Early warning and spraying device and method for oil tea tree diseases and insect pests

Abstract

The application provides an early warning pesticide spraying device and method for tea-oil tree diseases and pests, which comprises a walking mechanism, a mechanical arm arranged on the walking mechanism, a pesticide spraying module arranged at the free end of the mechanical arm, a pesticide storage tank arranged on the walking mechanism and connected with the pesticide spraying module, a disease and pest detection module arranged on the pesticide spraying module and used for detecting tea-oil tree diseases and pests and generating a disease and pest position signal, a displacement monitoring module arranged on the pesticide spraying module and used for monitoring the distance between the disease and pest position and the walking mechanism and generating a distance signal, and a control unit used for receiving the disease and pest position signal and the distance signal, wherein the control unit controls the movement of the walking mechanism according to the distance signal, controls the movement of the mechanical arm to the pesticide spraying position according to the disease and pest position signal, and controls the pesticide spraying module to spray pesticides after the movement of the mechanical arm to the pesticide spraying position. The disease and pest detection module is integrated on the pesticide spraying module, the real-time closed-loop control pesticide spraying mode is realized, and the missed spraying is avoided.

Description

Technical Field

[0001] This invention belongs to the field of agricultural plant protection machinery technology, specifically relating to an early warning and application device and method for camellia oleifera pests and diseases. Background Technology

[0002] Camellia oleifera is an important woody oilseed tree species in my country, widely planted in the hilly and mountainous areas of southern China. In recent years, with the continuous expansion of the camellia oleifera industry, pest and disease problems have become increasingly prominent. Common diseases such as anthracnose, soft rot, and leaf blight, as well as pests such as the tea geometrid moth, camellia oleifera tussock moth, and scale insects, seriously threaten the yield and quality of camellia oleifera. Traditional control methods mainly rely on manual inspection combined with broad-spectrum chemical spraying, which easily leads to excessive use of pesticides, environmental pollution, and poor effectiveness in controlling early-stage, latent pests and diseases.

[0003] In recent years, intelligent plant protection equipment has been gradually applied to orchard and forest management. For example, drone-based remote sensing monitoring and spraying systems can identify diseased areas through multispectral cameras and perform aerial spraying. However, such systems face significant limitations in camellia oleifera forests. Drones typically operate at a height of 2-5 meters, making it difficult to capture early leaf-level lesions (such as small chlorosis or spots on the leaf surface), resulting in delayed warnings. Due to the disturbance of mountain wind fields and the dense canopy of camellia oleifera, droplets are difficult to effectively adhere to the target area, resulting in generally low pesticide utilization. Furthermore, existing drones mostly use fan-shaped or centrifugal nozzles, which have a wide coverage area but cannot perform micro-spraying on individual lesions.

[0004] On the other hand, while ground-based intelligent plant protection robots can operate close to crops, their structural design is mostly geared towards orchards with regular row spacing (such as apples and citrus), failing to consider the unique characteristics of camellia oleifera forests: camellia oleifera canopies are irregularly spherical, with densely intertwined branches, and planting areas are mostly located in hilly and mountainous areas with slopes of 10-25°, resulting in significant terrain undulations, substantial differences in tree height (1.5-4 m), and inconsistent row spacing. Existing ground equipment generally uses fixed-height spray booms or simple lifting mechanisms, lacking the ability to adapt to the complex canopy space, easily causing the nozzles to collide with branches or miss internal lesions. In addition, most devices physically separate the monitoring module (such as cameras and sensors) from the spraying mechanism, lacking a spatial coordination mechanism between the two, leading to a discrepancy between the "identified location" and the "spraying location," making it difficult to achieve closed-loop control of "what you see is what you spray." Summary of the Invention

[0005] To address the aforementioned technical problems, the present invention aims to provide an early warning and application device and method for camellia oleifera pests and diseases, which achieves closed-loop control and prevention by adaptively identifying pests and diseases and applying targeted pesticides.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An early warning and pesticide application device for camellia oleifera diseases and pests includes: Walking mechanism; A robotic arm is mounted on the walking mechanism; A spraying module is located at the free end of the robotic arm; A medicine storage tank is mounted on the walking mechanism and connected to the spraying module; A pest and disease detection module is installed on the spraying module to detect pests and diseases in camellia oleifera and generate pest and disease location signals. A displacement monitoring module is installed on the spraying module to monitor the distance between the location of pests and diseases and the walking mechanism, and to generate a distance signal; The control unit is electrically connected to the pest detection module, displacement monitoring module, robotic arm, walking mechanism, and spraying module, respectively, and is used to receive the pest location signal and distance signal. The control unit controls the walking mechanism to move according to the distance signal; and controls the robotic arm to move the spraying module to the application position according to the pest location signal, and then controls the spraying module to spray.

[0007] Furthermore, the walking mechanism is equipped with a lifting component, one end of the robotic arm is connected to the lifting component, and the lifting component is electrically connected to the control unit.

[0008] Furthermore, the pest and disease detection module includes a hyperspectral imaging unit, which is mounted on the spraying module and electrically connected to the control unit. The hyperspectral imaging unit is used to detect pests and diseases and transmit the location signal of the pests and diseases to the control unit. The displacement monitoring module includes a laser rangefinder and an infrared sensor, which are electrically connected to the control unit.

[0009] Furthermore, the spraying module includes a support frame, a rotating nozzle, a nozzle drive component, a delivery pipe, and an electrically controlled valve. The support frame is mounted on the robotic arm. One end of the delivery pipe is located inside the support frame, and the other end extends to the storage tank. The electrically controlled valve is connected in series with the delivery pipe. The rotating nozzle is located at the end of the delivery pipe and extends out of the support frame. The nozzle drive component is mounted on the support frame and is used to drive the rotating nozzle to rotate.

[0010] Furthermore, the nozzle driving component includes a gear ring assembly, a drive rod, a drive motor, and a transmission rod. The gear ring assembly is fitted inside the rotating nozzle. One end of the drive rod and one end of the transmission rod are both connected to the gear ring assembly. The other end of the drive rod is connected to the drive motor. The other end of the transmission rod is slidably fitted onto the support frame. The drive motor is mounted on the support frame.

[0011] Furthermore, the rotating nozzle includes a nozzle dial, a nozzle base, and nozzles. The nozzles are arranged circumferentially on the nozzle dial. The gear ring assembly is sleeved on the inner circumference of the nozzle base, and the nozzle base is connected to the drug delivery tube.

[0012] Furthermore, the gear ring assembly includes a gear ring, a driving gear, and a driven gear. The gear ring is sleeved on the inner circumference of the rotating nozzle, and the driving gear and driven gear are sleeved on the inner circumference of the gear ring. The driving gear is sleeved on one end of the drive rod, and the driven gear is sleeved on one end of the transmission rod.

[0013] Furthermore, it also includes a liquid medicine recovery module, which includes a return pipe, a guide plate, a gear pump, a worm gear assembly, and a gear transmission group. The guide plate is disposed on the support frame and located below the rotating nozzle. One end of the return pipe is connected to the guide plate, and the other end is connected to the storage tank. The gear pump is connected in series with the return pipe. The gear pump is connected to the gear transmission group through the worm gear assembly. The gear transmission group is connected to the gear ring gear assembly to drive the gear pump.

[0014] Furthermore, the worm gear assembly includes a worm and a worm, and the gear transmission group includes a first drive gear and a second driven gear. The first drive gear is sleeved on the transmission rod, and the second driven gear is sleeved on the worm. The first drive gear and the second driven gear mesh and transmit power.

[0015] This invention also provides a method for early warning and pesticide application for camellia oleifera diseases and pests, using the aforementioned early warning and pesticide application device for camellia oleifera diseases and pests, the method comprising the following steps: Step S1: Monitor the camellia oleifera through the pest and disease detection module, identify the location of pests and diseases and generate pest and disease location signals; Step S2: The displacement monitoring module generates a distance signal based on the distance between the location of the pests and the walking mechanism; the control unit controls the walking mechanism to move to the vicinity of the target area based on the distance signal. Step S3: Under the control of the control unit, the robotic arm adjusts the spatial orientation of the spraying module so that it is aligned with the application location where pests and diseases occur. Step S4: The control unit controls the spraying module to open according to the location signal of the pests and diseases, and sprays the liquid medicine in the storage tank onto the target area of ​​the pests and diseases. Step S5: Collect any excess medication that is not attached to the target area and return it to the storage tank.

[0016] Because the present invention adopts the above technical solution, it has the following advantages and effects: This invention provides an early warning and application device and method for camellia oleifera pests and diseases. It integrates a pest and disease detection module onto a spraying module, achieving real-time closed-loop control for application – what is seen is what is sprayed. After the pest and disease detection module detects the location of pests and diseases, the displacement monitoring module determines the target distance, and the control unit directly drives the walking mechanism and robotic arm to move the spraying module to the target location. Then, the spraying module sprays the pesticide. This eliminates the positioning deviation caused by the separation of monitoring and application mechanisms in traditional equipment. It is particularly suitable for the complex spatial environment of camellia oleifera forests with irregular canopies, intertwined branches, and large differences in tree height. This invention avoids the problem of missed spraying through precise closed-loop application. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the drug application device of the present invention.

[0018] Figure 2 This is a schematic diagram of the lifting assembly and the medicine storage tank assembly structure of the drug application device of the present invention.

[0019] Figure 3 This is a schematic diagram of the assembly structure of the pest and disease detection module and the displacement monitoring module of the present invention.

[0020] Figure 4 This is a schematic diagram of the internal structure of the spraying module of the present invention.

[0021] Figure 5 This is a schematic diagram of the internal structure of the spraying module and the liquid recovery module of the present invention.

[0022] The attached diagram is labeled as follows: 1-Walking mechanism, 2-Robotic arm, 3-Spraying module, 4-Pest and disease detection module, 5-Storage tank, 6-Displacement monitoring module, 7-Lifting assembly, 8-Pesticide recovery module, 31-Support frame, 32-Rotating nozzle, 33-Pesticide delivery pipe, 34-Electrically controlled valve, 35-Nozzle drive component, 321-Nozzle dial, 322-Nozzle chassis, 323-Nozzle nozzle, 351-Gear assembly, 35 2-Drive rod, 353-Drive motor, 354-Transmission rod, 3511-Gear ring, 3512-Driving gear, 3513-Driven gear, 41-Hyperspectral imaging unit, 42-Annular light source, 81-Guide trough plate, 82-Return drug pipe, 83-Gear pump, 84-Turbine worm gear assembly, 85-Gear transmission group, 841-Turbine, 842-Worm, 851-First driving gear, 852-Second driven gear. Detailed Implementation

[0023] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings to provide a clearer understanding of the purpose, features, and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely illustrative of the essential spirit of the technical solution of the present invention.

[0024] like Figures 1-5 As shown in the figure, this invention provides an early warning and pesticide application device for camellia oleifera pests and diseases, including a walking mechanism 1, a robotic arm 2, a spraying module 3, a pest and disease detection module 4, a pesticide storage tank 5, a displacement monitoring module 6, and a control unit (not shown in the figure). The robotic arm 2 is mounted on the walking mechanism 1, and the spraying module 3 is mounted on the free end of the robotic arm 2 for spraying pesticides at the application location. The pesticide storage tank 5 is mounted on the walking mechanism 1 and connected to the spraying module 3 for supplying pesticides to the spraying module. The pest and disease detection module is mounted on the spraying module 3 for detecting camellia oleifera pests and diseases and generating pest and disease location signals; the displacement monitoring module 6 is mounted on the spraying module 3 for monitoring the distance between the pest and disease location and the walking mechanism and generating distance signals. The control unit is electrically connected to the pest and disease detection module 4, the displacement monitoring module 6, the robotic arm 2, the walking mechanism 1, and the spraying module 3 respectively, for receiving pest and disease location signals and distance signals.

[0025] The control unit controls the walking mechanism 1 to move according to the distance signal; and controls the robotic arm 2 to move the spraying module 3 to the application position according to the pest location signal, and then controls the spraying module 3 to spray.

[0026] Specifically, the walking mechanism 1 adopts a tracked drive chassis, adaptable to the 10°~25° slope terrain of the camellia oil forest. Ultrasonic obstacle avoidance sensors are installed at all four corners of the walking mechanism 1 for automatic obstacle avoidance. The robotic arm 2 is a 6-axis tandem robotic arm, using a commercially available industrial-grade 6-axis robotic arm. Each joint is driven by a high-precision servo motor, with a repeatability accuracy of ±0.1mm. The base of the robotic arm 2 is connected to the lifting assembly 7 via flanges, allowing it to rise and fall synchronously with the lifting assembly 7. The main body of the robotic arm 2 is made of high-strength aluminum alloy hollow tubing, with integrated power and signal cables. Each joint is connected to a slip ring current collector via a spiral flexible sheath to prevent cable entanglement. The robotic arm 2 has a maximum working radius of 1500mm and an end-effector load capacity of ≥5kg. The spraying module 3 is rigidly mounted on the free end of the robotic arm 2 via flange connections.

[0027] Furthermore, a lifting assembly 7 is installed on the walking mechanism 1, and one end of the robotic arm 2 is connected to the lifting assembly 7. The lifting assembly 7 adopts a scissor lift or screw lift structure, with a lifting stroke of 0~800mm, and is driven by an electric push rod or an electric telescopic cylinder to adjust the height of the robotic arm 2. The electric push rod or electric telescopic cylinder of the lifting assembly 7 is electrically connected to the control unit.

[0028] Furthermore, the pest and disease detection module 4 includes a hyperspectral imaging unit 41 and a ring light source 42. The hyperspectral imaging unit 41 is mounted on the spraying module 3 and electrically connected to the control unit. The ring light source 42 is located around the hyperspectral imaging unit 41 to provide detection illumination. The hyperspectral imaging unit 41 is used to detect the location of pests and diseases and transmit the pest and disease location signal to the control unit. The control unit controls the movement of the robotic arm based on the pest and disease location signal. The control unit is electrically connected to the spraying module to control the spraying module 3 to spray pesticides based on the pest and disease location signal.

[0029] The hyperspectral imaging unit 41 employs a miniature hyperspectral imager. This miniature hyperspectral imager is fixed to the upper end face of the spraying module 3. By scanning the surface of the tea leaves at close range, the miniature hyperspectral imager utilizes features such as abnormal chlorophyll fluorescence and changes in spectral reflectance to identify early lesions or insect egg areas in real time, and outputs their positions in the image coordinate system to the control unit. The control unit controls the movement of the robotic arm 2 based on the position information. Simultaneously, the control unit can control the walking mechanism 1 and the lifting assembly 7 to move over a wide range based on their positions in the image coordinate system, ultimately achieving precise movement via the robotic arm 2. The control unit can be located within the spraying module 3.

[0030] Furthermore, the displacement monitoring module 6 includes a laser rangefinder and an infrared sensor, which are located at the end of the spraying module 3. The laser rangefinder and infrared sensor are electrically connected to the control unit. The combination of the laser rangefinder and infrared sensor can further pinpoint the distance between the pest / disease location and the walking mechanism 1, generating a distance signal. The control unit controls the movement of the walking mechanism 1, the lifting assembly 7, and the robotic arm 2 based on this distance signal. The control unit combines the laser rangefinder data and the infrared sensor data, using existing inverse kinematics algorithms to calculate the required coordinated motion commands for the robotic arm 2's degrees of freedom, driving the joints to move the spraying module 3 precisely above the target lesion and maintain the optimal working distance. During this process, if the lesion is not located directly below it, the control unit can drive the spraying module to spray, avoiding significant adjustments to the robotic arm's posture. After application, secondary imaging can be selectively performed to verify the pesticide coverage effect, thus forming a complete monitoring-application-verification closed loop.

[0031] Furthermore, the spraying module 3 includes a support frame 31, a rotating nozzle 32, a nozzle drive component 35, a delivery pipe 33, and an electrically controlled valve 34. The support frame 31 is mounted on the robotic arm 2. One end of the delivery pipe 33 is located inside the support frame 31, and the other end extends to the storage tank 5. The electrically controlled valve 34 is connected in series with the delivery pipe 33. The rotating nozzle 32 is located at the end of the delivery pipe 33 and extends out of the support frame 31. The nozzle drive component 35 is mounted on the support frame 31 and is used to drive the rotating nozzle 32 to rotate. The rotating nozzle 32 extends out of the end of the support frame 31. A hyperspectral imaging unit, a laser rangefinder, and an infrared sensor are mounted on the end face of the support frame 31, spaced apart from the rotating nozzle 32.

[0032] The rotating nozzle 32 includes a nozzle dial 321, a nozzle base 322, and nozzles 323. The nozzles 323 are arranged circumferentially on the nozzle dial 321. The nozzle dial 321 is nested within the upper part of the nozzle base 322 and spaced apart. One end of the drug delivery tube 33 passes through the nozzle base 322. The lower end of the nozzle base 322 has a support ring, and the upper end of the nozzle drive component 35 is fitted inside the support ring. The electrically controlled valve 34 is a miniature solenoid valve, connected in series with the drug delivery tube 33 and electrically connected to the control unit.

[0033] Furthermore, the nozzle drive component 35 includes a gear ring assembly 351, a drive rod 352, a drive motor 353, and a transmission rod 354. The gear ring assembly 351 is fitted inside the rotating nozzle 32. One end of the drive rod 352 and one end of the transmission rod 354 are both connected to the gear ring assembly 351. The other end of the drive rod 352 is connected to the drive motor 353. The other end of the transmission rod 354 is slidably fitted onto the support frame 31. The drive motor 353 is mounted on the support frame 31.

[0034] Specifically, the gear ring assembly 351 includes a gear ring 3511, a driving gear 3512, and a driven gear 3513. The gear ring 3511 is fitted inside the support ring of the nozzle chassis 322 and fixed by a key. The driving gear 3512 and the driven gear 3513 are fitted inside the gear ring 3511 and mesh with it. The driving gear 3512 is connected to the drive motor 353 through the drive rod 352, and one end of the driven gear 3513 is connected to the transmission rod 354. One end of the transmission rod 354 is slidably fitted inside the support frame 31.

[0035] Furthermore, to collect the pesticide residue left after spraying by the spraying module 3, the device also includes a pesticide recovery module 8. The pesticide recovery module 8 includes a return pipe 82, a guide plate 81, a gear pump 83, a worm gear assembly 84, and a gear transmission group 85. The guide plate 81 is mounted on the support frame 31 and located below the rotating nozzle 32. One end of the return pipe 82 is connected to the guide plate 81, and the other end is connected to the pesticide storage tank 5. The gear pump 83 is connected in series with the return pipe 82 and is connected to the gear transmission group 85 via the worm gear assembly 84. The gear transmission group 85 is connected to... One end of the nozzle drive component 35.

[0036] Specifically, the guide plate 81 is fixed to one side of the support frame 31 and located at the lower end of the rotating nozzle 32. The guide plate 81 is a V-shaped structure plate, with one end open and extending towards the spraying direction, and the other end connected to the return pipe 82. The worm gear assembly 84 includes a turbine 841 and a worm 842. The turbine 841 is disposed on the outer periphery of the gear pump 83 and connected to the drive end of the gear pump 83. One end of the worm 842 is slidably nested within the support frame 31. The gear transmission group 85 includes a first drive gear 851 and a second driven gear 852. The first drive gear 851 is sleeved on one end of the transmission rod 354, and the second driven gear 852 is sleeved on the other end of the worm 842. The first drive gear 851 and the second driven gear 852 mesh and transmit power. When the rotary nozzle 32 is rotating to spray pesticides, the gear ring assembly 351 drives the transmission rod 354 to rotate, which in turn drives the worm gear 842 to rotate. The worm gear 842 drives the turbine 841 to drive the gear pump 83 to work, thus completing the pesticide recovery while spraying.

[0037] This invention also provides a method for early warning and application of pesticides to Camellia oleifera pests and diseases. Using the early warning and application device for Camellia oleifera pests and diseases of this invention, the method includes the following steps: Step S1, Pest and Disease Detection: The pest and disease detection module 4 set on the spraying module 3 is used to monitor the camellia oleifera. The hyperspectral imaging unit 41 is used to capture the spectral information of the plant surface, identify the characteristics of pests and diseases, determine the location of pests and diseases, and generate a pest and disease location signal.

[0038] Step S2, Displacement Control: The control unit receives the location signal of the pests and sends it to the displacement monitoring module 6. The displacement monitoring module 6 generates a distance signal based on the distance between the location of the pests and the walking mechanism 1. The control unit controls the walking mechanism 1 to move to the vicinity of the camellia in the target area based on the distance signal.

[0039] Step S3, precise positioning: After the walking mechanism 1 moves to the vicinity of the target camellia, the control unit drives the robotic arm 2 and the lifting component 7 to adjust the spatial posture of the spraying module 3 so that the spraying module 3 is aligned with the location of the pests and diseases, and at the same time adjusts the optimal working distance between the spraying module 3 and the surface of the camellia in real time.

[0040] Step S4, Precise Targeted Application: When the spraying module 3 reaches the pre-installed application position, the control unit activates the electronic control valve 34 and the nozzle drive component 35 of the spraying module 3, causing the rotating nozzle 32 to rotate and spray the pesticide according to the preset mode, atomizing the pesticide and evenly covering the target area of ​​the pests and diseases, thus achieving targeted and precise application.

[0041] Step S5, pesticide recovery and recycling: During the spraying process, excess pesticide that does not adhere to the target area is collected by the pesticide recovery module 8 and returned to the storage tank 5 through the guide plate 81 and the return pipe 82 to achieve recycling.

Claims

1. A device for early warning and application of pesticides for camellia oleifera diseases and pests, characterized in that, include: Walking mechanism (1); A robotic arm (2) is mounted on the walking mechanism (1); The spraying module (3) is located at the free end of the robotic arm (2); The medicine storage tank (5) is mounted on the walking mechanism (1) and connected to the spraying module (3); The pest and disease detection module (4) is set on the spraying module (3) and is used to detect pests and diseases of camellia oleifera and generate pest and disease location signals; The displacement monitoring module (6) is installed on the spraying module (3) to monitor the distance between the location of the pests and diseases and the walking mechanism (1) and generate a distance signal; The control unit is electrically connected to the pest detection module (4), displacement monitoring module (6), robotic arm (2), walking mechanism (1), and spraying module (3), respectively, and is used to receive the pest location signal and distance signal. The control unit controls the walking mechanism (1) to move according to the distance signal; and controls the robotic arm (2) to move the spraying module (3) to the application position according to the pest location signal, and then controls the spraying module (3) to spray.

2. The early warning and pesticide application device for camellia diseases and pests according to claim 1, characterized in that, The walking mechanism (1) is provided with a lifting assembly (7), one end of the robotic arm (2) is connected to the lifting assembly (7), and the lifting assembly (7) is electrically connected to the control unit.

3. The early warning and pesticide application device for camellia diseases and pests according to claim 1 or 2, characterized in that, The pest and disease detection module (4) includes a hyperspectral imaging unit (41), which is mounted on the spraying module (3) and electrically connected to the control unit. The hyperspectral imaging unit (41) is used to detect pests and diseases and transmit the location signal of the pests and diseases to the control unit. The displacement monitoring module (6) includes a laser rangefinder and an infrared sensor, which are electrically connected to the control unit.

4. The early warning and pesticide application device for camellia diseases and pests according to claim 3, characterized in that, The spraying module (3) includes a support frame (31), a rotating nozzle (32), a nozzle drive component (35), a delivery pipe (33), and an electric control valve (34). The support frame (31) is mounted on the robotic arm (2). One end of the delivery pipe (33) is located inside the support frame (31), and the other end extends to the storage tank (5). The electric control valve (34) is connected in series with the delivery pipe (33). The rotating nozzle (32) is located at the end of the delivery pipe (33) and extends out of the support frame (31). The nozzle drive component (35) is mounted on the support frame (31) and is used to drive the rotating nozzle (32) to rotate.

5. The early warning and pesticide application device for camellia diseases and pests according to claim 4, characterized in that, The nozzle drive component (35) includes a gear ring assembly (351), a drive rod (352), a drive motor (353), and a transmission rod (354). The gear ring assembly (351) is fitted inside the rotating nozzle (32). One end of the drive rod (352) and one end of the transmission rod (354) are both connected to the gear ring assembly (351). The other end of the drive rod (352) is connected to the drive motor (353). The other end of the transmission rod (354) is slidably fitted onto the support frame (31). The drive motor (353) is mounted on the support frame (31).

6. The early warning and pesticide application device for camellia diseases and pests according to claim 5, characterized in that, The rotating nozzle (32) includes a nozzle dial (321), a nozzle base (322), and nozzles (323). The nozzles (323) are arranged circumferentially on the nozzle dial (321). The gear ring assembly (351) is sleeved on the inner circumference of the nozzle base (322). The nozzle base (322) is connected to the drug delivery tube (33).

7. The early warning and pesticide application device for camellia diseases and pests according to claim 6, characterized in that, The gear assembly (351) includes a gear ring (3511), a drive gear (3512), and a driven gear (3513). The gear ring (3511) is fitted on the inner circumference of the rotating nozzle (32). The drive gear (3512) and the driven gear (3513) are fitted on the inner circumference of the gear ring (3511). The drive gear (3512) is fitted on one end of the drive rod (352), and the driven gear (3513) is fitted on one end of the transmission rod (354).

8. The early warning and pesticide application device for camellia diseases and pests according to claim 7, characterized in that, It also includes a liquid medicine recovery module (8), which includes a return pipe (82), a guide plate (81), a gear pump (83), a worm gear assembly (84), and a gear transmission group (85). The guide plate (81) is set on the support frame (31) and located below the rotating nozzle (32). One end of the return pipe (82) is connected to the guide plate (81), and the other end is connected to the storage tank (5). The gear pump (83) is connected in series on the return pipe (82). The gear pump (83) is connected to the gear transmission group (85) through the worm gear assembly (84). The gear transmission group (85) is connected to the gear ring gear assembly (351) to drive the gear pump (83).

9. The early warning and pesticide application device for camellia diseases and pests according to claim 8, characterized in that, The worm gear assembly (84) includes a worm (841) and a worm (842). The gear transmission group (85) includes a first drive gear (851) and a second driven gear (852). The first drive gear (851) is sleeved on the transmission rod (354), and the second driven gear (852) is sleeved on the worm (842). The first drive gear (851) and the second driven gear (852) mesh and transmit power.

10. A method for early warning and pesticide application for camellia oleifera diseases and pests, using the early warning and pesticide application device for camellia oleifera diseases and pests as described in any one of claims 1-9, characterized in that, The method includes the following steps: Step S1: The camellia is monitored by the pest and disease detection module (4), the location of pests and diseases is identified and a pest and disease location signal is generated; In step S2, the displacement monitoring module (6) generates a distance signal based on the distance between the location of the pests and the walking mechanism (1); the control unit controls the walking mechanism (1) to move to the vicinity of the target area based on the distance signal. Step S3, the robotic arm (2) adjusts the spatial posture of the spraying module (3) under the control of the control unit so that it is aligned with the application position where the pests and diseases occur; Step S4: The control unit controls the spraying module (3) to open according to the location signal of the pests and diseases, and sprays the liquid medicine in the storage tank (5) onto the target part of the pests and diseases. Step S5: Collect the excess medicine that is not attached to the target area and return it to the medicine storage tank (5).

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