CN114145279A - Intelligent banyan insect pest multi-angle insecticidal sprinkler - Google Patents
Intelligent banyan insect pest multi-angle insecticidal sprinkler Download PDFInfo
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- CN114145279A CN114145279A CN202111444772.0A CN202111444772A CN114145279A CN 114145279 A CN114145279 A CN 114145279A CN 202111444772 A CN202111444772 A CN 202111444772A CN 114145279 A CN114145279 A CN 114145279A
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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
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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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
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
Abstract
The invention discloses an intelligent multi-angle banyan insect pest killing and spraying device, which comprises a pest killing device and an intelligent pest killing system, the insect killing device is provided with a plurality of insect killing devices surrounding the banyan, the insect killing devices comprise bases, sliding rails are fixed above the bases, an air pump is connected above the slide rail in a sliding way, a telescopic rod is connected with a pipeline below the air pump, the bottom end of the telescopic rod is fixedly connected with the base, a placing plate is fixedly arranged at the left side of the telescopic rod, an insect killing mechanism is fixedly arranged at the left side of the placing plate, a scanner is fixedly arranged on the front side of the air pump, a height identification module is arranged in the scanner, a hydraulic pump is fixedly arranged on the right side of the base, the scanner is electrically connected with the mobile phone end, the hydraulic pump is connected with an external pesticide pipeline, the hydraulic pump is connected with the insecticidal mechanism through a pipeline, and the device solves the problem that intelligent insecticidal work cannot be carried out on the banyan at present.
Description
Technical Field
The invention belongs to the technical field of insect killing, and particularly relates to an intelligent multi-angle insect killing and spraying device for banyan insect pests.
Background
With the continuous advance of insecticidal technology, more and more banyans need to use insecticidal devices, the banyans are evergreen trees, the trees are 20-30 m high, the diameter at breast height is 2m, main pests of the trees are leaf-eating pests and piercing pests, the piercing pests suck nutrition in tree buds and tree trunks and even can induce soot diseases, the leaf-eating pests enable leaf drums to be hidden in the leaf drums to suck leaf juice, growth and attractiveness are affected, and the pests need to carry out insecticidal work.
The existing insect killing device cannot carry out intelligent insect killing work according to the height of the banyans and the distribution situation of the banyan leaves, is not beneficial to insect killing effect, causes serious waste to the insecticide, cannot make the best use of the insecticide, and has the phenomenon that the problem needs to be solved urgently by people in the field.
Disclosure of Invention
The invention aims to solve the problems in the prior art by aiming at an intelligent multi-angle pest killing and spraying device for banyans aiming at the existing collecting device.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides an intelligent banyan insect pest multi-angle insecticidal sprinkler, includes insecticidal device and intelligent insecticidal system, its characterized in that: the insecticidal device is provided with a plurality ofly and around the banyan, the insecticidal device includes the base, the base top is fixed with the slide rail, slide rail top sliding connection has the air pump, air pump below pipe connection has the telescopic link, telescopic link bottom and base fixed connection, telescopic link left side fixed mounting has the mounting plate, mounting plate left side fixed mounting has insecticidal mechanism, air pump front side fixed mounting has the scanner, the inside height identification module that is provided with of scanner, base right side fixed mounting has the hydraulic pump, the scanner is connected with cell-phone end electricity, the hydraulic pump is connected with outside insecticide pipe connection, hydraulic pump and insecticidal mechanism pipe connection, intelligent insecticidal system is connected with external power source, scanner, height identification module, air pump, hydraulic pump, insecticidal mechanism electricity respectively.
The invention further discloses that the insect killing mechanism comprises a supporting frame, the supporting frame is fixedly connected with the placing plate, a gear transmission mechanism is connected with a middle bearing of the supporting frame, a motor is fixedly connected below the gear transmission mechanism, a steering gear is fixedly connected above the gear transmission mechanism, the steering gear is connected with a supporting frame bearing, an electric control valve is fixedly installed on the left side of the steering gear, a spray head is connected with a pipeline on the left side of the electric control valve, the spray head is connected with a hydraulic pump pipeline, and the intelligent insect killing system is respectively and electrically connected with the motor, the steering gear and the electric control valve.
The intelligent insect killing system further comprises a detection module, a processing module, a data transmission module, a data receiving module, a calculation module and a control module, wherein the detection module is respectively and electrically connected with the scanner, the height identification module and the data transmission module;
the device comprises a detection module, a height recognition module, a processing module, a data transmission module, a data receiving module, a calculation module and a control module, wherein the detection module is used for scanning the surface of the banyan through a scanner and analyzing the scanned image so as to judge the distribution condition of leaves of the banyan, the height recognition module is used for judging the position height when the pesticide is sprayed according to the rising height when the scanner moves upwards from an initial position so as to collect data, the processing module is used for carrying out auxiliary control on the device according to the detected data, the data transmission module is used for transmitting the detected data, the data receiving module is used for receiving the transmitted data, the calculation module is used for carrying out automatic calculation through the received data so as to obtain a result, and the control module is used for respectively controlling a hydraulic pump, a motor, a steering gear and an electric control valve according to the calculated result.
The invention further discloses that the processing module comprises a data collecting module, a conversion module and a driving module, wherein the data collecting module is electrically connected with the detection module, the data collecting module is electrically connected with the conversion module, the conversion module is electrically connected with the driving module, and the driving module is respectively electrically connected with the steering gear, the hydraulic pump, the electric control valve and the air pump;
the data collection module is used for collecting the data according to the position height when the leaf distribution condition that detection module detected out and insecticidal, the conversion module is used for converting according to the data of collecting, reachs the follow-up drive data to the structure, drive module is used for controlling steering gear, hydraulic pump, automatically controlled valve, air pump according to the result that the conversion reachs.
The invention further illustrates that the intelligent insect killing system comprises the following operation steps:
s1, an operator drives the intelligent insect killing mechanism to operate through an external power supply, the intelligent insect killing system controls the air pump to operate through electric drive, the air pump injects air into the telescopic rod, the telescopic rod extends to drive the air pump to move upwards along the slide rail and drive the placing plate to move upwards, so that the insect killing mechanism is driven to move upwards, and meanwhile, the scanner is driven to move upwards, so that the height of the position where the insect killing mechanism is located is changed, and meanwhile, the scanner and the height recognition module are controlled to operate through electric drive;
s2, scanning the surface of the banyan by the scanner, analyzing the scanned image to judge the leaf distribution condition of the banyan,
wherein S is the distribution of leaves scanned by the scanner, SLeaf of Chinese characterThe total area size of leaf distribution in the scanning area of the scanner, SSweeping machineIs the total area size of the scanning area of the scanner, SIs a systemThe height identification module judges the position height of the insecticidal mechanism according to the ascending height of the scanner moving upwards from the initial position, wherein H is the position height of the insecticidal mechanism when the insecticidal mechanism kills insects, and two data are transmitted into the data transmission module and the data collection module;
s3, the data transmission module transmits the data, the transmitted data is received by the data receiving module, the received data is transmitted from the data receiving module to the computing module through electric transmission, the computing module automatically computes the obtained data to obtain a result, and the result is input into the control module;
s4, starting insecticidal operation, controlling the operation of a hydraulic pump and a motor by a control module, inputting insecticide into an electric control valve by the hydraulic pump, injecting the insecticide into a spray head, spraying out the insecticide from the spray head to carry out insecticidal operation on banyans, driving a gear transmission mechanism to rotate in a forward and reverse alternating manner by the motor, driving a steering gear to rotate by the gear transmission mechanism, driving the electric control valve to rotate, driving the spray head to rotate, carrying out transverse angle adjustment operation on the spray head, changing the insecticide discharge amount of the hydraulic pump according to the position height of the insecticidal mechanism during insecticidal operation, changing the insecticide amount sprayed out by the spray head, and changing the angle adjustment amplitude of the motor according to the position height of the insecticidal mechanism during insecticidal operation to change the amplitude of the left and right swinging of the spray head;
s5, the control module changes the speed of the motor in clockwise and anticlockwise alternate rotation according to the position height of the insecticidal mechanism so as to change the swing speed of the spray head when swinging left and right, controls the motor to stay once every ten degrees in the swing process, and controls the stay time according to the position height of the insecticidal mechanism when the insecticidal mechanism kills insects;
s6, the data collection module collects the data and transmits the data to the conversion module, the conversion module converts the data to obtain the result and inputs the result into the drive module, when the position height of the insecticidal mechanism is larger than the set value of the system, the operation enters S7, when the position height of the insecticidal mechanism is smaller than two meters, the operation enters S8, otherwise, the operation enters S10;
s7, the driving module controls the steering gear, the electric control valve and the hydraulic pump to change the operation mode, the steering gear rotates to drive the spray head to spray the pesticide to the banyan in an up-and-down swinging mode, the speed of the spray head in the up-and-down swinging mode is changed according to the distribution condition of leaves, the electric control valve is controlled to enable the sprayed pesticide to be in a water column type, the pesticide discharging force of the hydraulic pump is changed according to the distribution condition of the leaves, the spraying force is changed, and then the operation mode enters S10;
s8, the driving module electrically drives and controls the electric control valve, the hydraulic pump and the air pump to change the operation mode, the electric control valve is controlled to enable the sprayed pesticide to be in a water column type, the hydraulic pump operates at the maximum power and the spraying intensity is maximized, then the hydraulic pump operates at normal power, the operation time of the maximum power is controlled according to the position height of the insecticidal mechanism when the insecticidal mechanism kills insects, the spraying time of the maximum intensity spraying is changed, meanwhile, the air pump is controlled to enable the telescopic rod to stop every ten centimeters when the telescopic rod extends, the staying time is controlled according to the position height of the insecticidal mechanism when the insecticidal mechanism kills insects, the method enters S9 when the distribution condition of leaves is smaller than the set value of the system, and otherwise, the method enters S10;
s9, the driving module controls the intelligent insect killing system to stop running through electric drive, so that all structures of the device stop running, and meanwhile, data of the distribution condition of the leaves are sent to the mobile phone end;
s10, after the textile cloth is dried, the control panel is closed by an operator, the intelligent insecticidal system stops running, and if the next drying work is continued, the steps from S1 to S9 are repeated.
The invention further describes that in the steps from S1 to S4, the surface of the banyan is scanned by a scanner, the scanned image is analyzed, the height recognition module judges the position height of the insecticidal mechanism according to the rising height of the scanner when the scanner moves upwards from the initial position, the control module controls the hydraulic pump and the motor to operate, when the height is more than 20m and less than or equal to 30m, the position height of the insecticidal mechanism is higher, the control module controls the insecticide discharge amount of the hydraulic pump to be more, the insecticide amount sprayed by the spray head is more, the angle adjustment amplitude of the motor is smaller, the left-right swinging amplitude of the spray head is smaller, when the height is more than the middle of the position height of the insecticidal mechanism when the height is more than 10m and less than or equal to 20m, the control module controls the insecticide discharge amount of the hydraulic pump to be more normal, the insecticide amount sprayed by the spray head to be more normal, and the angle adjustment amplitude of the motor to be more normal, the amplitude of the left-right swinging of the spray head is normal, when H is more than 0m and less than or equal to 10m, the height of the position where the insecticidal mechanism is located is low, the control module controls the insecticide discharge amount of the hydraulic pump to be low, the insecticide amount sprayed by the spray head is small, and meanwhile, the angle adjustment amplitude of the motor is controlled to be large, and the amplitude of the left-right swinging of the spray head is large.
The invention further discloses that in S5, the control module changes the speed of the motor rotating alternately in the clockwise and anticlockwise directions according to the height of the insecticidal mechanism, so as to change the swinging speed of the sprayer when swinging left and right, and controls the motor to stay once every ten degrees during swinging, and controls the stay time according to the height of the insecticidal mechanism when insects are killed, when 20m < H > 30m, the height of the insecticidal mechanism is higher, and at this time, the control module controls the motor to rotate alternately in the clockwise and anticlockwise directions at a lower speed, so as to make the sprayer swing slowly when swinging left and right, and controls the motor to stay for every ten degrees during swinging, so as to make the sprayer swing longer, when 10m < H > 20m, it is middle, and at this time, the control module controls the motor to rotate alternately in the clockwise and anticlockwise directions at a higher speed, the swinging speed of the sprayer during left-right swinging is enabled to be normal, the stay time of each ten degrees of swinging in the swinging process of the motor is controlled to be normal, the stay time of the sprayer during left-right swinging is enabled to be normal, when H is more than 0m and less than or equal to 10m, the height of the position where the insect killing mechanism is located is indicated to be low, the control module controls the motor to rotate forward and backward alternately at a high speed, the swinging speed of the sprayer during left-right swinging is enabled to be high, and the stay time of each ten degrees of swinging in the swinging process of the motor is controlled to be short, so that the stay time of the sprayer during left-right swinging is enabled to be short.
In the present invention, in the S7, when H > HIs provided withWhen H is presentIs provided withThe position height of the pest killing mechanism is set for the system, at this time, the concentration degree of the ficus microcarpa leaves is extremely high, the leaves are distributed very densely, the image scanned by the scanner is inaccurate, S + H SIs a systemWherein S is the actual distribution of the ficus microcarpa leaves SIs a systemThe driving module controls the operation mode of the steering gear, the electric control valve and the hydraulic pump to change for the relative distribution condition of the ficus microcarpa leaves at the position height of the single-unit insecticidal mechanism, the steering gear rotates to drive the spray head to spray insecticide on the ficus microcarpa in an up-and-down swinging mode, the speed of the spray head in the up-and-down swinging mode is changed according to the distribution condition of the leaves, the electric control valve is controlled to enable the sprayed insecticide to be in a water column type, the insecticide discharging force of the hydraulic pump is changed according to the distribution condition of the leaves, and therefore the ficus microcarpa leaf insecticidal mechanism is formedThe spraying force is changed, and when S is larger, the speed of the spray head in the vertical swinging process is slower, and the force of the spray head for spraying the pesticide water column is larger.
In the present invention, in the step S8, when H is<When the distance is 2m, the scanner is positioned at the trunk part, the distribution condition of leaves scanned by the scanner is zero, the driving module electrically drives and controls the electric control valve, the hydraulic pump and the air pump to change the operation mode, the electric control valve is controlled to enable the sprayed pesticide to be in a water column type, the hydraulic pump operates at the maximum power, the spraying intensity is maximized, then the hydraulic pump operates at normal power, the operation time of the maximum power is controlled according to the position height of the insecticidal mechanism during insecticidal operation, so that the spraying time of the maximum intensity spraying is changed, the air pump is controlled to enable the telescopic rod to stop every ten centimeters in extension, and the stay time is controlled according to the position height of the insecticidal mechanism during insecticidal operation,
Tstop＝H*tRatio ofWherein, TSpraying nozzleSpray time for maximum intensity spray of insecticide, TGeneral assemblyMaximum spray time for maximum intensity spray of insecticide, tIs a systemThe spray time T of the maximum intensity spray of the insecticide at the position height when the single unit of insecticidal mechanism is used for killing insectsStopThe length of time for the air pump to make the telescopic rod stay for each ten centimeters of extension, tRatio ofThe lower air pump enables the telescopic rod to stay for ten centimeters when the telescopic rod extends, the higher the position height when the insect killing mechanism kills insects is, the shorter the spraying time of the maximum-intensity spraying of the insecticide is, the longer the air pump enables the telescopic rod to stay for ten centimeters when the insect killing mechanism kills insects is, the higher the position height when the insect killing mechanism kills insects is, the shorter the spraying time of the maximum-intensity spraying of the insecticide is, on one hand, the effective insect killing can be carried out on the whole trunk in the banyan tree, on the other hand, the phenomenon that the insecticide is excessively wasted due to continuous high-power spraying of the insecticide is prevented, and the longer the stay time is, the closer the leaf is to the upper part, so that the influence on the health of the leaf due to high-power impact of the leaf is avoided.
In the step S9, the insecticidal mechanism isAfter the position of the top of the tree is raised, the S scanned by the scanner is obtained<SIs provided withWhen S is presentIs provided withThe situation of the banyan leaves set for the system indicates that the leaves on the surface of the tree are extremely sparse and the banyan tree is about to die, the driving module controls the intelligent insect killing system to stop running through electric drive, so that all structures of the device stop running, and meanwhile, data of the distribution situation of the leaves are sent to a mobile phone end to remind a manager of knowing the health situation of the banyan tree, so that the manager can carry out targeted treatment work on the banyan tree about to die.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, the intelligent insect killing system is adopted, and the operation modes of the insect killing mechanism and the hydraulic pump are controlled according to the distribution condition of the leaves and the position height during insect killing, so that the intelligent insect killing work is realized, and the insect killing effect is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the air pump of the present invention;
FIG. 3 is a schematic view of the insecticidal mechanism of the present invention;
FIG. 4 is a schematic view of the diverter of the present invention;
FIG. 5 is a schematic flow diagram of the intelligent insecticidal system of the present invention;
in the figure: 1. a base; 2. a slide rail; 3. an air pump; 4. a telescopic rod; 5. placing a plate; 6. a scanner; 7. a hydraulic pump; 8. a support frame; 9. a motor; 10. a diverter; 11. an electrically controlled valve; 12. and (4) a spray head.
Detailed Description
The present invention will be described in further non-limiting detail with reference to the following preferred embodiments and accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides the following technical solutions: the utility model provides an intelligent banyan insect pest multi-angle insecticidal sprinkler, including insecticidal device and intelligent insecticidal system, insecticidal device is provided with a plurality ofly and around the banyan, insecticidal device includes base 1, base 1 top is fixed with slide rail 2, slide rail 2 top sliding connection has air pump 3, the pipeline is connected with telescopic link 4 below air pump 3, telescopic link 4 bottom and base 1 fixed connection, telescopic link 4 left side fixed mounting has place board 5, place board 5 left side fixed mounting has insecticidal mechanism, air pump 3 front side fixed mounting has scanner 6, scanner 6 is inside to be provided with the height identification module, base 1 right side fixed mounting has hydraulic pump 7, scanner 6 is connected with the cell-phone end electricity, hydraulic pump 7 and outside insecticide pipe connection, hydraulic pump 7 and insecticidal mechanism pipe connection, intelligent insecticidal system respectively with external power supply, scanner 6, the height identification module, The air pump 3, the hydraulic pump 7 and the insect killing mechanism are electrically connected, an operator fixes the base 1 around the banyan, the intelligent insect killing mechanism is driven to operate by an external power supply, the intelligent insect killing system controls the air pump 3 to operate by electric drive, the air pump 3 injects air into the telescopic rod 4, the telescopic rod 4 extends to drive the air pump 3 to move upwards along the slide rail 2 and drive the placing plate 5 to move upwards so as to drive the insect killing mechanism to move upwards and drive the scanner 6 to move upwards so as to change the height of the position of the insect killing mechanism, the scanner 6 controls the scanner 6 and the height identification module to operate by electric drive, the scanner 6 scans the surface of the banyan and analyzes the scanned image so as to judge the distribution condition of leaves of the banyan, the height identification module judges the position height of the insect killing mechanism according to the ascending height of the scanner 6 when moving upwards from the initial position, meanwhile, the hydraulic pump 7 is controlled to operate through electric drive, the hydraulic pump 7 pumps pesticides from the outside and injects the pesticides into the pest killing mechanism through a pipeline, the pest killing mechanism performs pest killing work on the banyan, and the pest killing mechanism and the hydraulic pump 7 operate mode are controlled according to the distribution condition of leaves and the position height during pest killing, so that the intelligent pest killing work is realized, and the pest killing effect is improved;
the intelligent insecticidal system operates through the steps that the hydraulic pump 7 inputs insecticide into the electric control valve 11 and then injects the insecticide into the spray head 12, and finally sprays the insecticide from the spray head 12 to carry out insecticidal work on the banyan tree, the motor 9 drives the gear transmission mechanism to operate through electric driving to control the motor 9 to operate, the gear transmission mechanism drives the steering gear 10 to rotate, the electric control valve 11 is driven to rotate, so that the spray head 12 is driven to rotate, the transverse angle adjusting work is carried out on the spray head 12, the left and right spraying work is carried out on the banyan, meanwhile, the electric drive control steering gear 10 is driven to rotate, the spray head 12 is driven to carry out the up-and-down swinging type pesticide spraying work on the banyan, the all-dimensional multi-angle pesticide spraying adjusting work is realized, meanwhile, the electric drive control electric control valve 11 is driven to operate, and the electric control valve 11 is used for controlling the pesticide spraying mode;
the intelligent insect killing system comprises a detection module, a processing module, a data transmission module, a data receiving module, a calculation module and a control module, wherein the detection module is respectively and electrically connected with the scanner 6, the height identification module and the data transmission module;
the detection module is used for scanning the surface of the banyan through the scanner 6 and analyzing the scanned image so as to judge the distribution condition of leaves of the banyan, the height recognition module is used for judging the position height when the pesticide is sprayed according to the rising height when the scanner 6 moves upwards from the initial position so as to collect data, the processing module is used for carrying out auxiliary control on the device according to the detected data, the data transmission module is used for transmitting the detected data, the data receiving module is used for receiving the transmitted data, the calculation module is used for carrying out automatic calculation through the received data so as to obtain a result, and the control module is used for respectively controlling the hydraulic pump 7, the motor 9, the steering gear 10 and the electric control valve 11 according to the calculated result;
the processing module comprises a data collection module, a conversion module and a driving module, the data collection module is electrically connected with the detection module, the data collection module is electrically connected with the conversion module, the conversion module is electrically connected with the driving module, and the driving module is respectively electrically connected with the steering gear 10, the hydraulic pump 7, the electric control valve 11 and the air pump 3;
the data collection module is used for collecting the data according to the distribution condition of the leaves detected by the detection module and the position height during insect killing, the conversion module is used for converting according to the collected data to obtain the driving data of a subsequent pair structure, and the driving module is used for controlling the steering gear 10, the hydraulic pump 7, the electric control valve 11 and the air pump 3 according to the result obtained by conversion;
the intelligent insecticidal system comprises the following operation steps:
s1, an operator drives the intelligent insect killing mechanism to operate through an external power supply, the intelligent insect killing system controls the air pump 3 to operate through electric drive, the air pump 3 injects air into the telescopic rod 4, the telescopic rod 4 extends to drive the air pump 3 to move upwards along the slide rail 2 and drive the placing plate 5 to move upwards, so that the insect killing mechanism is driven to move upwards, meanwhile, the scanner 6 is driven to move upwards, so that the height of the position of the insect killing mechanism is changed, and meanwhile, the scanner 6 and the height recognition module are controlled to operate through electric drive;
s2, the scanner 6 scans the surface of the banyan, analyzes the scanned image, thereby judging the leaf distribution condition of the banyan,
wherein S is the distribution of leaves scanned by the scanner 6, SLeaf of Chinese characterThe total area size of leaf distribution in the scanning area of the scanner 6, SSweeping machineFor a scanner6 Total area size of the scanning region, SIs a systemThe height identification module judges the position height of the insecticidal mechanism according to the ascending height of the scanner 6 moving upwards from the initial position, wherein H is the position height of the insecticidal mechanism when the insecticidal mechanism kills insects, and two data are transmitted into the data transmission module and the data collection module;
s3, the data transmission module transmits the data, the transmitted data is received by the data receiving module, the received data is transmitted from the data receiving module to the computing module through electric transmission, the computing module automatically computes the obtained data to obtain a result, and the result is input into the control module;
s4, starting insecticidal operation, controlling the operation of a hydraulic pump 7 and a motor 9 by a control module, inputting an insecticide into an electric control valve 11 by the hydraulic pump 7, then injecting the insecticide into a spray head 12, finally spraying the insecticide from the spray head 12 to carry out insecticidal operation on banyans, driving a gear transmission mechanism to rotate in a forward and reverse alternating manner by the motor 9, driving a steering gear 10 to rotate by the gear transmission mechanism, driving the electric control valve 11 to rotate, driving the spray head 12 to rotate, thereby carrying out transverse angle adjustment operation on the spray head 12, changing the insecticide discharge amount of the hydraulic pump 7 according to the position height of the insecticidal mechanism when in insecticidal, changing the insecticide amount sprayed by the spray head 12, and simultaneously changing the angle adjustment amplitude of the motor 9 according to the position height of the insecticidal mechanism when in insecticidal, and changing the left-right swinging amplitude of the spray head 12;
s5, the control module changes the speed of the motor 9 in clockwise and anticlockwise alternate rotation according to the position height of the insecticidal mechanism, so as to change the swing speed of the spray head 12 in leftward and rightward swinging, simultaneously controls the motor 9 to stay once when swinging for every ten degrees in the swinging process, and controls the stay time according to the position height of the insecticidal mechanism in insecticidal;
s6, the data collection module collects the data and transmits the data to the conversion module, the conversion module converts the data to obtain the result and inputs the result into the drive module, when the position height of the insecticidal mechanism is larger than the set value of the system, the operation enters S7, when the position height of the insecticidal mechanism is smaller than two meters, the operation enters S8, otherwise, the operation enters S10;
s7, the driving module controls the steering gear 10, the electric control valve 11 and the hydraulic pump 7 to change the operation mode, the steering gear 10 rotates to drive the spray head 12 to spray the pesticide in an up-and-down swinging mode on the banyan, the speed of the spray head 12 in the up-and-down swinging mode is changed according to the distribution condition of leaves, the electric control valve 11 is controlled to enable the sprayed pesticide to be in a water column type, the pesticide discharging force of the hydraulic pump 7 is changed according to the distribution condition of the leaves, the spraying force is changed, and then the operation enters S10;
s8, the driving module electrically drives and controls the electric control valve 11, the hydraulic pump 7 and the air pump 3 to change the operation mode, the electric control valve 11 is controlled to enable the sprayed pesticide to be in a water column type, the maximum power operation and the spray intensity of the hydraulic pump 7 are maximized, then the hydraulic pump 7 operates at normal power, the time of the maximum power operation is controlled according to the position height of the insecticidal mechanism, so that the spray time of the maximum intensity spray is changed, meanwhile, the air pump 3 is controlled to enable the telescopic rod 4 to stop every ten centimeters of extension, the length of the stay time is controlled according to the position height of the insecticidal mechanism, when the distribution condition of leaves is smaller than the set value of the system, the system enters S9, and otherwise, the system enters S10;
s9, the driving module controls the intelligent insect killing system to stop running through electric drive, so that all structures of the device stop running, and meanwhile, data of the distribution condition of the leaves are sent to the mobile phone end;
s10, after the textile cloth is dried, the operator closes the control panel 3, the intelligent insecticidal system stops running, and if the next drying work is continued, the steps from S1 to S9 are repeated;
s1 to S4, scanning the surface of the banyan through the scanner 6, analyzing the scanned image, judging the position height of the insecticidal mechanism according to the ascending height of the scanner 6 when moving upwards from the initial position by the height identification module, controlling the hydraulic pump 7 and the motor 9 to operate by the control module, indicating that the position height of the insecticidal mechanism is higher when H is more than 20m and less than or equal to 30m, controlling the insecticide discharge amount of the hydraulic pump 7 by the control module at the moment so that the insecticide amount sprayed by the spray head 12 is more, controlling the angle adjustment amplitude of the motor 9 to be smaller, making the amplitude of the left-right swing of the spray head 12 to be smaller, indicating that the position height of the insecticidal mechanism is more middle when H is more than 10m and less than or equal to 20m, controlling the insecticide discharge amount of the hydraulic pump 7 by the control module at the moment so that the insecticide amount sprayed by the spray head 12 is more normal, and controlling the angle adjustment amplitude of the motor 9 to be more normal, the amplitude of the left-right swing of the spray head 12 is normal, when H is more than 0m and less than or equal to 10m, the height of the position where the insecticidal mechanism is located is low, the control module controls the insecticide discharge amount of the hydraulic pump 7 to be low, the insecticide amount sprayed by the spray head 12 is low, the angle adjustment amplitude of the motor 9 is controlled to be large, the amplitude of the left-right swing of the spray head 12 is large, the insecticide amount sprayed by the spray head 12 is high, leaves are flourishing due to high illumination on the upper side, a large number of leaf eating insects are distributed above trees to bite banyan leaves, insects above the trees can be cleaned, the insecticidal effect is improved, the amplitude of the left-right swing of the spray head 12 is small, the breast diameter of the trees above the trees is small, the insecticide is sprayed on the part of the trees locally, and the phenomenon that the sprayed part below the trees are sprayed for multiple times to influence the overall quality is avoided, the tree is prevented from being damaged, the lower the position of the insecticidal mechanism is, the smaller the amount of insecticide sprayed by the spray head 12 is, most of insects which are inserted into the lower part of the spray head can gnaw the interior of the trunk, the trunk has a good insecticide absorption effect, the tree can be prevented from being damaged due to excessive insecticide discharge, and meanwhile, the spray head 12 can swing leftwards and rightwards in a large range, so that the trees can be sprayed in a large range to fully kill insects;
s5, the control module changes the speed of the motor 9 rotating alternately in the clockwise and anticlockwise directions according to the position height of the insecticidal mechanism, so as to change the swinging speed of the sprayer 12 swinging left and right, and controls the motor 9 to stay once every ten degrees during swinging, and controls the stay time according to the position height of the insecticidal mechanism, when 20m < H < 30m, the position height of the insecticidal mechanism is high, then the control module controls the motor 9 to rotate alternately in the clockwise and anticlockwise directions at a slow speed, so that the swinging speed of the sprayer 12 swinging left and right is slow, and controls the motor 9 to stay for every ten degrees during swinging, so that the shower 12 swings left and right for a long time, when 10m < H < 20m, the position height of the insecticidal mechanism is middle, then the control module controls the motor 9 to rotate alternately in the clockwise and anticlockwise directions at a normal speed, the swinging speed of the sprayer 12 is normal when swinging left and right, the staying time of each swing ten degrees in the swinging process of the motor 9 is controlled to be normal, the staying time of the sprayer 12 is normal when swinging left and right, when the H is more than 0m and less than or equal to 10m, the height of the position where the insecticidal mechanism is located is indicated to be low, the control module controls the motor 9 to rotate forward and backward alternately at a high speed, the swinging speed of the sprayer 12 when swinging left and right is high, the staying time of each swing ten degrees in the swinging process of the motor 9 is controlled to be short, the staying time of the sprayer 12 when swinging left and right is short, the higher the height of the position where the insecticidal mechanism is located is, the lower the swinging speed of the sprayer 12 when swinging left and right is used, the sprayer 12 can spray trees carefully, the insecticidal effect on insects is improved, and the longer the staying time of the sprayer 12 when swinging left and right is used, so that trees are sprayed locally for a long time, the insecticidal effect is further improved, the insects are fully killed, the growth health of the banyan is guaranteed, the swinging speed of the spray head 12 during left-right swinging is higher as the height of the insecticidal mechanism is lower, the waste of insecticide is reduced, the insecticidal speed is increased, the insecticidal efficiency is greatly improved, the stay time of the spray head 12 during left-right swinging is shorter, the trees are prevented from being seriously corroded by the insecticide, the trees are protected, and meanwhile, the insecticidal capacity is better;
in S7, when H > HIs provided withWhen H is presentIs provided withThe position height of the disinsection mechanism is set for the system, at this time, the concentration degree of the ficus microcarpa leaves is extremely high, the leaves are distributed very densely, the image scanned by the scanner 6 is inaccurate, S + H SIs a systemWherein S is the actual distribution of the ficus microcarpa leaves SIs a systemThe driving module controls the steering gear 10, the electric control valve 11 and the hydraulic pump 7 to change the operation mode for the ficus microcarpa leaves under the position height of the single-unit insecticidal mechanism, the steering gear 10 rotates to drive the spray head 12 to spray insecticide in an up-and-down swinging mode for the ficus microcarpa, the speed of the spray head 12 in the up-and-down swinging mode is changed according to the leaf distribution condition, and the electric control valve 11 is controlled to enable the sprayed insecticide to be in a water column type and to enable the sprayed insecticide to be in a water column typeChanging the pesticide discharging force of the hydraulic pump 7 according to the distribution condition of leaves so as to change the spraying force, when S is larger, the lower the speed of the spray head 12 swinging up and down is, the higher the pesticide water column spraying force of the spray head 12 is, the denser the practical distribution of the ficus microcarpa leaves is, the lower the spray head 12 swinging up and down is, the sprayed pesticide is in a water column type, so that the pesticide can be sprayed to the back of the leaves to kill the insects hidden at the back of the leaves, the low swinging speed can make the pesticide more uniform, the pesticide effect is obviously improved, the higher the pesticide spraying force is, the pesticide can be fully sprayed to the back of the leaves, the efficient pesticide is ensured, the more diluted the practical distribution of the ficus microcarpa leaves is, the higher the up-down swinging speed of the spray head 12 is, the pesticide speed is accelerated, the leaves are prevented from being sprayed for a long time to influence on the health of the leaves, and the pesticide spraying force is smaller, excessive waste caused by too much pesticide spraying is prevented, and the cost is saved;
in S8, when H is present<When the distance is 2m, the scanner 6 is positioned at the trunk part, the distribution condition of leaves scanned by the scanner 6 is zero, the driving module electrically drives and controls the electric control valve 11, the hydraulic pump 7 and the air pump 3 to change the operation mode, the electric control valve 11 is controlled to enable the sprayed pesticide to be in a water column type, the hydraulic pump 7 runs at the maximum power, the spraying strength is maximized, then the hydraulic pump 7 runs at normal power, the running time of the maximum power is controlled according to the position height of the insecticidal mechanism during insecticidal, so that the spraying time of the maximum-strength spraying is changed, the air pump 3 is controlled to enable the telescopic rod 4 to stop every ten centimeters in extension, and the staying time is controlled according to the position height of the insecticidal mechanism during insecticidal,
Tstop＝H*tRatio ofWherein, TSpraying nozzleSpray time for maximum intensity spray of insecticide, TGeneral assemblyMaximum spray time for maximum intensity spray of insecticide, tIs a systemThe spray time T of the maximum intensity spray of the insecticide at the position height when the single unit of insecticidal mechanism is used for killing insectsStopThe length of time t for the air pump 3 to make the telescopic rod 4 stay for each ten centimeters of extensionRatio ofIs a single unitThe lower the position height of the insect mechanism during insect killing, the longer the air pump 3 enables the telescopic rod 4 to stay for each ten centimeters, when the position height of the insect mechanism during insect killing is higher, the shorter the spraying time of the maximum-intensity spraying of the insecticide is, the longer the air pump 3 enables the telescopic rod 4 to stay for each ten centimeters, the higher the position height of the insect mechanism during insect killing is, the shorter the spraying time of the maximum-intensity spraying of the insecticide is, on one hand, the effective insect killing can be carried out on the whole trunk in the banyan tree, on the other hand, the phenomenon that the insecticide is excessively wasted due to continuous high-power spraying of the insecticide is prevented, and the longer the stay time is, the closer to the leaves upwards, so that the leaves are prevented from being impacted by high power to affect the health of the leaves;
s9, when the pest killing mechanism ascends to the top of the tree, the S scanned by the scanner 6<SIs provided withWhen S is presentIs provided withThe situation of the banyan leaves set for the system indicates that the leaves on the surface of the tree are extremely sparse and the banyan tree is about to die, the driving module controls the intelligent insect killing system to stop running through electric drive, so that all structures of the device stop running, and meanwhile, data of the distribution situation of the leaves are sent to a mobile phone end to remind a manager of knowing the health situation of the banyan tree, so that the manager can carry out targeted treatment work on the banyan tree about to die.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description of the present invention, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Finally, it should be pointed out that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: it is to be understood that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions may be made in some technical features thereof, without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides an intelligent banyan insect pest multi-angle insecticidal sprinkler, includes insecticidal device and intelligent insecticidal system, its characterized in that: the insect killing device is provided with a plurality of insect killing devices surrounding a banyan, the insect killing device comprises a base (1), a sliding rail (2) is fixed above the base (1), an air pump (3) is connected above the sliding rail (2) in a sliding manner, a telescopic rod (4) is connected to the lower pipeline of the air pump (3), the bottom end of the telescopic rod (4) is fixedly connected with the base (1), a mounting plate (5) is fixedly mounted on the left side of the telescopic rod (4), an insect killing mechanism is fixedly mounted on the left side of the mounting plate (5), a scanner (6) is fixedly mounted on the front side of the air pump (3), a height recognition module is arranged inside the scanner (6), a hydraulic pump (7) is fixedly mounted on the right side of the base (1), the scanner (6) is electrically connected with a mobile phone end, the hydraulic pump (7) is connected with an external insect killing agent pipeline, and the hydraulic pump (7) is connected with the insect killing mechanism pipeline, the intelligent insect killing system is respectively and electrically connected with an external power supply, the scanner (6), the height identification module, the air pump (3), the hydraulic pump (7) and the insect killing mechanism.
2. The intelligent multi-angle pest killing and spraying device for banyans according to claim 1, wherein: insecticidal mechanism includes support frame (8), support frame (8) and mounting plate (5) fixed connection, support frame (8) intermediate bearing is connected with gear drive, gear transport mechanism below fixedly connected with motor (9), gear drive top fixedly connected with steering gear (10), steering gear (10) and support frame (8) bearing are connected, steering gear (10) left side fixed mounting has automatically controlled valve (11), automatically controlled valve (11) left side pipe connection has shower nozzle (12), shower nozzle (12) and hydraulic pump (7) pipe connection, intelligence insecticidal system is connected with motor (9), steering gear (10), automatically controlled valve (11) electricity respectively.
3. The intelligent multi-angle pest killing and spraying device for banyans according to claim 2, wherein: the intelligent insect killing system comprises a detection module, a processing module, a data transmission module, a data receiving module, a calculation module and a control module, wherein the detection module is respectively and electrically connected with a scanner (6), a height identification module and the data transmission module, the data receiving module is respectively and electrically connected with the calculation module and the data transmission module, the calculation module is electrically connected with the control module, the detection module is electrically connected with a mobile phone end, and the control module is electrically connected with a hydraulic pump (7), a motor (9), a steering gear (10) and an electric control valve (11);
the detection module is used for scanning the surface of the banyan through the scanner (6), analyzing the scanned image, thereby judging the distribution condition of leaves of the banyan tree, enabling the height identification module to be according to the rising height of the scanner (6) when moving upwards from the initial position, thereby judging the position height when the insecticide is sprayed, and collecting the data, the processing module is used for carrying out auxiliary control on the device according to the detected data, the data transmission module is used for transmitting the detected data, the data receiving module is used for receiving the transmitted data, the calculation module is used for automatically calculating to obtain a result through the received data, and the control module is used for respectively controlling the hydraulic pump (7), the motor (9), the steering gear (10) and the electric control valve (11) according to the calculated result.
4. The intelligent multi-angle pest killing and spraying device for banyans according to claim 3, wherein: the processing module comprises a data collection module, a conversion module and a driving module, the data collection module is electrically connected with the detection module, the data collection module is electrically connected with the conversion module, the conversion module is electrically connected with the driving module, and the driving module is respectively electrically connected with the steering gear (10), the hydraulic pump (7), the electric control valve (11) and the air pump (3);
the data collection module is used for collecting the data according to the position height of the leaf distribution condition detected by the detection module and the insecticidal time, the conversion module is used for converting according to the collected data to obtain the subsequent driving data of the structure, and the driving module is used for controlling the steering gear (10), the hydraulic pump (7), the electric control valve (11) and the air pump (3) according to the result obtained by conversion.
5. The intelligent multi-angle pest killing and spraying device for banyans according to claim 4, wherein: the intelligent insect killing system comprises the following operation steps:
s1, an operator drives the intelligent insect killing mechanism to operate through an external power supply, the intelligent insect killing system controls an air pump (3) to operate through electric drive, the air pump (3) injects air into the inside of a telescopic rod (4), the telescopic rod (4) extends to drive the air pump (3) to move upwards along a sliding rail 2 and drive a placing plate 5 to move upwards, so that the insect killing mechanism is driven to move upwards, and meanwhile, a scanner (6) is driven to move upwards, so that the height of the position of the insect killing mechanism is changed, and meanwhile, the scanner (6) and a height recognition module are controlled to operate through electric drive;
s2, scanning the surface of the banyan by the scanner (6), analyzing the scanned image to judge the leaf distribution condition of the banyan,
wherein S is the distribution condition of leaves scanned by the scanner (6), and S isLeaf of Chinese characterThe total area size of the leaf distribution in the scanning area of the scanner (6), SSweeping machineIs the total area size of the scanning area of the scanner (6), SIs a systemThe height recognition module judges the position height of the insecticidal mechanism according to the ascending height of the scanner (6) when moving upwards from the initial position, wherein H is the position height of the insecticidal mechanism when the insecticidal mechanism kills insects, and the two data are transmitted into the data transmission module and the data collection module;
s3, the data transmission module transmits the data, the transmitted data is received by the data receiving module, the received data is transmitted from the data receiving module to the computing module through electric transmission, the computing module automatically computes the obtained data to obtain a result, and the result is input into the control module;
s4, when the insect killing work starts, the control module controls the hydraulic pump (7) and the motor (9) to operate, the hydraulic pump (7) inputs the insecticide into the electric control valve (11), then the insecticide is injected into the spray head (12), finally the insecticide is sprayed out from the spray head (12) to carry out the insect killing work on the ficus microcarpa, the motor (9) rotates in a clockwise and anticlockwise alternating way to drive the gear transmission mechanism to rotate in a clockwise and anticlockwise alternating way, the gear transmission mechanism drives the steering gear (10) to rotate to drive the electric control valve (11) to rotate, thereby driving the spray head (12) to rotate, and further carrying out the transverse angle adjustment work on the spray head (12), and the pesticide discharge amount of the hydraulic pump (7) is changed according to the position height of the pesticide mechanism during the pesticide killing, so that the pesticide amount sprayed by the spray head (12) is changed, meanwhile, the angle adjusting amplitude of the motor (9) is changed according to the position height of the insecticidal mechanism during insecticidal, and the amplitude of the left-right swing of the spray head (12) is changed;
s5, the control module changes the speed of the motor (9) rotating alternately in the clockwise and anticlockwise directions according to the position height of the insecticidal mechanism so as to change the swinging speed of the spray head (12) when swinging left and right, and simultaneously controls the motor (9) to stay once every ten degrees of swinging in the swinging process and controls the stay time according to the position height of the insecticidal mechanism when insecticidal;
s6, the data collection module collects the data and transmits the data to the conversion module, the conversion module converts the data to obtain the result and inputs the result into the drive module, when the position height of the insecticidal mechanism is larger than the set value of the system, the operation enters S7, when the position height of the insecticidal mechanism is smaller than two meters, the operation enters S8, otherwise, the operation enters S10;
s7, the driving module controls the steering gear (10), the electric control valve (11) and the hydraulic pump (7) to change the operation mode, the steering gear (10) rotates to drive the spray head (12) to spray the pesticide to the banyan in an up-and-down swinging mode, the speed of the spray head (12) in the up-and-down swinging mode is changed according to the distribution condition of leaves, the electric control valve (11) is controlled to enable the sprayed pesticide to be in a water column type, the pesticide discharging force of the hydraulic pump (7) is changed according to the distribution condition of the leaves, the spraying force is changed, and then the operation enters S10;
s8, the driving module electrically drives and controls the electric control valve (11), the hydraulic pump (7) and the air pump (3) to change the operation mode, the electric control valve (11) is controlled to enable the sprayed pesticide to be in a water column type, the hydraulic pump (7) operates at the maximum power, the spraying intensity is maximized, then the hydraulic pump (7) operates at normal power, the time of operating at the maximum power is controlled according to the position height of the insecticidal mechanism during insecticidal, the spraying time of spraying at the maximum intensity is changed, the air pump (3) is controlled to enable the telescopic rod (4) to stop every ten centimeters in extension, the length of stay is controlled according to the position height of the insecticidal mechanism during insecticidal, and the control module enters S9 when the distribution condition of leaves is smaller than the set value of the system and otherwise enters S10;
s9, the driving module controls the intelligent insect killing system to stop running through electric drive, so that all structures of the device stop running, and meanwhile, data of the distribution condition of the leaves are sent to the mobile phone end;
s10, after the textile cloth is dried, the control panel (3) is closed by an operator, the intelligent insecticidal system stops running, and if the next drying work is continued, the steps from S1 to S9 are repeated.
6. The intelligent multi-angle pest killing and spraying device for banyans according to claim 5, wherein: in S1-S4, the surface of the banyan tree is scanned through the scanner (6), the scanned image is analyzed, the height recognition module judges the position height of the insecticidal mechanism according to the rising height of the scanner (6) when moving upwards from the initial position, the control module controls the hydraulic pump (7) and the motor (9) to operate, when the height is more than or equal to 20m and less than or equal to 30m, the position height of the insecticidal mechanism is indicated to be higher, the control module controls the insecticide discharge amount of the hydraulic pump (7) to be more, the insecticide amount sprayed by the spray head (12) is enabled to be more, the angle adjustment amplitude of the motor (9) is controlled to be smaller, the left-right swinging amplitude of the spray head (12) is enabled to be smaller, when the height is more than or equal to 20m and less than or equal to 10m, the position height of the insecticidal mechanism is indicated to be middle, the control module controls the insecticide discharge amount of the hydraulic pump (7) to be more normal, and the insecticide amount sprayed by the spray head (12) to be more normal, meanwhile, the angle adjustment amplitude of the motor (9) is controlled to be normal, so that the left-right swinging amplitude of the spray head (12) is normal, when H is more than 0m and less than or equal to 10m, the height of the position where the insecticidal mechanism is located is low, the control module controls the insecticide discharge amount of the hydraulic pump (7) to be less, so that the insecticide amount sprayed by the spray head (12) is less, and the angle adjustment amplitude of the motor (9) is controlled to be large, so that the left-right swinging amplitude of the spray head (12) is large.
7. The intelligent multi-angle pest killing and spraying device for banyans according to claim 6, wherein: in S5, the control module changes the speed of the motor (9) rotating alternately in the clockwise and anticlockwise directions according to the height of the position of the insecticidal mechanism, so as to change the swinging speed of the spray head (12) when swinging leftwards and rightwards, and simultaneously controls the motor (9) to stay once every ten degrees of swinging in the swinging process, and controls the stay time according to the height of the position of the insecticidal mechanism when insects are killed, when 20m < H > 30m, the height of the position of the insecticidal mechanism is higher, at the same time, the control module controls the motor (9) to rotate alternately in the clockwise and anticlockwise directions at a lower speed, so that the swinging speed of the spray head (12) when swinging leftwards and rightwards is slower, and when 10m < H > 20m, the height of the position of the insecticidal mechanism is middle, at the time, the control module controls the motor (9) to rotate alternately in the clockwise and anticlockwise directions at a higher speed, the swinging speed of the sprayer (12) during left-right swinging is enabled to be normal, the stay time of each ten degrees of swinging in the swinging process of the motor (9) is controlled to be normal, the stay time of the sprayer (12) during left-right swinging is enabled to be normal, when the H is more than 0m and less than or equal to 10m, the height of the position where the insect killing mechanism is located is indicated to be low, the control module controls the motor (9) to rotate in a clockwise-anticlockwise alternating mode at a high speed, the swinging speed of the sprayer (12) during left-right swinging is enabled to be high, and the stay time of each ten degrees of swinging in the swinging process of the motor (9) is controlled to be short, so that the stay time of the sprayer (12) during left-right swinging is enabled to be short.
8. The intelligent multi-angle pest killing and spraying device for banyans according to claim 7, wherein: in the S7, when H > HIs provided withWhen H is presentIs provided withThe position height of the pest killing mechanism is set for the system, at the moment, the concentration degree of the ficus microcarpa leaves is extremely high, the leaves are extremely densely distributed, the image scanned by the scanner (6) is inaccurate, and SVertical and horizontal＝S+H*SIs a systemWherein S isVertical and horizontalFor the actual distribution of the leaves of Ficus microcarpa, SIs a systemAs a single sheetThe relative distribution condition of the ficus microcarpa leaves under the position height of the pesticide mechanism, the driving module controls the steering gear (10), the electric control valve (11) and the hydraulic pump (7) to change the operation mode, the steering gear (10) rotates to drive the spray head (12) to spray pesticide in an up-and-down swinging mode on the ficus microcarpa, the speed of the spray head (12) in the up-and-down swinging mode is changed according to the distribution condition of the leaves, the electric control valve (11) is controlled to enable the sprayed pesticide to be in a water column type, the pesticide discharging force of the hydraulic pump (7) is changed according to the distribution condition of the leaves, and therefore the spraying force is changedVertical and horizontalThe larger the size, the slower the speed of the spray head (12) swinging up and down, and the larger the force of the pesticide water column sprayed by the spray head (12).
9. The intelligent multi-angle pest killing and spraying device for banyans according to claim 8, wherein: in the S8, when H is<When the distance is 2m, the scanner (6) is positioned at the trunk part, the distribution condition of leaves scanned by the scanner (6) is zero, the driving module electrically drives and controls the operation modes of the electric control valve (11), the hydraulic pump (7) and the air pump (3) to change, the electric control valve (11) is controlled to enable the sprayed pesticide to be in a water column type, the maximum power of the hydraulic pump (7) is operated, the spraying intensity is maximized, then the hydraulic pump (7) is operated at normal power, the operation time of the maximum power is controlled according to the position height of the pest killing mechanism during pest killing, the spraying time of the maximum intensity is changed, the air pump (3) is controlled to enable the telescopic rod (4) to stop for every ten centimeters of extension, and the stay time is controlled according to the position height of the pest killing mechanism during pest killing,
Tstop＝H*tRatio ofWherein, TSpraying nozzleSpray time for maximum intensity spray of insecticide, TGeneral assemblyMaximum spray time for maximum intensity spray of insecticide, tIs a systemThe spray time T of the maximum intensity spray of the insecticide at the position height when the single unit of insecticidal mechanism is used for killing insectsStopThe length of time for the air pump (3) to make the telescopic rod (4) stay for each ten centimeters of extension, tRatio ofA lower air pump (for single unit of insecticidal mechanism) at the position height for killing insects3) Make the time length that ten centimetres dwell of extension of telescopic link (4), position height when insecticidal mechanism insecticidal is more up, the injection time that the insecticide maximum strength sprays is shorter, the time that air pump (3) make telescopic link (4) extend ten centimetres dwell is longer, position height when insecticidal mechanism insecticidal is more up, the injection time that the insecticide maximum strength sprays is shorter, on the one hand can carry out effective insecticidal to whole trunk in the banyan, on the one hand prevent that the insecticide from lasting high-power spraying leads to the insecticide by excessive waste, the time of dwell is longer, thereby it influences the leaf health to avoid the leaf to be impacted by high-power by the leaf to go up more closely the leaf.
10. The intelligent multi-angle pest killing and spraying device for banyans according to claim 9, wherein: in the S9, when the pest killing mechanism ascends to the top of the tree, the S scanned by the scanner (6) is<SIs provided withWhen S is presentIs provided withThe situation of the banyan leaves set for the system indicates that the leaves on the surface of the tree are extremely sparse and the banyan tree is about to die, the driving module controls the intelligent insect killing system to stop running through electric drive, so that all structures of the device stop running, and meanwhile, data of the distribution situation of the leaves are sent to a mobile phone end to remind a manager of knowing the health situation of the banyan tree, so that the manager can carry out targeted treatment work on the banyan tree about to die.
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