Low-altitude field patrol robot based on agricultural plant protection operation

Abstract

This invention discloses a low-altitude field patrol robot for agricultural plant protection operations, belonging to the field of agricultural operation technology. It includes a wheeled walking robot and an inspection drone, connected by a cable. Both the wheeled walking robot and the inspection drone are equipped with multi-directional inspection data acquisition cameras. The crop data collected by these cameras is analyzed by AI to quickly generate a growth diagnosis report. This invention utilizes a "moving center + rotation scanning" mode, combining the linear movement of the wheeled walking robot with the circular movement of the inspection drone, to collect multi-angle, full-coverage data on the crop canopy, sides, bottom, and soil. This solves the problem of limited field of view in traditional single-platform systems, providing complete crop growth information for AI analysis. The wheeled walking robot provides wired power to the inspection drone, thus solving the problem of insufficient drone endurance and enabling continuous, large-scale operations.

Description

Technical Field

[0001] This invention relates to the field of agricultural operation technology, and in particular to a low-altitude field patrol robot based on agricultural plant protection operations. Background Technology

[0002] Crop growth monitoring in agricultural plant protection operations is a key aspect of precision agriculture management. Traditional field inspection methods mainly rely on manual foot patrols or driving agricultural vehicles to conduct field inspections, using visual observation or handheld sampling equipment to assess crop growth, pests and diseases, and soil conditions.

[0003] In recent years, with the development of drone technology and ground robot technology, various unmanned field inspection devices have emerged. Among them, ground wheeled field inspection robots can walk along the rows and collect data on the sides and bottom of crops by carrying cameras or sensors, but their field of view is limited and they cannot effectively obtain information on the crop canopy and upper leaves; while multi-rotor drones have advantages such as wide field of view, high speed and hovering ability, and can obtain high-definition images of the crop canopy, but they are limited by the onboard battery capacity, and the single flight time is usually less than 30 minutes, making it difficult to complete large-scale, long-term continuous inspection tasks.

[0004] Existing technologies also include solutions that combine ground robots with drones, such as using drones to take off from ground robots for auxiliary observation. However, these systems operate independently, and data transmission and energy replenishment remain disconnected. Some solutions employ wireless charging or temporary landing methods, but these increase system complexity and the risk of operational interruptions. More importantly, existing field inspection equipment generally lacks the ability to actively inspect the lower and middle parts of crop plants and the undersides of leaves. Many early symptoms of pests and diseases (such as spider mites, aphids, and powdery mildew) appear precisely on the undersides of leaves or in the middle of stems, making it difficult to achieve accurate early diagnosis using conventional overhead images.

[0005] Therefore, how to design a field inspection device that can have a long operating time, acquire crop growth data from multiple angles and without blind spots, reduce physical damage to crops, and ensure stable operation of the aircraft in complex field environments is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0006] The purpose of this invention is to solve the problems existing in the prior art and to propose a low-altitude field patrol robot based on agricultural plant protection operations.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A low-altitude field patrol robot based on agricultural plant protection operations includes a wheeled walking robot and an inspection aircraft. The wheeled walking robot and the inspection aircraft are connected by a cable. Both the wheeled walking robot and the inspection aircraft are equipped with multi-directional inspection data acquisition cameras. The crop data collected by the multi-directional inspection data acquisition cameras is analyzed by AI to quickly generate a growth diagnosis report. The wheeled walking robot includes a mobile base, an energy storage module inside the mobile base, multiple sets of mobile wheels at the bottom of the mobile base that can be adjusted according to the height of the crops, and a flip-top cabin on the mobile base for storing the inspection drone. The inspection aircraft includes a drone. The bottom of the drone is connected to a support base via a suspension traction line. A force-bearing support is provided at the bottom of the support base, and an elastic ring wheel assembly is provided at the bottom of the force-bearing support. One end of the cable conductor is mounted on the movable base via a winding device, and the other end is connected to the support column via a winding pulley system. The support column is equipped with a crop scraper, and the height of the crop scraper is controlled by the tension of the cable conductor. The multi-directional inspection data acquisition camera includes a lower-level camera mounted on a wheeled walking robot, a soil detection camera mounted on the bottom of the wheeled walking robot, and static and dynamic cameras mounted on a drone.

[0008] As a preferred embodiment, the elastic circumferential wheel assembly includes a circumferential wheel, the bottom of the force-bearing support is connected to a connector via a spring column, and the top of the circumferential wheel is rotatably connected to the connector via a connecting shaft.

[0009] As a preferred embodiment, the movable base is provided with a central partition and a supporting side plate. The winding device is installed on the central partition, and the cable conductor is wound and collected on the winding device. The supporting side plate has a winding port for the cable conductor to pass through.

[0010] As a preferred embodiment, the winding pulley assembly includes a cavity formed within the load-bearing support, and a reversing pulley is provided within the cavity. The cable conductor passes around the reversing pulley and connects to the crop scraper.

[0011] As a preferred embodiment, the crop scraping component includes a traction adjustment rod rotatably connected to the support seat, the traction adjustment rod being connected to the other end of the cable conductor, and a crop scraping rod being provided at the bottom of the traction adjustment rod.

[0012] As a preferred embodiment, the side wall of the support plate is provided with a sliding seat, the sliding seat is provided with an electric push rod, the output end of the electric push rod is connected to an adjusting slider, and the lower camera is installed on the side wall of the adjusting slider.

[0013] As a preferred embodiment, the bottom of the mobile base is equipped with a height-adjustable soil-turning plow, and the soil quality detection camera is located at the bottom of the mobile base behind the soil-turning plow.

[0014] As a preferred embodiment, the drone is provided with mounting bases at both the front and rear. The static camera is mounted on the mounting base located at the front of the drone, and the dynamic camera is mounted on the mounting base located at the rear of the drone.

[0015] As a preferred embodiment, the signal transmission between the inspection aircraft and the wheeled walking robot is via wireless data transmission, and the power supply of the inspection aircraft is provided by an energy storage module installed in the wheeled walking robot.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention combines the linear movement of a wheeled walking robot with the circular movement of an inspection aircraft in a "moving center + rotating scanning" mode, which can collect data from multiple angles and in full coverage of the crop canopy, sides, bottom and soil. This solves the problem of limited perspective of traditional single platforms and provides complete crop growth information for AI analysis.

[0017] 2. This invention provides wired power to the inspection aircraft through a wheeled walking robot, thereby solving the problem of insufficient drone endurance and enabling continuous large-scale operation. By using a reversing pulley, the lateral tension of the cable is converted into vertical lifting force, eliminating lateral interference. Combined with wireless clock synchronization, it ensures high-precision coordinated movement between the aircraft and the walking robot.

[0018] 3. This invention controls the height of the traction adjustment rod and the crop scraping rod through the cable wire, and with the automatic reset of the torsion spring shaft, it can flexibly part the crop leaves during flight, so that the dynamic camera can clearly capture images of the back of the leaves and the middle of the plant. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the main body of a low-altitude field patrol robot based on agricultural plant protection operations proposed in this invention. Figure 2 This is a schematic diagram of the wheeled walking robot in a low-altitude field patrol robot based on agricultural plant protection operations proposed in this invention. Figure 3 This is a schematic diagram of the inspection aircraft in a low-altitude field patrol robot based on agricultural plant protection operations proposed in this invention. Figure 4 This is a schematic diagram of the support pillar and crop scraping component in a low-altitude field patrol robot based on agricultural plant protection operations proposed in this invention. Figure 5This is a schematic diagram of the structure of the unmanned aerial vehicle (UAV) in a low-altitude field patrol robot based on agricultural plant protection operations proposed in this invention. Figure 6 This is a schematic diagram of the winding pulley system in a low-altitude field patrol robot based on agricultural plant protection operations proposed in this invention. Figure 7 This is a framework diagram of a low-altitude field patrol robot based on agricultural plant protection operations proposed in this invention.

[0020] In the diagram: 1. Cable conductor; 2. Mobile base; 3. Mobile wheel set; 4. Flip-top cabin; 5. Drone; 6. Suspension traction line; 7. Bearing seat; 8. Support column; 9. Winder; 10. Lower camera; 11. Soil detection camera; 12. Static camera; 13. Dynamic camera; 14. Circulating wheel; 15. Spring column; 16. Connector; 17. Central partition; 18. Support side plate; 19. Winding port; 20. Cavity; 21. Reversing pulley; 22. Traction adjustment rod; 23. Crop scraper rod; 24. Sliding seat; 25. Electric push rod; 26. Tillage plow. Detailed Implementation

[0021] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.

[0022] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] Example, refer toFigures 1 to 7 A low-altitude field patrol robot based on agricultural plant protection operations includes a wheeled walking robot and an inspection aircraft. The wheeled walking robot and the inspection aircraft are connected by a cable 1. Both the wheeled walking robot and the inspection aircraft are equipped with multi-directional inspection data acquisition cameras. The crop data collected by the multi-directional inspection data acquisition cameras is analyzed by AI to quickly generate a growth diagnosis report. It should be noted that the wheeled robot moves in a straight line, while the inspection drone moves in a circle around the wheeled robot. During this synchronous process, the multi-directional inspection data acquisition camera installed on it will continuously acquire crop data.

[0025] The wheeled robot has a built-in path planning module (such as GPS navigation combined with visual navigation) to control its autonomous movement in the field along preset straight lines or inter-row paths. The inspection drone has a built-in flight control module that receives real-time position signals from the wheeled robot and controls the drone to perform automatic circular flight with the wheeled robot as the center and the length of the cable conductor as the radius. The two maintain spatiotemporal synchronization of movement through a wireless clock synchronization protocol to ensure the continuity of data acquisition. By combining the linear movement of the wheeled robot with the circular movement of the drone, a three-dimensional inspection mode of "moving center + rotation scanning" is constructed, which can acquire complete image data of the crop canopy, sides, and bottom from multiple angles without blind spots. Combined with AI analysis, a growth diagnosis report containing information such as pests and diseases, nutritional status, and growth stage can be quickly and accurately generated, which greatly improves the efficiency and accuracy of field inspection and reduces reliance on manual labor. Furthermore, the signal transmission between the inspection aircraft and the wheeled walking robot is through wireless data transmission, and the power supply of the inspection aircraft is provided by the energy storage module set in the wheeled walking robot; the cable conductor 1 is a composite lightweight cable, which breaks through the limitation of the inspection aircraft's own battery capacity through wired power supply, enabling it to perform field inspection tasks for a long time and over a wide area without frequent return to recharge.

[0026] The wheeled walking robot includes a mobile base 2, which contains an energy storage module. The bottom of the mobile base 2 is equipped with multiple mobile wheel sets 3 that adjust according to crop height. These mobile wheel sets 3 are existing technology and serve as the main drive wheels. Each mobile wheel set 3 includes a hydraulic lifting support and inflatable rubber wheels. The hydraulic lifting support automatically adjusts the chassis ground clearance based on signals from crop height sensors. The adjustable mobile wheel sets 3 allow the robot to traverse crop ridges of varying heights without damaging the plants, improving field mobility. The mobile base 2 also features a flip-top cabin 4 for storing an inspection drone. The inspection aircraft includes a drone 5. The bottom of the drone 5 is connected to a support 7 via a suspension traction line 6. The bottom of the support 7 is equipped with a force-bearing support column 8, and the bottom of the force-bearing support column 8 is equipped with an elastic ring wheel assembly. Furthermore, the elastic circumferential wheel assembly includes a circumferential wheel 14, the bottom of the force-bearing support 8 is connected to a connector 16 via a spring column 15, the top of the circumferential wheel 14 is rotatably connected to the connector 16 via a connecting shaft, the spring column 15 is a variable stiffness helical spring, and a dustproof corrugated tube is sleeved on its outer side, and the circumferential wheel 14 is made of a high elastic polymer material.

[0027] One end of the cable conductor 1 is mounted on the movable base 2 via the winder 9, and the other end is connected to the support column 8 via the winding pulley group. The support column 8 is equipped with a crop scraper, and the height of the crop scraper is controlled by the tension of the cable conductor 1. The mobile base 2 is provided with a central partition 17 and a supporting side plate 18. The winding device 9 is installed on the central partition 17, and the cable conductor 1 is wound and collected on the winding device 9. The supporting side plate 18 has a winding port 19 for the cable conductor 1 to pass through.

[0028] It should be noted that the winding device 9 is equipped with a motor to control the winding and unwinding of the cable conductor 1. With this configuration, when it is necessary to control the tension of the cable conductor 1 to control the height of the crop scraper, the motor can be controlled by a signal to achieve control during the field inspection process.

[0029] The active winding and unwinding control of the winding device 9 enables real-time adjustment of cable tension, thereby precisely controlling the height of the crop scraper, so that it can effectively scrape away the crop without pressing down too deeply and damaging the plant.

[0030] Furthermore, the winding pulley assembly includes a cavity 20 formed within the load-bearing support 8, and a reversing pulley 21 is installed within the cavity 20. The cable conductor 1 passes around the reversing pulley 21 and connects to the crop scraper. The end of the cable conductor 1 is connected to the crop scraper via a universal ball joint, allowing the scraper to swing at small angles in both the horizontal and vertical directions. The reversing pulley 21 converts the lateral traction force of the cable conductor 1 into a vertical traction force. The reversing pulley 21 converts the horizontal cable tension into a vertical lifting force, effectively eliminating the lateral interference of cable tension on the flight attitude of the UAV 5 and significantly improving flight stability.

[0031] Furthermore, the crop scraping component includes a traction adjustment rod 22 rotatably connected to the support seat 7. The traction adjustment rod 22 is connected to the support seat 7 via a torsion spring shaft. The traction adjustment rod 22 has an upward rotational force. When the cable conductor 1 is tightened, it will drive the traction adjustment rod 22 to rotate downward. The traction adjustment rod 22 is connected to the other end of the cable conductor 1. A crop scraping rod 23 is provided at the bottom of the traction adjustment rod 22.

[0032] The multi-directional inspection data acquisition camera includes a lower-level camera 10 mounted on a wheeled walking robot, a soil detection camera 11 mounted on the bottom of the wheeled walking robot, and a static camera 12 and a dynamic camera 13 mounted on a drone 5.

[0033] The lower-level camera 10 is a binocular stereo vision camera used to acquire depth information from the sides of the crop. The soil detection camera 11 is a multispectral camera, which, in conjunction with an LED supplemental light, can acquire visible light and near-infrared images of the soil after tilling. The static camera 12 is a high-resolution global shutter camera used to capture high-definition crop details; the dynamic camera 13 is a high-speed global shutter camera used to continuously acquire image sequences during flight, mainly for capturing data from the middle part of the plant and the back of the leaves after it has been moved.

[0034] Furthermore, a sliding seat 24 is provided on the side wall of the support side plate 18, and an electric push rod 25 is provided on the sliding seat 24. An adjusting slider is connected to the output end of the electric push rod 25. The lower camera 10 is installed on the side wall of the adjusting slider. An adjustable-height soil turning plow 26 is provided at the bottom of the movable base 2. The soil quality detection camera 11 is located at the bottom of the movable base 2 behind the soil turning plow 26 and is used to obtain soil layer data after turning.

[0035] The electric push rod 25 drives the adjustment slider, which enables the lower camera 10 to automatically rise and fall with the height of the crop, always maintaining the optimal shooting distance and obtaining clear and consistent images. The adjustable tillage plow 26 can shallowly till the soil while moving, exposing fresh soil layers, which makes it easier for the soil quality detection camera 11 to obtain accurate information such as soil color and structure.

[0036] The drone 5 has mounting bases at both the front and rear. The static camera 12 is mounted on the mounting base at the front of the drone 5, and the dynamic camera 13 is mounted on the mounting base at the rear of the drone 5. The static camera 12 is used to capture data of the top of the plant leaves in front without external interference, and the dynamic camera 13 is used to collect data of the back of the plant leaves and the middle of the plant after being moved by the crop scraper.

[0037] The specific workflow of this invention is as follows: Start-up and path planning: After the system is powered on, the wheeled walking robot's built-in path planning module (GPS and visual navigation fusion) generates a straight-line travel trajectory along crop rows or between ridges based on a preset field operation map or real-time planned path. At the same time, the inspection aircraft is in standby mode inside the flip-top cabin 4.

[0038] Inspection aircraft release and initial positioning: The wheeled walking robot moves to the starting point of the operation, the flip-top cabin 4 opens automatically, the inspection aircraft starts the motor and takes off vertically, establishes a communication link with the wheeled walking robot through wireless data transmission, and receives its real-time position signal; the aircraft hovers above the crop canopy at a set height with the wheeled walking robot as the center and the effective length of the cable conductor 1 as the radius. At this time, one end of the cable conductor 1 is fixed to the mobile base 2 through the winding device 9, and the other end is connected to the force support 8 through the winding pulley group, maintaining an appropriate slack state.

[0039] Synchronous movement and three-dimensional inspection: The wheeled robot moves forward in a straight line, while the inspection aircraft performs circular flight (rotating horizontally around the wheeled robot). The two maintain spatial and temporal synchronization through a wireless clock synchronization protocol. During movement: The moving wheel set 3 at the bottom of the wheeled robot automatically adjusts the ground clearance of the chassis based on feedback from the crop height sensor to ensure passability.

[0040] Meanwhile, the motor inside the winder 9 winds up and unwinds the cable wire 1 in real time according to the tension sensor signal to maintain appropriate tension, and converts the horizontal tension into vertical lifting force through the reversing pulley 21 to reduce interference with the aircraft's attitude.

[0041] Multi-directional data acquisition: During the combined linear and circular motion, each camera works collaboratively to acquire data according to its assigned function. Lower camera 10: Driven by electric push rod 25, it moves up and down along sliding seat 24, always facing the side of the crop to obtain depth information such as stem height and leaf back shape.

[0042] Soil testing camera 11: When the mobile base 2 is moving, the soil turning plow 26 turns the soil shallowly to expose the fresh soil layer. The camera, together with the supplementary light, takes soil spectral images for analysis of indicators such as organic matter and moisture.

[0043] Static camera 12: Mounted in front of drone 5, it captures high-resolution images of undisturbed crop canopy and leaf tips.

[0044] Dynamic camera 13: Installed behind the drone 5, when the crop scraper (traction adjustment rod 22 + crop scraper 23) rotates downward when the cable wire 1 is tightened, the dynamic camera then captures images of the back of the exposed leaves and the middle of the plant after the leaves are scraped.

[0045] Coordinated control of the crop scraper: The winding and unwinding of the cable conductor 1 not only manages tension but also directly controls the height of the crop scraper. When it is necessary to probe the middle of the plant or the underside of the leaf, the winding device 9 tightens the cable appropriately, and the traction adjustment rod 22 rotates downward against the upward rotational force of the torsion spring, causing the crop scraper rod 23 to press down on the crop leaf; when the cable is loosened, the torsion spring resets the traction adjustment rod 22, and the scraper rod rises. This action is linked to the shooting sequence of the dynamic camera 13 to ensure that data acquisition is completed the instant the leaf is parted.

[0046] Data transmission and AI analysis: Image data collected by all cameras is transmitted in real time to the onboard computing unit of the wheeled robot via optical fiber or wireless link in cable 1. The AI ​​analysis module fuses and processes multi-source data: it reconstructs the three-dimensional structure of crops using binocular images, judges nutrition and diseases through multispectral images, analyzes growth dynamics by combining time-series images, and finally quickly generates a growth diagnosis report containing information such as pest and disease level, nutrient deficiency type, soil moisture, and growth stage. The report can be uploaded to the cloud or farm management system via 4G / 5G.

[0047] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A low-altitude field patrol robot for agricultural plant protection operations, characterized in that, It includes a wheeled walking robot and an inspection aircraft. The wheeled walking robot and the inspection aircraft are connected by a cable (1). Both the wheeled walking robot and the inspection aircraft are equipped with multi-directional inspection data acquisition cameras. The crop data collected by the multi-directional inspection data acquisition cameras is analyzed by AI to quickly generate a growth diagnosis report. The wheeled walking robot includes a mobile base (2), an energy storage module is provided inside the mobile base (2), multiple mobile wheel sets (3) are provided at the bottom of the mobile base (2) to be adjusted according to the height of the crop, and a flip-top cabin (4) for storing the inspection aircraft is provided on the mobile base (2). The inspection aircraft includes a drone (5), and the bottom of the drone (5) is connected to a support seat (7) via a suspension traction line (6). The bottom of the support seat (7) is provided with a force-bearing support column (8), and the bottom of the force-bearing support column (8) is provided with an elastic ring wheel assembly. One end of the cable conductor (1) is mounted on the movable base (2) through the winding device (9), and the other end is connected to the support column (8) through the winding pulley group. The support column (8) is equipped with a crop scraper, and the height of the crop scraper is controlled by the tension of the cable conductor (1). The multi-directional inspection data acquisition camera includes a lower camera (10) installed on the wheeled walking robot, a soil detection camera (11) installed on the bottom of the wheeled walking robot, and a static camera (12) and a dynamic camera (13) installed on the drone (5).

2. The low-altitude field patrol robot based on agricultural plant protection operations according to claim 1, characterized in that, The elastic circumferential wheel assembly includes a circumferential wheel (14), and the bottom of the force-bearing support (8) is connected to a connector (16) via a spring column (15). The top of the circumferential wheel (14) is rotatably connected to the connector (16) via a connecting shaft.

3. The low-altitude field patrol robot based on agricultural plant protection operations according to claim 1, characterized in that, The movable base (2) is provided with a central partition (17) and a supporting side plate (18). The winding device (9) is installed on the central partition (17). The cable conductor (1) is wound and collected on the winding device (9). The supporting side plate (18) has a winding port (19) for the cable conductor (1) to pass through.

4. The low-altitude field patrol robot based on agricultural plant protection operations according to claim 1, characterized in that, The winding pulley assembly includes a cavity (20) opened in the support column (8), and a reversing pulley (21) is provided in the cavity (20). The cable conductor (1) passes around the reversing pulley (21) and is connected to the crop scraper.

5. A low-altitude field patrol robot based on agricultural plant protection operations according to claim 1, characterized in that, The crop scraper includes a traction adjustment rod (22) rotatably connected to the support seat (7), the traction adjustment rod (22) is connected to the other end of the cable wire (1), and a crop scraper rod (23) is provided at the bottom of the traction adjustment rod (22).

6. A low-altitude field patrol robot based on agricultural plant protection operations according to claim 3, characterized in that, The side wall of the support side plate (18) is provided with a sliding seat (24), and an electric push rod (25) is provided on the sliding seat (24). The output end of the electric push rod (25) is connected to an adjustment slider, and the lower camera (10) is installed on the side wall of the adjustment slider.

7. A low-altitude field patrol robot based on agricultural plant protection operations according to claim 1, characterized in that, The bottom of the mobile base (2) is provided with an adjustable height soil turning plow (26), and the soil quality detection camera (11) is located at the bottom of the mobile base (2) behind the soil turning plow (26).

8. A low-altitude field patrol robot based on agricultural plant protection operations according to claim 1, characterized in that, The drone (5) is provided with mounting bases at both the front and rear. The static camera (12) is mounted on the mounting base located at the front of the drone (5), and the dynamic camera (13) is mounted on the mounting base located at the rear of the drone (5).

9. A low-altitude field patrol robot based on agricultural plant protection operations according to claim 1, characterized in that, The inspection aircraft and the wheeled robot transmit signals wirelessly, and the power supply for the inspection aircraft is provided by an energy storage module installed in the wheeled robot.

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