A fluorescent probe-based ginseng leaf disease spore intelligent inspection and early warning robot

Abstract

The application discloses a ginseng leaf disease spore intelligent inspection and early warning robot based on a fluorescent probe, which comprises a caterpillar type moving chassis, a chassis support, a laser radar, a camera, a two-dimensional electric cloud platform, a filter, a hinge support, a micro vacuum pump, a gas path pipeline, a detection liquid tank, a waste liquid tank, a two-position three-way electromagnetic valve, a peristaltic pump, a liquid path pipeline, a detection cavity, an excitation light source, a band-pass filter, a photoelectric detector and a cuvette; the device can be used for field disease spore concentration analysis, can be used for ginseng leaf disease inspection, sampling, detection and early warning in the field, and has the advantages of high automation, high detection sensitivity and suitability for complex field environments.

Description

Technical Field

[0001] This invention belongs to the field of smart agriculture and agricultural disease early warning technology, and in particular relates to a smart inspection and early warning robot for disease spores on Panax notoginseng leaves based on fluorescent probes. Background Technology

[0002] Panax notoginseng is an important traditional Chinese medicinal crop, but it is susceptible to various fungal diseases during its growth. Pathogen spores can spread through the air, and in hot and humid environments, they can rapidly spread, easily causing large-scale disease outbreaks and severely impacting the yield and quality of Panax notoginseng. Therefore, real-time monitoring of pathogen spores in the field air is of great significance for early disease warning and precise control.

[0003] Currently, manual inspections and experience-based judgment methods for monitoring diseases in Panax notoginseng suffer from low detection efficiency, poor real-time performance, and significant subjective errors. While some laboratory detection methods offer high sensitivity, they typically require complex sample processing and large-scale testing equipment, making it difficult to meet the demands of rapid, online detection in field environments. With the development of smart agriculture, agricultural inspection robots are increasingly being applied to crop monitoring. However, most existing inspection equipment focuses on image recognition or environmental parameter detection, lacking the ability to directly detect airborne disease spores. Furthermore, traditional spore detection devices generally suffer from large size, low automation, complex detection processes, and poor environmental adaptability, hindering continuous field inspections and real-time early warning systems. Summary of the Invention

[0004] In order to overcome the problems of low automation, difficulty in online detection of airborne pathogenic spores and insufficient adaptability to field environment in existing technologies, the purpose of this invention is to provide an intelligent inspection and early warning robot for Panax notoginseng leaf pathogenic spores based on fluorescent probes.

[0005] The present invention relates to a smart inspection and early warning robot for disease spores on Panax notoginseng leaves based on fluorescent probes, comprising a tracked mobile chassis, chassis support, lidar, camera, two-dimensional electric gimbal, filter, hinge support, miniature vacuum pump, gas pipeline, detection liquid tank, waste liquid tank, two-position three-way solenoid valve, peristaltic pump, liquid pipeline, detection chamber, excitation light source, bandpass filter, photodetector, and cuvette; The camera is mounted at the front of the tracked mobile chassis for collecting field environmental images and assisting in inspections; the chassis support is fixedly mounted on the top of the tracked mobile chassis; the lidar is mounted at the front of the chassis support for environmental scanning, obstacle detection, and path perception; the two-dimensional electric pan-tilt unit is mounted at the rear of the chassis support; the gas pipeline is mounted on the two-dimensional electric pan-tilt unit via a hinged bracket, with a filter at one end and a miniature vacuum pump at the other end, which is located on one side of the detection chamber and below the chassis support; the detection liquid tank is connected sequentially to a two-position three-way solenoid valve and a peristaltic pump via a liquid pipeline. A solenoid valve is connected to a waste liquid tank via a pipe; a cuvette is placed inside the detection chamber, a peristaltic pump is connected to the cuvette inside the detection chamber via a pipe, and a miniature vacuum pump is connected to the cuvette inside the detection chamber via a pipe; an excitation light source and a photodetector are mounted on the detection chamber at a 90° angle to reduce interference of excitation light on fluorescence detection; a bandpass filter is placed inside the detection chamber between the cuvette and the photodetector. The photodetector is used to collect the fluorescence signal emitted by the detection liquid in the cuvette and convert the light signal into an electrical signal; the bandpass filter is used to filter out stray signals from the excitation light and improve the signal-to-noise ratio of fluorescence detection.

[0006] The tracked mobile chassis adopts a dual-track drive structure. The tracked mobile chassis houses a chassis motor driver, a power supply, and a control mechanism. The power supply is electrically connected to the control mechanism, chassis motor driver, two-dimensional electric gimbal, miniature vacuum pump, peristaltic pump, two-position three-way solenoid valve, excitation light source, photodetector, lidar, and camera, providing operating power to each component. The control mechanism is connected to the chassis motor driver, two-dimensional electric gimbal, miniature vacuum pump, peristaltic pump, two-position three-way solenoid valve, and excitation light source, and is also connected to the lidar, camera, and photodetector for receiving environmental perception information, generating motion control commands, executing sampling control, and completing fluorescence detection control. The control mechanism includes an environmental perception module, a data processing and analysis module, a control strategy and decision-making module, a pneumatic control module, a hydraulic control module, a detection module, and a communication and storage module. Each module achieves data interaction and collaborative control via ROS 2. The chassis motor driver is used to realize the driving, steering, and speed adjustment of the tracked mobile chassis. The environmental perception module collects information from the lidar and camera. The lidar acquires distance and obstacle information in the inspection environment, and the camera acquires image information of the inspection area. The collected information is then sent to the data processing and analysis module. The data processing and analysis module processes the environmental information collected by the lidar and the image information acquired by the camera to obtain robot position information and environmental status information. The control strategy and decision-making module generates motion control commands, pneumatic control commands, and hydraulic control commands based on the robot position information and environmental status information to realize inspection path planning, autonomous navigation, obstacle avoidance, air sampling, and automatic detection process control. The pneumatic control module... The module controls the operation of a miniature vacuum pump according to control commands to achieve air sample extraction and transportation; the liquid path control module controls the operation of a peristaltic pump and liquid path switching according to control commands to achieve detection liquid transportation, sample and detection liquid mixing reaction, and waste liquid recovery; the detection module controls the operation of the excitation light source and collects and converts the fluorescence signal generated by the detection liquid through a photodetector, and sends the obtained electrical signal to the data processing and analysis module for analysis to obtain the concentration information of pathogenic spores in the air; the communication and storage module stores environmental data, image data, detection data, and operation logs generated during the inspection process, and realizes data interaction between the control mechanism and the App terminal, uploading the equipment operation status, inspection images, and pathogenic spore concentration detection results to the App terminal, while receiving control commands sent by the user.

[0007] The two-position three-way solenoid valve includes an inlet end, a working end, and a drain end. The inlet end is connected to the detection liquid tank, the working end is connected to the first interface of the peristaltic pump, and the drain end is connected to the waste liquid tank. The second interface of the peristaltic pump is connected to the cuvette in the detection chamber through a pipeline. The peristaltic pump can be controlled to rotate in both directions to realize the delivery of detection liquid and the recovery of detection waste liquid.

[0008] The detection chamber is a closed, light-shielding structure designed to reduce the impact of ambient light on fluorescence detection results and improve detection stability in field environments.

[0009] The fluorescent probe and detection method described in this invention are referenced in the literature: "Cao, C., Sun, W., Yang, L., &Yang, Q. (2025). Development of a green-synthesized WA-CDs@MIL-101 fluorescent sensor for rapid detection of panax notoginseng leaf pathogenspores. Plants, 14(15). https: / / doi.org / 10.3390 / plants14152316". Compared with the prior art, the present invention has the following beneficial effects: (1) The use of a tracked mobile chassis improves the robot's ability to pass through complex field environments and its stability, making it suitable for inspection operations in Panax notoginseng planting areas; (2) By combining a two-dimensional electric gimbal with an air sampling structure, multi-directional active air sampling is achieved, which improves the capture efficiency of disease spores; (3) A gas-liquid reaction system is formed by using a micro vacuum pump and the detection chamber, so that the pathogenic spores in the air can fully contact the detection liquid, thus ensuring the efficiency of the detection. (4) A peristaltic pump is used in conjunction with a two-position three-way solenoid valve to realize automatic delivery of detection liquid, waste liquid recovery and automatic cleaning of detection chamber, thereby improving the automation level of the system; (5) The fluorescent probe detection method is adopted, combined with a bandpass filter and a photodetector. The detection cavity adopts a light-shielding structure, which can effectively reduce the interference of ambient light and realize the rapid and sensitive detection of disease spores, thereby improving the stability and reliability of the detection results in the field environment. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the air sampling component structure; Figure 3 A schematic diagram of the components for the detection fluid delivery section; Figure 4 A schematic diagram of the cavity structure for testing; Figure 5 This is a schematic diagram of the connection structure between the two-dimensional electric pan-tilt head and the filter; Figure 6 This is a schematic diagram of the flow of the detection fluid. Figure 7 This is a schematic diagram of the waste liquid recovery flow. Figure 8 This is a schematic diagram of the control section of the present invention; In the diagram: 1. Tracked mobile chassis; 2. Chassis support; 3. LiDAR; 4. Camera; 5. Two-dimensional motorized pan-tilt head; 6. Filter; 7. Hinge support; 8. Miniature vacuum pump; 9. Gas pipeline; 10. Detection liquid tank; 11. Waste liquid tank; 12. Two-position three-way solenoid valve; 13. Peristaltic pump; 14. Liquid pipeline; 15. Detection chamber; 16. Excitation light source; 17. Bandpass filter; 18. Photodetector; 19. Cuvette; 20. Liquid inlet; 21. Working end; 22. Liquid outlet; 23. First port of peristaltic pump; 24. Second port of peristaltic pump. Detailed Implementation

[0011] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0012] Example 1: As Figure 1-5As shown, this intelligent inspection and early warning robot for diseased spores on Panax notoginseng leaves based on fluorescent probes includes a tracked mobile chassis 1, chassis support 2, lidar 3, camera 4, two-dimensional electric gimbal 5, filter 6, hinge support 7, miniature vacuum pump 8, gas pipeline 9, detection liquid tank 10, waste liquid tank 11, two-position three-way solenoid valve 12, peristaltic pump 13, liquid pipeline 14, detection chamber 15, excitation light source 16, bandpass filter 17, photodetector 18, and cuvette 19; wherein the camera 4 is installed at the front end of the tracked mobile chassis 1. The system is used to collect field environment image information; the chassis support 2 is fixedly installed on the top of the tracked mobile chassis 1; the lidar 3 is installed at the front end of the chassis support 2 for environmental scanning, obstacle detection and path perception; the two-dimensional electric gimbal 5 is installed at the rear end of the chassis support 2; the air passage pipe 9 is installed on the two-dimensional electric gimbal 5 through the hinge support 7, one end of the air passage pipe 9 is equipped with a filter 6, and the other end is connected to a micro vacuum pump 8, which is located on one side of the detection chamber 15 and below the chassis support 2; the detection chamber 15 is a closed shield. The optical structure includes a detection liquid tank 10 connected sequentially to a two-position three-way solenoid valve 12 and a peristaltic pump 13 via a liquid pipeline 14. The two-position three-way solenoid valve 12 is connected to a waste liquid tank 11 via a pipeline. A cuvette 19 is disposed inside the detection chamber 15. The two-position three-way solenoid valve 12 includes an inlet end 20, a working end 21, and a drain end 22. The inlet end 20 is connected to the detection liquid tank 10, the working end 21 is connected to the first interface 23 of the peristaltic pump 13, and the drain end 22 is connected to the waste liquid tank 11. The second interface 24 of the peristaltic pump 13 is connected to the detection chamber 15 via a pipeline. The cuvette 19 in section 5 is connected, and the peristaltic pump 13 can be controlled to perform forward and reverse rotation to realize the delivery of the detection liquid and the recovery of the detection waste liquid; the micro vacuum pump 8 is connected to the cuvette 19 in the detection chamber 15 through a pipeline; the excitation light source 16 and the photodetector 18 are installed on the detection chamber 15 and arranged at a 90° angle; the bandpass filter 17 is set in the detection chamber 15 and located between the cuvette 19 and the photodetector 18; the photodetector 18 is used to receive the fluorescence signal emitted by the detection liquid in the cuvette 19 and convert the light signal into an electrical signal. like Figure 8 As shown, the power supply is electrically connected to the control mechanism, chassis motor driver, two-dimensional electric gimbal 5, miniature vacuum pump 8, peristaltic pump 13, two-position three-way solenoid valve 12, excitation light source 16, photodetector 18, lidar 3, and camera 4, respectively, to provide working power to each component; the control mechanism is controlled and connected to the chassis motor driver, two-dimensional electric gimbal 5, miniature vacuum pump 8, peristaltic pump 13, two-position three-way solenoid valve 12, and excitation light source 16, respectively, and is signal connected to lidar 3, camera 4, and photodetector 18, respectively, to receive environmental perception information, generate motion control commands, execute sampling control, and complete fluorescence detection control; The control mechanism adopts a host computer and slave computer collaborative control architecture, in which Raspberry Pi serves as the host computer and STM32 serves as the slave computer, with the ROS 2 system running on the Raspberry Pi. The control mechanism includes a chassis motor driver, an environmental perception module, a data processing and analysis module, a control strategy and decision module, a pneumatic control module, a liquid control module, a detection module, and a communication and storage module. Each module achieves data interaction and collaborative control through ROS 2.

[0013] When the above-mentioned device is in use, the chassis motor driver is used to realize the driving, steering, and speed adjustment of the tracked mobile chassis 1. The lidar 3 is used to acquire distance and obstacle information in the inspection environment, and the camera 4 is used to acquire image information of the inspection area. The collected information is then sent to the data processing and analysis module. The data processing and analysis module processes the environmental information acquired by the lidar 3 and the image information acquired by the camera 4 to obtain robot position information and environmental status information. This enables the construction of field environment maps, autonomous robot localization, obstacle recognition, and path planning, thereby improving the robot's autonomous inspection capability in complex field environments. The control strategy and decision-making module generates motion control commands, pneumatic control commands, and liquid control commands based on robot position information and environmental status information, enabling inspection path planning, autonomous navigation, obstacle avoidance, air sampling, and automatic detection process control. The pneumatic control module controls the operation of the micro vacuum pump 8 according to control commands, enabling air sample extraction and delivery. The liquid control module controls the operation of the peristaltic pump 13 and liquid path switching according to control commands, enabling detection liquid delivery, sample and detection liquid mixing reaction, and waste liquid recovery. The detection module controls the operation of the excitation light source 16 and collects and converts the fluorescence signal generated by the detection liquid through the photodetector 18, sending the obtained electrical signal to the data processing and analysis module for analysis. The data processing and analysis module calculates the concentration information of pathogenic spores in the air based on the fluorescence response results corresponding to the electrical signal. The communication and storage module stores environmental data, image data, detection data, and operation logs generated during the inspection process, and enables data interaction between the control mechanism and the App terminal, uploading the equipment operation status, inspection images, and pathogenic spore concentration detection results to the App terminal, while receiving control commands sent by the user. Before the test begins, the control mechanism switches the two-position three-way solenoid valve 12 to the test liquid delivery path, and the peristaltic pump 13 rotates forward, delivering the test liquid from the test liquid tank 10 to the cuvette 19 in the test chamber 15. Figure 6The two-dimensional electric gimbal 5 is activated and drives the filter 6 to perform multi-directional air sampling. The air is delivered to the cuvette 19 in the detection chamber 15 by the micro vacuum pump 8, so that it comes into contact with the detection liquid and reacts. Then, the excitation light source 16 excites the detection liquid. The excitation light source 16 adopts an ultraviolet LED with a center wavelength of 365-380nm. The photodetector 18 collects the fluorescence change signal. The control mechanism calculates the concentration of disease spores based on the fluorescence change and realizes on-site early warning.

[0014] When the concentration of pathogen spores in an air sample exceeds a preset threshold, the control mechanism will automatically record and mark the current location information, and simultaneously send the detection results and location information to the APP terminal via a wireless communication module. Users can view pathogen warning information, the robot's current location, and historical detection data in real time on the APP, enabling remote inspection and management of pathogen-affected areas.

[0015] After the test is completed, the main controller controls the peristaltic pump 13 to reverse and switches the two-position three-way solenoid valve 12 to the waste liquid recovery channel, so that the waste liquid in the test chamber 15 is transported to the waste liquid tank 11, realizing automatic replacement of the test liquid. Figure 7 ).

[0016] This invention employs a tracked mobile structure, a gas-liquid coupling detection structure, and fluorescence detection technology to achieve online inspection and real-time early warning of Panax notoginseng disease spores. It has the advantages of high automation, high detection sensitivity, and strong field adaptability.

Claims

1. A smart inspection and early warning robot for diseased spores on Panax notoginseng leaves based on fluorescent probes, characterized in that: Includes a tracked mobile chassis (1), chassis support (2), lidar (3), camera (4), two-dimensional electric pan-tilt head (5), filter (6), hinge support (7), miniature vacuum pump (8), gas pipeline (9), detection liquid tank (10), waste liquid tank (11), two-position three-way solenoid valve (12), peristaltic pump (13), liquid pipeline (14), detection chamber (15), excitation light source (16), bandpass filter (17), photodetector (18), and cuvette (19); The camera (4) is installed at the front end of the tracked mobile chassis (1) to collect field environment image information; the chassis support (2) is fixedly installed on the top of the tracked mobile chassis (1); the lidar (3) is installed at the front end of the chassis support (2) to realize environmental scanning, obstacle detection and path perception; the two-dimensional electric gimbal (5) is installed at the rear end of the chassis support (2); the air pipeline (9) is installed on the two-dimensional electric gimbal (5) through the hinge support (7), one end of the air pipeline (9) is equipped with a filter (6), and the other end is connected to the micro vacuum pump (8), the micro vacuum pump (8) is set on one side of the detection chamber (15) and located below the chassis support (2); the detection liquid tank (10) is connected to the two-position three-way solenoid valve (12) in sequence through the liquid pipeline (14). The peristaltic pump (13) is connected, and the two-position three-way solenoid valve (12) is connected to the waste liquid tank (11) through a pipe. The cuvette (19) is set in the detection chamber (15). The peristaltic pump (13) is connected to the cuvette (19) in the detection chamber (15) through a pipe. The micro vacuum pump (8) is connected to the cuvette (19) in the detection chamber (15) through a pipe. The excitation light source (16) and the photodetector (18) are installed on the detection chamber (15) and arranged at a 90° angle. The bandpass filter (17) is set in the detection chamber (15) and located between the cuvette (19) and the photodetector (18). The photodetector (18) is used to receive the fluorescence signal emitted by the detection liquid in the cuvette (19) and convert the light signal into an electrical signal.

2. The intelligent inspection and early warning robot for Panax notoginseng leaf disease spores based on fluorescent probes according to claim 1, characterized in that: The tracked mobile chassis (1) adopts a dual track drive structure. The tracked mobile chassis (1) is equipped with a chassis motor driver, power supply, and control mechanism. The power supply is electrically connected to the control mechanism, chassis motor driver, two-dimensional electric gimbal (5), micro vacuum pump (8), peristaltic pump (13), two-position three-way solenoid valve (12), excitation light source (16), photoelectric detector (18), lidar (3), and camera (4) to provide working power for each component. The control mechanism is connected to the chassis motor driver, two-dimensional electric gimbal, miniature vacuum pump, peristaltic pump, two-position three-way solenoid valve, excitation light source, lidar, camera, and photoelectric detector respectively; The control mechanism includes an environmental perception module, a data processing and analysis module, a control strategy and decision-making module, a pneumatic control module, a liquid control module, a detection module, and a communication and storage module. Each module achieves data interaction and collaborative control through ROS 2. The chassis motor driver is used to realize the driving, steering and speed adjustment of the tracked mobile chassis (1). The environmental perception module is used to collect information from the lidar (3) and the camera (4). The lidar (3) is used to acquire distance information and obstacle information in the inspection environment, and the camera (4) is used to acquire image information of the inspection area and send the collected information to the data processing and analysis module. The data processing and analysis module is used to process the environmental information collected by the lidar (3) and the image information collected by the camera (4) to obtain the robot's position information and environmental status information; The control strategy and decision module is used to generate motion control commands, pneumatic control commands and hydraulic control commands based on robot position information and environmental status information, so as to realize inspection path planning, autonomous navigation, obstacle avoidance, air sampling and automatic detection process control. The gas path control module is used to control the operation of the micro vacuum pump (8) according to the control command to realize the extraction and delivery of air samples; The liquid circuit control module is used to control the operation of the peristaltic pump (13) and the liquid circuit switching according to the control command, so as to realize the delivery of detection liquid, the mixing reaction of sample and detection liquid and the recovery of waste liquid; The detection module is used to control the operation of the excitation light source (16) and to collect and convert the fluorescence signal generated by the detection liquid through the photodetector (18). The obtained electrical signal is sent to the data processing and analysis module for analysis. The data processing and analysis module calculates the concentration information of pathogenic spores in the air based on the fluorescence response result corresponding to the electrical signal. The communication and storage module is used to store environmental data, image data, detection data and operation logs generated during the inspection process, and to realize data interaction between the control mechanism and the App terminal. It uploads the equipment operation status, inspection images and pathogen spore concentration detection results to the App terminal, and at the same time receives control commands sent by the user.

3. The intelligent inspection and early warning robot for Panax notoginseng leaf disease spores based on fluorescent probes according to claim 1, characterized in that: The two-position three-way solenoid valve (12) includes an inlet end (20), a working end (21), and a drain end (22). The inlet end (20) is connected to the detection liquid tank (10), the working end (21) is connected to the first interface (23) of the peristaltic pump (13), and the drain end (22) is connected to the waste liquid tank (11). The second interface (24) of the peristaltic pump (13) is connected to the cuvette (19) in the detection chamber (15) through a pipeline. The peristaltic pump (13) can be controlled to rotate in both directions to realize the delivery of detection liquid and the recovery of detection waste liquid.

4. The intelligent inspection and early warning robot for Panax notoginseng leaf disease spores based on fluorescent probes according to claim 1, characterized in that: The detection chamber (15) is a closed light-shielding structure, which is used to reduce the influence of ambient light on the fluorescence detection results and improve the detection stability in the field environment.

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