CN111386895A - Accurate pesticide applying equipment and method for tree trunk - Google Patents
Accurate pesticide applying equipment and method for tree trunk Download PDFInfo
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- CN111386895A CN111386895A CN202010330731.8A CN202010330731A CN111386895A CN 111386895 A CN111386895 A CN 111386895A CN 202010330731 A CN202010330731 A CN 202010330731A CN 111386895 A CN111386895 A CN 111386895A
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- 239000000575 pesticide Substances 0.000 title claims abstract description 172
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000007789 sealing Methods 0.000 claims abstract description 76
- 230000007246 mechanism Effects 0.000 claims abstract description 72
- 230000009194 climbing Effects 0.000 claims abstract description 52
- 241000607479 Yersinia pestis Species 0.000 claims abstract description 32
- 239000007788 liquid Substances 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims abstract description 9
- 238000003825 pressing Methods 0.000 claims description 50
- 201000010099 disease Diseases 0.000 claims description 29
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 claims description 29
- 239000003814 drug Substances 0.000 claims description 29
- 238000003860 storage Methods 0.000 claims description 19
- 241000238631 Hexapoda Species 0.000 claims description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 238000005507 spraying Methods 0.000 claims description 9
- 238000004080 punching Methods 0.000 claims description 8
- 239000007921 spray Substances 0.000 claims description 8
- 238000002347 injection Methods 0.000 claims description 4
- 239000007924 injection Substances 0.000 claims description 4
- 230000001174 ascending effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 238000012377 drug delivery Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000000843 powder Substances 0.000 abstract description 6
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract 1
- 239000002245 particle Substances 0.000 abstract 1
- 230000001502 supplementing effect Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 229940079593 drug Drugs 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 238000000151 deposition Methods 0.000 description 2
- 239000003595 mist Substances 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 239000000443 aerosol Substances 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 239000008187 granular material Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G7/00—Botany in general
- A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
-
- 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
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0003—Atomisers or mist blowers
-
- 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
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/8466—Investigation of vegetal material, e.g. leaves, plants, fruits
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Wood Science & Technology (AREA)
- Forests & Forestry (AREA)
- Ecology (AREA)
- Biodiversity & Conservation Biology (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Zoology (AREA)
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- Chemical & Material Sciences (AREA)
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- General Health & Medical Sciences (AREA)
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- Analytical Chemistry (AREA)
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- Catching Or Destruction (AREA)
Abstract
The invention discloses a trunk accurate pesticide applying device and a pesticide applying method. In the detection process of the pesticide application equipment, the tree climbing mechanism provides power to drive the pesticide application device to spirally rise around the trunk, according to different pest occurrence positions and severity, the pesticide can be directly injected into the trunk drilled hole through mechanisms such as an electric drill and the like, the pesticide can also be input through locally sealing the surface of the trunk, and the pesticide application equipment is compatible with liquid state, gas state and powder state (the powder state is close to the gas state, but the particle size is different), can be flexibly combined and switched in practical application, is suitable for the actual situation on site, can directly and effectively prevent and treat the pest of the trunk, can save pesticide, reduce cost and reduce pollution, and has the advantages of high efficiency and strong practicability. Meanwhile, the invention has reasonable structure planning, novel conception, easy manufacture and maintenance and is suitable for popularization and use.
Description
Technical Field
The invention belongs to the field of plant protection machinery, and particularly relates to accurate pesticide application equipment and a pesticide application method for a trunk.
Background
At present, in the field of forestry production, diseases and pests of trees are often required to be controlled, and particularly, in the disease and pest breeding period, in order to prevent economic loss caused by injuring the trees by pests, the diseases and pests of trunks are required to be controlled.
Traditional trunk pest control mode includes: 1) the surface is directly sprayed; 2) trunk injection type. Regarding 2) kind of mode, inject the application of medicine through the mode of trunk drilling, this mode can only be used for liftoff lower position at present, can't effectively solve the serious position of disease to the eminence, and the cost of labor is high, and the operating efficiency is low. Regarding the mode of 1) kind, because directly spraying the liquid medicine on trunk and leaf position, the dose is big, volatilizees obviously, and the pesticide spreads around leaf surface and trees, causes waste and great area chemical pollution easily, and to too high trunk, also can't effectively solve its eminence plant diseases and insect pests prevention and cure problem.
Disclosure of Invention
The invention aims to provide novel trunk accurate pesticide applying equipment and a pesticide applying method thereof, so as to overcome the defects of the prior art and realize accurate pesticide application and high-altitude pest control.
The technical scheme of the invention is as follows:
the accurate pesticide applying equipment for the tree trunk is characterized by comprising a tree climbing mechanism and a pesticide applying device attached to the tree climbing mechanism, wherein the pesticide applying device comprises a rack, a pesticide conveying mechanism and a positioning adjusting mechanism, and the rack is fixedly arranged at the top of the tree climbing machine;
the medicine conveying mechanism comprises a medicine conveying system and more than one sealing and pressing unit:
the pesticide delivery system comprises a pesticide storage module, a pesticide nozzle, a water-sealed electric drill and a power module, wherein the pesticide storage module is provided with more than one independent pesticide storage space for storing pesticides of the same or different types; the water-sealed electric drill is used for punching a hole in the trunk and injecting liquid medicine to the punching position; the power module is connected with the pesticide storage module and is responsible for providing power for conveying the pesticide in the pesticide storage module to a pesticide nozzle or a water-sealed electric drill water inlet;
the sealing and pressing unit is arranged on the frame and is provided with a shell; the shell is provided with an image sensor for collecting the tree trunk image, and the signal output end of the image sensor is connected with an image processor or external image display equipment; the end surface of the inner side of the shell towards the trunk is provided with a window, the pesticide nozzle is arranged beside the window, and the window is shielded by a plurality of sealing strips to prevent pesticide sprayed by the pesticide nozzle from entering the shell;
meanwhile, the inflatable pressing belt is arranged on the end face of the inner side of the shell, is of a clip-shaped structure and is arranged on the periphery of the window and the pesticide nozzle, the window and the pesticide nozzle are surrounded in the middle, and the inflatable pressing belt is inflated and then expands to be tightly attached to the surface of the trunk to form a closed space with the surface of the surrounding structure, so that pesticide sprayed by the pesticide nozzle is prevented from diffusing outwards;
the water-sealed electric drill is arranged in the shell of the sealing and compressing unit, the positioning and adjusting mechanism comprises a telescopic mechanism which drives the water-sealed electric drill to do linear motion, the water-sealed electric drill is driven by the telescopic mechanism, and a drill bit part of the water-sealed electric drill can penetrate through the adjacent sealing strips and is in contact with the trunk to punch and inject medicine.
On the basis of the above scheme, a further improved or preferred scheme further comprises:
the frame is of an annular structure and is formed by encircling a plurality of arc-shaped plate bodies, and during installation, the arc-shaped plate bodies are distributed around the trunk.
The pesticide applying equipment is provided with an obstacle clearing mechanism consisting of an electric saw, the tree climbing mechanism is a spiral ascending tree climbing mechanism, and the electric saw is vertically arranged on the rack, so that the top of the electric saw is higher than other mechanisms of the pesticide applying equipment.
The bottom of electric saw is fixed on a radial slider B, be equipped with the draw-in groove guide rail along the trunk radial arrangement in the plane frame, the spacing installation of radial slider B of electric saw bottom in the draw-in groove guide rail, only have radial activity degree of freedom, simultaneously, be equipped with reset spring in the afterbody recess of draw-in groove guide rail, reset spring contradicts in radial slider B's the outside, and under reset spring's the state of relaxing, radial slider B has the part to be inwards released the frame, utilizes reset spring's elasticity, makes the electric saw adapt to the change of trunk diameter in the certain extent.
The sealing and pressing unit is provided with a plurality of pesticide nozzles for spraying pesticides with different material forms.
An overlapping area is provided between adjacent sealing strips to improve the sealing of the housing.
Further, the positioning adjustment mechanism comprises a coarse adjustment system:
the rough adjustment system is provided with rough adjustment units corresponding to the sealing and compressing units one by one, each rough adjustment unit comprises a radial linear guide rail A and a vertical linear guide rail A, the radial linear guide rails A are fixedly installed on the rack and arranged along the radial direction of the radial linear guide rails A, the vertical linear guide rails A are fixedly installed on radial sliding blocks A of the radial linear guide rails A and can move back and forth along the radial linear guide rails A along with the sliding blocks to be close to or far away from the trunk, the vertical sliding blocks A are installed on one sides, facing the trunk, of the vertical linear guide rails A, and the sealing and compressing units are fixed on the vertical sliding blocks A and can lift along with the vertical linear guide.
Further, the positioning and adjusting mechanism is also provided with a fine adjusting system:
the fine adjustment system comprises fine adjustment units which correspond to the sealing and pressing units one by one, and the fine adjustment units are arranged in a shell of the sealing and pressing unit;
the fine adjustment unit comprises an arc-shaped guide rail and a vertical linear guide rail B, the circle center of the arc-shaped guide rail falls on the central axis of the rack, the arc-shaped guide rail is fixedly connected with the inner wall of the shell of the sealing and pressing unit, and the vertical linear guide rail B is fixedly arranged on a sliding block of the arc-shaped guide rail and can move along the circumferential direction of the trunk; and the base of the telescopic mechanism is arranged on the slide block of the vertical linear guide rail B and can lift along with the slide block.
A pesticide application method of a precise pesticide application device for a tree trunk is characterized by comprising the following steps:
1) installing the tree climbing mechanism on the trunk, and starting the tree climbing mechanism to climb along the trunk;
2) detecting whether the trunk has plant diseases and insect pests, plant disease types and area of plant disease and insect pest areas by using an image processor or artificially identifying plant disease and insect pest information of images acquired by an image sensor;
3) when the information of diseases and insect pests exists in the image, controlling the tree climbing mechanism to stay at the diseased part of the trunk, starting the pesticide applying device, and selectively driving the water-sealed electric drill or the pesticide nozzle to apply pesticide to the diseased part of the trunk according to the information of the diseases and insect pests;
when the water-sealed electric drill is used for applying the pesticide, a drill bit of the water-sealed electric drill is controlled to penetrate through the sealing band and extend out of a window of the sealing and pressing unit, a hole is formed in the trunk, the pesticide liquid is injected into the hole, the drill bit is withdrawn into the shell of the sealing and pressing unit after the pesticide injection is completed, and the sealing band is reset immediately;
4) after the first pesticide application is finished, controlling the tree climbing mechanism to continue climbing, and continuously performing detection and pesticide application in the climbing process until the tree trunk reaches the preset height;
5) after the detection and the pesticide application of one trunk are finished, the tree climbing mechanism is controlled to descend, the pesticide application equipment is recovered or installed on the other trunk, and the detection and the pesticide application are continuously carried out.
Further, when the pesticide nozzle is used for spraying pesticide in the step 3), the sealing and compressing unit is controlled to move to enable the sealing and compressing unit to be close to the trunk, the inflatable compressing belt with the inner side end face in the inflation expansion state is tightly attached to the surface of the trunk to form a closed space for pesticide application, then the pesticide nozzle is started, and after the pesticide nozzle sprays pesticide and keeps for a certain time, the sealing and compressing unit is controlled to be far away from the trunk and return to the initial position.
Has the advantages that:
in the pesticide application detection process of the accurate pesticide application equipment for the trunk, the tree climbing mechanism provides power to drive the pesticide application device to spirally rise around the trunk. The device has various drug delivery modes, and according to different pest and disease damage occurrence positions and severity degrees, the device can directly inject the drug into the drilled hole of the trunk through mechanisms such as an electric drill and the like, and can also input the drug through locally sealing the surface of the trunk. Simultaneously compatible liquid state, gaseous state and powder state (powder state is close to the gaseous state, but the granule size is different), in practical application, can make up in a flexible way and switch, be fit for on-the-spot actual conditions, carry out directness, effectual prevention and cure to trunk plant diseases and insect pests to can practice thrift the pesticide, reduce cost reduces the pollution, has the advantage efficient, that the practicality is strong. Meanwhile, the tree climbing device is reasonable in structural planning, novel in conception, easy to manufacture and maintain, capable of being refitted by the existing tree climbing mechanism and suitable for popularization and use.
Drawings
FIG. 1 is a schematic view of the overall construction of the application device of the present invention;
FIG. 2 is a schematic view of the operational state of the application device of the present invention;
FIG. 3 is a schematic diagram of a state of the sealing and compressing unit to be operated;
fig. 4 is a schematic view of an operating state of the sealing and compressing unit;
FIG. 5 is a schematic view of an arc-shaped guide rail and a vertical linear guide rail B;
FIG. 6 is a schematic structural view of a microcylinder;
fig. 7 is a schematic structural diagram of a water-sealed electric drill:
FIG. 8 is a structural section view of a water-sealed electric drill;
fig. 9 is a schematic diagram of a water seal structure.
The device comprises a sealing and pressing unit 101, a vertical slider A102, a vertical linear guide rail A103, a radial slider 104, a radial linear guide rail 105, a plane rack 106, a tree climbing wheel 107, a lower ring support 108, a liquid supplementing pump 109, a gas supplementing pump 110, a medicine storage module 111, a clamping groove guide rail B112, an electric saw 113, a shell 114, an inflatable pressing belt 115, a sealing belt 116, a high-pressure spray head 117, an air inlet 118, an air outlet 119, an image sensor 120, a micro cylinder 121, a vertical linear guide rail B122, a vertical slider B123, an arc-shaped guide rail 124, a slider 125, a motor 126, a water inlet 127, an electric drill shaft 128, a water seal shell 129, a hollow drill 130, a water seal structure 131 and a tree.
Detailed Description
In order to clarify the technical solution and the working principle of the present invention, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The first embodiment is as follows:
the accurate pesticide applying equipment for the tree trunk as shown in fig. 1 comprises an electric control system, a tree climbing mechanism and a pesticide applying device attached to the tree climbing mechanism, wherein the pesticide applying device comprises a plane frame 106, a pesticide conveying mechanism, a positioning and adjusting mechanism and the like.
The tree climbing mechanism can adopt the prior art. The tree climbing machine that adopts in this embodiment includes supporting structure and installs a plurality of tree climbing wheels 107 on the supporting structure, supporting structure includes ring carrier, lower ring support and a plurality of stands of connecting two ring supports, ring carrier and lower ring support arrange with concentric coaxial mode, and ring support circumference evenly distributed is followed to the stand, both ends and the ring support fixed connection who corresponds from top to bottom. The tree climbing wheel 107 is driven by a wheel hub, and the wheel hub is connected with the upper ring support or the lower ring support through a wheel body support. The upper ring support and the lower ring support are formed by connecting two semi-circles which can be opened, the upper ring support and the lower ring support are sleeved on the trunk in the working process, the hub is controlled to rotate through the electric control system, and the tree climbing wheel drives the whole tree climbing mechanism to upwards climb spirally along the trunk. The number of tree climbing wheels 107 and the type of tire may be adjusted according to the load to ensure sufficient grip of the tree climbing mechanism.
The planar frame 106 is formed by surrounding a plurality of arc-shaped plates and is fixedly connected to the top of the upper ring support.
The medicine conveying mechanism comprises a medicine conveying system and three sealing and pressing units 101, and as shown in fig. 2, the three sealing and pressing units 101 are uniformly distributed on the periphery of the trunk.
The medicine delivery system comprises a medicine storage module 111, a pesticide nozzle 117, a water-sealed electric drill and a power module, and the embodiment is described by taking the pesticide nozzle 117 for spraying gaseous pesticides and the water-sealed electric drill for injecting liquid pesticides as examples. The drug storage module 111 includes at least two independent drug storage spaces for storing liquid and gaseous pesticides, respectively. The medicine boxes of the medicine storage module 111 are fixedly connected to the lower surface of the planar mechanism 106. The power module is connected with the pesticide storage module 111 and is responsible for providing power for conveying pesticides in the pesticide storage module to the pesticide nozzle 117 or the water inlet 127 of the water-sealed electric drill, so that the power module comprises at least one liquid replenishing pump 109 and at least one air replenishing pump 110, the air replenishing pump 110 and the air replenishing pump 109 are respectively and fixedly installed on a lower ring support of the tree climbing mechanism, and the operation of the air replenishing pump 110 and the air replenishing pump 109 is controlled by an electric control system so as to control the on-off of the conveying of the liquid pesticide and the gaseous pesticides. The pesticide nozzle 117 is preferably a high pressure nozzle.
The positioning and adjusting mechanism comprises a coarse adjusting system, a fine adjusting system and a telescopic mechanism.
As shown in fig. 1, the coarse adjustment system has three coarse adjustment units, which are in one-to-one correspondence with the sealing and compressing units 101. The coarse adjustment unit comprises a radial linear guide rail A105 and a matched radial slide block A104, a vertical linear guide rail A103 and a matched vertical slide block A103. The radial linear guide rail A105 is fixedly installed on the plane rack 106 and arranged along the radial direction of the ring support of the tree climbing mechanism, the radial slide block A104 is installed on the radial linear guide rail A105, and the vertical linear guide rail A103 is vertically fixed on the radial slide block A104 and can move back and forth along the radial linear guide rail A105 to be close to or far away from a tree trunk. The vertical sliding block A103 is installed on one side, facing the trunk, of the vertical linear guide rail A103, and the sealing and pressing unit 101 is fixed on the vertical sliding block A103 and can lift along with the vertical sliding block A103.
The fine adjustment system comprises three fine adjustment units, each arranged within the housing of a corresponding seal pressing unit 101. The fine adjustment unit comprises a section of arc-shaped guide rail 124 and a matched slide block 125, a vertical linear guide rail B122 and a matched vertical slide block B123. The center of the arc-shaped guide rail 125 is located on the central axis of the upper/lower ring support, the arc-shaped guide rail 124 is fixedly connected with the inner wall of the shell of the sealing and compressing unit 101 through a supporting structure, and the vertical linear guide rail B122 is fixedly installed on the sliding block 125 of the arc-shaped guide rail 124 and can move along the circumferential direction of the trunk.
The guide rails of the positioning and adjusting mechanism preferably adopt pneumatic guide rails (matched slide blocks are pneumatic slide blocks), the telescopic mechanism preferably adopts a micro air cylinder 121, the micro air cylinder is driven by an air pump, the stroke is controlled by an electric control system, but the telescopic mechanism can also be replaced by other motion mechanisms for automatic control, such as electric slide rails, electric cylinders and the like.
The casing of the sealing and compressing unit 101 is fan-shaped and is provided with an arc inner side end surface, the inner side end surface is provided with a window, an image sensor 120 is arranged above the window, a plurality of pesticide nozzles 117 are arranged below the window, the window is shielded by a plurality of parallel sealing strips 116, and an overlapping area is arranged between the adjacent sealing strips 116.
The inner side end face of the housing of the sealing and compressing unit 101 is further provided with an inflatable compressing belt 115, and the inflatable compressing belt 115 is of a clip-shaped structure and is arranged at the periphery of the window, the image sensor 120 and the high-pressure nozzle 117. The inflatable pressing belt 115 is provided with an air inlet 117 and an air outlet 119, and the inflatable pressing belt expands after inflation, can be tightly attached to the surface of a trunk, and adapts to trunks with different shapes and diameters by utilizing the fluidity and compressibility of air to form a sealed space.
The inflatable compression belt 115 can be inflated in advance before the equipment works according to the situation, or the inflatable compression belt 115 is temporarily inflated by using an air pump when the equipment works, and is deflated after the work is finished. The compression belt 115 and the sealing belt 116 are both made of rubber materials capable of preventing pesticide corrosion, and have elasticity and toughness meeting use requirements. The air pump for inflating the compression belt 115 and the air supplement pump connected with the pesticide nozzle 117 can be the same or respectively configured. If the inflatable pressing belt 115 is filled with air, the air can be directly discharged into the external space through the air outlet 119 during air discharge; if the gaseous pesticide is charged, the exhaust port 119 needs to be connected to a pesticide storage space for storing the gaseous pesticide through a return line.
The water-sealed electric drill is arranged in the shell of the sealing and pressing unit 101 and is fixedly installed on a piston rod of the micro cylinder 121, a cylinder body of the micro cylinder 121 is fixedly installed on a vertical sliding block B123 of the fine adjusting unit, and the piston rod of the micro cylinder is arranged along the radial direction. The miniature cylinder 121 is controlled by an electric control system to move, and a drill bit part of the water-sealed electric drill is driven by a piston rod of the miniature cylinder 121 to penetrate through adjacent sealing strips and extend out of a window to be contacted with a trunk in a state of being basically perpendicular to the trunk, so that punching and medicine injection are carried out. The fine adjustment unit can achieve adjustment of the punching position within a small range.
The water-sealed electric drill is the existing equipment and comprises a motor 126, an electric drill shaft 128, a water-sealed shell 129, a hollow drill 130, a water-sealed structure 131 and other components, wherein a liquid inlet hole 132 is formed in the part, located in the water-sealed shell 129, of the electric drill shaft 128, an electric drill water inlet 127 is formed in the water-sealed shell 129, and the electric drill water inlet 127 is connected with a liquid supplementing pump 109.
The electric saw 113 is an obstacle clearing mechanism mounted on the plane frame 106, and is used for treating branch obstacles encountered in the climbing stage, and can be selectively arranged according to the condition of a trunk. The electric saw 113 is parallel to the vertical guide rail a103, is higher than the vertical guide rail a103 and all other components of the dispensing device, and is vertically installed on the planar frame 106 between two adjacent sealing and pressing units 101. 113 bottoms of electric saw are fixed on a radial slider B, be equipped with a radial draw-in groove guide rail 112 of arranging on the plane frame 106, the spacing installation of radial slider B of 113 bottoms of electric saw in the draw-in groove guide rail 112, only have radial sharp activity degree of freedom, simultaneously, be equipped with reset spring in the afterbody recess of draw-in groove guide rail 112, reset spring contradicts in radial slider B's the outside. In the relaxed state of the return spring, a part of the radial slide block B is pushed inward out of the planar frame 106, and the electric saw 113 can adapt to the change of the diameter of the trunk within a certain range by utilizing the elasticity of the return spring.
In the dispensing device of this embodiment, the air make-up pump 110, the liquid make-up pump 109, the valve element for controlling the on/off of the air/liquid delivery pipeline, the water-sealed electric drill, the electric saw 113, the tree climbing wheel 107, each guide rail of the positioning adjustment mechanism, the driving circuit of the micro cylinder 121 and other components, and the image sensor 120 are controlled by the electric control system, and the on/off of the image sensor is controlled by the electric control system. The electric control system is arranged on the plane support 106 and comprises a controller and a power supply system, the power supply system supplies power to power consumption components on the pesticide application equipment, and the controller controls the action of each execution mechanism of the pesticide application equipment according to a feedback signal of the image processor or an externally output instruction.
The image sensor 120 can transmit the acquired image signals to an external image display device through a wireless transmission device, whether the image has plant diseases and insect pests is identified manually, a control instruction is sent to the electric control system controller manually in a remote control mode, the tree climbing mechanism is controlled to stop at the diseased position of the trunk, and the pesticide applying device executes pesticide applying action.
Or, as a preferable mode, the image processor is directly arranged in the electronic control system, the image processor is used for carrying out pest and disease identification processing on the image acquired by the image sensor 120, and the controller is used for automatically controlling the medicine application device to execute the medicine application action according to the signal fed back by the image processor. Wherein, the image processor capable of completing pest and disease identification is the prior art, and is not described herein again.
The application method of the application equipment of the embodiment is as follows:
1) the tree climbing mechanism is installed on a trunk 201 with a proper diameter and size, the trunk can be pretreated by manually removing thick branches, as shown in fig. 2, each sealing and pressing unit 101 is controlled to be at an initial position through a positioning and adjusting mechanism, namely, the sealing and pressing unit is located at the outermost end of a corresponding radial linear guide rail A105, and after the tree climbing mechanism is installed, a radial sliding block B at the bottom of an electric saw 113 abuts against the trunk under the action of a return spring; then, starting the electric control system to enable the tree climbing mechanism to act and climb upwards along the trunk in a spiral ascending posture, and starting the electric saw 113 to remove the rest branches in the climbing process;
2) continuously collecting trunk images along the circumference of the trunk by the image sensors 120 arranged on the sealing and pressing units, and sending the trunk images to an image processor or external image display equipment, wherein the image processor or the external image display equipment identifies the position of the trunk suffering from plant diseases and insect pests;
3) when image processor or artifical discernment have the region of plant diseases and insect pests on the trunk, climb the tree mechanism through electric control system control and stop at the diseased part of trunk, close electric saw 113, start the device of giving medicine to poor free of charge, according to the plant diseases and insect pests information, select drive water sealed electric drill or pesticide nozzle 117 to give medicine to the diseased part of trunk, specifically include following several kinds of modes of giving medicine to poor free of charge:
A. water-sealed electric drill pesticide application
The electric control system controls the coarse adjustment system to roughly position the height of the sealing and pressing unit 101 corresponding to the affected area and enable the sealing and pressing unit to be close to the trunk, and then the fine adjustment system finely positions the height and the circumferential position of the water-sealed electric drill to enable the drill bit of the water-sealed electric drill to be aligned to the area; then, driving the micro cylinder 121 to extend the drill bit to punch a hole in the trunk, preferably punching on the basis of the existing wormhole to reduce secondary damage to the trunk caused by punching, simultaneously starting the liquid replenishing pump 109, inputting liquid medicine into the hole, then closing the liquid replenishing pump 109, staying for several seconds, after the application of the medicine is finished, controlling the drill bit to retract into the shell of the sealing and compressing unit 101, and enabling the sealing and compressing unit 101 to be far away from the trunk and return to the initial position;
B. pesticide nozzle pesticide application
The sealing and compressing unit 101 is positioned through a coarse adjustment system, the pesticide spray nozzle 117 is aligned to a diseased area where diseases and insect pests occur, the sealing and compressing unit 101 is controlled to move to a position close to the trunk, the end face of the inner side of the sealing and compressing unit 101 is attached to the surface of the trunk, and the inflating and expanding compressing belt 115 is tightly attached to the surface of the trunk (the problem of incomplete sealing caused by irregular trunk is avoided); then starting the pesticide spray nozzle 117, spraying gaseous pesticide to the pest and disease damage area and keeping for several seconds, wherein in the process, the gaseous pesticide sprayed by the pesticide spray nozzle 117 is sealed in a closed space to prevent the gaseous pesticide from escaping outwards to influence the pesticide application effect and pollute the air, the closed space is formed by enclosing structures such as an expanded pressing belt 115, a sealing belt 116 and the surface of a trunk, and the arrangement of the sealing belt 116 can prevent the gaseous pesticide from entering the inside of the sealed pressing unit 101 to pollute the circuit; after the pesticide application is finished, the sealing and compressing unit 101 is controlled to be far away from the trunk and return to the initial position;
C. combined administration
When the pesticide nozzle 117 is used for applying pesticide, but the pesticide application holes need to be increased, the mode A can be executed firstly, the liquid supplementing pump 109 is not needed to be started in the process, holes are drilled at the positions needing to be drilled by the water-sealed electric drill, and then the mode B is executed for applying pesticide through the pesticide nozzle 117;
in practice, the mode A is mainly aimed at the part with lighter diseases and pests, the mode B is mainly aimed at the part with heavier diseases and pests (the diseased area is large), and the mode C is aimed at some complex diseased situations. The three sealing and compressing units 101 operate independently and can simultaneously and respectively execute different modes;
4) after the first pesticide application is finished, controlling the tree climbing mechanism to continue climbing, and continuously performing detection and pesticide application in the climbing process until the tree trunk reaches the preset height;
5) after the whole detection of the trunk is completed, the tree climbing mechanism is controlled to descend, the recovery device is mounted on another trunk, the medicament is supplemented, and the detection and the pesticide application are continuously carried out.
Example two:
in addition to the first embodiment, the pesticide nozzle 117 provided on the sealing and pressing unit 101 is entirely or partially changed to spray the powdered pesticide, so that the power module is provided with an air blower for delivering the powdered pesticide to the pesticide nozzle 117. The operation of the air blower is controlled by an electric control system so as to control the on-off of the delivery of the powdery pesticide.
In spraying the powder chemical through the pesticide nozzle 117, referring to the execution mode B, in order to avoid the powder chemical depositing on the image sensor 120, the image sensor 120 may be disposed outside the inflatable pressing belt 115, but it is required to ensure that the field of view of the image sensor 120 includes the position where the pesticide nozzle 117 is aligned, that is, the image fed back by the image sensor 120 in real time includes the position where the pesticide nozzle 117 is aligned, so as to avoid the matching error.
Alternatively, when the pesticide nozzle 117 is used to spray the powdered pesticide, the sealing and pressing unit 101 is applied close to the trunk through a coarse adjustment system, and the pressing belt 115 is not required to be tightly attached to the trunk.
Example three:
on the basis of the first embodiment, the pesticide nozzle 117 arranged on the sealing and pressing unit 101 is wholly or partially changed into a device for spraying pesticide in an aerosol state, and an atomization structure is arranged in the pesticide nozzle 117 and is connected with the pesticide storage module through a liquid supplementing pump. When spraying the pesticide mist through the pesticide nozzle 117, referring to the execution mode B, in order to avoid the pesticide mist from depositing on the image sensor 120, the image sensor 120 may be disposed outside the inflatable pressing belt 115, but it is required to ensure that the field of view of the image sensor 120 includes the position where the pesticide nozzle 117 is facing, that is, the image fed back by the image sensor 120 in real time includes the position where the pesticide nozzle 117 is facing, so as to avoid the matching error.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the foregoing description only for the purpose of illustrating the principles of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims, specification, and equivalents thereof.
Claims (10)
1. The tree trunk accurate pesticide applying equipment is characterized by comprising a tree climbing mechanism and a pesticide applying device attached to the tree climbing mechanism, wherein the pesticide applying device comprises a rack (106), a pesticide conveying mechanism and a positioning and adjusting mechanism, and the rack (106) is fixedly installed at the top of the tree climbing machine;
the drug delivery mechanism comprises a drug delivery system and more than one sealing and pressing unit (101):
the pesticide delivery system comprises a pesticide storage module, a pesticide nozzle (117), a water-sealed electric drill and a power module, wherein the pesticide storage module is provided with more than one independent pesticide storage space for storing pesticides of the same or different types; the water-sealed electric drill is used for punching a hole in the trunk and injecting liquid medicine to the punching position; the power module is connected with the pesticide storage module and is responsible for providing power for conveying pesticides in the pesticide storage module to a pesticide nozzle (117) or a water-sealed electric drill water inlet (127);
the sealing and pressing unit (101) is arranged on the frame (106) and is provided with a shell; an image sensor (120) for collecting a trunk image is mounted on the shell, and a signal output end of the image sensor (120) is connected with an image processor or external image display equipment; the end face of the inner side of the shell towards the trunk is provided with a window, the pesticide nozzle (117) is arranged at the side of the window, and the window is shielded by a plurality of sealing strips (116) to prevent pesticide sprayed by the pesticide nozzle (117) from entering the shell;
meanwhile, an inflatable pressing belt (115) is installed on the end face of the inner side of the shell, the inflatable pressing belt (115) is of a clip-shaped structure and is arranged on the periphery of the window and the pesticide nozzle (117) and is enclosed in the middle, the inflatable pressing belt (115) expands after being inflated and can be tightly attached to the surface of the trunk, a closed space is formed between the inflatable pressing belt and the surface of the surrounding structure, and pesticide sprayed by the pesticide nozzle (117) is prevented from diffusing outwards;
the water-sealed electric drill is arranged in the shell of the sealing and pressing unit (101), the positioning and adjusting mechanism comprises a telescopic mechanism which drives the water-sealed electric drill to do linear motion, the water-sealed electric drill is driven by the telescopic mechanism, and a drill bit part of the water-sealed electric drill can penetrate through the adjacent sealing strip (116) and is in contact with a trunk to punch and inject medicine.
2. The trunk precision application apparatus of claim 1, wherein the frame (106) is a ring-shaped structure surrounded by a plurality of arcuate panels that are distributed around the trunk when installed.
3. An accurate pesticide delivery device for trunks according to claim 1, wherein a clearing mechanism consisting of an electric saw (113) is provided, the tree climbing mechanism being a screw-type ascending tree climbing mechanism, the electric saw (113) being vertically mounted on the frame (106) with its top higher than other components of the pesticide delivery device.
4. The accurate pesticide application device for the trunk of the tree as claimed in claim 3, wherein the bottom of the electric saw (113) is fixed on a radial sliding block B, the planar frame (106) is provided with a slot guide rail arranged along the radial direction of the trunk, the radial sliding block B at the bottom of the electric saw (113) is installed in the slot guide rail (113) in a limiting way and only has radial freedom of movement, meanwhile, a return spring is arranged in a tail groove of the slot guide rail and abuts against the outer side of the radial sliding block B, and in a releasing state of the return spring, the radial sliding block B is partially pushed out of the frame (106) inwards, and the electric saw (113) is made to adapt to the change of the diameter of the trunk within a certain range by the elasticity of the return spring.
5. A trunk precision application apparatus according to claim 1, wherein the sealing and compacting unit (101) is provided with a plurality of pesticide nozzles (117) for spraying pesticides of different material forms.
6. A trunk precision application apparatus according to claim 1, wherein an overlapping area is provided between adjacent sealing bands (116).
7. The precise trunk administration apparatus of any one of claims 1 to 6, wherein the positioning adjustment mechanism comprises a coarse adjustment system:
the rough adjustment system is provided with rough adjustment units in one-to-one correspondence with the sealing and compressing units (101), each rough adjustment unit comprises a radial linear guide rail A (105) and a vertical linear guide rail A (103), the radial linear guide rails A (105) are fixedly installed on the rack (106) and arranged along the radial direction of the rack, the vertical linear guide rails A (103) are fixedly installed on radial sliders A (104) of the radial linear guide rails A (105) and can move back and forth along the radial linear guide rails A (105) along with the sliders and approach or keep away from the trunk, the vertical sliders A (103) are installed on one sides, facing the trunk, of the vertical linear guide rails A (103), and the sealing and compressing units (101) are fixed on the vertical sliders A (103) and can lift along with the vertical sliders.
8. The precise tree trunk pesticide application device as claimed in claim 7, wherein the positioning and adjusting mechanism is further provided with a fine adjusting system:
the fine adjustment system comprises fine adjustment units which correspond to the sealing and pressing units (101) one to one, and the fine adjustment units are arranged in a shell of the sealing and pressing units (101);
the fine adjustment unit comprises an arc-shaped guide rail (124) and a vertical linear guide rail B (122), the circle center of the arc-shaped guide rail (124) is located on the central axis of the rack (106), the arc-shaped guide rail (124) is fixedly connected with the inner wall of the shell of the sealing and pressing unit (101), and the vertical linear guide rail B (122) is fixedly arranged on a sliding block (125) of the arc-shaped guide rail (124) and can move along the circumferential direction of the trunk; and the base of the telescopic mechanism is arranged on a sliding block (123) of the vertical linear guide rail B (122) and can be lifted along with the sliding block.
9. A method of application based on the trunk precision application device of any one of claims 1-8, comprising:
1) installing the tree climbing mechanism on the trunk, and starting the tree climbing mechanism to climb along the trunk;
2) detecting whether the trunk has diseases and insect pests, types of the diseases and insect pests and the area size of the disease and insect pest area by using an image processor or the disease and insect pest information of the image acquired by a manual identification image sensor (120);
3) when the information of diseases and insect pests exists in the image, controlling the tree climbing mechanism to stay at the diseased part of the trunk, starting the pesticide applying device, and selectively driving the water-sealed electric drill or the pesticide nozzle (117) to apply pesticide to the diseased part of the trunk according to the information of the diseases and insect pests;
when the water-sealed electric drill is used for applying the pesticide, a drill bit of the water-sealed electric drill is controlled to penetrate through a sealing strip (116), extend out of a window of a sealing and pressing unit (101), punch a hole in a tree trunk, inject liquid medicine into the hole, withdraw the drill bit into a shell of the sealing and pressing unit (101) after the pesticide injection is completed, and then the sealing strip (116) is reset immediately;
4) after the first pesticide application is finished, controlling the tree climbing mechanism to continue climbing, and continuously performing detection and pesticide application in the climbing process until the tree trunk reaches the preset height;
5) after the detection and the pesticide application of one trunk are finished, the tree climbing mechanism is controlled to descend, the pesticide application equipment is recovered or installed on the other trunk, and the detection and the pesticide application are continuously carried out.
10. The method of claim 9 wherein the method comprises the steps of:
when pesticide is sprayed by using the pesticide nozzle (117) in the step 3), the sealing and pressing unit (101) is controlled to move to enable the sealing and pressing unit to be close to the trunk, the inflatable pressing belt (117) with the inner side end surface in the inflated and expanded state is tightly attached to the surface of the trunk to form a closed space for pesticide application, then the pesticide nozzle (117) is started, and after the pesticide nozzle (117) sprays pesticide and keeps for a certain time, the sealing and pressing unit (101) is controlled to be far away from the trunk and returns to the initial position.
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| CN111386895B CN111386895B (en) | 2024-06-21 |
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| CN114287256A (en) * | 2021-12-08 | 2022-04-08 | 东莞市象力液压元件制造有限公司 | Automatic crawling punching equipment and method for aquilaria sinensis trees |
| WO2023156640A1 (en) * | 2022-02-20 | 2023-08-24 | Rlp Agroscience Gmbh | Device, mobile unit and method for injecting liquid active substances into the vessel paths of lignified plants |
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| CN111011069A (en) * | 2019-09-23 | 2020-04-17 | 盐城工学院 | Trunk insect-checking and medicine-injecting device and using method thereof |
| CN212753427U (en) * | 2020-04-24 | 2021-03-23 | 南京林业大学 | Trunk accurate pesticide applying equipment |
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| WO2014104996A1 (en) * | 2012-12-27 | 2014-07-03 | Biotek Haşere Kontrol Sağlik Sosyal Hizmetler Kimyevi Maddeler Sanayi Ve Ticaret Limited Şirketi | The improvement of gis based decision support system for pest control in environmental health protection |
| CN111011069A (en) * | 2019-09-23 | 2020-04-17 | 盐城工学院 | Trunk insect-checking and medicine-injecting device and using method thereof |
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| CN114287256A (en) * | 2021-12-08 | 2022-04-08 | 东莞市象力液压元件制造有限公司 | Automatic crawling punching equipment and method for aquilaria sinensis trees |
| WO2023156640A1 (en) * | 2022-02-20 | 2023-08-24 | Rlp Agroscience Gmbh | Device, mobile unit and method for injecting liquid active substances into the vessel paths of lignified plants |
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| CN111386895B (en) | 2024-06-21 |
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