Design of a Leaf-Bottom Pest Control Robot with Adaptive Chassis and Adjustable Selective Nozzle

Pest control is an important guarantee for agricultural production. Pests are mostly light-avoiding and often gather on the bottom of crop leaves. However, spraying agricultural machinery mostly adopts top-down spraying, which suffers from low pesticide utilization and poor insect removal effect. Therefore, the upward spraying mode and intelligent nozzle have gradually become the research hotspot of precision agriculture. This paper designs a leaf-bottom pest control robot with adaptive chassis and adjustable selective nozzle. Firstly, the adaptive chassis is designed based on the MacPherson suspension, which uses shock absorption to drive the track to swing within a 30° angle. Secondly, a new type of cone angle adjustable selective nozzle was developed, which achieves adaptive selective precision spraying under visual guidance. Then, based on a convolutional block attention module (CBAM), the multi-CBAM-YOLOv5s network model was improved to achieve a 70% recognition rate of leaf-bottom spotted bad point in video streams. Finally, functional tests of the adaptive chassis and the adjustable selective spraying system were conducted. The data indicate that the adaptive chassis can adapt to diverse single-ridge requirements of soybeans and corn while protecting the ridge slopes. The selective spraying system achieves 70% precision in pesticide application, greatly reducing the use of pesticides. The scheme explores a ridge-friendly leaf-bottom pest control plan, providing a technical reference for improving spraying effect, reducing pesticide usage, and mitigating environmental pollution.