Intelligent solenopsis invicta prevention and control robot

Abstract

The utility model discloses an intelligent solenopsis invicta prevention and control robot, which belongs to the technical field of biological prevention and control and comprises a chassis movement module, a four-degree-of-freedom mechanical arm module, a tail end pesticide spreading module, a pesticide powder supply module and a visual perception module, the robot firstly captures an environment image through a carried visual perception module, analyzes the image through an algorithm, and rapidly recognizes the position of a Solenopsis invicta nest; then the chassis motion module plans an optimal path according to an identification result, and drives the robot to autonomously move to a target area; when arriving at the position, the four-degree-of-freedom mechanical arm module accurately spreads medicine powder around a solenopsis invicta nest under an accurate instruction of the operation control module, so that efficient killing, trapping and killing of the solenopsis invicta are realized; when the medicine powder in the tail end medicine spreading module is about to be used up, the medicine powder supplementing module can automatically complete medicine powder supplementing, and it is ensured that the robot works continuously. The robot has the advantages of being high in mechanization degree, convenient to operate, low in cost, capable of saving time and labor, efficient and accurate in killing, high in safety and the like.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the biological control technical field, more specifically, it relates to a kind of intelligent prevention and cure robot of Solenopsis invicta. BACKGROUND

[0002] As an extremely harmful invasive insect, Solenopsis invicta reproduces rapidly, seriously threatens biodiversity and ecological system stability, causes great damage to crops and agricultural facilities, and endangers human health and safety. Traditional manual control methods have many problems such as low efficiency, high labor intensity, high safety risk and serious environmental pollution, and cannot meet the demand of large-scale, efficient and precise Solenopsis invicta control. Under this background, it is of great practical significance and urgent need to develop an intelligent robot that can automatically identify, locate and accurately kill Solenopsis invicta. UTILITY MODEL CONTENT

[0003] Therefore, the utility model provides a kind of intelligent prevention and cure robot of Solenopsis invicta, adopt following technical scheme:

[0004] An intelligent prevention and cure robot of Solenopsis invicta includes chassis movement module, four degrees of freedom mechanical arm module, end pesticide spraying module, pesticide powder supply module and visual perception module; the chassis movement module provides the robot with mobility; the four degrees of freedom mechanical arm module is mounted on the chassis movement module, the output end of the four degrees of freedom mechanical arm module is provided with the end pesticide spraying module, the four degrees of freedom mechanical arm module is used to drive the end pesticide spraying module to move, carry out pesticide powder supply and pesticide spraying operation; the pesticide powder supply module is synchronously mounted on the chassis movement module on the side of the four degrees of freedom mechanical arm module, and the pesticide powder supply module provides the end pesticide spraying module with pesticide powder; the visual perception module includes a depth camera and a positioning assembly, the depth camera and the positioning assembly are installed on the end pesticide spraying module, and are used to obtain surrounding environment information in real time; the positioning assembly is used to monitor spatial coordinate data in real time, and assist the robot in accurate positioning and operation; further including central controller, electrically connected chassis movement module, four degrees of freedom mechanical arm module, end pesticide spraying module, pesticide powder supply module and visual perception module.

[0005] Further, the four degrees of freedom mechanical arm module includes a one-degree-of-freedom drive unit, a three-degree-of-freedom drive unit, a mechanical arm and a mechanical arm bottom plate; the mechanical arm end is connected with the end pesticide spraying module; the mechanical arm bottom plate bottom is connected with the one-degree-of-freedom drive unit, and the upper part is connected with the mechanical arm and the three-degree-of-freedom drive unit; the one-degree-of-freedom drive unit is used to drive the mechanical arm to move horizontally, and the three-degree-of-freedom drive unit is used to drive the mechanical arm to pitch, stretch and rotate.

[0006] Further, the one-degree-of-freedom driving unit comprises a screw module and a guide rail module; the screw module is connected to the mechanical arm base plate through a first sliding block and is driven to move by a first motor; the guide rail module comprises a sliding rail and a second sliding block, the second sliding block is slidably connected to the sliding rail at the lower end and is fixedly connected to the mechanical arm base plate at the upper end.

[0007] Further, the three-degree-of-freedom driving unit comprises a rotary table, a support seat, a connecting rod assembly and an end support frame; the end support frame is used for setting an end spraying module; the rotary table is arranged on the mechanical arm base plate and is fixedly connected to the output end of a second motor at the lower end; the support seat is fixedly connected to the rotary table at the upper end and is rotatably connected to the mechanical arm and one end of the connecting rod assembly; the end support frame is arranged at the other end of the mechanical arm and the connecting rod assembly.

[0008] Further, the mechanical arm comprises a large arm and a small arm; one end of the large arm is rotatably connected to the support seat, and the other end is rotatably connected to the middle part of the small arm; one end of the small arm is rotatably connected to the connecting rod assembly, and the other end is rotatably connected to the end support frame.

[0009] Further, the connecting rod assembly comprises a first connecting rod, a second connecting rod, a triangular plate, a crank, a third connecting rod and a third motor; one end of the first connecting rod is rotatably connected to the support seat, and the other end is rotatably connected to the first end of the triangular plate; one end of the second connecting rod is rotatably connected to the end support frame, and the other end is rotatably connected to the second end of the triangular plate; the third end of the triangular plate is coaxially rotatably connected to the rotatable connection positions of the large arm and the small arm; the third motor is installed on the support seat, the output end is rotatably connected to one end of the crank, the other end of the crank is rotatably connected to one end of the third connecting rod, and the other end of the third connecting rod is rotatably connected to the end of the small arm away from the end support frame.

[0010] Further, the end spraying module comprises a stirring assembly, a spraying cylinder, a powder receiving hopper and an opening driving assembly; the powder receiving hopper is installed on the end support frame; the spraying cylinder is installed on the end support frame by a clamp; an opening is arranged on the upper end cover of the spraying cylinder and is communicated with the powder receiving hopper; the opening driving assembly is used for driving the spraying cylinder to rotate to control the opening to be communicated or closed; the stirring assembly comprises a fourth motor, a shaft coupling and a stirring paddle; the fourth motor is arranged on the end support frame, and the output end is connected to the stirring paddle shaft through the shaft coupling; the stirring paddle is arranged in the spraying cylinder.

[0011] Further, the opening driving assembly comprises a driving gear, a driven gear and a fifth motor; the fifth motor is arranged on the end support seat, and the output end is fixedly connected to the axis of the driving gear; the driving gear and the driven gear are in meshing transmission; the driven gear is fixedly sleeved on the upper end cover of the spraying cylinder.

[0012] Further, the medicine powder supplementing module comprises a medicine bin, a push-pull assembly and a lower hopper; the medicine bin is arranged on the chassis and is communicated with the push-pull assembly at the lower end; the push-pull assembly pushes the medicine powder into the lower hopper through the pushing force generated by the reciprocating movement, and the lower hopper is used for connecting the end medicine scattering module to realize the supply of the medicine powder.

[0013] The utility model discloses the beneficial effect lies in:

[0014] The utility model discloses a robot for killing red imported fire ants, which comprises a chassis, a visual perception module, a four-degree-of-freedom mechanical arm module, an operation control module, an end medicine scattering module and a medicine powder supplementing module. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor on the basis of the provided drawings.

[0016] Figure 1 It is a whole three-dimensional structure schematic view of the utility model.

[0017] Figure 2 It is a side view of the utility model.

[0018] Figure 3 It is a structure schematic view of the four-degree-of-freedom mechanical arm module and the end medicine scattering module of the utility model.

[0019] Figure 4 It is a side view of the four-degree-of-freedom mechanical arm module and the end medicine scattering module of the utility model.

[0020] Figure 5 It is an internal structure schematic view of the end medicine scattering module of the utility model.

[0021] In the drawings, the following:

[0022] 1-chassis; 2-electric bin; 3-mechanical arm; 4-mechanical arm base plate; 5-first sliding block; 6-slideway; 7-second sliding block; 9-rotary table; 10-supporting seat; 11-end supporting frame; 12-second motor; 13-large arm; 14-small arm; 15-first connecting rod; 16-second connecting rod; 17-triangle plate; 18-crank; 19-third connecting rod; 20-third motor; 21-spreading cylinder; 22-powder receiving hopper; 23-fourth motor; 24-coupling; 25-stirring paddle; 26-driving gear; 27-driven gear; 28-fifth motor; 29-chemical bin; 30-pushing and pulling assembly; 31-discharge hopper. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all the other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0024] Please refer to the drawings of the embodiments of the utility model Figures 1-5 The utility model provides a kind of intelligent control robot of solenopsis geminata, including chassis movement module, four degrees of freedom mechanical arm module, end pesticide spreading module, chemical powder supply module and visual perception module.Chassis movement module provides moving ability for robot, so that it can shuttle flexibly on different terrain.Four degrees of freedom mechanical arm module is loaded on chassis movement module, and it is the core execution component of robot, the output end of four degrees of freedom mechanical arm module is provided with end pesticide spreading module, four degrees of freedom mechanical arm module is used to drive end pesticide spreading module to move, carries out chemical powder supply and pesticide spreading operation;Chemical powder supply module is loaded on chassis movement module simultaneously and located on one side of four degrees of freedom mechanical arm module, and end pesticide spreading module is provided with chemical powder by chemical powder supply module;Visual perception module includes depth camera and positioning assembly, and depth camera and positioning assembly are mounted on end pesticide spreading module, for obtaining surrounding environment information in real time, and positioning assembly selects the device in prior art, for monitoring space coordinate data in real time, to assist robot to carry out accurate positioning and operation.It also includes central controller, and electrically connected chassis movement module, four degrees of freedom mechanical arm module, end pesticide spreading module, chemical powder supply module and visual perception module.

[0025] The chassis movement module comprises a chassis 1 and walking wheels, and a four-degree-of-freedom mechanical arm module, a terminal pesticide spraying module, a pesticide powder supplementing module and a visual perception module are arranged on the chassis 1. The design of the chassis movement module needs to consider the movement stability and passability of the robot. The chassis 1 is made of high-strength lightweight material to reduce the weight of the robot while ensuring the structural strength. The walking wheels are selected to have a large grip and anti-sinking function to ensure the stable work of the four-degree-of-freedom mechanical arm module and the terminal pesticide spraying module.

[0026] An electric bin 2 is further arranged on the chassis 1 for powering the entire device.

[0027] The four-degree-of-freedom mechanical arm module combines the advantages of a one-degree-of-freedom driving unit and a three-degree-of-freedom driving unit. In the red ant killing scene, the four-degree-of-freedom mechanical arm module can adapt to the chassis 1 and other mobile carriers, and can flexibly and accurately reach the nest position in various environments such as grassland and soil pile where the red ant is common.

[0028] The four-degree-of-freedom mechanical arm module comprises a one-degree-of-freedom driving unit, a three-degree-of-freedom driving unit, a mechanical arm 3 and a mechanical arm bottom plate 4; the end of the mechanical arm 3 is connected to the terminal pesticide spraying module; the bottom of the mechanical arm bottom plate 4 is connected to the one-degree-of-freedom driving unit, and the upper part is connected to the mechanical arm 3 and the three-degree-of-freedom driving unit; the one-degree-of-freedom driving unit is used to drive the mechanical arm 3 to move horizontally, and the three-degree-of-freedom driving unit is used to drive the mechanical arm 3 to pitch, stretch and rotate, further expanding the movement range of the mechanical arm 3 and realizing more complex spatial actions.

[0029] The one-degree-of-freedom driving unit comprises a lead screw module and a guide rail module, the lead screw module adopts an existing lead screw driving structure, the first sliding block 5 is connected to the mechanical arm bottom plate 4, and the first motor drives the first sliding block 5 to move; the guide rail module comprises a sliding rail 6 and a second sliding block 7, the lower end of the second sliding block 7 is slidably connected with the sliding rail 6, and the upper end is fixedly connected with the mechanical arm bottom plate 4; the first motor drives the first sliding block 5 to drive the mechanical arm bottom plate 4 to move, and the sliding rail 6 and the second sliding block 7 slide together to provide a sliding track for the mechanical arm bottom plate 4, so as to drive the mechanical arm bottom plate 4 and the mechanical arm 3 to move horizontally.

[0030] The three-degree-of-freedom driving unit comprises a rotary table 9, a support seat 10, a connecting rod assembly and a terminal support frame 11; the terminal support frame 11 is used to arrange the terminal pesticide spraying module, the rotary table 9 is arranged on the mechanical arm bottom plate 4 through a support rod, the lower end is fixedly connected with the output end of the second motor 12, and is driven to rotate by the second motor 12, the support seat 10 is fixedly connected above the rotary table 9, the support seat 10 is rotatably connected with the mechanical arm 3 and one end of the connecting rod assembly, and the terminal support frame 11 is arranged at the other end of the mechanical arm 3 and the connecting rod assembly. The second motor 12 drives the rotary table 9 to rotate, thereby driving the mechanical arm 3 and the terminal pesticide spraying module to rotate.

[0031] The mechanical arm 3 comprises a large arm 13 and a small arm 14, one end of the large arm 13 is rotatably connected to the support seat 10, and the other end is rotatably connected to the middle part of the small arm 14; one end of the small arm 14 is rotatably connected to the connecting rod assembly, and the other end is rotatably connected to the end support frame 11.

[0032] The connecting rod assembly comprises a first connecting rod 15, a second connecting rod 16, a triangular plate 17, a crank 18, a third connecting rod 19 and a third motor 20; one end of the first connecting rod 15 is rotatably connected to the support seat 10, and the other end is rotatably connected to the first end of the triangular plate 17; one end of the second connecting rod is rotatably connected to the end support frame 11, and the other end is rotatably connected to the second end of the triangular plate 17; the third end of the triangular plate 17 is coaxially rotatably connected with the rotatable connection of the large arm 13 and the small arm 14; the third motor 20 is installed on the support seat 10, and the output end is rotatably connected to one end of the crank 18, the other end of the crank 18 is rotatably connected to one end of the third connecting rod 19, and the other end of the third connecting rod 19 is rotatably connected to the end of the end support frame 11 away from the small arm 14.

[0033] A parallelogram frame structure is formed in the three-degree-of-freedom driving unit, when moving, the geometric characteristic of the parallelogram that the opposite sides always remain parallel, and the side of the parallelogram where the small arm 14 connected with the end support frame 11 is always kept parallel to the second connecting rod 16 relative to the initial state. The third motor 20 drives the crank 18 to rotate, and the crank 18 drives the small arm 14 to move, no matter how the crank 18 rotates, due to the constraint of the parallelism of the opposite sides of the parallelogram, the small arm 14 and the second connecting rod 16 always remain parallel, which ensures that the end pesticide spraying module always remains parallel, which is conducive to improving the precision and stability of the pesticide spraying operation. The joint part of the mechanical arm 3 adopts high-precision bearings and transmission components to ensure the accuracy and stability of the movement, and has a certain load capacity to meet the weight requirements of the end pesticide spraying module and the pesticide powder.

[0034] The end pesticide spraying module is installed on the end support frame 11, and is used for accurately spreading pesticide powder to the red imported fire ant nest.

[0035] The end pesticide spraying module as a key functional unit of the red imported fire ant killing device comprises a stirring assembly, a pesticide spraying barrel 21, a powder receiving funnel 22 and an opening driving assembly; the powder receiving funnel 22 is installed on the end support frame 11; the pesticide spraying barrel 21 is installed on the end support frame 11 through a clamp; an opening is arranged on the upper end cover of the pesticide spraying barrel 21, and is communicated with the powder receiving funnel 22; the opening driving assembly is used for driving the pesticide spraying barrel 21 to rotate to control the opening to be communicated or closed; the stirring assembly comprises a fourth motor 23, a shaft coupling 24 and a stirring paddle 25; the fourth motor 23 is erected on the end support frame 11, and the output end is connected to the rotating shaft of the stirring paddle 25 through the shaft coupling 24; the stirring paddle 25 is arranged in the pesticide spraying barrel 21.

[0036] The opening driving assembly comprises a driving gear 26, a driven gear 27 and a fifth motor 28; the fifth motor 28 is arranged on the end support base 10, and the output end is fixedly connected to the axis of the driving gear 26; the driving gear 26 is in meshing transmission with the driven gear 27; and the driven gear 27 is fixedly sleeved on the upper end cover of the pesticide spreading cylinder 21. The fifth motor 28 drives the pesticide spreading cylinder 21 to rotate through the driving gear 26 and the driven gear 27, so as to control the opening to communicate with the powder receiving hopper 22.

[0037] During operation, the powder receiving hopper 22 receives pesticide powder for killing red ants, the pesticide powder is introduced into the pesticide spreading device through the powder receiving hopper 22, and the filling process of the pesticide powder is completed; the opening driving assembly adjusts and closes the opening of the pesticide spreading cylinder 21, so as to control the spreading amount; and the stirring paddle 25 in the pesticide spreading cylinder 21 is driven to rotate by the fourth motor 23, so that the pesticide powder is ground and falls, and the pesticide powder can be uniformly and stably spread.

[0038] The pesticide powder supplementing module comprises a pesticide bin 29, a push-pull assembly 30 and a lower hopper 31; the pesticide bin 29 is arranged on the chassis 1 and is communicated with the push-pull assembly 30 at the lower end; the push-pull assembly 30 is selected from the prior art, and the push-pull assembly 30 pushes the pesticide powder into the lower hopper 31 through the push force generated by the reciprocating motion, and the lower hopper 31 is used for connecting the end pesticide spreading module, so that the pesticide powder is supplied.

[0039] The working process of the utility model is as follows: the robot accurately identifies the red ant nest through the visual perception module carried at the end, and real-time labels the spatial coordinates of the ant nest relying on a three-dimensional coordinate positioning algorithm. Then the central controller sends a heading correction instruction to the chassis movement module, drives the chassis movement module to perform adaptive azimuth calibration, and starts the travel program after the navigation system confirms that the target is directly opposite. After reaching the predetermined operation space, the double-end cooperative mechanism is triggered synchronously, that is, a signal is sent to the four-degree-of-freedom mechanical arm module, and the pesticide powder supplementing module is started at the same time.

[0040] At this time, the four-degree-of-freedom mechanical arm module performs a composite action: first accurately position below the lower hopper of the pesticide powder supplementing module, and then complete the loading of the pesticide powder by the end pesticide spreading module. After the supplementing is completed, the four-degree-of-freedom mechanical arm module is automatically reset and feeds back a ready signal to the central controller. The central controller main control system sends a task after calculation by a depth vision algorithm, and the remaining modules automatically execute the pesticide application and killing task after receiving the signal.

[0041] In the final stage, the four-degree-of-freedom robotic arm module performs precise disinfection operation according to the spatial coordinate data returned by the positioning assembly: first, hovering above the ant nest to establish a safe working height, and then spraying pesticide powder along the perimeter of the nest. After completing the disinfection task, the four-degree-of-freedom robotic arm module automatically returns to the home position and starts the self-checking program, and the central controller main control system immediately enters the next target point operation cycle. Through the cooperation of multiple modules in a closed loop, the whole device realizes the automation and intelligentization of the whole process of red imported fire ant control operation.

[0042] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the device disclosed by the embodiments, since it corresponds to the method disclosed by the embodiments, the description is relatively simple, and the related parts can be referred to the method part.

[0043] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A smart robot for controlling red imported fire ants, characterized in that, It includes a chassis motion module, a four-degree-of-freedom robotic arm module, an end-effector dispensing module, a powder replenishment module, and a vision perception module; the chassis motion module provides the robot with mobility. A four-degree-of-freedom (DOF) robotic arm module is mounted on a chassis motion module. The output end of the four-DOF robotic arm module is equipped with an end-effector spraying module, which drives the end-effector spraying module to move, performing powder replenishment and spraying operations. A powder replenishment module is synchronously mounted on the chassis motion module, located to one side of the four-DOF robotic arm module, and provides powder to the end-effector spraying module. A vision perception module includes a depth camera and a positioning component, both mounted on the end-effector spraying module, used to acquire real-time information about the surrounding environment. The positioning component monitors spatial coordinate data in real-time, assisting the robot in precise positioning and operation. The module also includes a central controller electrically connected to the chassis motion module, the four-DOF robotic arm module, the end-effector spraying module, the powder replenishment module, and the vision perception module.

2. The intelligent red imported fire ant control robot according to claim 1, characterized in that, The four-degree-of-freedom robotic arm module includes a one-degree-of-freedom drive unit, a three-degree-of-freedom drive unit, a robotic arm (3), and a robotic arm base plate (4); the end of the robotic arm (3) is connected to an end spraying module; the bottom of the robotic arm base plate (4) is connected to a one-degree-of-freedom drive unit, and the upper part is connected to the robotic arm (3) and the three-degree-of-freedom drive unit; the one-degree-of-freedom drive unit is used to drive the robotic arm (3) to move horizontally, and the three-degree-of-freedom drive unit is used to drive the robotic arm (3) to pitch, extend, and rotate.

3. The intelligent fire ant control robot according to claim 2, characterized in that, The one-degree-of-freedom driving unit includes a lead screw module and a guide rail module; the lead screw module is connected to the robot arm base plate (4) through a first slider (5) and the first slider (5) is driven to move by a first motor; the guide rail module includes a slide rail (6) and a second slider (7), the lower end of the second slider (7) is slidably connected to the slide rail (6), and the upper end is fixedly connected to the robot arm base plate (4).

4. The intelligent fire ant control robot according to claim 2, characterized in that, The three-degree-of-freedom drive unit includes a turntable (9), a support base (10), a linkage assembly, and an end support frame (11). The end support frame (11) is used to set the end spraying module. The turntable (9) is mounted on the base plate (4) of the robotic arm, and the lower end is fixedly connected to the output end of the second motor (12). The support base (10) is fixedly connected above the turntable (9). The support base (10) is rotatably connected to one end of the robotic arm (3) and the linkage assembly. The end support frame (11) is set at the other end of the robotic arm (3) and the linkage assembly.

5. The intelligent fire ant control robot according to claim 4, characterized in that, The robotic arm (3) includes a large arm (13) and a small arm (14). One end of the large arm (13) is rotatably connected to the support base (10), and the other end is rotatably connected to the middle part of the small arm (14). One end of the small arm (14) is rotatably connected to the linkage assembly, and the other end is rotatably connected to the end support frame (11).

6. The intelligent fire ant control robot according to claim 5, characterized in that, The linkage assembly includes a first link (15), a second link (16), a triangle plate (17), a crank (18), a third link (19), and a third motor (20); one end of the first link (15) is rotatably connected to the support base (10), and the other end is rotatably connected to the first end of the triangle plate (17); one end of the second link (16) is rotatably connected to the end support frame (11), and the other end is rotatably connected to the second end of the triangle plate (17); the third end of the triangle plate (17) is coaxially rotatably connected to the rotatable connection of the upper arm (13) and the lower arm (14); the third motor (20) is mounted on the support base (10), and its output end is rotatably connected to one end of the crank (18), the other end of the crank (18) rotates one end of the third link (19), and the other end of the third link (19) is rotatably connected to the end of the lower arm (14) away from the end support frame (11).

7. The intelligent red imported fire ant control robot according to claim 1, characterized in that, The end-spraying module includes a stirring assembly, a spraying cylinder (21), a powder receiving funnel (22), and an opening drive assembly; the powder receiving funnel (22) is mounted on an end support frame (11); the spraying cylinder (21) is mounted on the end support frame (11) by a clamp; the upper end cover of the spraying cylinder (21) is provided with an opening that connects to the powder receiving funnel (22); the opening drive assembly is used to drive the spraying cylinder (21) to rotate and control the opening to open or close; the stirring assembly includes a fourth motor (23), a coupling (24), and a stirring paddle (25); the fourth motor (23) is mounted on the end support frame (11), and its output end is connected to the rotating shaft of the stirring paddle (25) through the coupling (24); the stirring paddle (25) is located inside the spraying cylinder (21).

8. The intelligent fire ant control robot according to claim 7, characterized in that, The opening drive assembly includes a drive gear (26), a driven gear (27), and a fifth motor (28); the fifth motor (28) is mounted on the end support (10), and its output end is fixedly connected to the shaft of the drive gear (26); the drive gear (26) meshes with the driven gear (27) for transmission; the driven gear (27) is fixedly sleeved on the upper end cover of the spraying cylinder (21).

9. The intelligent red imported fire ant control robot according to claim 1, characterized in that, The powder supply module includes a medicine bin (29), a push-pull assembly (30), and a feeding hopper (31). The medicine bin (29) is mounted on a chassis (1) and its lower end is connected to the push-pull assembly (30). The push-pull assembly (30) pushes the powder into the feeding hopper (31) through the thrust generated by the reciprocating motion. The feeding hopper (31) is used to connect to the end spraying module to realize the supply of powder.

Images