CN106719532A - A kind of robot for killing branches of fruit trees borer pest - Google Patents
A kind of robot for killing branches of fruit trees borer pest Download PDFInfo
- Publication number
- CN106719532A CN106719532A CN201611124658.9A CN201611124658A CN106719532A CN 106719532 A CN106719532 A CN 106719532A CN 201611124658 A CN201611124658 A CN 201611124658A CN 106719532 A CN106719532 A CN 106719532A
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- China
- Prior art keywords
- water
- water filling
- electronic switch
- robot
- fruit trees
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M1/00—Stationary means for catching or killing insects
- A01M1/22—Killing insects by electric means
- A01M1/223—Killing insects by electric means by using electrocution
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- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
A kind of robot for killing branches of fruit trees borer pest,Including frame and the Athey wheel for being arranged at frame both sides,Six shaft mechanical joint arms are provided with frame,Water receptacle,Battery and water injecting pump,Water filling plastic tube is provided with the clamping part of mechanical arm,Water injecting pump is connected with water receptacle and water filling plastic tube respectively,Water filling plastics pipe surface is provided with electrode,It is robot autonomous to move to by trunks of fruit trees,Fruit tree branch bar is scanned by high-definition camera,Identification insect worm channel,Water filling plastic tube is inserted worm channel by mechanical arm,Then the high voltage direct current that DC boost modules are produced and exported,It is applied on insect organism through the water in worm channel by electrode,So that insect is electrically shocked killing,The present invention and the cultural control method for using at present,Chemical prevention and control method is compared with biological control method,The present invention can be killed effectively to the insect of branches of fruit trees,And without ecological environmental pollution,Non agricultural chemical residuum,Effect is good,Mechanical automation degree is high.
Description
Technical field
The present invention relates to agriculture project equipment technology field, a kind of machine for killing branches of fruit trees borer pest of specific design
Device people.
Background technology
The trees of edible fruit, that is, claim fruit tree, be can provide can be edible fruit, the perennial plant of seed and its anvil
The general name of wood.Fruit tree has many insects, some harm leaves, the harm fruit having, the harm limb having.Wherein, limb is pierced
Interior borer pest moth food limb bast, xylem etc., influence conducting system transmission nutrient, moisture, influence output of the fruit tree,
Even result in that tree vigo(u)r is weak or death, after being encroached on, plant is difficult to recover life, has a strong impact on the economic benefit of fruit tree.
At present, fruit tree pest insect is gone out except method is main：Cultural control technology, chemical pesticide go out remove, measure of biotic control；But these methods are deposited
In various defects, using agrotechnical control fruit tree pest insect, the cost of labor of input is higher, is gone out using chemical pesticide and removed
When, spray method is good for foliar pest and fruit surface insect insect killing effect, but easily causes environmental pollution and agricultural chemicals is residual
Stay and be detrimental to health, the pest species being applicable using biological control method are limited, and it is relatively more numerous and diverse, cost is also high.
The content of the invention
It is in view of the shortcomings of the prior art that the purpose of the present invention is, there is provided a kind of rational in infrastructure, pollution-free, reduction people
Work input cost, improves deinsectization efficiency and a kind of intelligent level robot for killing branches of fruit trees borer pest high.
The object of the present invention is achieved by the following technical measures：A kind of robot for killing branches of fruit trees borer pest,
Including frame and the Athey wheel for being arranged at frame both sides, be provided with the frame surface six shaft mechanical joint arms, water receptacle,
Battery and water injecting pump, water filling plastic tube is provided with the clamping part of the six shaft mechanicals joint arm, and height is provided with wrist
Clear camera, water injecting pump one end other end that is connected with water receptacle is connected with water filling plastic tube, is set on the water filling plastic tube
Electrode is equipped with, electrode is symmetrically fixed on water filling plastic tube outside, and control circuit is boosted by robot control system, single-chip microcomputer, DC
Module, the first electronic switch, the second electronic switch and power-supply system, the battery are connected by circuit with power-supply system；
The power-supply system by circuit respectively with high-definition camera, robot control system, Athey wheel on servomotor, monolithic
Machine, the first electronic switch, the second electronic switch, six shaft mechanical joint arms are connected with DC boost modules, the high-definition camera
Head be connected with robot control system by circuit, the robot control system pass through circuit respectively with servomotor, six
Shaft mechanical joint arm is connected with single-chip microcomputer, the single-chip microcomputer by circuit respectively with the first electronic switch, the second electronic cutting
Pass is connected with DC boost modules, and first electronic switch is connected by circuit with water injecting pump, and the DC boost modules lead to
Cross circuit to be connected with the second electronic switch, second electronic switch is connected by circuit with electrode.
It is further preferred that the frame is provided with two Athey wheels per side.
It is further preferred that the battery is the lithium battery that can be charged.
It is further preferred that the electrode 8 is by two panels mutually insulated, 1mm wide, 20-300mm long, fine copper film composition.
A kind of control method of the robot for killing branches of fruit trees borer pest, it is characterised in that：High-definition camera pair
Trunks of fruit trees carries out detection identification positioning, and scans branches of fruit trees identification worm channel, worm channel is positioned, by worm channel positional information
Robot control system is transferred to, first controls six shaft mechanical joint arms to insert water filling plastic tube after robot control system treatment
Enter in worm channel, single-chip microcomputer starts the first electronic switch, makes water injecting pump that conveying water is carried out to water filling plastic tube, and water filling plastic tube starts
Water filling works, and then single-chip microcomputer starts DC boost modules and the second electronic switch, and single-chip microcomputer is by setting the electricity of DC boost modules
Pressure, on the HVDC transmission for producing to electrode, electric shock kills insect.
The present invention has the advantages that compared with prior art：
1st, go out the caterpillar robot for removing to the borer pest in fruit tree branch bar there is provided intelligentized use physics electric field, to big
Area orchard replaces artificial deinsectization, improves efficiency, and the eradicative rate to insect in limb worm channel is high, and caterpillar robot exists
Operate steadily reliability under the environment such as orchard.
2nd, to by trunks of fruit trees, autonomous scanning recognition worm channel automatically inserts water filling plastic tube robot energy autonomous
Worm channel water filling applies high voltage killing pests, with intelligent level higher.
3. using the equipment improve insecticide efficiency, protect ecological environment, reduce fruit pesticide residue ensure food
Product safety, and removed suitable for all kinds of going out for branches of fruit trees insect, it is also possible to for other kinds tree limb borer pest
Go out and remove, with application value higher.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention,
Fig. 2 is circuit theory diagrams of the invention.
Drawing explanation：1st, frame, 2, Athey wheel, 3, six shaft mechanical joint arms, 4, water receptacle, 5, battery, 6, water filling
Pump, 7, water filling plastic tube, 8, electrode, 9, high-definition camera, 10, robot control system, 11, single-chip microcomputer, 12, DC rise pressing mold
Block, the 13, first electronic switch, the 14, second electronic switch, 15, power-supply system, 16, servomotor, 17, clamping part, 18, wrist.
Specific embodiment
With reference to a kind of embodiment that accompanying drawing 1-2, the present invention are provided：A kind of machine for killing branches of fruit trees borer pest
People, it is characterised in that：Including frame 1 and the Athey wheel 2 for being arranged at the both sides of frame 1, the frame 1 is provided with six axle machines on surface
Tool joint arm 3, water receptacle 4, battery 5 and water injecting pump 6, are provided with the clamping part 17 of the six shaft mechanicals joint arm 3
Water filling plastic tube 7, is provided with high-definition camera 9 on wrist 18, the one end of water injecting pump 6 is connected the other end and water filling with water receptacle 4
Plastic tube 7 is connected, and electrode 8 is provided with the water filling plastic tube 7, and electrode 8 is symmetrically fixed on the outside of water filling plastic tube 7, control
Circuit processed is by robot control system 10, single-chip microcomputer 11, DC boost modules 12, the first electronic switch 13, the second electronic switch 14
With power-supply system 15, the battery 5 is connected by circuit with power-supply system 15；The power-supply system 15 is distinguished by circuit
With the servomotor 16 on high-definition camera 9, robot control system 10, Athey wheel 2, single-chip microcomputer 11, the first electronic switch 13,
Second electronic switch 14, six shaft mechanical joint arms 3 are connected with DC boost modules 12；The high-definition camera 9 passes through circuit
Be connected with robot control system 10, the robot control system 10 by circuit respectively with servomotor 16, six axle machines
Tool joint arm 3 is connected with single-chip microcomputer 11, the single-chip microcomputer 11 by circuit respectively with the first electronic switch 13, the second electronics
Switch 14 is connected with DC boost modules 12, and first electronic switch 13 is connected by circuit with water injecting pump 6, the DC liters
Die block 12 is connected by circuit with the second electronic switch 14, and second electronic switch 14 is connected by circuit with electrode 8
Connect, the frame 1 is settable per side there are two Athey wheels 2, and the battery 5 is the lithium battery that can be charged, the electrode 8
By two panels mutually insulated, 1mm wide, 20-300mm long, fine copper film composition.
The rated voltage of battery 5 be 24V, connect power-supply system 15, power-supply system 15 to DC boost modules 12, water injecting pump 6,
Servomotor 16, the first electronic switch 13, the second electronic switch 14 provide 12V DC voltages, and power-supply system 15 is to high-definition camera
First 9 and robot control system 10 and single-chip microcomputer 11 5V DC voltages are provided；High-definition camera 9 is used for visiting trunks of fruit trees
Identification positioning is surveyed, and scans branches of fruit trees identification worm channel, worm channel is positioned, worm channel positional information is transferred to robot control
System processed 10, first controls six shaft mechanical joint arms 3 that water filling plastic tube 7 is inserted into worm channel after the treatment of robot control system 10
Interior, single-chip microcomputer 11 starts the first electronic switch 13 so that water injecting pump 6 starts water filling work, and single-chip microcomputer 11 starts DC after water filling 5 seconds
The electronic switch 14 of boost module 12 and second, single-chip microcomputer 11 by setting the voltage of DC boost modules 12, the straightening high for producing
Stream electrical transmission is to being fixed in two lateral electrodes 8 of water filling plastic tube 7；Robot control system 10 mainly have satellite navigation function and
The control calculating effect of embedded system, can complete the positioning to fruit tree, and to being provided with the wrist 18 of high-definition camera 9
Control, the scanning in order to high-definition camera 9 to branches of fruit trees worm channel, the control servomotor 16 of robot control system 10 is complete
Into walking function, while controlling six shaft mechanical joint arms 3, the accurate pipe of water filling plastic tube 7 is inserted into worm channel, gone out except process
Resetted after water filling plastic tube 7 is extracted after end；The work of the control DC of single-chip microcomputer 11 boost modules 12, including setting DC boost modules
12 sizes for producing voltages, and by sample circuit obtain the output voltage current parameters of DC boost modules 12 complete data display and
Carry out the protection control of DC boost modules 12；DC boost modules 12, mainly under the control of single-chip microcomputer 11, power-supply system 15 are sent
The 12V DC voltages for coming are boosted, and export DC high voltage, and voltage is adjusted according to branches of fruit trees thickness, adjustable extent
It is 200-500V, after water filling plastic tube 7 is to worm channel water filling, the output DC voltage of DC boost modules 12 imports worm by electrode 8
Hole, worm channel is enough filled due to water energy and insect organism is touched quickly, then applies high voltage direct current by electrode 8, and water is led
High voltage direct current is electrically produced into physics electric field action to insect organism so that physics electric field can fully contact insect
Organism so that insect is electrically shocked killing.
General principle of the invention, principal character and advantage has been shown and described above, do not depart from spirit of the invention and
On the premise of scope, the present invention also has various changes and modifications, and these changes and improvements both fall within claimed invention
Scope.
Claims (5)
1. a kind of robot for killing branches of fruit trees borer pest, it is characterised in that：Including frame（1）Be arranged at frame
（1）The Athey wheel of both sides（2）, the frame（1）Six shaft mechanical joint arms are provided with surface（3）, water receptacle（4）, electric power storage
Pond（5）And water injecting pump（6）, the six shaft mechanicals joint arm（3）Clamping part（17）On be provided with water filling plastic tube（7）, arm
Wrist（18）On be provided with high-definition camera（9）, water injecting pump（6）One end and water receptacle（4）Be connected the other end and water filling plastic tube
（7）It is connected, the water filling plastic tube（7）On be provided with electrode（8）, electrode（8）It is symmetrically fixed on water filling plastic tube（7）Outward
Side, control circuit is by robot control system（10）, single-chip microcomputer（11）, DC boost modules（12）, the first electronic switch（13）,
Two electronic switches（14）And power-supply system（15）, the battery（5）By circuit and power-supply system（15）It is connected, the electricity
Origin system（15）By circuit respectively with high-definition camera（9）, robot control system（10）, Athey wheel（2）On servo electricity
Machine（16）, single-chip microcomputer（11）, the first electronic switch（13）, the second electronic switch（14）, six shaft mechanical joint arms（3）With DC liters
Die block（12）It is connected, the high-definition camera（9）By circuit and robot control system（10）It is connected, the machine
People's control system（10）By circuit respectively with servomotor（16）, six shaft mechanical joint arms（3）And single-chip microcomputer（11）It is connected
Connect, the single-chip microcomputer（11）By circuit respectively with the first electronic switch（13）, the second electronic switch（14）With DC boost modules
（12）It is connected, first electronic switch（13）By circuit and water injecting pump（6）It is connected, the DC boost modules（12）It is logical
Cross circuit and the second electronic switch（14）It is connected, second electronic switch（14）By circuit and electrode（8）It is connected.
2. the robot for killing branches of fruit trees borer pest according to claim 1, it is characterised in that：The frame
（1）Side is provided with two Athey wheels（2）.
3. the robot for killing branches of fruit trees borer pest according to claim 1, it is characterised in that：The battery
（5）It is the lithium battery that can be charged.
4. the robot for killing branches of fruit trees borer pest according to claim 1, it is characterised in that：The electrode
（8）By two panels mutually insulated, 1mm wide, 20-300mm long, fine copper film composition.
5. a kind of control method of robot for killing branches of fruit trees borer pest according to claim 1, its feature
It is：High-definition camera（9）Detection identification positioning is carried out to trunks of fruit trees, and scans branches of fruit trees identification worm channel, worm channel is entered
Row positioning, robot control system is transferred to by worm channel positional information（10）, robot control system（10）First controlled after treatment
Six shaft mechanical joint arms（3）By water filling plastic tube（7）In insertion worm channel, single-chip microcomputer（11）Start the first electronic switch（13）,
Make water injecting pump（6）To water filling plastic tube（7）Carry out conveying water, water filling plastic tube（7）Start water filling work, then single-chip microcomputer（11）
Start DC boost modules（12）With the second electronic switch（14）, single-chip microcomputer（11）By setting DC boost modules（12）Voltage,
The HVDC transmission for producing to electrode（8）On, electric shock kills insect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611124658.9A CN106719532A (en) | 2016-12-08 | 2016-12-08 | A kind of robot for killing branches of fruit trees borer pest |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611124658.9A CN106719532A (en) | 2016-12-08 | 2016-12-08 | A kind of robot for killing branches of fruit trees borer pest |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106719532A true CN106719532A (en) | 2017-05-31 |
Family
ID=58881822
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611124658.9A Pending CN106719532A (en) | 2016-12-08 | 2016-12-08 | A kind of robot for killing branches of fruit trees borer pest |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106719532A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544505A (en) * | 2018-04-19 | 2018-09-18 | 昆明创培知识产权服务有限公司 | A kind of monitoring of Agroforestry ecosystem and maintaining robot |
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| KR20100108780A (en) * | 2009-03-30 | 2010-10-08 | 구본우 | Apparatus for exterminating soil pests using an electric shock |
| KR20140013479A (en) * | 2012-07-24 | 2014-02-05 | (주)케이제이다이나텍 | Exterminating apparatus of harmful insects for plants using spray water and impulse voltage |
| CN105284760A (en) * | 2015-11-17 | 2016-02-03 | 邓银初 | Water-spraying and current-delivering device and method for controlling agriculture, forestry and gardening crop pests and diseases |
| CN105993733A (en) * | 2016-06-13 | 2016-10-12 | 河南科技学院 | High-voltage physical electric field current device for killing crop leaf surface pests |
| CN106070155A (en) * | 2016-07-30 | 2016-11-09 | 重庆科技学院 | Automatic target detection variable rate spray system based on PLC and control method thereof |
-
2016
- 2016-12-08 CN CN201611124658.9A patent/CN106719532A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20100108780A (en) * | 2009-03-30 | 2010-10-08 | 구본우 | Apparatus for exterminating soil pests using an electric shock |
| KR20140013479A (en) * | 2012-07-24 | 2014-02-05 | (주)케이제이다이나텍 | Exterminating apparatus of harmful insects for plants using spray water and impulse voltage |
| CN105284760A (en) * | 2015-11-17 | 2016-02-03 | 邓银初 | Water-spraying and current-delivering device and method for controlling agriculture, forestry and gardening crop pests and diseases |
| CN105993733A (en) * | 2016-06-13 | 2016-10-12 | 河南科技学院 | High-voltage physical electric field current device for killing crop leaf surface pests |
| CN106070155A (en) * | 2016-07-30 | 2016-11-09 | 重庆科技学院 | Automatic target detection variable rate spray system based on PLC and control method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544505A (en) * | 2018-04-19 | 2018-09-18 | 昆明创培知识产权服务有限公司 | A kind of monitoring of Agroforestry ecosystem and maintaining robot |
| CN108544505B (en) * | 2018-04-19 | 2020-07-17 | 广州天地林业有限公司 | Agriculture and forestry ecology monitoring and maintenance robot |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |