Autonomous inspection and targeted medication integrated robot and working method

Abstract

The application provides an autonomous inspection and targeted pesticide application integrated robot and a working method, comprising a mobile chassis subsystem provided with a liftable bearing mechanism; an autonomous inspection and sensing subsystem is installed on the liftable bearing mechanism; a precise identification and processing subsystem is signal connected with the autonomous inspection and sensing subsystem, and the precise identification and processing subsystem is configured with a disease identification and reasoning model; a targeted pesticide application execution subsystem is installed on the liftable bearing mechanism, the targeted pesticide application execution subsystem is used for receiving pesticide application decision instructions, and directional pesticide application work is completed according to the spatial position of the disease target; and a central control unit is respectively communication connected with the mobile chassis subsystem, the autonomous inspection and sensing subsystem, the precise identification and processing subsystem and the targeted pesticide application execution subsystem. The application completely realizes a whole-process closed-loop work of "mapping-inspection collection-disease identification-targeted pesticide application-reinspection-global traversal", and improves the automation degree of facility plant protection work.

Description

Technical Field

[0001] This invention relates to the field of agricultural robot technology, and in particular to an integrated autonomous inspection and targeted pesticide application robot and its operation method. Background Technology

[0002] Greenhouses and solar greenhouses are important facilities for fruit and vegetable production, but their enclosed, high-humidity environment easily induces various crop diseases and pests. Currently, disease and pest control inside these facilities mostly relies on manual inspection to locate diseased plants and spray pesticides. This manual inspection and spraying method is labor-intensive, involves harsh working conditions, and exposes operators to pesticide droplets, posing a risk of health damage.

[0003] With the shortage of agricultural labor, the labor costs for facility-based plant protection are rising year by year. Most existing facility-based plant protection equipment uses a comprehensive, diffused spraying method, applying pesticides uniformly regardless of whether the plants are diseased. This results in low pesticide utilization, easy waste, and pesticide residues in agricultural products, as well as soil and air pollution. Furthermore, some plant protection robots still require manual guidance and lack autonomous inspection capabilities; the few devices with visual recognition functions operate independently of disease detection and pesticide application, only able to identify and alarm, unable to automatically apply pesticides based on the spatial location of the disease, thus failing to form a complete closed-loop operation.

[0004] Furthermore, the internal environment of the facilities is complex, with the greenhouse frame, vine ropes, and crop branches and leaves intertwined and obstructing the view, and the narrow spaces in the rows making it difficult for ordinary mobile equipment to pass through and avoid obstacles. Under different cultivation methods, crop heights vary greatly, making it difficult for the equipment to adapt to image acquisition and pesticide application operations for plants of different heights. Existing equipment lacks a post-application verification mechanism, making it impossible to confirm whether effective pesticide application has been completed in diseased areas.

[0005] Therefore, there is an urgent need to develop an integrated robotic equipment capable of autonomous inspection, disease identification and location, targeted pesticide application, and re-inspection, so as to realize fully automated closed-loop plant protection operations in facility environments. Summary of the Invention

[0006] In view of this, the purpose of this invention is to overcome the shortcomings of existing facility plant protection equipment, solve the technical problems of the existing equipment's fragmented inspection, identification and spraying operations, difficulty in adapting to complex facility operating environments, limited to general spraying and low pesticide utilization rate, and provide an integrated robot and operation method for autonomous inspection and targeted spraying.

[0007] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides an integrated autonomous inspection and targeted drug delivery robot, comprising a mobile chassis system, an autonomous inspection and perception subsystem, a precision identification and processing subsystem, a targeted drug delivery execution subsystem, and a central control unit;

[0009] The mobile chassis system is equipped with a liftable support mechanism for the robot to move within the facility's operating environment;

[0010] The autonomous inspection and sensing subsystem is installed on the liftable support mechanism and is used to collect working environment information and plant image information, and output images and spatial location information of plant disease targets.

[0011] The precise identification and processing subsystem is connected to the autonomous inspection and sensing subsystem. The precise identification and processing subsystem is equipped with a disease identification and reasoning model, which is used to receive plant image information, output the disease type, disease severity and spatial location of the disease target, generate a pesticide application decision instruction, and send the pesticide application decision instruction to the central control unit.

[0012] The targeted drug delivery execution subsystem is installed on the liftable support mechanism. The targeted drug delivery execution subsystem is used to receive drug delivery decision instructions and complete targeted drug delivery operations based on the spatial location of the disease target.

[0013] The central control unit is communicatively connected to the mobile chassis system, the autonomous inspection and sensing subsystem, the precision identification and processing subsystem, and the targeted pesticide application execution subsystem. The central control unit coordinates and controls each subsystem according to the pesticide application decision command to achieve closed-loop linkage control of environmental inspection, disease identification, and targeted pesticide application.

[0014] Furthermore, the mobile chassis system is a tracked chassis, and the liftable load-bearing mechanism is a scissor lift mechanism, which drives the autonomous inspection and sensing subsystem and the targeted drug delivery execution subsystem to lift synchronously.

[0015] Furthermore, the autonomous inspection and perception subsystem includes an environmental perception component and a visual acquisition component;

[0016] The environmental perception component includes a radar sensor, an inertial measurement unit, and a mileage acquisition component, used for SLAM mapping, autonomous navigation, and obstacle detection within the facility;

[0017] The visual acquisition component is a binocular visual acquisition device used to acquire RGB images of plants and depth information, and to calculate the spatial position coordinates of the disease target relative to the robot body.

[0018] Furthermore, the radar sensor is a solid-state lidar. When an obstacle reaches a preset safety threshold, the central control unit executes deceleration, detour, or temporary shutdown control logic.

[0019] Furthermore, the targeted application execution subsystem includes a drug storage component, a drug delivery and pressure regulation component, an attitude adjustment platform, and a nozzle assembly; the drug storage component and the drug delivery and pressure regulation component are arranged on a mobile base plate system; the attitude adjustment platform carries the nozzle assembly, and the nozzle assembly is equipped with multiple independently on / off spraying units; the attitude adjustment platform can adjust the spatial attitude of the nozzle assembly to achieve directional spraying towards the disease target.

[0020] Furthermore, each spraying unit is equipped with an independent and controllable valve; the central control unit controls the liquid delivery pressure regulating component to adjust the output pressure and flow rate according to the severity of the disease, selectively opening the corresponding spraying unit, and spraying the liquid only on the target area of ​​the disease.

[0021] Secondly, the present invention also provides a method for operating an integrated autonomous inspection and targeted drug delivery robot, comprising the following steps:

[0022] S1. The robot enters the working environment, and the autonomous inspection and perception subsystem completes environmental mapping and generates an inspection traversal path based on the environmental map.

[0023] S2. Control the mobile chassis system to move along the inspection path. The lifting and lowering bearing mechanism can adjust the working height. The autonomous inspection and sensing subsystem continuously collects environmental data and plant images. During the inspection process, it can sense obstacles in real time and take avoidance measures.

[0024] S3. The collected plant images are sent to the precision recognition and processing subsystem for reasoning. If no disease target is detected, the inspection continues. If a disease target is detected, the disease type, disease level and disease spatial location are output, and a pesticide application decision instruction is generated.

[0025] S4. Based on the spatial location of the disease, control the mobile base plate system to align with the work point, adjust the attitude of the liftable bearing mechanism and the targeted application subsystem, adjust the application parameters according to the disease level, and perform targeted application of pesticides to the disease target.

[0026] S5. After the pesticide application is completed, collect images of the plants in the work area again to check the treatment status of the disease targets. If there are any untreated disease targets, repeat the pesticide application. Continue the inspection after the re-inspection is qualified.

[0027] S6. Repeat steps S2-S5 until the full-area inspection of the work environment is completed.

[0028] Furthermore, when multiple scattered disease targets are identified, the robot sequentially positions each disease target and performs targeted drug application point by point.

[0029] Furthermore, after the full-area inspection is completed, an operation log is stored. The operation log includes at least the operation environment information, operation time, location of disease occurrence, disease type, and pesticide application parameter records for operation traceability.

[0030] Furthermore, when encountering obstacles that cannot be bypassed during the inspection process, the robot will issue a stop alarm and resume the inspection operation from the breakpoint after the obstacle is removed.

[0031] As can be seen from the above, the present invention has at least the following beneficial effects:

[0032] 1. The robot of this invention is equipped with a liftable carrying mechanism, which integrates the sensing components and the pesticide application execution components, and can be adapted to facility-grown crops of different plant heights; with a mobile chassis, it can complete mobile operations in the narrow and complex space of the greenhouse, and has good adaptability to the complex environment of the facility greenhouse.

[0033] 2. This invention completes environmental mapping and navigation, obstacle perception, and spatial location calculation of disease targets through an autonomous inspection and perception subsystem. It can complete inspection operations autonomously without continuous manual remote control intervention, realize spatial positioning of disease targets, and provide location basis for targeted drug application.

[0034] 3. The precise identification and processing subsystem of this invention relies on the trained reasoning model to complete disease identification and severity determination, and output pesticide application decision instructions; the targeted pesticide application execution subsystem uses an independent and controllable spraying unit to apply pesticides only to the target area of ​​the disease, abandoning the traditional all-area diffuse spraying, effectively reducing the amount of pesticides used and lowering the risk of pesticide residues.

[0035] 4. This invention fully realizes the closed-loop operation of the entire process of "mapping - inspection and data collection - disease identification - targeted application - re-inspection - full-area traversal", replacing manual labor to complete the internal inspection and application of pesticides in facilities, avoiding contact between operators and pesticides, reducing labor intensity, alleviating the labor pressure of facility agriculture, and is suitable for intelligent plant protection operations in solar greenhouses and various facility greenhouses, improving the automation level of facility plant protection operations. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in this invention or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a system structure block diagram of the autonomous inspection and targeted drug delivery integrated robot of the present invention.

[0038] Figure 2This is a flowchart illustrating the operation method of the autonomous inspection and targeted drug delivery robot of the present invention.

[0039] The reference numerals in the attached figures are explained as follows:

[0040] 1. Mobile chassis system; 2. Autonomous inspection and sensing subsystem; 3. Precision identification and processing subsystem; 4. Targeted drug delivery execution subsystem; 5. Central control unit. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0042] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this invention should have the ordinary meaning understood by those skilled in the art. The terms "first," "second," and similar terms used in the embodiments of this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0043] To keep the following description of the embodiments of the present invention clear and concise, detailed descriptions of some known functions and known components have been omitted.

[0044] like Figure 1An integrated autonomous inspection and targeted pesticide application robot, as shown in one embodiment, includes a mobile base system 1, an autonomous inspection and sensing subsystem 2, a precision identification and processing subsystem 3, a targeted pesticide application execution subsystem 4, and a central control unit 5. The mobile base system 1 is equipped with a liftable support mechanism for the robot to move within the facility's operating environment. The autonomous inspection and sensing subsystem 2 is mounted on the liftable support mechanism and is used to collect information about the operating environment and plant images, outputting images containing plant disease targets and their spatial location information. The precision identification and processing subsystem 3 is signal-connected to the autonomous inspection and sensing subsystem 2 and is equipped with a disease identification and reasoning model. The system is used to receive plant image information, output disease type, disease severity, and spatial location of the disease target, generate application decision instructions, and send the application decision instructions to the central control unit 5; the targeted application execution subsystem 4 is installed on the liftable support mechanism, and the targeted application execution subsystem 4 is used to receive the application decision instructions and complete the directional application operation based on the spatial location of the disease target; the central control unit 5 is communicatively connected to the mobile base plate system 1, the autonomous inspection and sensing subsystem 2, the precision identification and processing subsystem 3, and the targeted application execution subsystem 4 respectively, and the central control unit 5 coordinates and controls each subsystem according to the application decision instructions to realize closed-loop linkage control of environmental inspection, disease identification, and targeted application.

[0045] This invention fully realizes a closed-loop operation of "mapping, inspection and data collection, disease identification, targeted application, re-inspection, and full-area traversal", replacing manual labor to complete the internal inspection and application of pesticides in facilities, avoiding contact between operators and pesticides, reducing labor intensity, alleviating labor pressure in facility agriculture, and is suitable for intelligent plant protection operations in solar greenhouses and various facility greenhouses, improving the automation level of facility plant protection operations.

[0046] In a preferred embodiment, the mobile chassis system 1 adopts a tracked chassis, which has good traversability on uneven and muddy ground inside the greenhouse. The lifting and lowering load-bearing mechanism is a scissor lift mechanism, which is fixedly mounted on the tracked chassis. The autonomous inspection and sensing subsystem 2 and the targeted pesticide application execution subsystem 4 are jointly installed on the top load-bearing platform of the scissor lift mechanism, so that the scissor lift mechanism can drive the autonomous inspection and sensing subsystem 2 and the targeted pesticide application execution subsystem 4 to achieve synchronous lifting and lowering during the lifting and lowering process, thereby dynamically adjusting the image acquisition and pesticide application operation height to adapt to crops with different plant heights inside the greenhouse.

[0047] In a preferred embodiment, the autonomous inspection and perception subsystem 2 includes an environmental perception component and a visual acquisition component. The environmental perception component includes a radar sensor, an inertial measurement unit, and an odometer. The radar sensor, inertial measurement unit, and odometer work together to complete SLAM environmental mapping within the facility, autonomous robot navigation, and obstacle detection. The visual acquisition component is a binocular vision acquisition component, which can simultaneously acquire RGB images and depth information of the plants, and calculate the spatial coordinates of the diseased target relative to the robot body based on the acquired image and depth information.

[0048] Furthermore, the radar sensor can specifically employ solid-state lidar, which can accurately identify small obstacles in the facility environment such as the greenhouse frame, hanging ropes, and crop branches. During operation, when the detected distance to an obstacle reaches a preset safety threshold, the central control unit 5 automatically triggers the avoidance control logic. Based on the obstacle size and passage space, it selectively executes deceleration, path detour, or temporary shutdown alarm operations to ensure the continuity and safety of the robot's inspection operation.

[0049] In a preferred embodiment, the targeted application subsystem 4 includes a pesticide storage component, a pesticide delivery and pressure regulation component, an attitude adjustment platform, and a nozzle assembly. The pesticide storage component and the pesticide delivery and pressure regulation component are centrally located on the body of the mobile base system 1, ensuring overall stability and a compact structure. The attitude adjustment platform is mounted on top of the liftable support mechanism, and the nozzle assembly is mounted on the attitude adjustment platform. The nozzle assembly is equipped with multiple independently controllable spraying units, each operating independently without interference. Through multi-angle adjustment of the attitude adjustment platform, the spatial pitch and horizontal orientation of the nozzle assembly can be adjusted in real time, enabling the spraying units to accurately target crop disease areas and achieve directional, point-to-point targeted spraying.

[0050] It should be noted that the specific mechanical structure, pipeline connection, and electrical control structure of the drug storage component, drug delivery and pressure regulating component, attitude adjustment gimbal, and nozzle component described in this embodiment can all be implemented using mature existing technologies in the field. This invention does not improve the internal structure of the above-mentioned components themselves; its innovation lies in the assembly position relationship between the components and the system linkage control logic, which, together with the other subsystems, completes the closed-loop operation process of inspection-identification-targeted drug application.

[0051] In a preferred embodiment, each spraying unit is equipped with an independent and controllable valve; the central control unit 5 controls the liquid delivery pressure regulating component to adjust the output pressure and flow rate according to the severity of the disease, selectively opening the corresponding spraying unit, and spraying the liquid only on the target area of ​​the disease.

[0052] In a preferred embodiment, each spraying unit is independently equipped with an electrically controllable valve, enabling each spraying unit to open and close independently without interlocking with others. During operation, the central control unit 5 adaptively adjusts the output pressure and flow rate of the pesticide delivery pressure regulating component based on the identified disease severity level. Simultaneously, it precisely and selectively opens spraying units in corresponding locations and areas, accurately spraying pesticide only on crop areas with diseased targets, while keeping healthy plant areas closed and unsprayed. This achieves graded, quantitative, and targeted pesticide application, effectively reducing pesticide waste from ineffective spraying.

[0053] Corresponding to the preferred embodiment of the autonomous inspection and targeted application integrated robot described above, the present invention also provides an implementation method of operation adapted to the robot. This operation method can match the aforementioned robot hardware structure and rely on the coordinated cooperation of multiple subsystems of the whole machine to complete a closed-loop operation process of fully automatic inspection, disease identification, positioning and alignment, graded targeted application, and re-inspection in the facility environment.

[0054] like Figure 2 Another embodiment of the autonomous inspection and targeted drug delivery robot shown includes the following steps:

[0055] S1. The robot enters the working environment, and the autonomous inspection and perception subsystem completes environmental mapping and generates an inspection traversal path based on the environmental map.

[0056] S2. Control the mobile chassis system to move along the inspection path. The lifting and lowering bearing mechanism can adjust the working height. The autonomous inspection and sensing subsystem continuously collects environmental data and plant images. During the inspection process, it can sense obstacles in real time and take avoidance measures.

[0057] S3. The collected plant images are sent to the precision recognition and processing subsystem for reasoning. If no disease target is detected, the inspection continues. If a disease target is detected, the disease type, disease level and disease spatial location are output, and a pesticide application decision instruction is generated.

[0058] S4. Based on the spatial location of the disease, control the mobile base plate system to align with the work point, adjust the attitude of the liftable bearing mechanism and the targeted application subsystem, adjust the application parameters according to the disease level, and perform targeted application of pesticides to the disease target.

[0059] S5. After the pesticide application is completed, collect images of the plants in the work area again to check the treatment status of the disease targets. If there are any untreated disease targets, repeat the pesticide application. Continue the inspection after the re-inspection is qualified.

[0060] S6. Repeat steps S2-S5 until the full-area inspection of the work environment is completed.

[0061] Furthermore, during the inspection process, if the robot visually identifies multiple scattered disease targets on the plant, it can sequentially complete the alignment calibration based on the spatial coordinate information of each disease target. With the multi-angle fine adjustment of the attitude adjustment gimbal, it can complete the precise targeted application of pesticides point by point and section by section, avoiding missed spraying or treatment of diseases and improving the integrity and accuracy of the overall application operation.

[0062] Furthermore, after all the inspections and pesticide application operations are completed, the system automatically generates and stores a complete operation log. The operation log records at least the operation environment information, operation start and end time, spatial location of each disease, disease type, and corresponding pesticide application parameters such as application pressure and application flow rate. This enables the retention of data throughout the entire plant protection operation process, facilitating subsequent operation statistics, disease tracing, and operation effect tracking and analysis.

[0063] Furthermore, if the robot detects a large obstacle that it cannot bypass during its inspection process, it will automatically stop and issue an alarm, pausing the current inspection and application operation. After the obstacle is manually removed, the robot can resume the inspection and application process from the point where the operation was interrupted, without having to restart the entire operation from the beginning, effectively improving work efficiency and fault tolerance.

[0064] This invention fully realizes a closed-loop operation of "mapping, inspection and data collection, disease identification, targeted application, re-inspection, and full-area traversal", replacing manual labor to complete the internal inspection and application of pesticides in facilities, avoiding contact between operators and pesticides, reducing labor intensity, alleviating labor pressure in facility agriculture, and is suitable for intelligent plant protection operations in solar greenhouses and various facility greenhouses, improving the automation level of facility plant protection operations.

[0065] The embodiments of this invention are intended to cover all such substitutions, modifications, and variations falling within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this invention should be included within the protection scope of this invention.

Claims

1. An integrated autonomous inspection and targeted drug delivery robot, characterized in that, It includes a mobile chassis system, an autonomous inspection and sensing subsystem, a precise identification and processing subsystem, a targeted drug delivery execution subsystem, and a central control unit; The mobile chassis system is equipped with a liftable support mechanism for the robot to move within the facility's operating environment; The autonomous inspection and sensing subsystem is installed on the liftable support mechanism and is used to collect working environment information and plant image information, and output images and spatial location information of plant disease targets. The precise identification and processing subsystem is connected to the autonomous inspection and sensing subsystem. The precise identification and processing subsystem is equipped with a disease identification and reasoning model, which is used to receive plant image information, output the disease type, disease severity and spatial location of the disease target, generate a pesticide application decision instruction, and send the pesticide application decision instruction to the central control unit. The targeted drug delivery execution subsystem is installed on the liftable support mechanism. The targeted drug delivery execution subsystem is used to receive drug delivery decision instructions and complete targeted drug delivery operations based on the spatial location of the disease target. The central control unit is communicatively connected to the mobile chassis system, the autonomous inspection and sensing subsystem, the precision identification and processing subsystem, and the targeted pesticide application execution subsystem. The central control unit coordinates and controls each subsystem according to the pesticide application decision command to achieve closed-loop linkage control of environmental inspection, disease identification, and targeted pesticide application.

2. The autonomous inspection and targeted drug delivery integrated robot according to claim 1, characterized in that, The mobile chassis system is a tracked chassis, and the liftable load-bearing mechanism is a scissor lift mechanism. The scissor lift mechanism drives the autonomous inspection and sensing subsystem and the targeted drug delivery execution subsystem to lift synchronously.

3. The autonomous inspection and targeted drug delivery integrated robot according to claim 1, characterized in that, The autonomous inspection and perception subsystem includes an environmental perception component and a visual acquisition component. The environmental perception component includes a radar sensor, an inertial measurement unit, and a mileage acquisition component, used for SLAM mapping, autonomous navigation, and obstacle detection within the facility; The visual acquisition component is a binocular visual acquisition device used to acquire RGB images of plants and depth information, and to calculate the spatial position coordinates of the disease target relative to the robot body.

4. The autonomous inspection and targeted drug delivery integrated robot according to claim 3, characterized in that, The radar sensor is a solid-state lidar. When an obstacle reaches a preset safety threshold, the central control unit executes deceleration, detour, or temporary shutdown control logic.

5. The autonomous inspection and targeted drug delivery integrated robot according to claim 1, characterized in that, The targeted application subsystem includes a drug storage component, a drug delivery and pressure regulation component, an attitude adjustment platform, and a nozzle assembly. The drug storage component and the drug delivery and pressure regulation component are arranged on a mobile base plate system. The attitude adjustment platform carries the nozzle assembly, which is equipped with multiple independently on / off spraying units. The attitude adjustment platform can adjust the spatial attitude of the nozzle assembly to achieve directional spraying towards the disease target.

6. The autonomous inspection and targeted drug delivery integrated robot according to claim 5, characterized in that, Each spraying unit is equipped with an independent and controllable valve; the central control unit controls the liquid delivery pressure regulating component to adjust the output pressure and flow rate according to the severity of the disease, selectively opening the corresponding spraying unit, and spraying the liquid only on the target area of ​​the disease.

7. The operating method of the autonomous inspection and targeted drug delivery integrated robot according to any one of claims 1-6, characterized in that, Includes the following steps: S1. The robot enters the working environment, and the autonomous inspection and perception subsystem completes environmental mapping and generates an inspection traversal path based on the environmental map. S2. Control the mobile chassis system to move along the inspection path. The lifting and lowering bearing mechanism can adjust the working height. The autonomous inspection and sensing subsystem continuously collects environmental data and plant images. During the inspection process, it can sense obstacles in real time and take avoidance measures. S3. The collected plant images are sent to the precision recognition and processing subsystem for reasoning. If no disease target is detected, the inspection continues. If a disease target is detected, the disease type, disease level and disease spatial location are output, and a pesticide application decision instruction is generated. S4. Based on the spatial location of the disease, control the mobile base plate system to align with the work point, adjust the attitude of the liftable bearing mechanism and the targeted application subsystem, adjust the application parameters according to the disease level, and perform targeted application of pesticides to the disease target. S5. After the pesticide application is completed, collect images of the plants in the work area again to check the treatment status of the disease targets. If there are any untreated disease targets, repeat the pesticide application. Continue the inspection after the re-inspection is qualified. S6. Repeat steps S2-S5 until the full-area inspection of the work environment is completed.

8. The operating method according to claim 7, characterized in that, When multiple scattered disease targets are identified, the robot sequentially positions each disease target and performs targeted drug application point by point.

9. The operating method according to claim 7, characterized in that, After the full-area inspection is completed, the operation log is stored. The operation log includes at least the operation environment information, operation time, location of disease occurrence, disease type, and pesticide application parameter records for operation traceability.

10. The operating method according to claim 7, characterized in that, When encountering an obstacle that cannot be bypassed during the inspection, the robot will issue a stop alarm. After the obstacle is removed, the inspection operation can be resumed from the breakpoint.

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