CN103843744A - Device and method for precisely applying forest barrier medicine belts - Google Patents

Abstract

The invention belongs to the technical field of agricultural and forest mechanical equipment automatic test control, and relates to an agricultural and forestall precise medicine application operation device, in particular to a device and a method for precisely applying forest barrier medicine belts. The device comprises a moving platform, a laser scanning radar, barrier medicine belts, a throwing executing mechanism and a main control unit, wherein the laser radar can fast and accurately position the positions of tree trunks requiring the barrier medicine belt application, the main control unit makes decisions and sends instructions to the throwing executing mechanism, the tail end of a mechanical arm of the throwing executing mechanism is adsorbed with the barrier medicine belts through a magnet, the action of throwing the medicine belts can be executed according to instructions, and the barrier medicine belts can be automatically wound on the tree trunks for forming annular sealed barrier medicine belts when colliding with the tree trunks. The device adopts a non-hydraulic medicine application mode, medicine liquor floating and scattering and medicine spraying loss are avoided, and the utilization rate of medicine liquid is high. Compared with the artificial medicine belt winding, the device and the method have the advantage that the efficiency is greatly improved. In addition, the medicine belts with certain length are applicable to the tree trunks in a certain dimension range, the repeated use for many years can be realized, and the prevention and treatment cost is reduced.

Description

A kind of device and method that precisely applies forest obstacle medicine band

Technical field

The present invention relates to a kind of agriculture and forestry dispenser apparatus for work, relate in particular to a kind of device that precisely applies forest obstacle medicine band.

Background technology

The defoliator with upper and lower trunk transference is the primary pest of harm tree growth.In the time that the early spring, forest started to germinate, defoliator climbs to and on tree crown, gnaws tender shoots and shoot along trunk or tendril when the sunlight such as night or cloudy day are weak, thereby causes forest, the particularly underproduction of economic forest fruit tree or whole strain death, and harm seriously.At present the common method of preventing and treating have artificial capture method, hoe the fields go out ovum, trapping method, pour water to flood and kill and the method such as chemical control, wherein chemical method is still Main Means.Traditional chemical control adopt unrestrained broadcast the mode of spraying to whole strain forest spraying insecticide with control defoliator.Which can cause excessively spraying, and not only makes cost increase, also can cause environmental problems such as soil and groundwater pollution, and liquid to fly away phenomenon serious, human health is produced to harmful effect.In addition, the method for preventing and treating of defoliator also comprises tree trunk injection method and trunk gluing method.Medicine-injecting method is injection into holes around trunk, makes Quan Shuti all have agriculture the effective elements of the medicine, no matter insect at what position takes food, all can be poisoned to death; For the insect with context tree transference, can directly insect sticker be applied to tree upper, or first be wound around a circle with adhesive tape at the smooth position of trunk, above then insect sticker being evenly coated in.These two kinds of methods have drawback separately: medicine-injecting method process complexity, injection after need to first holing, and liquor strength be difficult to hold, easily because of liquor strength too high to tree body produce poisoning; Gluing method need first be scraped and debark, then is wound around adhesive tape, finally smears insect sticker, and program is numerous and diverse, labour intensity is high, inefficiency, and higher to the viscose glue uniformity requirement of smearing.

Accuracy pesticide applying technology is dissolved in trunk glue spreading method: vehicle is at the uniform velocity in traveling process, decide dispenser action according to the concrete condition of every forest trunk (size and position), adopt the insecticide-applying way of non-fluid power on trunk, to apply the obstacle medicine band that similarly there is certain width with trunk gluing method one to cut off defoliator context tree migration the only way which must be passed (trunk).These class methods are significantly saved dosage, are avoided liquid to fly away, improve agricultural chemicals availability, reduce environmental pollution, also can liberate labour, enhance productivity, and can overcome the drawback of above three kinds of methods.

Summary of the invention

The object of this invention is to provide a kind of device that automatically precisely applies forest obstacle medicine band to throw the mode of getting rid of, to avoid droplet to fly away and to improve operating efficiency.The invention allows for application said apparatus precisely applies obstacle medicine band to forest trunk method to throw the mode of getting rid of.

Technical scheme provided by the present invention is to propose a kind of device that precisely applies forest obstacle medicine band, and it comprises:

Mobile platform, main control unit, scanning laser radar and apply the Pao Shuai executing agency of obstacle medicine band; Scanning laser radar is fixed on the front portion of mobile platform one side, and it is honest in target trunk; At mobile platform rear portion and scanning laser radar homonymy, the Pao Shuai executing agency that applies obstacle medicine band is installed, and Pao Shuai executing agency and scanning laser radar are positioned on same level position, in Pao Shuai executing agency, be evenly distributed with multiple mechanical arms, each mechanical arm tail end is equipped with a magnet, in order to adsorb obstacle medicine band.

This device also comprises that stepper motor drives Pao Shuai executing agency to carry out and throws whipping work.

Mechanical arm is 3, and the angle between each mechanical arm is 120 °.

Throwing is got rid of actuator bottom linear electric motors module is housed, and main control unit control linear electric motors module drives Pao Shuai executing agency to reciprocatingly move with respect to mobile platform.

Main control unit is military version notebook computer.

The material of obstacle medicine band is stainless steel spring sheet, and normal condition is curled into helical form, and throwing while getting rid of is exceptionally straight state, is wrapped in one deck medicine clothing on the outer surface of whole obstacle medicine band.

The present invention also proposes a kind of method of applying the above-mentioned device that precisely applies obstacle medicine band and carrying out accuracy pesticide applying, it is characterized in that comprising the following steps:

(1), in the process that mobile platform is at the uniform velocity advanced along moving direction low speed, scanning laser radar two-dimensional level scans forest trunk and obtains size and the position of forest trunk;

(2) when being positioned at, a certain trunk position clashes into the side of datum line along moving direction, it is to clashing into vertical range of datum line minimum but while being greater than this trunk diameter compared with other trunk position, main control unit sends signal to linear electric motors module in real time, control Pao Shuai executing agency and move back and forth along the median line direction of scanning laser radar, to guarantee the distance on mechanical arm tail end and the median line direction of trunk position at scanning laser radar when the impingement position;

(3) mechanical arm, in the time of " loaded " position, is manually fixed on the obstacle medicine band in exceptionally straight state the end of mechanical arm by magnet, requires the outer surface of obstacle medicine band to contact with magnet; When detecting trunk position, main control unit is less than or equal to trunk radius to the vertical range of clashing into datum line, trunk position is positioned at clashes into datum line along a side of moving direction and does not carry out throwing whipping while work, and control step motor drives Pao Shuai executing agency to carry out and throws the action of getting rid of obstacle medicine band; Obstacle medicine band strikes trunk in the time of impingement position, trunk is to an external force of the vertical effect of obstacle medicine band, the rum point place exceptionally straight borderline balance state of obstacle medicine band is destroyed, obstacle medicine is with the elastic force that returns to original spiral status, this elastic force spreads to the two ends of obstacle medicine band respectively from rum point, obstacle medicine band free end is first wrapped on trunk, and the suction that then the obstacle medicine band other end is broken away from magnet is also wrapped in trunk, thereby on trunk, forms the obstacle medicine band of a ring seal;

(4) throw and get rid of and be wound around in the process of trunk at above-mentioned obstacle medicine band, mechanical arm at the uniform velocity turns over 120 ° of arrival throwings from " loaded " position and gets rid of end position, complete and once throw whipping work, mechanical arm gets rid of end position to clear position from throwing afterwards, the process of getting back to " loaded " position from clear position is again idle stroke, does not carry out and gets rid of the relevant any action of obstacle medicine band with throwing.

Beneficial effect of the present invention is: employing can be at the wheel moving platform of woodland or orchard walking, on mobile platform, carry scanning laser radar, realize fast, accurately identifying and locating forest trunk, thereby control special executing agency and on trunk, apply the obstacle medicine band with certain elasticity mechanical property to throw the mode of getting rid of, it is wrapped on trunk and forms effective barrier, intercept defoliator.Package unit positioning precision is high, and fast response time adopts the mode of non-fluid power to apply obstacle medicine band, fly away without the loss of spray medicine and liquid, improved liquid availability, the basic effect that realizes " green dispenser ", and compared with artificial winding medicine band, efficiency significantly improves, and has liberated labour; In addition, because the obstacle medicine band applying has elasticity, the medicine band of certain length can adapt to the trunk change in size in certain limit, therefore can reuse for many years, has reduced cost accounting.

Accompanying drawing explanation

Below in conjunction with the drawings and the specific embodiments, the present invention is further detailed explanation:

Fig. 1 is the integral layout vertical view that precisely applies forest obstacle medicine belting of the present invention;

Fig. 2 is obstacle medicine band structure schematic diagram of the present invention: (a) basic configuration figure, (b) normal condition schematic diagram, (c) A-A direction sectional view, (d) exceptionally straight view;

Fig. 3 is the schematic diagram that precisely applies obstacle medicine band of the present invention;

Fig. 4 is the process schematic diagram that obstacle medicine band of the present invention clashes into and be wound around trunk.

Reference numeral:

1-mobile platform; 2-main control unit; 3-Ethernet interface; 4-scanning laser radar; 5-scanning area; 6-USB interface; 7-RS422 turns USB interface; 8-data collecting card; 9-Pao Shuai executing agency; 10-mechanical arm; 11-magnet; 12-obstacle medicine band; 13-stepper motor; 14-throws and gets rid of direction; 15-linear electric motors module; 16-trunk; 17-scanning direction; 18-x direction of principal axis; 19-y direction of principal axis; 20-support; 21-moving direction; 22-bending direction; 23-clashes into datum line; 24-inner surface; 25-outer surface; P1-" loaded " position; P12-impingement position; P2-throws and gets rid of end position; P3-clear position;

Embodiment

The forest obstacle medicine belting that precisely applies of the present invention, preferably embodiment is as shown in Figures 1 to 4 for it:

The forest obstacle medicine belting that precisely applies of the present invention comprises mobile platform 1, main control unit 2, scanning laser radar 4, Pao Shuai executing agency 9 and obstacle medicine band 12;

As shown in Figure 1, mobile platform 1 is a four-wheel electric agricultural vehicle, front-wheel steer, rear wheel drive, and in the present invention, all parts and mechanism are installed on mobile platform 1, mobile platform

dead weight is 450kg, full load max. speed 25km/h, and rated power 4.5kw, is furnished with the vehicular power-bottle of 4 12V DC, for the whole forest obstacle medicine belting that precisely applies provides power supply;

In the present invention, a SICK LMS511 type laser scanning radar 4 is fixed on the right front portion of mobile platform 1 apart from the position of ground lm by support 20, honest facing and horizontal two-dimension scanning trunk 16, the surface sweeping region 5 of laser scanning radar 4 is set to 190 °, scanning direction 17 is counterclockwise, scanning angle resolution is 0.5 °, and corresponding Data Update frequency is 75Hz, and maximum detectable range is 26m.Scanning laser radar 4 carries out data communication by Ethernet 3 and main control unit 2; As shown in Figure 1, take the Laser emission center of scanning laser radar 4 as initial point, set up the relative rectangular coordinate system of scanning laser radar 4, x axle 18 is the direction contrary with mobile platform 1 moving direction 21, and y axle 19 is the median line of laser scanning radar 4;

In the present invention, in mobile platform 1 rear portion right positions, the Pao Shuai executing agency 9 that applies obstacle medicine band 12 is installed, Pao Shuai executing agency 9 and scanning laser radar 4 are positioned on same level position; In Pao Shuai executing agency 9, be evenly distributed with 3 mechanical arms 10, the angle between each mechanical arm 10 is 120 °, and each mechanical arm 10 ends are equipped with a magnet 11, in order to adsorb obstacle medicine band 12; Main control unit 2 drives Pao Shuai executing agency 9 to get rid of direction 14 by counterclockwise as shown in Figure 1 throwing by data collecting card 8 control step motors 13 and carries out and throw whippings and do, and every Pao Shuaiyici executing agency 9 turns over 120 °; Linear electric motors module 15 is equipped with in 9 bottoms in Pao Shuai executing agency, and Pao Shuai executing agency 9 is fixed on the mover of linear electric motors module 15, and the stator of linear electric motors module 15 is fixed on mobile platform 1.Main control unit 2 is controlled linear electric motors module 15 by data collecting card 8 and is driven Pao Shuai executing agency 9 to reciprocatingly move with respect to mobile platform 1 in the direction of scanning laser radar 4 relative coordinate system y axles 19, and moving range is 500mm, and maximum translational speed is 4m/s.The mobile displacement of Pao Shuai executing agency 9 turns USB interface 7 by RS422 and feeds back to main control unit 2, and main control unit 2 carries out communication with data collecting card 8 by USB interface 6.

In the present invention, the military version notebook computer of main control unit 2 for adapting to work under adverse circumstances, CPU frequency is 2.4GHz dual core processor, inside saves as 3GB, hard disk is 250GB, can, in the adverse circumstances such as humidity, dust, pollution, vibration, meet job requirements.Main control unit 2 is arranged on mobile platform 1 anteriomedial position by vehicle-mounted bracket, driver can adjust according to personal habits the position of vehicle-mounted bracket and main control unit 2, so that driver monitors the content that main control unit 2 shows in real time, and bringing device such as is debugged and arranges at the operation.

Be illustrated in figure 2 the obstacle medicine band 12 in the present invention, its material is stainless steel spring sheet, basic configuration is strip, length is L, width is W, thickness is T (Fig. 2 (a) and (c)), when normal condition, is curled into helical form (Fig. 2 (b)) along bending direction 22.In the present invention, obstacle medicine band 12 needed through pretreatment before being got rid of by throwing: after obstacle medicine band 12 being smoothed out with the fingers directly, encircle into inner surface 24 evaginations, the arc surface of outer surface 25 indents, radius of curvature is r, as shown in Fig. 2 (c), make straight band of the exceptionally straight one-tenth of obstacle medicine band 12 of original curl, and can keep this exceptionally straight borderline balance state (Fig. 2 (d)).In the time having an external force F vertically to act on the inner surface 24 of obstacle medicine band 12 optional position, this exceptionally straight borderline balance state is destroyed, and obstacle medicine band 12 is by along the curling original helical form (Fig. 2 (d)) that reverts to of bending direction 22.The present invention utilizes this Elasticity characteristic, and obstacle medicine band 12 is wrapped on trunk 16.On the outer surface of whole obstacle medicine band 12, be wrapped in one deck medicine clothing, in medicine clothing, contain and there is liquid or the insect sticker of killing and intercept insect effect.Length is that the applicable trunk diameter D scope of the obstacle medicine band 12 of L is:

$\frac{0.5L}{\mathrm{\π}}\≤D\≤\frac{0.8L}{\mathrm{\π}}---\left(1\right)$

In the time that trunk diameter exceeds this scope, can suitably increase or shorten obstacle medicine band 12 according to the size of trunk 16.

Below in conjunction with Fig. 3 and 4, the method for a mechanical arm 10 accuracy pesticide applying obstacle medicine bands in Pao Shuai executing agency 9 is specifically described, it is identical with it that two other mechanical arm 10 precisely applies the Method and Process of obstacle medicine band:

(1) in the process that mobile platform 1 is at the uniform velocity advanced along moving direction 21 low speed, scanning laser radar 4 two-dimensional level scanning forest trunks 16.When scanning laser radar 4 completes after single pass, obtain the point sequence of an outline of scanning area 5 interior all trunks, comprise the detection range ρ under scanning angle θ and this scanning angle, and send to main control unit 2, first main control unit 2 carries out pretreatment to profile point, according to actual application environment, detection range is exceeded to the whole filterings of profile point of threshold value A, then remaining data point is utilized formula (2) to be transformed in the relative rectangular coordinate system of scanning laser radar 4:

$\left\{\begin{array}{c}{x}_i={\mathrm{\ρ}}_i\sin {\mathrm{\θ}}_i\\ y_i={\mathrm{\ρ}}_i\cos {\mathrm{\θ}}_i\end{array}---\left(2\right)\right.$

Wherein, (x _i, y _i) be the position of i profile point in the relative rectangular coordinate system of scanning laser radar 4, θ _ibe the scanning angle of i profile point, ρ _iit is the detection range of i profile point.Then in relative rectangular coordinate system, analyze saltus step distance between profile point.When between point, saltus step distance is less than threshold value B, thinks to belong to the profile point on same trunk; Otherwise, belong to different trunks, finally obtain the profile point bunch of each trunk in scanning area 5.Wherein threshold value B is determined by the distance between scanning angle resolution, scan frequency, scanning laser radar 4 and the trunk 16 of scanning laser radar 4 and operating speed.Calculate the distance between two data points of first and last in j trunk profile point bunch, be considered as the diameter D of this trunk 16 _j, the mid point of the line between first and last data point is considered as the position (x of this trunk in the relative rectangular coordinate system of scanning laser radar 4 _cj, y _cj), as shown in Figure 3.

(2) as j trunk position (x _cj, y _cj) be positioned at and clash into datum line 23 along a side of moving direction 21, its vertical range d to shock datum line 23 minimum but be greater than this trunk diameter D compared with other trunk position _jtime, according to this trunk position (x _ci, y _cj), mechanical arm 10 is its end and the relative position relation of scanning laser radar 4 in y axle 19 directions in the time of impingement position P12, main control unit 2 sends signal to linear electric motors module 15 in real time, control Pao Shuai executing agency 9 and move back and forth along y axle 19 directions, guarantee mechanical arm 10 ends and trunk position (x in the time of impingement position P12 _ci, y _ci) distance in y axle 19 directions:

L ₁=L-πD _j (3)

Wherein, L ₁for mechanical arm 10 ends when the impingement position P12 and trunk position (x _cj, y _cj) distance in y axle 19 directions, L is obstacle medicine strip length, D _jfor the diameter of this trunk.Clash into the position that datum line 23 refers to that obstacle medicine band 12 estimates to clash into trunk 16.

(3) mechanical arm 10, in the time of " loaded " position P1, is manually fixed on the obstacle medicine band 12 in exceptionally straight state the end (Fig. 3) of mechanical arm 10 by magnet 11, requires the outer surface 25 of obstacle medicine band 12 to contact with magnet 11.When main control unit 2 detects trunk position (x _cj, y _cj) be less than or equal to trunk radius to the vertical range d that clashes into datum line 23 , trunk position (x _cj, y _cj) be positioned at and clash into datum line 23 to get rid of action marker value Flag along a side of moving direction 21 and throwing be 0 o'clock, control step motor 13 drives Pao Shuai executing agency 9 to carry out and throw the action of getting rid of obstacle medicine band 12 with a higher rotating speed.Obstacle medicine band 12, at impingement position P12, strikes trunk 16 when mechanical arm 10 turns over 90 °, as shown in Fig. 3 and Fig. 4 (a).Due to shock, trunk 16 has vertically acted on an external force F to obstacle medicine band 12, and rum point place obstacle medicine band 12 exceptionally straight borderline balance states are destroyed, and obstacle medicine band 12 has the elastic force that returns to original spiral status.This elastic force spreads to the two ends of obstacle medicine band 12 respectively from rum point.This one end contacting with mechanical arm 10 due to obstacle medicine band 12 has magnet 11 fixing, and other end free end there is no other External Force Actings, therefore make the free end of obstacle medicine band 12 curling along bending direction 22, be first wrapped on trunk 16 (Fig. 4 (a) and (b)).Along with mechanical arm 10 continues to forward to, the suction of magnet 11 is broken away from one end that obstacle medicine band 12 is fixed by magnet 11.Now obstacle medicine band 12 except along bending direction 22 to the curling elastic force of trunk 16, again without other External Force Actings, final this one end also will be wrapped on trunk 16, thereby on trunk 16, form the obstacle medicine band 12 (Fig. 4 (b) and (c)) of a ring seal.

(4) throw and get rid of and be wound around in the process of trunk 16 at above-mentioned obstacle medicine band 12, mechanical arm 10 at the uniform velocity turns over 120 ° of arrival throwings from " loaded " position P1 and gets rid of end position P2, and throwing is simultaneously got rid of action marker value Flag and is set to 1; Otherwise Flag is set to 0, throw the maloperation of getting rid of medicine band to avoid duplicating throwing to get rid of or leak.It is that whether oneself carries out throwing whipping work for sign that action marker value Flag is got rid of in throwing, and Flag=0 represents not yet to carry out throwing whipping and does; Flag=1 represents that oneself carries out throwing whipping and does.Mechanical arm 10 gets rid of end position P2 to clear position P3 from throwing, then is idle stroke from the process that clear position P3 gets back to " loaded " position P1, does not carry out and gets rid of the relevant any action of obstacle medicine band with throwing.

Claims (7)

1. a device that precisely applies obstacle medicine band, is characterized in that: comprise mobile platform, main control unit, scanning laser radar and apply the Pao Shuai executing agency of obstacle medicine band; Scanning laser radar is fixed on the front portion of mobile platform one side, and it is honest in target trunk; At mobile platform rear portion and scanning laser radar homonymy, the Pao Shuai executing agency that applies obstacle medicine band is installed, and Pao Shuai executing agency and scanning laser radar are positioned on same level position, in Pao Shuai executing agency, be evenly distributed with multiple mechanical arms, each mechanical arm tail end is equipped with a magnet, in order to adsorb obstacle medicine band.

2. device according to claim 1, this device also comprises that stepper motor drives Pao Shuai executing agency to carry out and throws whipping work.

3. device according to claim 1, described mechanical arm is 3, the angle between each mechanical arm is 120 °.

4. device according to claim 1, described throwing is got rid of actuator bottom linear electric motors module is housed, and main control unit control linear electric motors module drives Pao Shuai executing agency to reciprocatingly move with respect to mobile platform.

5. device according to claim 1, described main control unit is military version notebook computer.

6. device according to claim 1, the material of described obstacle medicine band is stainless steel spring sheet, and normal condition is curled into helical form, and throwing while getting rid of is exceptionally straight state, is wrapped in one deck medicine clothing on the outer surface of whole obstacle medicine band.

7. the application device that precisely applies obstacle medicine band as claimed in claim 1 carries out a method for accuracy pesticide applying, it is characterized in that comprising the following steps:

(1), in the process that mobile platform is at the uniform velocity advanced along moving direction low speed, scanning laser radar two-dimensional level scans forest trunk and obtains size and the position of forest trunk;

(2) when being positioned at, a certain trunk position clashes into the side of datum line along moving direction, it is to clashing into vertical range of datum line minimum but while being greater than this trunk diameter compared with other trunk position, main control unit sends signal to linear electric motors module in real time, control Pao Shuai executing agency and move back and forth along the median line direction of scanning laser radar, to guarantee the distance on mechanical arm tail end and the median line direction of trunk position at scanning laser radar when the impingement position;

(3) mechanical arm, in the time of " loaded " position, is manually fixed on the obstacle medicine band in exceptionally straight state the end of mechanical arm by magnet, requires the outer surface of obstacle medicine band to contact with magnet; When detecting trunk position, main control unit is less than or equal to trunk radius to the vertical range of clashing into datum line, trunk position is positioned at clashes into datum line along a side of moving direction and does not carry out throwing whipping while work, and control step motor drives Pao Shuai executing agency to carry out and throws the action of getting rid of obstacle medicine band; Obstacle medicine band strikes trunk in the time of impingement position, trunk is to an external force of the vertical effect of obstacle medicine band, the rum point place exceptionally straight borderline balance state of obstacle medicine band is destroyed, obstacle medicine is with the elastic force that returns to original spiral status, this elastic force spreads to the two ends of obstacle medicine band respectively from rum point, obstacle medicine band free end is first wrapped on trunk, and the suction that then the obstacle medicine band other end is broken away from magnet is also wrapped in trunk, thereby on trunk, forms the obstacle medicine band of a ring seal;

(4) throw and get rid of and be wound around in the process of trunk at above-mentioned obstacle medicine band, mechanical arm at the uniform velocity turns over 120 ° of arrival throwings from " loaded " position and gets rid of end position, complete and once throw whipping work, mechanical arm gets rid of end position to clear position from throwing afterwards, the process of getting back to " loaded " position from clear position is again idle stroke, does not carry out and gets rid of the relevant any action of obstacle medicine band with throwing.

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