear is fully emerging from the top leaves, the husk of the female ear is split open, the silks are emerging, and the silks are fresh, light green or pale purple, with a sticky surface). If the corn plant is in the optimal pollination period, the adjustable pollination mechanism will... The pollen-tapping mechanism moves down and aligns with the tassel of the corn plant, tapping it repeatedly to ensure that the pollen on the tassel falls onto the silks of the female ear below the corn plant, completing the pollination operation. Conversely, if the corn plant has not reached the optimal pollination period, it will skip that corn plant and visually inspect the tassels and ears of the next corn plant. After the growth status of the tassels and ears of all corn plants in the greenhouse has been inspected, the self-driven moving mechanism will drive the first separation box and the adjustable pollination tapping mechanism to reset to the position of the switching frame. Then, in conjunction with the fixing component, the first separation box is reconnected and fixed to the multi-station switching component. At the same time, the adjustable pollination tapping mechanism is charged to ensure that it can maintain its auxiliary pollination function. This ensures that the device can continuously assist in pollination of corn plants during the pollination period, which not only guarantees the yield and quality of high-quality corn but also reduces the extra labor required for manual pollination, meeting the long-term and continuous operation requirements of large-scale greenhouse corn planting. 3. After the corn plants have completed pollination and entered the kernel formation stage, the multi-station switching component controls the alignment of the second separation box with the self-driven moving mechanism. The second separation box is then connected and fixed to the self-driven moving mechanism via a fixing component, ensuring that the self-driven moving mechanism can move the surrounding spraying mechanism installed below the second separation box. This facilitates subsequent spraying of pesticides on corn plants infected by fungi and insects. Subsequently, the self-driven moving mechanism moves along the fixed transverse guide rail, the switching component, and the fixed longitudinal guide rail. Visual inspection is used to check all corn plants in the greenhouse for borer holes, insect excrement, and damaged husks on their ears. The system detects bite marks, whether pink, black, or grayish-white mold appears on the top of the ear or kernels, and whether the kernels are shriveled or disordered. This helps determine if the corn plant is infected by fungi or insects. If an infected corn plant is detected, a self-propelled moving mechanism drives a surrounding spraying system to precisely spray the infected corn plant and all corn plants within the infected area. This avoids spraying corn plants outside the infected area, reducing pesticide residue on healthy ears, further improving the quality of high-quality corn cultivation, reducing pesticide waste, and minimizing the additional workload of manual spraying. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0010] Figure 1 This invention provides a three-dimensional orbital gramineous crop trait detection device. Figure 1 ; Figure 2 This invention provides a three-dimensional orbital gramineous crop trait detection device. Figure 2 ; Figure 3 This is a front view of a track-type gramineous crop trait detection device according to the present invention; Figure 4 This is a left view of a track-type gramineous crop trait detection device according to the present invention; Figure 5 For along Figure 4 A three-dimensional image with a portion removed along the AA direction; Figure 6 for Figure 5 Enlarged view of point B in the middle; Figure 7 for Figure 6 Enlarged view of point C in the middle; Figure 8 For along Figure 3 A three-dimensional view with a portion removed along the DD direction; Figure 9 for Figure 8 Enlarged view at point E in the middle; Figure 10 for Figure 8 Enlarged view at point F; Figure 11 A partial 3D view of a multi-station split-type testing mechanism; Figure 12 A three-dimensional view of a multi-station split-type testing mechanism with a portion of its front cut away; Figure 13 for Figure 12 A magnified view of point G in the middle.

[0011] The labels in the diagram represent: 1. Main frame; 2. Longitudinal / transverse switching track mechanism; 21. Fixed transverse guide rail; 22. Fixed longitudinal guide rail; 23. U-shaped frame; 24. Reversing control motor; 25. Reversing disc; 26. Reversing guide rail; 3. Self-driven moving mechanism; 31. Control box; 32. Drive wheel; 33. Guide support wheel; 34. Moving control motor; 35. Drive gear; 36. Driven gear; 37. Power distribution box; 38. Retrieval shaft; 39. Retrieval control motor; 310. Retrieval rod; 311. Marking dropper; 312. Liquid storage tank; 313. Detection camera; 4. Multi-station split detection mechanism; 41. Switching frame; 42. Screw slide module; 43. Moving plate; 44. Standby frame; 45. Limiting slide groove; 46. Limiting guide rail; 47. First separation box; 48. 49. First L-shaped pairing rod; 410. Second L-shaped pairing rod; 411. Connecting hole; 412. Locking hole; 413. Connecting push cylinder; 414. Connecting insert rod; 415. Connecting linear guide rail module; 416. Locking push cylinder; 417. Locking insert rod; 418. Charging male connector; 420. Charging female connector; 51. Second separation box; 52. Adjustable pollination tapping mechanism; 53. Pollination control motor; 54. Rotating disc; 55. Receiving box; 56. Adjustment control motor; 57. Drive sprocket; 58. Tensioning roller; 59. Movable chain; 50. Tapping rod; 61. Circular spraying mechanism; 62. Folding control motor; 63. Extension rod; 64. Circular control motor; 65. Liquid guiding slip ring; 66. Circular disc; 67. Circular spray pipe; 7. Liquid storage tank; 8. Greenhouse. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0013] The terms "left," "right," "front," "back," "up," and "down" used in the following description refer to the orientation from the perspective of the front view.

[0014] Example 1: In some embodiments, please refer to the accompanying drawings. Figures 1-13 A track-type gramineous crop trait detection device includes a main frame 1 and a greenhouse 7, as well as a longitudinal and transverse switching track mechanism 2, a self-driven moving mechanism 3, a multi-station split detection mechanism 4, an adjustable pollination tapping mechanism 5, and a surrounding spraying mechanism 6. The main frame 1 is symmetrically and fixedly installed inside the greenhouse 7 on both the front and rear sides; The left and right directions of greenhouse 7 are defined as horizontal; the front and back directions of greenhouse 7 are defined as vertical. The longitudinal and transverse switching track mechanism 2 is connected to the main frame platform 1 to facilitate the movement of the self-driven mobile mechanism 3 within the greenhouse 7 and to quickly locate the target corn plant. The longitudinal and transverse switching track mechanism 2 includes a fixed transverse guide rail 21, a fixed longitudinal guide rail 22, and a switching component; several sets of fixed transverse guide rails 21 are linearly and equally spaced and are fixedly connected to the middle of the front and rear main frame platforms 1; several sets of fixed longitudinal guide rails 22 are linearly and equally spaced on the main frame platform 1 and are fixedly connected to the main frame platform 1; the switching component is connected to the front and rear fixed longitudinal guide rails 22. The self-driven moving mechanism 3, used for routine trait detection and labeling of maize at different growth stages, is connected to the fixed transverse guide rail 21, the fixed longitudinal guide rail 22, and the switching component. The self-driven mobile mechanism 3 is equipped with a central control unit; the central control unit is connected to an external remote terminal for communication. The multi-station split-type detection mechanism 4, used for classifying corn at different growth stages, is installed inside the right side of the greenhouse 7. The multi-station split-type testing mechanism 4 includes a switching frame 41, a multi-station switching component, a first separation box 47, a second separation box 420, and a fixing component; the switching frame 41 is fixedly installed inside the right side of the greenhouse 7; the multi-station switching component is installed on the upper end of the switching frame 41; the first separation box 47 and the second separation box 420 are connected to the multi-station switching component; A set of mating fixing components is installed on both the first separation box 47 and the second separation box 420; and the mating fixing components are connected to the self-driven moving mechanism 3. Power supplies are fixedly installed inside both the first separation box 47 and the second separation box 420. The adjustable pollination tapping mechanism 5, used to assist pollination of corn plants in the flowering and grain-filling stage, is connected to the first separation box 47. The surround spraying mechanism 6, used for spraying pesticides on problematic corn plants, is connected to the second separation box 420. In the initial state of this invention, several sets of switching components are in a horizontal state and connect all fixed horizontal guide rails 21, ensuring that the self-driven moving mechanism 3 can move horizontally along the fixed horizontal guide rails 21 and the switching components and quickly align with the corn plants in different columns in the greenhouse 7. When the self-driven moving mechanism 3 needs to perform trait detection on the corn plants in the row, it moves to the switching component located in the middle of the row. Then, the switching component changes to a longitudinal state and connects the two fixed longitudinal guide rails 22 at the front and rear of the row. It also changes the orientation of the self-driven moving mechanism 3 to ensure that the self-driven moving mechanism 3 moves longitudinally along the fixed longitudinal guide rails 22 and the switching component. It performs visual inspection on the corn plants planted in the row, and then marks the corn plants with problems and sends the planting location of the corn plants in the greenhouse 7 to the remote terminal in the hands of the operator. This allows the operator to quickly locate the problematic plants in the greenhouse 7 through the markings and handle them in a timely manner, thereby improving the quality of high-quality corn planting. When the corn plants are in the flowering and grain-filling stage, the self-driven moving mechanism 3 will move to the right along the fixed transverse guide rail 21 at the optimal pollination time each day (8:00 to 11:00 am and 4:00 to 6:00 pm) to the position of the switching frame 41 and align with the first separation box 47. Then, in conjunction with the fixing component, the connection between the first separation box 47 and the multi-station switching component will be released, and the first separation box 47 will be connected and fixed to the self-driven moving mechanism 3. This ensures that the self-driven moving mechanism 3 can drive the adjustable pollination tapping mechanism 5 installed below the first separation box 47 to move together, which is convenient for subsequent pollination of the corn plants. Subsequently, the self-driven moving mechanism 3 moves along the fixed transverse guide rail 21, the switching component, and the fixed longitudinal guide rail 22, and visually inspects the growth status of the tassels and ears of all corn plants in the greenhouse 7 to determine whether the corn plant is in the optimal pollination period (when the tassels have fully emerged from the top leaves, the husks of the ear have split open, the silks have emerged, and the silks are fresh and tender, light green or light purple, with a sticky surface). If the corn plant is in the optimal pollination period, the adjustable pollination tapping mechanism 5 will move down and align with the tassels of the corn plant, and tap the tassels repeatedly to ensure that the pollen on the tassels falls onto the silks of the ear below the corn plant, completing the pollination operation. Conversely, if the corn plant has not reached the optimal pollination period, the mechanism will skip the corn plant and move on to the next corn plant. Visual inspection of the male and female ears of the plants is performed. After the growth status of the male and female ears of all corn plants in greenhouse 7 is inspected, the self-driven moving mechanism 3 will drive the first separation box 47 and the adjustable pollination tapping mechanism 5 to reset to the position of the switching frame 41. Then, in conjunction with the fixing component, the first separation box 47 is reconnected and fixed to the multi-station switching component. At the same time, the adjustable pollination tapping mechanism 5 will be charged to ensure that the adjustable pollination tapping mechanism 5 can maintain the auxiliary pollination function. This ensures that the device can continuously assist in pollination of corn plants during the corn pollination period. This not only ensures the yield and quality of high-quality corn, but also reduces the extra labor of manual pollination, thereby meeting the long-term and continuous operation requirements of large-scale greenhouse corn planting. After the corn plants have completed pollination and entered the grain formation stage, the multi-station switching component controls the second separation box 420 to align with the self-driven moving mechanism 3, and connects and fixes the second separation box 420 with the self-driven moving mechanism 3 through the cooperation fixing component, so as to ensure that the self-driven moving mechanism 3 can drive the surrounding spraying mechanism 6 installed below the second separation box 420 to move together, which facilitates the subsequent spraying of medicine on corn plants infected by fungi and insects. Subsequently, the self-driven moving mechanism 3 moves along the fixed transverse guide rail 21, the switching component, and the fixed longitudinal guide rail 22, and visually inspects whether there are borer holes, insect droppings, or gaps in the husks of all corn plants in the greenhouse 7; whether there is pink, black, or grayish-white mold on the top of the ear or kernels; whether the kernels are shriveled or disordered; and thus determines whether the corn plant has been infected by fungi or insects. If a corn plant becomes infected, the self-driven moving mechanism 3 will drive the surrounding spraying mechanism 6 to spray the infected corn plant and all corn plants within the range of fungal and insect infection, without spraying corn plants outside the range of fungal and insect infection. This reduces the residue of pesticide on healthy ears, further improves the quality of high-quality corn planting, reduces pesticide waste, and also reduces the extra workload of manual spraying.

[0015] Example 2: In some embodiments, such as Figures 1-13 As shown, in a preferred embodiment of the present invention, the switching assembly includes a U-shaped frame 23, a commutation control motor 24, a commutation disc 25, and a commutation guide rail 26; the front and rear ends of the U-shaped frame 23 are fixedly connected to the upper ends of the front and rear fixed longitudinal guide rails 22; the commutation control motor 24 is fixedly mounted on the upper end of the U-shaped frame 23; the commutation disc 25 is rotatably mounted on the lower end of the U-shaped frame 23; the output end of the commutation control motor 24 is fixedly connected to the commutation disc 25. The steering guide rail 26 is fixedly installed at the lower end of the steering wheel 25; In the initial state of this invention, several sets of transverse guide rails 26 are in a transverse state and connect all fixed transverse guide rails 21, ensuring that the self-driven moving mechanism 3 can move laterally along the fixed transverse guide rails 21 and transverse guide rails 26 and quickly align with corn plants in different rows in the greenhouse 7. When the self-driven moving mechanism 3 needs to perform trait testing on the corn plants in the row, it moves to the reversing guide rail 26 located in the middle of the row. Then, the reversing control motor 24 controls the reversing disk 25 to rotate 90 degrees, so that the reversing guide rail 26 is in a longitudinal state and connects the two fixed longitudinal guide rails 22 at the front and rear of the row. It also changes the orientation of the self-driven moving mechanism 3 to ensure that the self-driven moving mechanism 3 moves longitudinally along the fixed longitudinal guide rail 22 and the reversing guide rail 26 to perform visual inspection on the corn plants planted in the row. Then, the corn plants with problems are marked and the planting position of the corn plants in the greenhouse 7 is sent to the remote terminal in the hands of the operator, so that the operator can quickly locate the problematic plants in the greenhouse 7 through the markings and deal with them in a timely manner. like Figures 5-9 As shown, the self-driven moving mechanism 3 includes a moving control component and a marking component; the moving control component is connected to the fixed transverse guide rail 21, the fixed longitudinal guide rail 22 and the reversing guide rail 26; the marking component is connected to the moving control component; like Figure 9 As shown, the motion control assembly includes a control housing 31, drive wheels 32, guide support wheels 33, a motion control motor 34, a drive gear 35, and a driven gear 36; the drive wheels 32 are symmetrically rotatably mounted on the front and rear sides of the upper end of the control housing 31; the guide support wheels 33 are rotatably mounted in a rectangular array on the upper end of the control housing 31. The motion control motor 34 is fixedly installed at the bottom of the control box 31; the drive gear 35 and the driven gear 36 are respectively rotatably installed on the front and rear sides of the top of the control box 31; the output end of the motion control motor 34 is fixedly connected to the drive gear 35; the drive gear 35 and the driven gear 36 are respectively fixedly connected to the front and rear drive wheels 32; the marking assembly is installed at the bottom of the control box 31. The power supply is fixedly installed inside the control box 31; the central control unit is fixedly installed on the outer end of the control box 31. The drive wheel 32 and the guide support wheel 33 are connected to the side walls of the fixed transverse guide rail 21, the fixed longitudinal guide rail 22 and the reversing guide rail 26 by a limiting rolling connection. like Figure 6 and Figure 7 As shown, the marking assembly includes a power distribution box 37, a recovery shaft 38, a recovery control motor 39, a recovery rod 310, a marking dropper 311, a storage tank 312, and a detection camera 313. The power distribution box 37 is fixedly installed at the lower end of the control box 31. The front and rear ends of the recovery shaft 38 are rotatably connected to the front and rear inner walls of the power distribution box 37. The recovery control motor 39 is fixedly installed at the rear end of the power distribution box 37. The output end of the recovery control motor 39 is fixedly connected to the recovery shaft 38. The recovery rod 310 is fixedly connected to the recovery shaft 38. The marking dropper 311 is fixedly installed on the lower right side of the recovery rod 310. The storage tank 312 is fixedly installed on the upper right side of the recovery rod 310. A pump body (not shown in the figure) is fixedly installed at the outer end of the storage tank 312 near the outlet. The inlet end of the pump body is connected to the outlet of the storage tank 312. The outlet end of the pump body is connected to the marking dropper 311 through a pipeline. The storage tank 312 is filled with food-grade blue phycocyanin dye for marking problematic plants. The food-grade blue dye from phycocyanin is non-toxic and easy to wipe off. The detection camera 313 is fixedly installed on the outer end of the power distribution box 37; The power supply is connected to the detection camera 313 and the central control unit; the detection camera 313 is connected to the central control unit via communication. In this invention, the mobile control motor 34 controls the drive gear 35 to rotate, and the drive gear 35 drives the driven gear 36 to rotate in the opposite direction, so that the two drive wheels 32 rotate in opposite directions, thereby making the control box 31 follow the drive wheel 32 and the guide support wheel 33 to move along the fixed transverse guide rail 21, the fixed longitudinal guide rail 22 and the reversing guide rail 26, ensuring that the detection camera 313 can perform morphological appearance detection on all corn plants in the greenhouse 7; When the detection camera 313 detects a problematic corn plant, it stops moving. Then, the retrieval control motor 39 controls the retrieval shaft 38 to rotate downwards by 90 degrees, changing the retrieval rod 310 from a horizontal to a vertical position. At this time, the outlet of the marking dropper 311 faces downwards. The pump installed on the storage tank 312 then controls the phycocyanin food-grade blue dye in the storage tank 312 to drip through the marking dropper 311 onto the stems and leaves of the problematic corn plant. The location of the corn plant within the greenhouse 7 is then sent to the operator's remote terminal, allowing the operator to quickly locate the problematic plant within the greenhouse 7 using the phycocyanin food-grade blue dye and address it promptly. After the problematic plant has been treated, the operator can use a soft cloth to wipe away the phycocyanin food-grade blue dye from the surface of the problematic plant's stems and leaves to prevent residual phycocyanin food-grade blue dye from interfering with the differentiation of other problematic plants when the problematic plant is re-marked or when surrounding plants are marked. like Figure 11 As shown, the multi-station switching assembly includes a lead screw slide module 42, a moving plate 43, a standby frame 44, and a limiting guide rail 46; the lead screw slide module 42 is fixedly installed on the upper end of the switching frame 41; the moving plate 43 is fixedly connected to the moving end of the lead screw slide module 42; the standby frame 44 is symmetrically fixedly installed on the front and rear sides of the upper end of the moving plate 43; limiting grooves 45 are symmetrically opened on the front and rear sides of the upper end of the standby frame 44. The lower ends of the first separation box 47 and the second separation box 420 are symmetrically fixedly installed with limiting guide rails 46 that are limited and slidably connected to the limiting slide groove 45. The standby frame 44 is connected to the mating fixing component; like Figure 12 and Figure 13 As shown, the mating and fixing assembly includes a first L-shaped mating rod 48, a second L-shaped mating rod 49, a connecting module, and a locking module; the first L-shaped mating rod 48 is fixedly installed on the upper right side of both the first separation box 47 and the second separation box 420. The second L-shaped pairing rod 49 is fixedly installed on the lower right side of the recovery shaft 38; The locking module is installed on the second L-shaped pairing rod 49; the connecting module is connected to the first separation box 47 and the second separation box 420; The connection module includes a connection push cylinder 412, a connection rod 413, a connection linear guide module 414, a charging male connector 417, and a charging female connector 418; the first separation box 47 and the second separation box 420 are both equipped with the connection push cylinder 412 and the guide rail of the connection linear guide module 414; the connection rod 413 is fixedly connected to the output end of the connection push cylinder 412; the connection rod 413 is fixedly connected to the slider of the connection linear guide module 414; The male charging connector 417 is fixedly installed at the front end of the connecting rod 413; the female charging connector 418 is fixedly installed at the upper end of the standby rack 44. A connection hole 410 is provided at the end of the first L-shaped pairing rod 48 and the second L-shaped pairing rod 49 that are close to each other; a connection hole 410 is also provided at the upper end of the standby frame 44. The connecting rod 413 is inserted into the connecting hole 410; The male charging connector 417 is connected to the power supply inside the first separation box 47 via a wire; the female charging connector 418 is connected to the external power supply via a wire. like Figure 8 As shown, the locking module includes a locking push cylinder 415 and a locking insert rod 416; the locking push cylinder 415 is fixedly installed on the left end of the second L-shaped mating rod 49; the locking insert rod 416 is fixedly connected to the output end of the locking push cylinder 415; both the second L-shaped mating rod 49 and the connecting insert rod 413 are provided with locking holes 411; the locking insert rod 416 is inserted into the locking holes 411. In this invention, when the corn plant is in the flowering and grain-filling stage, the control box 31 will move to the right along the fixed transverse guide rail 21 at the position of the switching frame 41 at the optimal pollination time of the day. The second L-shaped matching rod 49 installed at the lower end of the control box 31 will be aligned with the first L-shaped matching rod 48 of the first separation box 47. Then, the connecting push cylinder 412 controls the connecting plug 413 to move upward along the connecting linear guide rail module 414. At this time, the connecting plug 413 will separate from the connecting hole 410 on the standby frame 44, and the charging male plug 417 will also separate from the charging female plug 418. Until the connecting rod 413 is inserted into the connecting hole 410 on the second L-shaped mating rod 49 and passes through the connecting hole 410 on the first L-shaped mating rod 48, and the locking hole 411 on the connecting rod 413 is aligned with the locking hole 411 on the second L-shaped mating rod 49. Subsequently, the locking cylinder 415 will push the locking rod 416 to be inserted into the locking hole 411 of the second L-shaped matching rod 49 and the connecting rod 413, thereby completing the connection and fixation between the control box 31 and the first separation box 47; ensuring that the self-driven moving mechanism 3 can drive the adjustable pollination tapping mechanism 5 installed below the first separation box 47 to move together, which is convenient for subsequent pollination of corn plants. Similarly, when it is necessary to spray the corn plants, the control box 31 drives the first separation box 47 to reset, and ensures that the limit guide rail 46 installed at the lower end of the first separation box 47 slides into the limit slide groove 45 opened on the standby frame 44. Then, the locking push cylinder 415 drives the locking rod 416 to reset, and the connecting push cylinder 412 drives the connecting rod 413 to reset downward until the connecting rod 413 is re-inserted and fixed with the connecting hole 410 opened on the standby frame 44. The charging male head 417 and the charging female head 418 are inserted and fixed, and the power supply in the first separation box 47 can be charged through the charging female head 418 and the charging male head 417. This ensures that the adjustable pollination tapping mechanism 5 connected to the first separation box 47 can maintain the auxiliary pollination function, thereby ensuring that the device can continuously assist the corn plants in pollination during the corn plant pollination period. This not only ensures the yield and quality of high-quality corn, but also reduces the extra labor of manual pollination. Once the corn plants have completed pollination and entered the grain formation stage, the screw slide module 42 will control the moving plate 43 to move forward, so that the second separation box 420 located on the rear side is aligned with the control box 31. The connecting push cylinder 412 installed on the second separation box 420 cooperates with the locking push cylinder 415 on the second L-shaped matching rod 49 to achieve the connection and fixation between the second separation box 420 and the control box 31. This ensures that the control box 31 can drive the surrounding spraying mechanism 6 installed below the second separation box 420 to move together, which is convenient for subsequent spraying of medicine on corn plants infected by fungi and insects. like Figure 6 , Figure 8 and Figure 10 As shown, the adjustable pollination tapping mechanism 5 includes a pollination control motor 51, a rotating disk 52, a receiving box 53, an adjustment control motor 54, a drive sprocket 55, a tension roller 56, a movable chain 57, and a tapping rod 58; the pollination control motor 51 is fixedly installed at the inner bottom of the first separation box 47; the rotating disk 52 is rotatably installed at the bottom of the first separation box 47; the output end of the pollination control motor 51 is fixedly connected to the rotating disk 52; the receiving box 53 is fixedly connected to the rotating disk 52. A drive sprocket 55 is rotatably mounted on the upper left side of the middle part of the receiving box 53; multiple tension rollers 56 are rotatably mounted on the right side of the middle part of the receiving box 53; The regulating control motor 54 is fixedly installed on the rear inner wall of the housing 53; the output end of the regulating control motor 54 is fixedly connected to the drive sprocket 55. A movable chain 57 is wound around the outside of the drive sprocket 55 and a plurality of tension rollers 56; and the drive sprocket 55 and the movable chain 57 are meshed together. The lower left side of the container 53 has a clearance groove to facilitate the up and down movement of the movable chain 57; The striking lever 58 is fixedly installed at the left end of the movable chain 57; Tensioning roller 56 is used to provide tension to the moving chain 57; In this invention, the control box 31 moves along the fixed transverse guide rail 21, the reversing guide rail 26 and the fixed longitudinal guide rail 22, and performs visual inspection on the growth status of the male and female ears of all corn plants in the greenhouse 7, thereby determining whether the corn plant is in the optimal pollination period; if the corn plant is in the optimal pollination period, the adjustment control motor 54 will control the drive sprocket 55 to rotate, so that the drive sprocket 55 drives the movable chain 57 to move downward around the drive sprocket 55 and the tension roller 56 until the striking rod 58 installed at the left end of the movable chain 57 is aligned with the male ear of the corn plant. Since the part of the movable chain 57 located below the receiving box 53 is in a vertical state at this time, the ends of the adjacent links of the movable chain 57 will fit tightly together, thereby making the movable chain 57 located below the receiving box 53 rigid. Then the pollination control motor 51 controls the rotating disk 52 to rotate back and forth. This causes the movable chain 57 to drive the striking rod 58 to strike the tassels repeatedly, ensuring that the pollen on the tassels falls onto the silks of the female ear below the corn plant, thus completing the pollination operation. Furthermore, the movable chain 57 reduces the overall weight and space occupied by the device, thereby reducing the operating energy consumption of the control box 31. like Figure 11 and Figure 12 As shown, the surrounding spraying mechanism 6 includes a folding control motor 61, an extension rod 62, a surrounding control motor 63, a liquid guiding slip ring 64, a surrounding disc 65, and a surrounding spray pipe 66; the folding control motor 61 is fixedly installed at the inner bottom of the second separation box 420; the right side of the extension rod 62 is rotatably connected to the bottom of the second separation box 420; the output end of the folding control motor 61 is fixedly connected to the extension rod 62. The surround control motor 63 is fixedly installed on the upper left side of the extension rod 62; the stator of the liquid guide slip ring 64 is fixedly installed on the lower left side of the extension rod 62; the mover of the liquid guide slip ring 64 is fixedly connected to the output end of the surround control motor 63. The surround disk 65 is also fixedly connected to the output end of the surround control motor 63; The surrounding spray pipe 66 is fixedly installed on the lower outer side of the surrounding disc 65; the interior of the second separation box 420 is provided with a liquid storage tank 67 for storing the medicine; the upper end of the second separation box 420 is rotatably installed with a sealing window for easy addition of medicine. The surrounding spray pipe 66 is connected to the moving part of the liquid guiding slip ring 64 through a pipeline; the stator of the liquid guiding slip ring 64 is connected to the bottom of the liquid storage tank 67 through a pipeline. In this invention, the control box 31 moves along the fixed transverse guide rail 21, the reversing guide rail 26, and the fixed longitudinal guide rail 22, and the detection camera 313 detects whether there are borer holes, insect excrement, or gaps in the husks of all corn plants in the greenhouse 7; whether there is pink, black, or grayish-white mold on the top of the ear or the kernels; whether the kernels are shriveled or disordered; and thus determines whether the corn plant has been infected by fungi or insects. If the corn plants become infected, the control box 31 moves the second separation box 420 to the location of the target corn plant. Then, the folding control motor 61 controls the extension rod 62 to rotate, causing the surrounding disc 65 to move above the corn plant. Subsequently, the surrounding control motor 63 controls the movement of the moving parts of the surrounding disc 65 and the liquid guiding slip ring 64. At this time, the surrounding spray pipe 66 will rotate around the corn plant and spray the infected corn plants and all corn plants within the range of infection with pesticides. However, it will not spray corn plants outside the range of infection with pesticides, thereby reducing pesticide residue on healthy ears of corn. This further improves the quality of high-quality corn planting, reduces pesticide waste, and reduces the extra workload of manual spraying.

[0016] Example 3: In some embodiments, such as Figures 1-13 As shown, in a preferred embodiment of the present invention, a method of using a track-mounted gramineous crop trait detection device includes the following steps: Step 1: When the switching component connects all the fixed transverse guide rails 21, the self-driven moving mechanism 3 moves along the fixed transverse guide rails 21 and the switching component to the switching component in the middle of the preset column. The switching component connects the two fixed longitudinal guide rails 22 at the front and rear of the column and changes the orientation of the self-driven moving mechanism 3 to ensure that the self-driven moving mechanism 3 moves longitudinally along the fixed longitudinal guide rails 22 and the switching component to perform appearance inspection on the corn plants planted in the column. Step 2: If the corn plants are in the flowering and grain-filling stage, proceed to steps 3 and 4; if the corn plants are in the grain-forming stage, proceed to steps 5 and 6. Step 3: The self-driven moving mechanism 3 moves along the fixed transverse guide rail 21 to the position of the switching frame 41 at the optimal pollination time of the day and is connected and fixed to the first separation box 47 by the matching fixing components, so as to ensure that the self-driven moving mechanism 3 drives the adjustable pollination tapping mechanism 5 to move together, which facilitates the subsequent auxiliary pollination of corn plants. Step 4: The self-driven moving mechanism 3 detects the growth status of the male and female ears of all corn plants in greenhouse 7 and determines whether the corn plant is in the optimal pollination period. If the corn plant is in the optimal pollination period, the adjustable pollination tapping mechanism 5 moves down and taps the male ear repeatedly to ensure that the pollen on the male ear falls onto the silks of the female ear below the corn plant, thus completing the pollination operation. Otherwise, the mechanism will skip the corn plant and visually detect the male and female ears of the next corn plant until the growth status of all corn plants is detected. Step 5: The multi-station switching component controls the alignment of the second separation box 420 with the self-driven moving mechanism 3, and the fixing component connects and fixes the second separation box 420 with the self-driven moving mechanism 3 to ensure that the self-driven moving mechanism 3 can drive the surrounding spraying mechanism 6 installed below the second separation box 420 to move together and spray the corn plantation with fungi and insects. Step Six: The self-driven moving mechanism 3 detects and observes whether the ears and stems of all corn plants in the greenhouse 7 are infected by fungi or insects; if the corn plants are infected, the self-driven moving mechanism 3 drives the surrounding spraying mechanism 6 to spray the infected corn plant and all corn plants within the range of fungal and insect infection with medicine.

[0017] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A track-mounted gramineous crop trait detection device, comprising a main frame (1) and a greenhouse (7), characterized in that: It also includes a longitudinal and transverse switching track mechanism (2), a self-driven moving mechanism (3), a multi-station split detection mechanism (4), and a classification and processing module; The main frame (1) is symmetrically fixed and installed on the front and back sides inside the greenhouse (7); The longitudinal and transverse switching track mechanism (2) is connected to the main frame platform (1) to facilitate the movement of the self-driven moving mechanism (3); A self-driven moving mechanism (3) for detecting and marking traits of maize at different growth stages is connected to a longitudinal and transverse switching track mechanism (2); The multi-station split-type detection mechanism (4) for classifying corn at different growth stages is installed inside the greenhouse (7) on the right side; The multi-station split-type testing mechanism (4) includes a switching frame (41), a multi-station switching component, a first separation box (47), a second separation box (420), and a matching fixing component; the switching frame (41) is fixedly installed inside the right side of the greenhouse (7); the multi-station switching component is installed at the upper end of the switching frame (41); the first separation box (47) and the second separation box (420) are connected to the multi-station switching component; the matching fixing component is connected to the first separation box (47), the second separation box (420), and the self-driven moving mechanism (3); The sorting module is connected to the first separation box (47) and the second separation box (420).

2. The track-type gramineous crop trait detection device according to claim 1, characterized in that, The longitudinal and transverse switching track mechanism (2) includes a fixed transverse guide rail (21), a fixed longitudinal guide rail (22), and a switching component; several sets of fixed transverse guide rails (21) are linearly and equally spaced and are fixedly connected to the middle of the front and rear main frames (1); several sets of fixed longitudinal guide rails (22) are linearly and equally spaced on the main frame (1) and are fixedly connected to the main frame (1); the switching component is connected to the front and rear fixed longitudinal guide rails (22); The classification and processing module includes an adjustable pollination tapping mechanism (5) for assisting pollination of corn plants in the flowering and grain-filling stage and a surrounding spraying mechanism (6) for spraying drugs on problematic corn plants. The adjustable pollination tapping mechanism (5) is connected to the first separation box (47), and the surrounding spraying mechanism (6) is connected to the second separation box (420).

3. The track-type gramineous crop trait detection device according to claim 2, characterized in that, The self-driven moving mechanism (3) includes a moving control component and a marking component; the moving control component is connected to a fixed transverse guide rail (21), a fixed longitudinal guide rail (22) and a reversing guide rail (26); the marking component is connected to the moving control component.

4. The track-type gramineous crop trait detection device according to claim 3, characterized in that, The marking assembly includes a power distribution box (37), a recovery shaft (38), a recovery control motor (39), a recovery rod (310), a marking dropper (311), and a storage tank (312); the power distribution box (37) is fixedly installed at the lower end of the control box (31); the front and rear ends of the recovery shaft (38) are rotatably connected to the front and rear inner walls of the power distribution box (37); the recovery control motor (39) is fixedly installed at the rear end of the power distribution box (37); the output end of the recovery control motor (39) is fixedly connected to the recovery shaft (38); the recovery rod (310) is fixedly connected to the recovery shaft (38); the marking dropper (311) is fixedly installed on the lower right side of the recovery rod (310); and the storage tank (312) is fixedly installed on the upper right side of the recovery rod (310).

5. The track-mounted gramineous crop trait detection device according to claim 4, characterized in that, The fixing components include a first L-shaped mating rod (48), a second L-shaped mating rod (49), a connecting module, and a locking module; the first L-shaped mating rod (48) is fixedly installed on the upper right side of both the first separation box (47) and the second separation box (420). The second L-shaped pairing rod (49) is fixedly installed on the lower right side of the recovery shaft (38); The locking module is installed on the second L-shaped pairing rod (49); the connecting module is connected to the first separation box (47) and the second separation box (420).

6. The track-mounted gramineous crop trait detection device according to claim 5, characterized in that, The connection module includes a connection push cylinder (412), a connection rod (413), a connection linear guide module (414), a charging male connector (417), and a charging female connector (418); the first separation box (47) and the second separation box (420) are both equipped with the connection push cylinder (412) and the guide rail of the connection linear guide module (414); the connection rod (413) is fixedly connected to the output end of the connection push cylinder (412); the connection rod (413) is fixedly connected to the slider of the connection linear guide module (414); The male charging connector (417) is fixedly installed at the front end of the connecting rod (413); the female charging connector (418) is fixedly installed at the upper end of the standby frame (44); the first L-shaped mating rod (48) and the second L-shaped mating rod (49) are both provided with a connection hole (410) at their adjacent ends; the upper end of the standby frame (44) is also provided with a connection hole (410). The connecting rod (413) is inserted into the connecting hole (410).

7. The track-mounted gramineous crop trait detection device according to claim 6, characterized in that, The locking module includes a locking push cylinder (415) and a locking insert (416); the locking push cylinder (415) is fixedly installed on the left end of the second L-shaped mating rod (49); the locking insert (416) is fixedly connected to the output end of the locking push cylinder (415); the second L-shaped mating rod (49) and the connecting insert (413) are both provided with locking holes (411); the locking insert (416) is inserted into the locking hole (411).

8. The track-mounted gramineous crop trait detection device according to claim 7, characterized in that, The adjustable pollination tapping mechanism (5) includes a pollination control motor (51), a rotating disk (52), a telescopic assembly, and a tapping rod (58); the pollination control motor (51) is fixedly installed at the bottom of the first separation box (47); the rotating disk (52) is rotatably installed at the bottom of the first separation box (47); the output end of the pollination control motor (51) is fixedly connected to the rotating disk (52); the telescopic assembly is connected to the rotating disk (52); The striking rod (58) is connected to the telescopic assembly.

9. The track-mounted gramineous crop trait detection device according to claim 8, characterized in that, The surround spraying mechanism (6) includes a folding control motor (61), an extension rod (62), a surround assembly, and a surround spray pipe (66); the folding control motor (61) is fixedly installed at the bottom of the second separation box (420); the right side of the extension rod (62) is rotatably connected to the bottom of the second separation box (420); The output end of the folding control motor (61) is fixedly connected to the extension rod (62); The surround assembly is connected to the extension rod (62); the surround spray pipe (66) is connected to the surround assembly.

10. A method of use, utilizing the track-type gramineous crop trait detection device according to claim 2, characterized in that, Includes the following steps: Step 1: When the switching component connects all the fixed transverse guide rails (21), the self-driven moving mechanism (3) moves along the fixed transverse guide rails (21) and the switching component to the switching component in the middle of the preset column. The switching component connects the two fixed longitudinal guide rails (22) in front and behind the column and changes the orientation of the self-driven moving mechanism (3) to ensure that the self-driven moving mechanism (3) moves longitudinally along the fixed longitudinal guide rails (22) and the switching component to perform appearance inspection on the corn plants planted in the column. Step 2: If the corn plants are in the flowering and grain-filling stage, proceed to steps 3 and 4; if the corn plants are in the grain-forming stage, proceed to steps 5 and 6. Step 3: The self-driven moving mechanism (3) moves along the fixed transverse guide rail (21) to the position of the switching frame (41) at the best pollination time of the day and is connected and fixed to the first separation box (47) by the matching fixing components, so as to ensure that the self-driven moving mechanism (3) drives the adjustable pollination tapping mechanism (5) to move together, which facilitates the subsequent auxiliary pollination of corn plants. Step 4: The self-driven moving mechanism (3) detects the growth status of the male and female ears of all corn plants in the greenhouse (7) and determines whether the corn plant is in the optimal pollination period. If the corn plant is in the optimal pollination period, the adjustable pollination tapping mechanism (5) moves down and taps the male ear repeatedly to ensure that the pollen on the male ear falls onto the silks of the female ear below the corn plant, thus completing the pollination operation. Otherwise, the corn plant will be skipped and the male and female ears of the next corn plant will be visually detected. This continues until the growth status of all corn plants is detected. Step 5: The multi-station switching component controls the alignment of the second separation box (420) with the self-driven moving mechanism (3), and the fixing component connects and fixes the second separation box (420) and the self-driven moving mechanism (3) to ensure that the self-driven moving mechanism (3) can drive the surrounding spraying mechanism (6) installed below the second separation box (420) to move together and spray the corn plantation with fungi and insects. Step 6: The self-driven moving mechanism (3) detects and observes whether the ears and stems of all corn plants in the greenhouse (7) are infected with fungi and insects; if the corn plants are infected, the self-driven moving mechanism (3) drives the surrounding spraying mechanism (6) to spray the infected corn plants and all corn plants within the range of fungal and insect infection with drugs.

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