Method for transporting pine wood nematode diseased wood by unmanned aerial vehicle

Abstract

The present invention discloses a method for transporting pine nematode diseased trees by unmanned aerial vehicles. A method for transporting pine nematode diseased trees by unmanned aerial vehicles comprises an unmanned aerial vehicle, a hoisting mechanism is installed below the unmanned aerial vehicle, a balanced carrier is arranged in the hoisting mechanism, a cable is connected above the balanced carrier, a driving device is connected below the balanced carrier, a grasping device is arranged below the driving device, a plurality of expansion and push pressure rods are arranged in the grasping device, the plurality of expansion and push rods are respectively connected to a plurality of ring claw grasping parts, a latch shaft is arranged in the ring claw grasping part, and a left claw half ring and a right claw half ring are respectively connected at both ends of the latch shaft. The present invention can transport pine nematode diseased trees in some mountain forests through the hoisting mechanism below the unmanned aerial vehicle, so that the diseased trees in the mountain forest can be transported to the bottom of the mountain without opening up the mountain forest road, which greatly reduces the cost of transporting the diseased trees, and also reduces the hard work and slow speed of manual transportation.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicle equipment, and in particular to a method for transporting pine wood nematode diseased wood using unmanned aerial vehicles. Background Art

[0002] Pine wilt disease is the most dangerous and destructive forest disease in the world's forest ecosystems. It is highly contagious and destructive. It is called "the cancer of pine trees" because of its strong pathogenicity, rapid disease progression in the host, serious damage and difficulty in control. Pine trees infected with pine wilt show typical external symptoms, including pine needles losing water and wilting, turning yellow-brown to reddish-brown, and eventually the entire tree withers and dies. The needles do not fall off that year, and pine resin secretion decreases or stops. The cross-section of the dead tree trunk is often accompanied by blue discoloration or blue-gray or radiating, and longhorn beetle debris can be seen on the trunk.

[0003] However, the existing technology has the following shortcomings: currently, infected trees found after pine wood nematode infestation must be safely utilized within a specified time and the processing residues must be completely destroyed. The initial locations from discovery to treatment are all based on mountains. In the traditional way, agricultural vehicles are used to transport them from the mountains, but this transportation is not suitable for uncultivated mountains and forests, and its cost is relatively high. Manual transportation consumes a lot of manpower and is slow. Summary of the invention

[0004] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or be understood by implementing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description and other drawings of the description.

[0005] The purpose of the present invention is to overcome the above-mentioned shortcomings and provide a method for transporting pine wood nematode diseased wood by unmanned aerial vehicle.

[0006] In order to achieve the above object, the present invention is implemented through the following technical solution: a method for transporting pine wood nematode diseased wood by unmanned aerial vehicle, specifically comprising the following steps:

[0007] S1: The operator carries the drone to the open area at the foot of the mountain where the incident occurred, assembles and debugs the drone, and then pulls out the hoisting mechanism to achieve the appropriate transportation length;

[0008] S2: After retreating to a safe distance from the drone, the operator controls and starts the drone, and the drone carrying the hoisting mechanism flies to the site where the felled pine wood nematode disease-infected trees occurred in cooperation with the locator and the probe;

[0009] S3: The collaborative personnel pack and bundle the felled pine wood nematode diseased trees, place them in an open area where the diseased trees were felled, place them on a platform with a raised bottom, and retreat to a safe distance from the drone, waiting for the drone to hoist them in place;

[0010] S4: After the drone arrives at the designated location with the assistance of the locator and the probe, the drone is vertically aligned with the transport platform and then hovers in the air;

[0011] S5: Then, the expansion and pushing pressure rod in the grabbing device cooperates with the ring claw grabbing member to grab the bundle of pine nematode diseased wood, and at the same time, the clamping is completed with the cooperation of the internal structure to prevent loosening and falling off during the transportation process;

[0012] S6: After the fixation is completed, the drone returns to the original route, flies down to the open area at the foot of the mountain with the bundle of pine nematode infected wood, and places the bundle of pine nematode infected wood. Before placing the bundle, the push rod is retracted inward to make the internal structural parts unstuck, and then the bundle of pine nematode infected wood is placed;

[0013] S7: Finally, after repeatedly cycling the above operations, the felled trees carrying pine nematode disease are transported from the site where the diseased trees occurred.

[0014] The present invention is further improved in that a hoisting mechanism is installed below the drone, a balancing seat is arranged inside the hoisting mechanism, a cable is connected above the balancing seat, a driving device is connected below the balancing seat, and a grabbing device is arranged below the driving device. The hoisting mechanism is conducive to carrying the drone accordingly, so that the drone can complete the corresponding transportation of the felled trees infected with pine nematode disease in some mountain forests, thereby reducing the transportation cost.

[0015] The present invention is further improved, the grabbing device is provided with a plurality of expansion push and pressure rods, the plurality of expansion push and pressure rods are respectively connected to a plurality of ring claw grabbing parts, the ring claw grabbing parts are provided with a latch shaft, the two ends of the latch shaft are respectively connected to the left claw half ring and the right claw half ring, the side wall of the left claw half ring is fixed with an auxiliary clamping column, and the side wall of the right claw half ring is connected with a pressure anti-detachment hook. The pressure anti-detachment hook is conducive to the corresponding swing after being subjected to pressure, so as to adapt to its auxiliary clamping column to complete the corresponding clamping, and avoid the firmness of the ring claw grabbing part during the transportation process.

[0016] The present invention is further improved, the pressure anti-disengagement hook is engaged with the auxiliary clamping column, the left claw half ring and the right claw half ring are hingedly connected through the latch shaft, the expansion push pressure rod is respectively connected to the left claw half ring and the right claw half ring, the end of the expansion push pressure rod is connected to the two sides of the driving device, and cooperates with each other, the cable passes through the balance carrier, and the other end of the cable is connected to the bottom of the drone. The expansion push pressure rod is used in conjunction with the driving device, so that the left and right ends can be expanded according to needs during use, thereby completing the opening and closing of the left claw half ring and the right claw half ring on the latch shaft.

[0017] The present invention is further improved, wherein a self-adjusting carrier is provided in the balancing carrier, and a plurality of hook blocks are fixed on the self-adjusting carrier, and hook rods are hung on the hook blocks, and the ends of the hook rods are connected to fixed hoisting rings. The hook rods are welded after passing through the hook blocks, and the ends are nested and fixed to the bottom of the fixed hoisting ring, and then welded again by a welding method to ensure a firm connection.

[0018] The present invention is further improved, the self-adjusting carrier is provided with a plate body, the plate body is provided with a plurality of connection grooves, a rotating shaft column is passed through the plate body, a side swing plate is passed through the plate body, both sides of the side swing plate are provided with a centering adapter, a transmission rod is provided in the centering adapter, both ends of the transmission rod are connected with a sleeve, an integrated structure of the top-fitting sleeve is provided in front of the sleeve, and the top-fitting sleeve has an inherent pressure spring embedded therein. The centering adapter is conducive to setting its side swing plate at the center of the plate body, and can complete the top-fitting in time when an offset occurs, thereby ensuring that the side swing is always in the middle, thereby improving the stability of the drone in transporting diseased wood.

[0019] The present invention is further improved, the centering adapter is installed in the plate body, the pressure spring is matched with the side wall of the side swing plate through the top sleeve, the shaft column passes through the plate body and the side swing plate respectively, the hook block is welded to the plate body and the side swing plate respectively, and the center of the fixed lifting ring is connected to the cable. The plate body and the two ends of the upper surface of the side swing plate are welded with fixed hook blocks to form a cross, and their gravity is based on the fixed lifting ring above the center with the cooperation of the hook block.

[0020] The present invention is further improved, the drone is provided with a body shell, both sides of the body shell are equipped with support rods, a junction box is provided between the support rods, one end of the junction box is provided with a probe, the other end of the junction box is provided with a positioner, and a plurality of driving propellers are installed on the body shell. The probe adopts a 270° wide angle and can be swung, so as to better view the path graphics and predict the flight trajectory and confirm the transportation point in advance.

[0021] The present invention is further improved, the said collection box is provided with a box body, the said box body is provided with an upper connecting card plate, the said box body is installed with a plurality of clamping rods, the top of the said clamping rod is connected with a built-in drive, the said built-in drive is provided with a motor, the center of the said motor is connected with a power shaft, the said motor surface is provided with an upper pad, and the said upper pad is provided with a plug-in lower plate below. The motor is conducive to driving the power shaft in its center to make it rotate accordingly, so as to retract its cables into the collection box for storage, so as to avoid the cables having nowhere to be placed and entangled after use.

[0022] The present invention is further improved, the plug-in lower plate and the upper pad both penetrate the power shaft, the clamping rod is fixed to the outer surface of the motor, the box body is fixed to the bottom of the drone through the upper connecting plate connected by bolts, the end of the cable is connected to the power center, and the plurality of driving blades are distributed at the four corners of the body shell. The plug-in lower plate and the upper pad are both used to limit the retraction and release of the cable, thereby completing the reeling of the cable. Beneficial Effects

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The present invention can transport trees infected with pine wood nematode disease in some mountain forests through the lifting mechanism under the drone, so that the infected trees in the mountain forests can be transported to the foot of the mountain without opening up mountain roads, which greatly reduces the cost of transporting infected trees and also reduces the hard work and slow speed of manual transportation.

[0025] 2. The present invention uses the connecting groove in the self-adjusting carrier plate to cooperate with the rotating shaft column to cross the plate body and the side swing plate. At the same time, the hook block and hook rod on the plate body and the side swing plate are coordinated to connect the bottom of the fixed lifting ring to ensure that the force is centered. However, when an offset occurs, the centering adapters arranged on both sides of the side swing plate complete the top fitting to ensure the stability of the drone when transporting diseased wood.

[0026] 3. The present invention forms a clamping connection between the lower surface of the drone and the upper clamping plate, which is then triggered by a built-in drive in the box body to enable its motor to achieve positive and negative reversal, thereby winding and releasing the cable between its upper pad and the plug-in lower plate, and then being able to shrink accordingly after the pine wood nematode diseased wood is hoisted to avoid being exposed to the outside and having nowhere to put it. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of a method for transporting pine wood nematode diseased wood using an unmanned aerial vehicle according to the present invention;

[0028] Figure 2It is a schematic diagram of the three-dimensional structure of a hoisting mechanism in a method for transporting pine wood nematode diseased wood by a drone according to the present invention;

[0029] Figure 3 It is a schematic diagram of the three-dimensional structure of a grabbing device in a method for transporting pine wood nematode diseased wood by using a drone according to the present invention;

[0030] Figure 4 It is a front view structural schematic diagram of a ring claw grabbing member in a method for transporting pine wood nematode diseased wood by a drone according to the present invention;

[0031] Figure 5 It is a schematic diagram of the three-dimensional structure of a balance carrier in a method for transporting pine wood nematode diseased wood by a drone according to the present invention;

[0032] Figure 6 It is a schematic diagram of the internal structure of a self-adjusting carrier plate in a method for transporting pine wood nematode diseased wood by a drone according to the present invention;

[0033] Figure 7 It is a schematic diagram of the three-dimensional structure of a centering adapter in a method for transporting pine wood nematode diseased wood by a drone according to the present invention;

[0034] Figure 8 A schematic diagram of the bottom structure of a drone in a method for transporting pine wood nematode diseased wood using a drone according to the present invention;

[0035] Fig. 9 It is a schematic diagram of the three-dimensional exploded structure of a junction box in a method for transporting pine wood nematode diseased wood by a drone according to the present invention;

[0036] Fig.10 The present invention is a schematic diagram of the three-dimensional structure of the built-in drive in the method for transporting pine wood nematode diseased wood by unmanned aerial vehicle.

[0037] In the figure: UAV 1, lifting mechanism 2, balance carrier 21, cable 22, drive device 23, grabbing device 24, push-pushing rod 241, ring claw grabbing member 242, latch shaft 2411, left claw half ring 2412, right claw half ring 2413, auxiliary clamp column 2414, pressure anti-detachment hook 2415, self-adjusting carrier plate 211, hook block 212, hook rod 213, fixed lifting ring 214, plate body 2111, connecting groove 2112, rotating shaft column 2113 , side swing plate-2114, center adapter-2115, transmission rod-21151, top sleeve-21152, sleeve-21153, pressure spring-21154, body shell-11, support frame rod-12, driving propeller-13, probe-14, wire collection and-15, positioner-16, box body-151, clamping rod-152, built-in drive-153, upper card plate-154, motor-1531, upper pad-1532, power shaft-1533, plug-in lower plate-1534. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but are not used to limit the present invention.

[0039] In addition, in the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0040] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. However, if it is indicated as a direct connection, it means that the two connected bodies are not connected through a transition structure, but are connected to form a whole through a connecting structure. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0041] In the present invention, unless otherwise clearly specified and limited, the first feature "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples.

[0042] The present invention is further described below in conjunction with the accompanying drawings: Example 1

[0043] As attached Figure 1 To Attachment Fig.10 As shown: Figure 1It is a structural schematic diagram of a method for transporting pine wood nematode diseased wood using an unmanned aerial vehicle according to the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of a hoisting mechanism in a method for transporting pine wood nematode diseased wood by a drone according to the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of a grabbing device in a method for transporting pine wood nematode diseased wood by using a drone according to the present invention; Figure 4 It is a front view structural schematic diagram of a ring claw grabbing member in a method for transporting pine wood nematode diseased wood by a drone according to the present invention; Figure 5 It is a schematic diagram of the three-dimensional structure of a balance carrier in a method for transporting pine wood nematode diseased wood by a drone according to the present invention; Figure 6 It is a schematic diagram of the internal structure of a self-adjusting carrier plate in a method for transporting pine wood nematode diseased wood by a drone according to the present invention; Figure 7 It is a schematic diagram of the three-dimensional structure of a centering adapter in a method for transporting pine wood nematode diseased wood by a drone according to the present invention; Figure 8 A schematic diagram of the bottom structure of a drone in a method for transporting pine wood nematode diseased wood using a drone according to the present invention; Fig. 9 It is a schematic diagram of the three-dimensional exploded structure of a junction box in a method for transporting pine wood nematode diseased wood by a drone according to the present invention; Fig.10 The present invention is a schematic diagram of the three-dimensional structure of the built-in drive in the method for transporting pine wood nematode diseased wood by unmanned aerial vehicle.

[0044] According to some embodiments of the present invention, the present invention further provides a method for transporting pine wood nematode diseased wood using a drone, which specifically comprises the following steps:

[0045] S1: The operator carries the drone to an open area at the foot of a mountain where the incident occurred, assembles and debugs the drone 1, and then pulls out the hoisting mechanism 2 to a suitable transportation length;

[0046] S2: After retreating to a safe distance from the drone 1, the operator controls the drone 1 to start, and the drone 1 carrying the hoisting mechanism 2 flies to the location where the felled pine wood nematode disease-infected trees occurred under the cooperation of the locator 16 and the probe 14;

[0047] S3: The collaborative personnel pack and bundle the felled pine wood nematode diseased trees, place them in an open area where the diseased trees were felled, place them on a platform with a raised bottom to be transported, and retreat to a safe distance from the drone 1, waiting for the drone to hoist them in place;

[0048] S4: After the drone 1 arrives at the designated location with the assistance of the locator 16 and the probe 14, the drone 1 is vertically aligned with the top of the transfer platform and then hovers in the air;

[0049] S5: Then, the expansion and pushing rod 241 in the grabbing device 24 cooperates with the ring claw grabbing member 242 to grab the bundle of pine nematode diseased wood, and at the same time, the clamping is completed with the cooperation of the internal structure to prevent loosening and unstuck during the transportation process;

[0050] S6: After the fixation is completed, the drone 1 returns to the original route, carries the bundle of pine nematode diseased wood, flies down to the open area at the foot of the mountain, and places the bundle of pine nematode diseased wood. Before placing, the push rod 241 retreats inward to make its internal structural parts unstuck, and then places the bundle of pine nematode diseased wood;

[0051] S7: Finally, after repeatedly cycling the above operations, the felled trees carrying pine nematode disease are transported from the site where the diseased trees occurred. Example 2

[0052] As attached Figure 1 To Attachment Figure 4 As shown:

[0053] The present embodiment provides a method for transporting pine wood nematode diseased wood by drone, a method for transporting pine wood nematode diseased wood by drone, a hoisting mechanism 2 is installed below the drone 1, a balancing carrier 21 is arranged inside the hoisting mechanism 2, a cable 22 is connected above the balancing carrier 21, a driving device 23 is connected below the balancing carrier 21, and a grabbing device 24 is arranged below the driving device 23. A plurality of expansion and push rods 241 are arranged inside the grabbing device 24, and the plurality of expansion and push rods 241 are respectively connected to a plurality of ring claw grabbing members 242, a latch shaft 2411 is arranged inside the ring claw grabbing member 242, and the two ends of the latch shaft 2411 are respectively connected to a left claw half ring 2412 and a right claw half ring 2413, an auxiliary clamping column 2414 is fixed to the side wall of the left claw half ring 2412, and a pressure anti-detachment hook 2415 is connected to the side wall of the right claw half ring 2413.

[0054] Furthermore, the left claw half ring 2412 and the right claw half ring 2413 are both forged twice from alloy steel, and the two are connected by a latch shaft 2411 at the top center position, and can swing, and the inner side is connected to an expansion push rod 241 for driving.

[0055] Furthermore, the pressure anti-detachment hook 2415 and the left claw half ring 2412 and the right claw half ring 2413 are made of the same material, are triggered by pressure matching, and are hingedly connected to the inner wall of the right claw half ring 2412. After being pressed down, they are fixed with the auxiliary clamping column 2414 on the left claw half ring 2412 to prevent them from falling off during the transportation of pine nematode-infected wood.

[0056] The specific working principle is as follows:

[0057] The present invention uses the drone 1 in cooperation with the lifting mechanism 2 connected below, and after flying to the designated position, the pine wood nematode diseased wood is transported, so that the cable 22 is hammered with the cooperation of the grabbing device 24, and the balancing carrier 21 maintains gravity balance. Under the triggering of the driving device 23, the push-pushing rod 241 expands and pushes the left claw half ring 2412 in the claw grabbing member 242 to move outward first, and then cooperates with the right claw half ring 2413 to move again to grab the diseased wood, and then the gravity presses down the anti-detachment hook 2415 to clamp it into the auxiliary clamping column 2414 to reinforce it during transportation. Example 3

[0058] As attached Figure 5 To Attachment Figure 7 As shown:

[0059] The balancing carrier 21 is provided with a self-adjusting carrier plate 211, on which a plurality of hook blocks 212 are fixed, on which hook blocks 212 are hung hook rods 213, respectively, and the ends of hook rods 213 are connected with fixed hoisting rings 214. The self-adjusting carrier plate 211 is provided with a plate body 2111, on which a plurality of connecting grooves 2112 are provided, and between which a rotating shaft column 2113 is passed, a side swing plate 2114 is passed through the plate body 2111, and both sides of the side swing plate 2114 are provided with a centering adapter 2115, and a transmission rod 21151 is provided in the centering adapter 2115, and both ends of the transmission rod 21151 are connected with a sleeve 21153, and in front of the sleeve 21153, an integrated top sleeve 21152 is provided, and a pressure spring 21154 is embedded in the top sleeve 21152.

[0060] Furthermore, the plate body 2111 and the side swing plate 2114 are in a through-connection relationship and are fixed by the rotating shaft column 2113 and the connecting groove 2112 in a cross-staggered state, and at least two center adapters 2115 are provided, which are respectively installed on the left and right sides of the side swing plate 2114.

[0061] Furthermore, the two sides of the side swing plate 2114 are in contact with each other by pressure springs 21154, and the corresponding transmission is supported by the quota or sleeve 21152 during swinging, and finally transmitted to the transmission rod 21151 for swing adjustment, so as to keep the counterweight of the side swing plate 2114 centered.

[0062] The specific working principle is as follows:

[0063] The present invention fixes the plate body 2111 in the self-adjusting carrier plate 211 through the connection groove 2112 and the shaft column 2113, and sets the centering adapter 2115 on both sides of the side swing plate 2114 before leaving the factory, and then welds the hook blocks 212 on both ends of the side swing plate 2114 and the plate body 2111 surface, so that the gravity is based on the fixed lifting ring 214 above under the hanging of the hook rod 213, and the rotating rod 21151 is adjusted when the side swing plate 2114 is force-shifted, and the pressure spring 21154 in the top-fitting sleeve 21152 in front of the sleeve 21153 plays an auxiliary top-fitting effect, thereby ensuring that the side swing plate 2114 is centered and ensuring the flight stability of the UAV 1. Example 4

[0064] As attached Figure 8 To Attachment Fig.10 As shown:

[0065] The drone 1 is provided with a body shell 11, and support rods 12 are installed on both sides of the body shell 11. A junction box 15 is provided between the support rods 12, and a probe 14 is provided at one end of the junction box 15, and a positioner 16 is provided at the other end of the junction box 15. A plurality of driving blades 13 are installed on the body shell 11. A box body 151 is provided in the junction box 15, and an upper connecting card plate 154 is provided on the box body 151. A plurality of clamping rods 152 are installed in the box body 151, and a built-in drive 153 is connected to the top of the clamping rod 152. A motor 1531 is provided in the built-in drive 153, and a power shaft 1533 is connected to the center of the motor 1531. An upper pad 1532 is provided on the surface of the motor 1531, and a plug-in lower plate 1534 is provided below the upper pad 1532.

[0066] Furthermore, at least five clamping rods 152 are fixed to the outer surface of the motor 1531 to ensure the stability of the motor 1531, so that the motor 1531 is fixed in the middle of the box body 151, and cooperates with the cable 22 below to complete auxiliary winding and releasing.

[0067] The specific working principle is as follows:

[0068] The present invention fixes the junction box 15 installed between the support frame rods 12 on the lower surface of the body shell 11, and is connected to it by an upper clamping plate 154. The box body 151 then cooperates with the internal driving 153 to install the clamping rod 152 and then threadedly connects it. During operation, the motor 1531 rotates, driving the power shaft 1533 to rotate, thereby completing the collection of the cables that pass through the bottom of the box body 151 between the upper pad 1532 and the plug-in lower plate 1534, thereby avoiding the cables having nowhere to hang and entangle after use.

[0069] It should be understood that the embodiments disclosed in the present invention are not limited to the specific processing steps or materials disclosed herein, but should be extended to equivalent substitutions of such features understood by ordinary technicians in the relevant field. It should also be understood that the terms used herein are only used for the purpose of describing specific embodiments and are not meant to be limiting.

[0070] The "embodiment" mentioned in the specification means that the specific features or characteristics described in conjunction with the embodiment are included in at least one embodiment of the present invention. Therefore, the phrases or "embodiment" appearing in various places throughout the specification do not necessarily refer to the same embodiment.

[0071] In addition, the described features or characteristics may be combined in one or more embodiments in any other suitable manner. In the above description, some specific details, such as thickness, quantity, etc., are provided to provide a comprehensive understanding of the embodiments of the present invention. However, those skilled in the relevant art will understand that the present invention can be implemented without one or more of the above specific details or can also be implemented using other methods, components, materials, etc.

Claims

1. A method for transporting pine wood nematode diseased wood by unmanned aerial vehicles, characterized in that: The method comprises the following steps: S1: the operator carries the drone to an open area at the foot of a mountain where the incident occurred, assembles and debugs the drone, and then pulls out the hoisting mechanism to a suitable transport length; S2: After retreating to a safe distance from the drone, the operator starts the drone under control, and the drone carrying the hoisting mechanism flies to the site where the felled pine wood nematode disease-infected trees occurred in cooperation with the locator and the probe; S3: The collaborative personnel pack and bundle the felled pine wood nematode diseased trees, place them in an open area where the diseased trees were felled, place them on a platform with a raised bottom, and retreat to a safe distance from the drone, waiting for the drone to hoist them in place; S4: After the drone arrives at the designated location with the assistance of the locator and the probe, the drone is vertically aligned with the transport platform and then hovers in the air; S5: Then, the expansion and pushing pressure rod in the grabbing device cooperates with the ring claw grabbing member to grab the bundle of pine nematode diseased wood, and at the same time, the clamping is completed with the cooperation of the internal structure to prevent loosening and falling off during the transportation process; S6: After the fixation is completed, the drone returns to the original route, flies down to the open area at the foot of the mountain with the bundle of pine nematode infected wood, and places the bundle of pine nematode infected wood. Before placing the bundle, the push rod is retracted inward to make the internal structural parts unstuck, and then the bundle of pine nematode infected wood is placed; S7: Finally, after repeatedly cycling the above operations, the felled trees carrying pine nematode disease are transported from the location where the diseased trees occurred; A hoisting mechanism is installed below the drone, a balancing seat is arranged inside the hoisting mechanism, a cable is connected above the balancing seat, a driving device is connected below the balancing seat, and a grabbing device is arranged below the driving device; A plurality of expansion push and pressure rods are arranged in the grabbing device, and the plurality of expansion push and pressure rods are respectively connected to a plurality of ring claw grabbing members, and a latch shaft is arranged in the ring claw grabbing member, and the two ends of the latch shaft are respectively connected to a left claw half ring and a right claw half ring, and the side wall of the left claw half ring is fixed with an auxiliary clamping column, and the side wall of the right claw half ring is connected with a pressure anti-disconnection hook; The pressure anti-disengagement hook is engaged with the auxiliary clamping column, the left claw half ring is hingedly connected to the right claw half ring through the latch shaft, the expansion push pressure rod is respectively connected to the left claw half ring and the right claw half ring, the end of the expansion push pressure rod is connected to the two sides of the driving device and cooperates with each other, the cable passes through the balance carrier, and the other end of the cable is connected to the bottom of the drone; A self-adjusting carrier is arranged in the balancing carrier, a plurality of hook blocks are fixed on the self-adjusting carrier, hook rods are hung on the hook blocks respectively, and the ends of the hook rods are connected to fixed lifting rings; The self-adjusting carrier plate is provided with a plate body, a plurality of connection grooves are provided on the plate body, a rotating shaft column is passed through the plurality of connection grooves, a side swing plate is passed through the plate body, a centering adapter is provided on both sides of the side swing plate, a transmission rod is provided in the centering adapter, sleeves are connected to both ends of the transmission rod, a top sleeve of an integrated structure is provided in front of the sleeve, and a pressure spring is embedded in the top sleeve; The centering adapter is installed in the plate body, the pressure spring is matched with the side wall of the side swing plate through the top sleeve, the shaft column passes through the plate body and the side swing plate respectively, the hook block is welded to the plate body and the side swing plate respectively, and the center of the fixed lifting ring is connected to the cable; The drone is provided with a body shell, support rods are installed on both sides of the body shell, a junction box is provided between the support rods, a probe is provided at one end of the junction box, a positioner is provided at the other end of the junction box, and a plurality of driving propellers are installed on the body shell.

2. The method for transporting pine wood nematode diseased wood by unmanned aerial vehicles according to claim 1, characterized in that: A box body is arranged in the junction box, an upper connecting plate is arranged on the box body, a plurality of clamping rods are installed in the box body, a built-in drive is connected to the top end of the clamping rod, a motor is arranged in the built-in drive, a power shaft is connected to the center of the motor, an upper pad is arranged on the surface of the motor, and a plug-in lower plate is arranged below the upper pad.

3. The method for transporting pine wood nematode diseased trees by unmanned aerial vehicles according to claim 2, characterized in that: The plug-in lower plate and the upper pad plate both pass through the power shaft, the clamping rod is fixed to the outer surface of the motor, the box body is fixed to the bottom of the drone through the upper clamping plate connected by bolts, the end of the cable is connected to the power center, and the plurality of driving propellers are distributed at the four corners of the body shell.

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