A device and method for precise pesticide application via electromagnetic navigation inside trees

Abstract

This invention discloses a precision drug delivery device and method using electromagnetic navigation within trees. The device includes a main frame and a crawling device and an electromagnetic device mounted on the frame. The invention allows the device to ascend along the tree trunk using the main frame with the crawling device as a carrier. As the device ascends, the magnetic field generated by the electromagnetic device attracts the injected magnetic drug within the tree trunk. During tree drug delivery, after the drug is absorbed at the application site, it is mainly transported to the site of action through vascular bundles and sieve tubes. However, in plants, especially large trees, drug transport is relatively slow. This invention addresses this problem by using an electromagnetic navigation device to facilitate the transport of magnetic drugs within the tree.

Description

Technical Field

[0001] This invention relates to the field of tree spraying technology, specifically to a precise spraying device and method using electromagnetic navigation inside trees. Background Technology

[0002] Forestry resources are a crucial component of my country's socio-economic development and a foundation for ensuring the healthy and sustainable development of the national economy. Due to the inevitable occurrence of various pests and diseases during tree growth, chemical control is one of the optimal methods, considering efficiency and cost. However, the process suffers from serious problems due to outdated concepts in chemical control. For example, current mainstream chemical pesticide application techniques primarily involve canopy spraying and surface application. During canopy spraying, chemicals settle onto leaves and branches, with only a small portion absorbed; the majority evaporates and disperses into the air or falls directly to the ground. The effectiveness is easily affected by environmental factors such as wind speed and temperature. During surface application, the absorption rate of chemicals is influenced by soil pH, temperature, and humidity. Both techniques suffer from problems such as large amounts of ineffective pesticide application, low effective absorption rates, and severe environmental pollution.

[0003] Therefore, this invention embodies the concept of precision pesticide application and presents a precision pesticide application device utilizing electromagnetic navigation inside trees. This device controls the magnetic force by adjusting the current, achieving precise dosage control; through the device's crawling motion, it enables directional movement of the pesticide within the tree's vascular bundles or phloem, achieving precise application to the affected areas. This internal electromagnetic navigation precision pesticide application device offers advantages such as protecting the ecological environment, reducing pesticide waste, improving pesticide absorption rates, and providing excellent control effects. Summary of the Invention

[0004] The purpose of this invention is to provide a precise drug delivery device and method for electromagnetic navigation inside trees. During the drug delivery process, after the drug is absorbed by the delivery site, it is mainly transported to the site of action of the drug through the duct and sieve tube. However, the drug delivery process is relatively slow in plants, especially large trees. This invention addresses this problem of drug delivery to trees by using electromagnetic guidance to transport magnetic drugs injected into the tree trunk, thereby promoting the absorption and distribution of the drug in the tree.

[0005] To achieve the above objectives, the technical solution provided by the present invention is as follows:

[0006] A tree-in-speech electromagnetic navigation precision drug delivery device includes a main frame and a crawling device and an electromagnetic device mounted on the main frame; the crawling device is used to make the tree-in-speech electromagnetic navigation precision drug delivery device crawl along the tree trunk; the electromagnetic device is used to generate a magnetic field, which, as the tree-in-speech electromagnetic navigation precision drug delivery device crawls, attracts the magnetic drug injected into the tree to move directionally within the tree trunk.

[0007] To optimize the above technical solution, the specific measures / limitations also include:

[0008] It also includes a clamping device mounted on the main unit frame, the clamping device having adjustable grippers that can switch between closed and open states for clamping or releasing the trunk.

[0009] It also includes an obstacle removal device mounted on the main unit frame, the obstacle removal device having blades for removing obstacles from the tree trunk.

[0010] The obstacle removal device is equipped with an image sensor. The blade works according to the signal transmitted by the image sensor to remove obstacles detected by the image sensor. The obstacles are small side branches or debris.

[0011] The electromagnetic device has an opening in the middle, through which the tree trunk passes, causing the electromagnetic field generated by the device to surround the tree trunk. After passing through the tree trunk, the electromagnetic device forms a closed ring, and the electromagnetic field generated by the device can be controlled by adjusting the current, thus precisely controlling the movement of the drug.

[0012] The crawling device includes a drive track, crawling wheels, an electric telescopic rod, and an arc-shaped rod. The drive track includes a track drive wheel, a track on the outer side of the track drive wheel, and a baffle installed behind the track drive wheel, with a support rod installed behind the baffle. The track drive wheel is connected to a servo motor via a drive shaft, which drives the rubber track to rotate. One end of the electric telescopic rod is connected to a motor mounted on the main device frame via a coupling, and the other end is connected to the arc-shaped rod. The crawling wheel of the drive track has a central shaft, and the crawling wheel can rotate along the shaft. The arc-shaped rod is sequentially connected to the outer end of the electric telescopic rod, the support rod behind the baffle, and the central shaft of the crawling wheel. The arc-shaped protrusion of the arc-shaped rod faces outward, and the rubber track and crawling wheels adhere to the outer wall of the tree trunk, allowing the electromagnetic navigation precision application device inside the tree to crawl along the tree trunk.

[0013] The electromagnetic device includes an upper electromagnetic device located above the electromagnetic navigation precision application device inside the tree and a lower electromagnetic device located below the electromagnetic navigation precision application device inside the tree. The upper electromagnetic device and the lower electromagnetic device each have an independent switch.

[0014] A method for precise application of pesticides inside trees using electromagnetic navigation, employing the aforementioned precise application device for pesticides inside trees, includes the following steps:

[0015] The drug is injected into the tree from the root, and the injection is a liquid containing magnetic nano-drugs.

[0016] The electromagnetic navigation precision drug delivery device inside the tree uses a main frame with a crawling device as a carrier to crawl along the tree trunk. During the crawling process, the electromagnetic device attracts the injected magnetic drug and moves it in a directional manner.

[0017] The main frame is equipped with a clamping device, including an upper clamping device and a lower clamping device. The clamping device clamps the trunk when the electromagnetic navigation precision spraying device inside the tree needs to stop. The main frame is equipped with an obstacle removal device. When the electromagnetic navigation precision spraying device crawls along the trunk inside the tree, it detects obstacles that hinder its crawling movement and removes the obstacles through the obstacle removal device.

[0018] The main frame has an upper electromagnetic device and a lower electromagnetic device. Inside the tree, the electromagnetic navigation precision application device is fixed to a certain part of the trunk by the upper and lower clamping devices. By controlling the intermittent opening and closing of the upper and lower electromagnetic devices, the magnetic drug that has reached the corresponding height of the trunk is controlled to move up and down repeatedly within the magnetic field influence area generated by the upper and lower electromagnetic devices, so as to clear the transport channel of the magnetic drug and avoid blockage.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] This invention addresses the problem that during tree application, after the drug is absorbed at the application site, it is mainly transported to the site of action through xylem and phloem. However, in plants, especially large trees, the drug transport process is relatively slow. This invention employs an electromagnetic navigation device to promote the transport of magnetic drugs within the tree. The tree-internal electromagnetic navigation precision application device of this invention can promote the directional and quantitative transport of magnetic drugs within the trunk, and facilitate the distribution and absorption of drugs within the tree.

[0021] The present invention can also control the electromagnetic field generated by the electromagnetic device by controlling the magnitude of the current, thereby precisely controlling the movement of the drug.

[0022] This invention enables magnetic drugs to move up and down inside the tree by using the magnetic fields generated by the upper electromagnetic device at the top and the lower electromagnetic device at the bottom of the main device frame. This can solve the problem of blockage of the sieve tubes and vascular bundles inside the tree caused by pests and diseases. Attached Figure Description

[0023] Figure 1 This is a schematic diagram showing the usage status of the electromagnetic navigation precision pesticide application device inside trees according to the present invention.

[0024] Figure 2This is a schematic diagram illustrating the principle of the electromagnetic device described in this invention generating a magnetic field to guide the upward transport of drugs.

[0025] Figure 3 This is a schematic diagram illustrating the principle of the lower electromagnetic device described in this invention generating a magnetic field to guide the downward transport of drugs.

[0026] Figure 4 This is a schematic diagram of the structure of the electromagnetic navigation precision pesticide application device inside trees from one perspective of the present invention.

[0027] Figure 5 This is a schematic diagram of the structure of the electromagnetic navigation precision pesticide application device inside trees from another perspective of the present invention.

[0028] Figure 6 This is a schematic diagram of the obstacle removal device of the present invention.

[0029] Figure 7 This is a schematic diagram of the clamping device of the present invention.

[0030] Figure 8 This is a cross-sectional view of the clamping device of the present invention.

[0031] Figure 9 This is a schematic diagram of the electromagnetic generation device of the present invention.

[0032] Figure 10 This is a cross-sectional view of the electromagnetic generation device of the present invention.

[0033] Figure 11 This is a schematic diagram of the crawling device described in this invention.

[0034] In the diagram: 1-Obstacle removal device; 3-Upper electromagnetic device; 4-Upper clamping device; 5-Crawling device; 7-Lower clamping device; 8-Lower electromagnetic device; 101-Image sensor; 102-Arc-shaped blade; 103-Base; 104-Guide rail; 301-U-shaped shell; 302-140° ring gear hollow rod; 303-First cable connector; 304-Small spur gear; 305-Large spur gear; 306-Worm gear; 307-Bevel gear; 308-The... 2. Cable connector; 401-Cylindrical pin; 402-Gripper chuck; 403-Gear slot; 404-Gripper sensor plate; 405-Gear drive shaft; 406-Gear connecting rod; 407-Driven connecting rod; 501-Main power supply; 502-Crawler track; 503-Electric telescopic rod; 504-Support rod; 505-Arc rod; 506-Crawler wheel; 507-Crawler wheel; 508-Baffle; 509-Servo motor; 510-Main assembly frame. Detailed Implementation

[0035] The present invention will be further described in detail below through embodiments, but it should not be construed as limiting the scope of the subject matter of the present invention to the following embodiments. All technologies implemented based on the above content of the present invention fall within the scope of the present invention.

[0036] This invention is applicable to trees or plants similar to trees other than trees, such as plants with thick stems.

[0037] This invention provides a precision pesticide application device using electromagnetic navigation inside trees, such as... Figure 1-5 As shown, it includes a main device frame 510 and a crawling device 5 and an electromagnetic device mounted on the main device frame 510; the crawling device 5 is used to make the electromagnetic navigation precision drug delivery device inside the tree crawl along the trunk; the electromagnetic device is used to generate a magnetic field, which attracts the magnetic drug injected into the tree to move in a directional manner inside the trunk as the electromagnetic navigation precision drug delivery device inside the tree crawls.

[0038] It also includes clamping devices mounted on the main unit frame 510, such as Figure 7 , 8 As shown, the clamping device has a gripper 402 that can be adjusted to switch between a closed state and an open state for clamping or releasing the tree trunk.

[0039] In this embodiment, the clamping device includes an upper clamping device 4 disposed above the crawling device 5 and a lower clamping device 7 disposed below the crawling device 5, with the upper clamping device 4 and the lower clamping device 7 being symmetrical.

[0040] The clamping device includes a jaw 402 and a drive device for controlling the clamping of the jaw 402. The surface of the jaw 402 is textured to increase friction. The jaw 402 is also equipped with a jaw sensor 404, located on the contact surface between the jaw 402 and the tree trunk. The jaw sensor 404 is signal-connected to the drive device for controlling the clamping of the jaw 402 to control the appropriate clamping force of the jaw 402, which can ensure sufficient clamping force and prevent excessive clamping force from damaging the tree trunk.

[0041] In this embodiment, the gripper 402 includes a left gripper and a right gripper. The gripper 402 is connected to the gear slot 403 via a gear connecting rod 406 and a driven connecting rod 407. The left gripper and the right gripper are respectively connected to the left gear and the right gear in the gear slot 403 via the left gear connecting rod and the right gear connecting rod. The center of the left gear and the right gear each has a gear drive shaft 405. The left gear and the right gear mesh with each other. The servo motor is connected to one of the gear connecting rods 406 via a coupling. The gear connecting rod 406 is hinged to the gripper 402. The driven connecting rod 407 is placed parallel to the gear connecting rod 406. One end of the driven connecting rod 407 is hinged to the gear slot 403, and the other end is hinged to the gripper 402, forming a parallelogram with the gear connecting rod 406 to ensure smooth transmission. The hinges between the gear connecting rod 406 and the driven connecting rod 407 and the gripper 402 are both made of cylindrical pins 401, which serve as a fastening connection.

[0042] In this embodiment, an anti-slip plate is installed inside the gripper 402 to make the clamping more stable.

[0043] It also includes a fault-clearing device 1 installed on the main unit frame 510, such as Figure 6 As shown, the obstacle removal device 1 has blades for removing obstacles on the tree trunk.

[0044] The obstacle removal device 1 is equipped with an image sensor 9. The blade works according to the signal transmitted by the image sensor 9 to remove the obstacles detected by the image sensor 9; the obstacles are small side branches or debris.

[0045] In this embodiment, the blade is an arc-shaped blade 102; the obstacle removal device 1 includes a base 103, a guide rail 104 is provided in the inner groove of the base 103, and an arc-shaped blade 102 that can move along the guide rail 104 is provided on the guide rail 104. The arc-shaped blade 102 is connected to a drive mechanism; the image sensor 9 is provided on the base 103. After the image sensor 9 detects small side branches or debris during the climbing process, the drive mechanism drives the arc-shaped blade 102 to move to cut the obstacle; after the image sensor 9 detects large branches during the climbing process, the device is stopped from continuing to climb in time to avoid collision and damage to the device.

[0046] The electromagnetic device has an opening in the middle, through which the tree trunk passes, causing the electromagnetic field generated by the device to surround the tree trunk.

[0047] like Figure 11 As shown, the crawling device 5 includes a transmission track, crawling wheels 506, an electric telescopic rod 503, and an arc-shaped rod 505.

[0048] The transmission track includes a track drive wheel, a rubber track 502 on the outer side of the track drive wheel, and a baffle installed on the rear side of the track drive wheel. The track drive wheel is connected to a servo motor through a drive shaft, and the track drive wheel drives the rubber track 502 to rotate.

[0049] The track drive wheel includes the track drive wheel and the track driven wheel. The track drive wheel and the track driven wheel mesh with the track guard teeth of the rubber track 502 to avoid slippage, lateral tooth wear, jamming and other phenomena.

[0050] One end of the electric telescopic pole 503 is connected to a motor mounted on the main frame 510 via a coupling, and the other end is connected to an arc-shaped rod 505. A support rod 504 is installed on the rear side of the baffle 508 of the transmission track. The crawling wheel 506 has an axle at its center, and the crawling wheel 506 can rotate along the axle. The arc-shaped rod 505 is connected in sequence to the outer end of the electric telescopic pole 503, the support rod 504 on the rear side of the baffle 508 of the transmission track, and the central shaft of the crawling wheel 506. The arc-shaped protrusion of the arc-shaped rod 505 faces outward. When the electromagnetic navigation precision spraying device inside the tree crawls along the trunk, the electric telescopic pole 503, the transmission track, and the crawling wheel 506 surround the trunk.

[0051] Rubber tracks 502 and crawling wheels 506 are attached to the outer wall of the tree trunk, allowing the electromagnetic navigation precision spraying device inside the tree to crawl along the trunk. The surfaces of rubber tracks 502 and crawling wheels 506 are patterned to increase friction. The electric telescopic rod 503 extends and retracts under the action of a motor, allowing the rubber tracks 502 and crawling wheels 506 to press firmly against the tree trunk. A crawling wheel 506 sensing plate is also installed on the crawling wheel 506 to sense the clamping force pressing against the tree trunk. The crawling wheel 506 sensing plate is connected to the motor signal controlling the electric telescopic rod 503.

[0052] The ends of the arc-shaped rod 505 and the electric telescopic rod 503 are hinged. One end of the support rod 504 is hinged to the arc-shaped rod 505 at the fulcrum. The other end of the support rod 504 is constrained by the baffle 508. The above connection method uses the lever principle to control the position of the crawling wheel 506. The tension of the crawling wheel 506 can be controlled by the crawling wheel sensor plate. It can not only assist the crawling movement, but also play a role in stabilizing and clamping.

[0053] The electromagnetic device includes an upper electromagnetic device 3 located on the upper part of the main device frame 510 and a lower electromagnetic device 8 located on the lower part of the main device frame 510. The upper electromagnetic device 3 and the lower electromagnetic device 8 each have an independent switch. Furthermore, the generated magnetic field can be controlled by adjusting the current, thereby achieving precise control of drug movement.

[0054] In this embodiment, the upper electromagnetic device 3 is disposed above the upper clamping device 4, and the lower electromagnetic device 8 is disposed above the lower clamping device 7. The upper electromagnetic device 3 and the lower electromagnetic device 8 are symmetrical.

[0055] In the embodiments, such as Figure 9 , 10As shown, the electromagnetic device includes a U-shaped shell 301 and a hollow ring gear rod 302. The hollow ring gear rod 302 passes through the U-shaped shell 301 and consists of two 140° hollow ring gear rods 302. A second cable connector 308 is provided between the near ends of the two 140° hollow ring gear rods 302 inside the U-shaped shell 301, and a first cable connector 303 is provided at the other end of each of the two 140° hollow ring gear rods 302.

[0056] The U-shaped housing 301 contains a bevel gear 307, a small spur gear 304, and a large spur gear 305. The small spur gear 304 and the large spur gear 305 are connected to the U-shaped housing 301 via a drive shaft. The cables are flexible cables, with two cables respectively housed within two hollow ring gear rods 302. One end of each cable is connected to the main power supply 501, and the other end is fixed to the cable connector 303 on its respective hollow ring gear rod. A pair of bevel gears 307 meshing at 90° are located in the center of the U-shaped housing 301. The bevel gears 307 are driven and controlled by a servo motor. The horizontally placed bevel gears 307 are connected to a worm gear 306 via a coupling. The worm gear 306 meshes with large spur gears 305 distributed on both sides of the worm gear 306. The two large spur gears 305 mesh with two small spur gears 304 on the outer side of each large spur gear 305. Small spur gears 304 mesh with the hollow ring gear rods 302 installed on both sides of the U-shaped shell 301. This meshing method realizes the extension and retraction of the elastic cable to achieve cable closure. A pair of bevel gears 307 meshing at 90° are driven by a servo motor to rotate, which drives the worm gear 306 to rotate. The worm gear 306 drives the large spur gears 305 distributed on both sides of the worm gear to rotate. The two large spur gears 305 rotate in opposite directions. The two large spur gears 305 drive the two small spur gears 304 to rotate in opposite directions. The two small spur gears 304 drive the two 140° hollow ring gear rods 302 on both sides of the U-shaped shell to bring the first cable connector 303 closer and rotate, thereby realizing the extension and retraction of the elastic cable inside the hollow rod and the engagement of the two hollow ring gear rods 302, forming a closed ring electromagnetic generating device.

[0057] This invention also provides a method for precise application of pesticides using electromagnetic navigation inside trees, comprising the following steps:

[0058] The drug is injected into specific application sites on the tree, and the injection involves injecting a solution containing magnetic drugs.

[0059] The electromagnetic navigation precision drug delivery device inside the tree crawls along the trunk. During the crawling process, the electromagnetic device attracts the injected magnetic drug and directs its movement.

[0060] The main frame is equipped with a clamping device, including an upper clamping device and a lower clamping device. The clamping device clamps the trunk when the electromagnetic navigation precision spraying device inside the tree needs to stop. The main frame is equipped with an obstacle removal device. When the electromagnetic navigation precision spraying device crawls along the trunk inside the tree, it detects obstacles that hinder its crawling movement and removes the obstacles through the obstacle removal device.

[0061] The main frame is equipped with an upper electromagnetic device 3 and a lower electromagnetic device 8. Inside the tree, the electromagnetic navigation precision application device is fixed to a certain part of the trunk by the upper and lower clamping devices. By controlling the intermittent opening and closing of the upper electromagnetic device 3 and the lower electromagnetic device 8, the magnetic drug that has reached the corresponding height of the trunk is controlled to move up and down repeatedly within the magnetic field influence range generated by the upper electromagnetic device 3 and the lower electromagnetic device 8, so as to clear the transport channel of the magnetic drug and avoid blockage.

[0062] The alternating use of the upper electromagnetic device 3 and the lower electromagnetic device 8 can help to clear the vascular bundles or sieve tubes in the tree trunk.

[0063] Taking citrus Huanglongbing (HLB) as an example, HLB causes blockage of the sieve tubes and vascular bundles in parts of the tree. These pathogenic bacteria cause the accumulation of starch and other substances at the infected site, leading to blockage. As the disease progresses, the blockage gradually expands, affecting more sieve tubes and vascular bundles, eventually spreading to the entire tree. Applying the medication using this device can effectively alleviate the blockage problem.

[0064] The location reached by the drug on the tree trunk in this invention can be obtained using existing detection methods.

[0065] If it is inconvenient to directly obtain the real-time location of the drug's movement, it can also be judged by combining empirical values ​​obtained from previous experiments; empirical values ​​are obtained by establishing detection experiments to measure the drug concentration in different parts of the tree trunk at different time periods after application.

[0066] During the targeted drug transport process, repeated crawling, clamping, and magnetization actions are performed to transport the drug along the tree trunk until the image sensor 9 detects a large branch and the blocking device moves.

[0067] When the device climbs to the top of the tree or the underside of a large branch, turn off the climbing device 5 and open the clamping device to fix the electromagnetic navigation precision spraying device inside the tree.

[0068] After the work is completed, it can be controlled to crawl to the ground on its own.

[0069] The present invention will be further described in detail below with reference to a specific operational embodiment:

[0070] The tree trunk is allowed to pass through the notches in the curved blade, the ring-shaped electromagnetic device, and the gripper head, positioning it inside the drive track and crawling wheels. The electric telescopic rod is then driven, causing the curved rod to move and allowing the crawling wheels to clamp the trunk. Once the crawling wheel's sensor detects a certain force, the electric telescopic rod is fixed in length, and the crawling wheel's position is fixed, maintaining the clamping action. At this point, medication is injected near the location of the electromagnetic navigation precision application device inside the tree trunk. After all the medicine is injected, the drive wheel of the track rotates, which in turn drives the track and driven wheel to rotate, enabling the electromagnetic navigation precision application device inside the tree to crawl. Taking upward climbing as an example, during the upward crawling process, the image sensor on the base detects small side branches or small debris and drives the arc-shaped blade to move along the guide rail from both ends to the middle, so that the arc-shaped blade can cut the side branches and obstacles close to the trunk. If a large branch is detected, the device will stop climbing to avoid collision and damage to the device. When the electromagnetic navigation precision application device inside the tree rises to a certain height, it drives the gear connecting rod on the upper clamping device to rotate, which in turn drives the driven connecting rod to rotate, causing the gripper to move inward, thereby clamping the trunk to achieve a tight grip. After the induction plate senses a certain force, the gripper maintains its clamping action, fixing the electromagnetic navigation precision drug delivery device inside the tree. Simultaneously, the servo motor on the upper electromagnetic device drives a pair of bevel gears meshing at 90° to rotate, which in turn drives a worm gear. The worm gear drives large spur gears on both sides of the worm gear, rotating in opposite directions. These large spur gears then drive two smaller spur gears, also rotating in opposite directions. These smaller spur gears, in turn, drive the 140° ring gear hollow rods on both sides of the U-shaped shell to rotate, thus achieving the extension and retraction of the elastic cable inside the hollow rod and the engagement of the two hollow rod slots and interfaces. At this time, current is passed through the cable inside the hollow rod to generate a magnetic field, guiding the directional transport of drugs containing iron or other magnetically attractable substances in the sieve tube or conduit. Furthermore, the generated magnetic field can be controlled by adjusting the current magnitude according to actual conditions, further achieving precise control of drug movement. The downward transport works on the same principle as the upward transport.

[0071] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, equivalent substitutions, and improvements made by those skilled in the art to the above embodiments without departing from the scope of the technical solution of the present invention, based on the technical essence of the present invention, shall still fall within the protection scope of the technical solution of the present invention.

Claims

1. A precision pesticide application device using electromagnetic navigation inside trees, characterized in that: The total device rack, the climbing device and the electromagnetic device are installed on the total device rack; the climbing device is used for the climbing movement of the tree inside electromagnetic navigation precision pesticide application device along the tree trunk; the electromagnetic device is used for generating a magnetic field, and with the climbing movement of the tree inside electromagnetic navigation precision pesticide application device, the magnetic medicine injected into the tree trunk is attracted to move directionally in the tree trunk; The clamping device is installed on the total device rack, and the clamping device has clamping jaws capable of adjusting the closed state or the open state, and is used for clamping or releasing the tree trunk; The obstacle removing device is installed on the total device rack, and the obstacle removing device has a blade, and is used for removing the obstacles on the tree trunk; The electromagnetic device has an opening in the middle, and the tree trunk passes through the opening, so that the electromagnetic field generated by the electromagnetic device surrounds the tree trunk; after the tree trunk passes through, the electromagnetic device forms a closed annular electromagnetic device, and the electromagnetic field generated by the electromagnetic device can be controlled by controlling the current size, so that the movement of the medicine is accurately controlled; The electromagnetic device includes a U-shaped shell, an annular gear hollow rod, and the annular gear hollow rod passes through the U-shaped shell; the annular gear hollow rod is two 140° annular gear hollow rods; a second cable connector is arranged between the two 140° annular gear hollow rods close to the end in the U-shaped shell, and a first cable connector is arranged at the other end of the two 140° annular gear hollow rods; A bevel gear, a small spur gear and a large spur gear are arranged in the U-shaped shell, and the small spur gear and the large spur gear are connected with the U-shaped shell through a transmission shaft; the cable is a flexible cable, two cables are arranged in the two annular gear hollow rods respectively, one end of each of the two cables is connected with a total power supply respectively, and the other end is fixed on the cable connector of the respective annular gear hollow rod; a pair of bevel gears meshing at 90° are arranged in the middle of the U-shaped shell, and the bevel gears are driven and controlled by a servo motor; the horizontally placed bevel gears are connected with a worm through a shaft coupling, the worm is meshed with the large spur gears distributed on both sides of the worm, the two large spur gears are respectively meshed with the two small spur gears outside the large spur gears, and the two small spur gears are respectively meshed with the annular gear hollow rods installed on both sides of the U-shaped shell; this meshing mode realizes the stretching and contraction of the flexible cable to realize the closure of the cable.

2. The precision application device for internal electromagnetic navigation of a tree according to claim 1, characterized in that: An image sensor is arranged on the obstacle removing device, and the blade works according to the signal transmitted by the image sensor to remove the obstacles detected by the image sensor; the obstacles are small branches or sundries.

3. The precision application device for internal electromagnetic navigation of a tree according to claim 1, characterized in that: The crawling device comprises a transmission caterpillar, a crawling wheel, an electric telescopic rod and an arc-shaped rod; the transmission caterpillar comprises a caterpillar driving wheel, a caterpillar outside the caterpillar driving wheel and a baffle installed at the rear side of the caterpillar driving wheel, a support rod is installed at the rear side of the baffle; the caterpillar driving wheel is connected with a servo motor through a transmission shaft, the caterpillar driving wheel drives the rubber caterpillar to rotate; one end of the electric telescopic rod is connected with a motor installed on the general device rack through a coupling, the other end is connected with the arc-shaped rod; the center of the crawling wheel of the transmission caterpillar is provided with a shaft, the crawling wheel can rotate along the shaft; the arc-shaped rod is connected with the outer end of the electric telescopic rod, the support rod at the rear side of the baffle and the center shaft of the crawling wheel in sequence; the arc-shaped convex of the arc-shaped rod is outward, the rubber caterpillar and the crawling wheel are attached to the outer wall of the tree trunk, so that the tree internal electromagnetic navigation precise pesticide application device can crawl along the tree trunk.

4. The precision application device for internal electromagnetic navigation of a tree according to claim 1, characterized in that: The electromagnetic device comprises an upper electromagnetic device arranged on the upper part of the tree internal electromagnetic navigation precise pesticide application device and a lower electromagnetic device arranged on the lower part of the tree internal electromagnetic navigation precise pesticide application device, the upper electromagnetic device and the lower electromagnetic device are respectively provided with independent switches.

5. A method for precise administration of medicine inside a tree by electromagnetic navigation, characterized in that: The tree internal electromagnetic navigation precise pesticide application device adopts the general device rack with the crawling device as a carrier to crawl along the tree trunk, in the crawling process, the electromagnetic device attracts the injected magnetic medicine to move directionally. The general device rack is provided with clamping devices, including upper clamping devices and lower clamping devices, the clamping devices clamp the tree trunk when the tree internal electromagnetic navigation precise pesticide application device needs to stop; the general device rack is provided with an obstacle removing device, when the tree internal electromagnetic navigation precise pesticide application device crawls along the tree trunk, the obstacle removing device removes the obstacles detected to hinder the crawling movement. The upper part of the general device rack is provided with the upper electromagnetic device, the lower part is provided with the lower electromagnetic device, after the tree internal electromagnetic navigation precise pesticide application device is fixed by the upper clamping devices and the lower clamping devices at a certain part of the tree trunk, the magnetic medicine reaching the corresponding height of the tree trunk is repeatedly moved up and down in the magnetic field influence interval generated by the upper electromagnetic device and the lower electromagnetic device by controlling the intermittent opening or closing of the upper electromagnetic device and the lower electromagnetic device, so as to dredge the transportation channel of the magnetic medicine and avoid blockage.

6. The method of claim 5, wherein: ​ 7. The method of claim 6, wherein: ​

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