A plant disease and pest detection device

Abstract

This utility model discloses a plant disease and pest detection device, including a self-propelled vehicle, a rotating seat, an L-shaped support column, a rotating cylinder, a visual inspection instrument, and a leaf-picking mechanism. The self-propelled vehicle has a rotating seat mounted on its top, connected to the L-shaped support column. A rotatable rotating cylinder is located at the end of the support column, and a turntable is located at the bottom of the rotating cylinder. A visual inspection instrument and supplementary lighting are installed below the turntable. The turntable has a leaf-picking mechanism that drives a two-way toothed plate to mesh with an incomplete gear via a threaded rod, thereby actuating two leaf-picking plates to separate branches and leaves, improving image clarity. This device has autonomous mobility and can perform multi-angle, high-efficiency detection in complex planting environments, making it suitable for automated monitoring of agricultural diseases and pests.

Description

Technical Field

[0001] This utility model belongs to the field of plant pest and disease detection technology, specifically relating to a plant pest and disease detection device. Background Technology

[0002] In modern agricultural production, the timely detection and accurate identification of plant diseases and pests are crucial for ensuring crop yield and quality. Traditional disease and pest monitoring mainly relies on manual inspections or fixed-point camera equipment. This method is not only labor-intensive but also inefficient and highly susceptible to human factors, making it difficult to meet the needs of large-scale planting environments for efficient and intelligent detection methods.

[0003] Currently, several automated or semi-automated pest and disease detection devices have been proposed, including schemes that utilize cameras and image processing algorithms to identify leaf lesions and pest characteristics. However, existing devices generally suffer from the following technical problems:

[0004] On the one hand, most existing detection devices adopt a fixed structure and lack autonomous mobility, which cannot adapt to the dynamic detection needs of multiple locations and areas in complex scenarios such as fields and greenhouses, resulting in limited detection range and low equipment utilization. On the other hand, some detection devices with mobility often cannot effectively clear away branches and leaves when entering the plant community for detection, resulting in severe visual obstruction and reduced detection accuracy, especially in crops with densely intertwined branches and leaves, where the clarity of the captured images cannot be guaranteed.

[0005] Furthermore, some existing leaf-removing devices have risks of structural instability, uneven leaf-removing direction, and physical damage to plants during operation. For example, some leaf-removing mechanisms cannot maintain a vertical leaf-removing surface when removing leaves, causing the end face to tilt during device operation, which can squeeze plant roots or branches, affecting plant growth and even causing damage. Utility Model Content

[0006] To address the problems existing in the prior art, the purpose of this utility model is to provide a plant disease and pest detection device that can achieve autonomous movement and intelligent separation of branches and leaves during the detection process, thereby improving image acquisition quality and detection efficiency, and thus solving the aforementioned problems.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a plant disease and pest detection device, comprising a self-propelled vehicle, a rotating seat rotatably mounted on the top of the self-propelled vehicle, an L-shaped support column fixed on the top of the rotating seat, and the top of the L-shaped support column being horizontally positioned.

[0008] The L-shaped support column is hinged to a rotating cylinder at its end. A turntable is rotatably mounted at the bottom of the rotating cylinder. An extension plate is symmetrically arranged at the bottom of the turntable. Two swing rods are symmetrically hinged between the two extension plates, and the swing rods extend beyond the extension plates.

[0009] Both swing rods on the same side are hinged to the movable plate. The movable plate is vertically arranged, and the bottom of both movable plates is bent inward and equipped with leaf-removing plates, which are used to remove plant leaves.

[0010] Furthermore, a connecting plate is provided on one side of the rotating cylinder, and the connecting plate is rotatably installed on the end of the L-shaped support column. The rotation of the rotating seat and the connecting plate are both controlled by a servo motor.

[0011] Furthermore, the top of the rotating cylinder is provided with an end cap, and a threaded rod is rotatably installed at the center of the bottom of the rotating cylinder. Inside the rotating cylinder, there are two servo motors used to control the rotation of the turntable and the threaded rod, respectively.

[0012] Furthermore, a base plate is fixed to the bottom of each of the two extension plates, and a visual inspection instrument is installed at the center of the bottom of the base plate for detecting diseases. Supplemental lights are symmetrically installed on the lower surface of the base plate for supplemental lighting during inspection.

[0013] Furthermore, a sliding hole is provided in the center of the turntable, and a bidirectional toothed plate is slidably installed inside the sliding hole. The bottom of the bidirectional toothed plate is placed between the two extension plates, and the end of the threaded rod is screwed into the inner side of the bidirectional toothed plate to control the sliding of the bidirectional toothed plate.

[0014] Furthermore, the rotation shafts of the two swing rods near the turntable are provided with incomplete gears, and the bidirectional toothed plate is placed between the two incomplete gears, and the bidirectional toothed plate meshes with the two incomplete gears respectively.

[0015] Furthermore, a lidar is installed on the front side of the upper surface of the self-propelled vehicle, and protective frames are symmetrically installed on both sides of the self-propelled vehicle.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] This device uses a self-propelled vehicle as a mobile platform, and is equipped with lidar to achieve autonomous path planning and obstacle recognition. It can move flexibly in farmland or greenhouses without human intervention, thus solving the problems of existing plant disease and pest detection equipment generally lacking mobility, having limited detection area, and having low equipment utilization rate, and significantly improving operation efficiency and crop coverage.

[0018] This device, through the installation of a rotating base, L-shaped support column, and rotating cylinder, and driven by a servo motor, achieves multi-dimensional adjustment of the detection device in terms of spatial angle. This allows the visual inspection equipment to be accurately positioned directly above the target plant, effectively avoiding detection angle deviations caused by fixed angles or limited adjustment ranges, and improving the targeting and completeness of image acquisition.

[0019] This device features a turntable structure below the rotating cylinder, and a threaded rod drives a bidirectional toothed plate to activate an incomplete gear linkage leaf-pulling structure, enabling synchronous separation of the two leaf-pulling plates. This allows for the thorough clearing of dense branches and leaves before detection, solving the problems of low recognition accuracy and unstable results caused by visual obstruction during image acquisition in existing equipment. It effectively ensures the clarity of the detected images and the visibility of disease features.

[0020] This device, through the combination of a visual inspection instrument and a supplementary light, can automatically supplement light and acquire high-definition images in low-light environments such as rainy days and dusk. It solves the problem of blurry or unrecognizable images in traditional equipment when the lighting conditions are poor, and improves the all-weather adaptability and detection reliability of the equipment.

[0021] The leaf-picking structure of this device adopts a double-linkage design with a two-way toothed plate and an incomplete gear linkage, ensuring that the two moving plates remain vertical during the separation process. This effectively prevents physical damage to plant branches, stems, and roots caused by tilting or deformation of the leaf-picking structure, further enhancing the device's applicability and plant safety in high-density planting areas. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0023] Figure 2 This is a schematic diagram of the self-propelled vehicle structure of this utility model;

[0024] Figure 3 This is a three-dimensional structural diagram of the rotating cylinder of this utility model;

[0025] Figure 4 For the present utility model Figure 3 A schematic diagram of the cross-sectional structure;

[0026] Figure 5 This is a schematic diagram of the movable plate installation structure of this utility model;

[0027] Figure 6 This is a schematic diagram of the installation structure of the visual inspection instrument of this utility model.

[0028] The components represented by each number in the attached diagram are listed below: 1. Self-propelled vehicle; 11. Protective frame; 12. LiDAR; 13. Rotating seat; 14. L-shaped support column; 2. Rotating cylinder; 21. Connecting plate; 22. End cap; 3. Turntable; 31. Extension plate; 32. Sliding hole; 33. Base plate; 4. Vision inspection instrument; 5. Supplementary light; 6. Threaded rod; 7. Two-way toothed plate; 8. Swing rod; 81. Incomplete gear; 9. Moving plate; 91. Leaf-pulling plate. Detailed Implementation

[0029] To make the objectives and advantages of this utility model clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of this utility model and does not strictly limit the scope of protection specifically claimed by this utility model.

[0030] refer to Figures 1-6 As shown, a plant disease and pest detection device includes a self-propelled vehicle 1, with a rotating seat 13 rotatably mounted on the top of the self-propelled vehicle 1; an L-shaped support column 14 is fixed on the top of the rotating seat 13; the top of the L-shaped support column 14 is horizontally set to form a cantilever structure for supporting the detection component; a rotating cylinder 2 is hinged to the end of the L-shaped support column 14, and a turntable 3 is rotatably mounted on the bottom of the rotating cylinder 2; extension plates 31 are symmetrically arranged on the bottom of the turntable 3, and two swing rods 8 are symmetrically hinged between the two extension plates 31, with the swing rods 8 extending beyond the extension plates 31 and along both sides of their bottom; the ends of the two swing rods 8 on the same side are hinged to a moving plate 9, which is vertically set and has good lateral rigidity and prying stability; the bottom of the two moving plates 9 is bent inward and equipped with a leaf-pulling plate 91, which is used to pry open plant leaves, so that the visual detector 4 has an unobstructed imaging field of view; the leaf-pulling plate 91 and the moving plate 9 form an integrated rotating structure, which is driven by a bidirectional toothed plate 7 to achieve synchronous separation action, ensuring consistent separation angle and reducing the degree of interference to the plant.

[0031] refer to Figures 1-3 As shown, a connecting plate 21 is provided on one side of the rotating cylinder 2. The connecting plate 21 is rotatably installed at the end of the L-shaped support column 14 to form a rotating connection mechanism. One end of the connecting plate 21 is fixedly connected to the shell of the rotating cylinder 2, and the other end is rotatably connected to the L-shaped support column 14 through a bearing assembly. The rotation of the rotating seat 13 and the connecting plate 21 are controlled by a servo motor. The servo motor can achieve precise angle adjustment so as to adjust the orientation and posture of the rotating cylinder 2 during detection, so that the turntable 3 can be positioned in the area directly above the plant, thereby improving the targeting and accuracy of the acquisition of pest and disease detection images.

[0032] refer to Figure 3 and Figure 4The top of the rotating cylinder 2 is provided with an end cover 22, which is used to close the upper opening of the rotating cylinder 2 and provide a mounting base for the internal electrical control components of the equipment. A threaded rod 6 is rotatably installed at the bottom center of the rotating cylinder 2. The threaded rod 6 passes through the interior of the turntable 3 and is guaranteed to have axial stability by bearing limiting components. Two servo motors are installed inside the rotating cylinder 2, which are used to control the rotation of the turntable 3 and the threaded rod 6 respectively. The servo motors are connected to the corresponding transmission shafts through a reduction mechanism to ensure smooth transmission and high control accuracy, which is convenient for synchronous control during the leaf picking and leaf splitting process.

[0033] refer to Figure 6 As shown, a base plate 33 is fixed to the bottom of the two extension plates 31. The base plate 33 is rectangular and perpendicularly connected to the extension plates 31. A vision inspection instrument 4 is installed at the center of the bottom of the base plate 33. The vision inspection instrument 4 is firmly connected to the base plate 33 through a mounting bracket. It is used to detect disease images and upload the data to the terminal system for image recognition and analysis. Supplementary lights 5 are symmetrically installed on the lower surface of the base plate 33. The supplementary lights 5 are distributed on both sides of the vision inspection instrument 4. They adopt a high-brightness LED lamp bead array and are used with a light-transmitting cover to provide a uniform light source. They assist imaging in low-light scenarios and ensure the clarity and color reproduction of the images acquired by the vision inspection instrument 4.

[0034] refer to Figure 4 and Figure 5 As shown, a sliding hole 32 is provided in the center of the turntable 3. The sliding hole 32 is elongated and located on the longitudinal axis of the turntable 3. A bidirectional toothed plate 7 is slidably installed inside the sliding hole 32. The bidirectional toothed plate 7 has a symmetrical tooth structure and can move smoothly along the axis inside the sliding hole 32. The bottom of the bidirectional toothed plate 7 is placed between two extension plates 31, forming the core component for force transmission of the leaf-driving mechanism. The end of the threaded rod 6 is screwed into the inner side of the bidirectional toothed plate 7. The rotational transmission is converted into linear sliding through the internal thread connection, thereby controlling the up and down displacement of the bidirectional toothed plate 7 and driving the swing rod 8 to move synchronously.

[0035] refer to Figure 4 and Figure 5 As shown, the rotating shafts of the two swing rods 8 near the turntable 3 are equipped with incomplete gears 81, which are fixedly connected to the swing rods 8 to form a transmission pair; the bidirectional toothed plate 7 is placed between the two incomplete gears 81, and the bidirectional toothed plate 7 meshes with the two incomplete gears 81 respectively; when the threaded rod 6 rotates, the bidirectional toothed plate 7 slides in the sliding hole 32 and drives the two incomplete gears 81 to rotate, thereby controlling the change of the distance between the two moving plates 9 through the swing rods 8, realizing the separation and closing action of the leaf-picking plate 91; this structure can achieve flexible plucking while ensuring a compact structure, enhancing the stability and consistency of plant leaf separation, and preventing the problem of tilting and pressing branches during plucking.

[0036] refer to Figure 1 and Figure 2As shown, a lidar 12 is installed on the front side of the upper surface of the self-propelled vehicle 1. The lidar 12 is used to actively scan and identify obstacles in front of the device during movement and feed back to the control system to achieve path avoidance. Protective frames 11 are symmetrically installed on both sides of the self-propelled vehicle 1. The protective frames 11 are arc-shaped skeleton structures made of lightweight and high-strength metal materials. They are used to protect the sides of the vehicle body and external installed components (such as rotating cylinder 2 and vision inspection instrument 4) during operation, so as to avoid accidental collisions from affecting the detection accuracy, and also improve the adaptability and service life of the device in complex farmland environments.

[0037] The working principle of this utility model is as follows: the self-propelled vehicle 1 enables the entire device to move autonomously. The laser radar 12 is used to scan obstacles during movement. The protective frame 11 is used to protect the self-propelled vehicle 1. When it moves to the detection area, the rotating seat 13 is rotated by a motor, causing the L-shaped support column 14 to shift towards the detection area and move the rotating cylinder 2 above the plant. The rotation of the rotating cylinder 2 is controlled by a motor to adjust the appropriate detection angle. Initially, the rotating cylinder 2 is in a retracted state. When detection is needed, it can be moved vertically downwards. At the same time, in the initial state, the bidirectional toothed plate 7 is placed at the top of the stroke to control the two moving parts. When the plates 9 are brought close together, the motor is started to control the rotation of the turntable 3 so that the two leaf-picking plates 91 can be placed between the leaves. Then, the motor controls the rotation of the threaded rod 6. Since the bidirectional toothed plate 7 can only slide inside the sliding hole 32, the rotation of the threaded rod 6 can control the movement of the bidirectional toothed plate 7. Then, the meshing of the bidirectional toothed plate 7 and the incomplete gear 81 drives the swing rod 8 to swing, so that the two leaf-picking plates 91 separate to separate the branches and leaves. At this time, the visual inspection instrument 4 can take pictures and upload them to the computer terminal for detection and analysis. The supplementary light 5 is used to provide supplementary light in the dark environment to ensure the cleanliness of the pictures taken by the visual inspection instrument 4.

[0038] This device can perform detection autonomously and is flexible in its movement, ensuring the detection effect. The double linkage mechanism can control the moving plate 9 to always remain vertical during separation, preventing the tilted end face from damaging the plant roots and stems.

[0039] The above description is merely a preferred embodiment of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. Structures, devices, and operating methods not specifically described or explained in this utility model, unless otherwise specified or limited, shall be implemented using conventional methods in the field.

Claims

1. A plant disease and pest detection device, comprising a self-propelled vehicle (1), characterized in that: The self-propelled vehicle (1) has a rotating seat (13) rotatably mounted on its top. An L-shaped support column (14) is fixed on the top of the rotating seat (13), and the top of the L-shaped support column (14) is horizontally positioned. The L-shaped support column (14) is hinged to a rotating cylinder (2) at its end. A turntable (3) is rotatably mounted on the bottom of the rotating cylinder (2). An extension plate (31) is symmetrically arranged on the bottom of the turntable (3). Two swing rods (8) are symmetrically hinged between the two extension plates (31). The swing rods (8) extend beyond the extension plates (31). The ends of the two swing rods (8) on the same side are hinged to the moving plate (9). The moving plate (9) is set vertically. The bottom of the two moving plates (9) is bent inward and is provided with a leaf-pulling plate (91). The leaf-pulling plate (91) is used to pry open the plant leaves.

2. The plant disease and pest detection device according to claim 1, characterized in that: A connecting plate (21) is provided on one side of the rotating cylinder (2). The connecting plate (21) is rotatably installed at the end of the L-shaped support column (14). The rotation of the rotating seat (13) and the connecting plate (21) are both controlled by a servo motor.

3. The plant disease and pest detection device according to claim 1, characterized in that: The rotating cylinder (2) is provided with an end cap (22) at the top, and a threaded rod (6) is rotatably installed at the bottom center of the rotating cylinder (2). The rotating cylinder (2) is provided with two servo motors, which are used to control the rotation of the turntable (3) and the threaded rod (6) respectively.

4. The plant disease and pest detection device according to claim 1, characterized in that: The bottom of the two extension plates (31) is fixed with a base plate (33). A visual inspection instrument (4) is installed at the bottom center of the base plate (33) for detecting diseases. Supplementary lights (5) are symmetrically installed on the lower surface of the base plate (33) for supplementary lighting during inspection.

5. The plant disease and pest detection device according to claim 3, characterized in that: The turntable (3) has a sliding hole (32) in the center. A bidirectional toothed plate (7) is slidably installed inside the sliding hole (32). The bottom of the bidirectional toothed plate (7) is placed between the two extension plates (31). The end of the threaded rod (6) is screwed into the inside of the bidirectional toothed plate (7) to control the sliding of the bidirectional toothed plate (7).

6. The plant disease and pest detection device according to claim 5, characterized in that: The two swing rods (8) near the turntable (3) are provided with incomplete gears (81) on their rotation shafts. The bidirectional toothed plate (7) is placed between the two incomplete gears (81) and meshes with the two incomplete gears (81) respectively.

7. The plant disease and pest detection device according to claim 1, characterized in that: The self-propelled vehicle (1) is equipped with a laser radar (12) on the front side of its upper surface, and protective frames (11) are symmetrically installed on both sides of the self-propelled vehicle (1).

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