Plant root-knot nematode disease detection and treatment device

Abstract

The utility model discloses a plant root-knot nematode disease detecting and processing device which comprises a walking mechanism, a mounting seat, a mechanical arm and a pesticide spraying mechanism, the walking mechanism is used for walking along a farmland, the mounting seat is arranged on the walking mechanism, and the mechanical arm is arranged on the mounting seat; the pesticide spraying mechanism comprises a pesticide dispensing assembly arranged on the mounting base, the outlet end of the pesticide dispensing assembly is connected with a spray head through a telescopic pesticide pipe, the spray head is arranged at the execution tail end of the mechanical arm and is driven by the mechanical arm to swing in the X direction, pesticide spraying on the roots of plants in multiple position ranges is achieved, and therefore the better insecticidal effect is achieved.

Description

Technical Field

[0001] This utility model relates to the field of agricultural disease treatment technology, specifically to a device for detecting and treating plant root-knot nematode disease. Background Technology

[0002] Root-knot nematodes are a type of obligate endoparasitic nematodes that threaten agricultural production. They are one of the most diverse, widely distributed, and damaging groups of plant pathogenic nematodes.

[0003] In traditional agriculture, when faced with root-knot nematode disease in plants, pesticide spraying equipment is needed to walk along the farmland according to a set trajectory and spray pesticides onto the plants through the spray head to kill the root-knot nematodes. However, most existing pesticide spraying devices have a narrow spray range and poor insecticidal effect. Utility Model Content

[0004] In view of this, the present invention provides a plant root-knot nematode disease detection and treatment device to solve the problem that the spraying range of the spray head of the existing pesticide spraying device is narrow and the insecticidal effect is poor.

[0005] This utility model provides a device for detecting and treating plant root-knot nematode disease, comprising:

[0006] A walking mechanism for moving along farmland;

[0007] Mounting base, disposed on the walking mechanism;

[0008] A robotic arm is mounted on the mounting base;

[0009] The spraying mechanism includes a dispensing assembly disposed on the mounting base. The outlet end of the dispensing assembly is connected to a nozzle via a retractable tube. The nozzle is disposed at the end of the robotic arm and is driven by the robotic arm to swing around the X-axis.

[0010] The plant root-knot nematode disease detection and treatment device according to this utility model has at least the following beneficial effects:

[0011] The nozzle is connected to the outlet of the dosing unit via a retractable tube, and the nozzle is installed at the end of the robotic arm. During the process of spraying pesticides on plants to kill root-knot nematodes, the dosing unit delivers the prepared pesticide through the tube to the nozzle for spraying onto the roots of the plants. The nozzle swings around the X-axis under the drive of the robotic arm, enabling the spraying of pesticides at multiple locations on the roots of the plants, thereby achieving a better insecticidal effect.

[0012] In one optional embodiment, the robotic arm includes a connecting portion disposed on the mounting base. A first motor is disposed on the side wall of the connecting portion along the X-direction. A first mounting portion is disposed at the output end of the first motor. The arrangement direction of the first mounting portion is perpendicular to the X-direction. The first mounting portion is driven by the first motor to swing around the X-direction. A second motor is disposed at the end of the first mounting portion that is relatively far away from the first motor along its length direction. A second mounting portion is disposed at the output end of the second motor. The arrangement direction of the second mounting portion is perpendicular to the X-direction. The second mounting portion is driven by the second motor to swing around the X-direction. The nozzle is disposed at the end of the second mounting portion that is relatively far away from the second motor along its length direction.

[0013] In one optional embodiment, a third motor is provided between the connecting part and the mounting base, and the connecting part is driven by the third motor to swing around the Z-axis, with the X-axis and Z-axis perpendicular to each other.

[0014] In one optional embodiment, a fourth motor is provided between the second mounting part and the nozzle, the output end of the fourth motor is parallel to the arrangement direction of the second mounting part, and the nozzle is disposed at the output end of the fourth motor.

[0015] In one optional embodiment, a fifth motor is provided at the output end of the fourth motor, the output end of the fifth motor is perpendicular to the output end of the fourth motor, and the nozzle is provided at the output end of the fifth motor.

[0016] In one alternative embodiment, the second mounting portion is located on the side of the first mounting portion that is relatively close to the connecting portion along the X direction.

[0017] In one optional embodiment, the walking mechanism includes two horizontally spaced support parts, each of which has at least one tire at its lower end. The two support parts are connected by an assembly part, and the mounting seat is located at the upper middle part of the assembly part.

[0018] In one alternative embodiment, the mounting base is detachably connected to the assembly.

[0019] In one optional embodiment, the assembly part is provided with a T-slot at one end relative to the mounting base, a T-bolt is provided in the T-slot, the mounting base is provided with a through hole corresponding to the position of the T-slot, and the shank of the T-bolt is used to pass through the through hole and is threaded with a fastening nut.

[0020] In one optional embodiment, the dispensing assembly includes a water tank, a medicine tank, and a mixing tank. The water tank and the medicine tank are connected to the mixing tank via a first pipe and a second pipe, respectively. The first pipe is equipped with a first pump, and the second pipe is equipped with a second pump. A stirrer is installed inside the mixing tank, and a third pump is installed at the outlet end of the mixing tank. The medicine pipe is connected to the infusion end of the third pump. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present utility model;

[0023] Figure 2 for Figure 1 A partial structural diagram;

[0024] Figure 3 This is a schematic diagram of the structure of this utility model with the walking mechanism removed and suspended upside down according to an embodiment;

[0025] Figure 4 for Figure 3 A partial structural diagram.

[0026] Explanation of reference numerals in the attached figures:

[0027] 100 - Mounting base, 110 - Through hole, 120 - Metal latch;

[0028] 200-robotic arm, 210-connector, 220-first motor, 230-first mounting part, 240-second motor, 250-second mounting part, 260-fourth motor, 270-fifth motor, 280-sixth motor, 290-mounting panel;

[0029] 310 - Chemical tube, 320 - Nozzle, 330 - Water tank, 340 - Chemical tank, 350 - Mixing tank;

[0030] 410-Support section, 420-Tire, 430-Assembly section, 431-T-slot, 432-Weight reduction slot;

[0031] 510 - Telescopic pole, 520 - Stainless steel pipe, 530 - Camera. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0033] In the description of this embodiment, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this embodiment and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this embodiment. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0034] In the description of this embodiment, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment according to the specific circumstances.

[0035] The following is combined Figures 1 to 4 The following describes embodiments of the present invention.

[0036] A plant root-knot nematode disease detection and treatment device according to an embodiment of the present invention includes a walking mechanism, a mounting base 100, a robotic arm 200, and a spraying mechanism. The walking mechanism is used to walk along the farmland. The mounting base 100 is disposed on the walking mechanism, and the robotic arm 200 is disposed on the mounting base 100. The spraying mechanism includes a dispensing component disposed on the mounting base 100. The outlet end of the dispensing component is connected to a nozzle 320 through a retractable medicine tube 310. The nozzle 320 is disposed at the execution end of the robotic arm 200 and is driven by the robotic arm 200 to swing around the X direction.

[0037] The plant root-knot nematode disease detection and treatment device of this embodiment connects the nozzle 320 to the outlet end of the drug dispensing component through a retractable drug tube 310. The nozzle 320 is installed at the execution end of the robotic arm 200. During the process of spraying pesticides on plants to kill root-knot nematodes, the drug dispensing component delivers the prepared pesticide through the drug tube 310 to the nozzle 320 for spraying onto the roots of the plant. The nozzle 320 swings around the X-axis under the drive of the robotic arm 200, thereby spraying pesticides on multiple locations on the roots of the plant, achieving a better insecticidal effect.

[0038] It is understood that the X-direction mentioned in the text refers to any direction on the horizontal plane, and the Z-direction refers to a direction perpendicular to the horizontal plane. For ease of description, this embodiment uses... Figure 1 The X and Z directions shown are used to describe the X and Z directions, but should not be construed as making explicit limitations on the X direction.

[0039] Specifically, the medicine tube 310 uses a corrugated pipe.

[0040] like Figure 1 and Figure 2 As shown, specifically, the walking mechanism includes two horizontally spaced support portions 410. Each support portion 410 has at least one tire 420 at its lower end, preferably two tires 420. The two tires 420 are spaced apart along the length of the support portion 410 at the lower end of the corresponding support portion 410. The two support portions 410 are connected by an assembly portion 430, and the mounting base 100 is located at the upper center of the assembly portion 430. By providing a tire 420 at each of the four corners, the stability of this embodiment along the farmland following a preset walking trajectory is improved.

[0041] Specifically, the four tires 420 are connected to servo motors, and the forward, reverse, and stationary turning walking modes are achieved by adjusting the relative speed, allowing this embodiment to walk along the farmland according to the set walking trajectory. The servo motors driving the tires 420 on both sides to rotate and the steering adjustment walking to achieve walking in the farmland are all mature technologies already in use in the prior art, so their internal structure will not be described in detail in this embodiment.

[0042] Specifically, the assembly part 430 is provided with a weight reduction groove 432, which reduces the overall weight of this embodiment while ensuring the overall structural strength of this embodiment.

[0043] Specifically, the mounting base 100 and the assembly part 430 are detachably connected. When this embodiment is not in use, the mounting base 100 and the assembly part 430 can be separated into two parts for storage.

[0044] Specifically, the assembly part 430 is provided with a T-slot 431 at one end relative to the mounting base 100. The T-slot 431 is arranged along the length direction of the assembly part 430. A T-bolt is provided in the T-slot 431. The mounting base 100 is provided with a through hole 110 in the Z direction corresponding to the position of the T-slot 431. The shank of the T-bolt is used to pass through the through hole 110 and is threaded with a fastening nut. When assembling the assembly part 430 and the mounting base 100, first place the T-bolt into the T-slot 431 and move it flexibly relative to the T-slot 431 to the actual required installation position of the mounting base 100. Then, align the through hole 110 of the mounting base 100 with the part of the T-bolt extending outside the T-slot 431 and insert it along the Z direction. Finally, tighten the threaded fastening nut onto the part of the T-bolt whose shank passes through the through hole 110. When assembling and disassembling the assembly part 430 and the mounting base 100, simply unscrew the threaded fastening nut. The entire assembly and disassembly process is convenient and the connection is secure.

[0045] like Figure 3 and Figure 4 As shown, specifically, the mounting base 100 has three metal latches 120 on its end face that is relatively far from the robotic arm 200 along the Z direction. The weight reduction groove 432 provides clearance for the metal latches 120. Since the mounting base 100 is detachably connected to the assembly part 430, the part consisting of the mounting base 100, the robotic arm 200 and the spraying mechanism can be removed from the mounting base 100 and fixedly suspended on the indoor horizontal bar. It can also slide freely and flexibly along the horizontal bar to reach the designated position and spray pesticides on the plants grown indoors to kill insects.

[0046] like Figure 1 and Figure 3 As shown, in some embodiments, the pesticide preparation assembly includes a water tank 330, a pesticide tank 340, and a mixing tank 350. The water tank 330 and the pesticide tank 340 are connected to the mixing tank 350 via a first pipe and a second pipe, respectively. The first pipe is equipped with a first pump, and the second pipe is equipped with a second pump. A stirrer is installed inside the mixing tank 350, and a third pump is installed at the outlet end of the mixing tank 350. The pesticide tube 310 is connected to the infusion end of the third pump. When it is necessary to spray pesticides on plants, the first and second pumps are activated to deliver water and pesticides to the mixing tank 350. Under the stirring action of the stirrer, a pesticide of uniform concentration is obtained. Then, the third pump delivers the stirred and prepared pesticide through the pesticide tube 310 to the nozzle 320 for spraying onto the roots of the plants, which helps to improve the insecticidal effect.

[0047] The structure of the robotic arm 200 in this embodiment will be described in detail below.

[0048] like Figure 1 and Figure 3As shown, in some embodiments, the robotic arm 200 includes a connecting portion 210 disposed on the mounting base 100. A first motor 220 is disposed on the side wall of the connecting portion 210 along the X-direction. A first mounting portion 230 is disposed at the output end of the first motor 220. The arrangement direction of the first mounting portion 230 is perpendicular to the X-direction. The first mounting portion 230 is driven by the first motor 220 to swing around the X-direction. A second motor 240 is disposed at the end of the first mounting portion 230 that is relatively far away from the first motor 220 along its length direction. A second mounting portion 250 is disposed at the output end of the second motor 240. The arrangement direction of the second mounting portion 250 is perpendicular to the X-direction. The second mounting portion 250 is driven by the second motor 240 to swing around the X-direction. The nozzle 320 is disposed at the end of the second mounting portion 250 that is relatively far away from the second motor 240 along its length direction. The first motor 220 and the second motor 240 are connected by the first mounting part 230, and the output end of the second motor 240 and the nozzle 320 are connected by the second mounting part 250, so that the nozzle 320 can spray pesticides over a larger area of ​​the plant roots under the drive of the robotic arm 200, which is beneficial to improving the insecticidal effect.

[0049] Specifically, the second mounting part 250 is located on the side of the first mounting part 230 that is relatively close to the connecting part 210 along the X direction, making the structure of the robotic arm 200 more compact.

[0050] Specifically, a third motor is provided between the connecting part 210 and the mounting base 100, and the connecting part 210 is driven by the third motor to swing around the Z-axis. By adding a third motor, the nozzle 320 can also rotate and swing around the Z-axis under the drive of the robotic arm 200, which helps to expand the spraying range and thus improve the insecticidal effect.

[0051] Specifically, a fourth motor 260 is provided between the second mounting part 250 and the nozzle 320. The output end of the fourth motor 260 is parallel to the arrangement direction of the second mounting part 250, and the nozzle 320 is located at the output end of the fourth motor 260. By adding the fourth motor 260, the nozzle 320 can also rotate and swing around the axis of the second mounting part 250 under the drive of the robotic arm 200, which helps to expand the spraying range and thus improve the insecticidal effect.

[0052] Specifically, a fifth motor 270 is provided at the output end of the fourth motor 260. The output end of the fifth motor 270 is perpendicular to the output end of the fourth motor 260, and the nozzle 320 is provided at the output end of the fifth motor 270. By adding the fifth motor 270, the nozzle 320 can also rotate and swing around the axis perpendicular to the second mounting part 250 under the drive of the robotic arm 200, which helps to expand the spraying range and thus improve the insecticidal effect.

[0053] In specific applications, a sixth motor 280 is installed at the output end of the fifth motor 270. The output end of the sixth motor 280 is perpendicular to the output end of the fifth motor 270. A mounting panel 290 is installed at the output end of the sixth motor 280. A nozzle 320 and a telescopic rod 510 are installed on the end face of the mounting panel 290 away from the sixth motor 280. A stainless steel tube 520 is installed at the telescopic end of the telescopic rod 510, which is far away from the mounting panel 290. A camera 530 is installed at the end of the stainless steel tube 520. The camera 530 can rotate and extend under the control of the robotic arm 200 and the telescopic rod 510 to adjust the position of the camera 530 and achieve all-round shooting of the crop growth. Sampling; the camera 530 is connected to the communication module, which can remotely transmit the captured images to the host computer. The host computer is equipped with an image analysis module, which can analyze the crop images captured by the camera 530 and compare them with existing crop disease images to determine whether the captured crops have pests or diseases. If pests or diseases are found, the host computer generates control commands and transmits them to the host computer's control module. The control module can transmit the control commands to the communication module, which in turn transmits the control commands to the control chip. The control chip can then control the operation of the robotic arm 200 and the spraying mechanism according to the control commands.

[0054] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and all such modifications and variations fall within the scope defined by the appended invention.

Claims

1. A device for detecting and treating plant root-knot nematode disease, characterized in that, include: A walking mechanism for moving along farmland; Mounting base (100) is disposed on the walking mechanism; A robotic arm (200) is mounted on the mounting base (100); The spraying mechanism includes a dosing assembly disposed on the mounting base (100). The outlet end of the dosing assembly is connected to a nozzle (320) via a retractable dosing tube (310). The nozzle (320) is disposed at the execution end of the robotic arm (200) and is driven by the robotic arm (200) to swing around the X direction.

2. The plant root-knot nematode disease detection and treatment device according to claim 1, characterized in that, The robotic arm (200) includes a connecting part (210) disposed on the mounting base (100). A first motor (220) is disposed on the side wall of the connecting part (210) along the X direction. A first mounting part (230) is disposed at the output end of the first motor (220). The arrangement direction of the first mounting part (230) is perpendicular to the X direction. The first mounting part (230) is driven by the first motor (220) to swing around the X direction. A second motor (240) is disposed at the end of the first mounting part (230) that is relatively away from the first motor (220) along its length direction. A second mounting part (250) is disposed at the output end of the second motor (240). The arrangement direction of the second mounting part (250) is perpendicular to the X direction. The second mounting part (250) is driven by the second motor (240) to swing around the X direction. The nozzle (320) is disposed at the end of the second mounting part (250) that is relatively away from the second motor (240) along its length direction.

3. The plant root-knot nematode disease detection and treatment device according to claim 2, characterized in that, A third motor is provided between the connecting part (210) and the mounting base (100). The connecting part (210) is driven by the third motor to swing around the Z direction, and the X direction and the Z direction are perpendicular to each other.

4. The plant root-knot nematode disease detection and treatment device according to claim 3, characterized in that, A fourth motor (260) is provided between the second mounting part (250) and the nozzle (320). The output end of the fourth motor (260) is parallel to the arrangement direction of the second mounting part (250), and the nozzle (320) is located at the output end of the fourth motor (260).

5. The plant root-knot nematode disease detection and treatment device according to claim 4, characterized in that, The output end of the fourth motor (260) is provided with a fifth motor (270), the output end of the fifth motor (270) is perpendicular to the output end of the fourth motor (260), and the output end of the fifth motor (270) is provided with the nozzle (320).

6. A plant root-knot nematode disease detection and treatment device according to any one of claims 2 to 5, characterized in that, The second mounting part (250) is located on the side of the first mounting part (230) that is relatively close to the connecting part (210) along the X direction.

7. The plant root-knot nematode disease detection and treatment device according to claim 1, characterized in that, The walking mechanism includes two horizontally spaced support parts (410), each of which has at least one tire (420) at its lower end. The two support parts (410) are connected by an assembly part (430), and the mounting seat (100) is located at the upper middle part of the assembly part (430).

8. The plant root-knot nematode disease detection and treatment device according to claim 7, characterized in that, The mounting base (100) is detachably connected to the assembly part (430).

9. The plant root-knot nematode disease detection and treatment device according to claim 8, characterized in that, The assembly part (430) is provided with a T-slot (431) at one end relative to the mounting base (100). A T-bolt is provided in the T-slot (431). The mounting base (100) is provided with a through hole (110) corresponding to the position of the T-slot (431). The shank of the T-bolt is used to pass through the through hole (110) and is threaded with a fastening nut.

10. The plant root-knot nematode disease detection and treatment device according to claim 1, characterized in that, The drug preparation assembly includes a water tank (330), a medicine tank (340), and a mixing tank (350). The water tank (330) and the medicine tank (340) are connected to the mixing tank (350) through a first pipe and a second pipe, respectively. The first pipe is equipped with a first pump, and the second pipe is equipped with a second pump. The mixing tank (350) is equipped with a stirrer, and the outlet end of the mixing tank (350) is equipped with a third pump. The medicine tube (310) is connected to the infusion end of the third pump.

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