Eucalyptus pest control robot based on visual guidance

Abstract

The invention belongs to the technical field of forestry robots, and relates to a eucalyptus pest control robot based on visual guidance. The robot structure comprises an upper bottom plate, a lower bottom plate, a climbing mechanism, a mechanical arm and a pesticide applying injection mechanism. Wherein a punching and liquid medicine injection device and a binocular camera are mounted at the tail end of the mechanical arm. According to the technical scheme, firstly, a robot is fixed to a tree trunk through a clamping mechanism; secondly, the position information of insect holes in the trunk is collected through a binocular camera, after pose information fed back by the camera is analyzed, an electric push rod is controlled to drive an upper bottom plate and a lower bottom plate to climb and move along the trunk, and when a preset position is reached, the binocular camera at the tail end of the mechanical arm conducts insect hole position collection again; and then calculating to obtain the accurate position of the wormhole under the coordinate system of the punching and liquid medicine injection device, and feeding back to control the mechanical arm to adjust the pose of the mechanical arm, so that a drill bit of the punching and liquid medicine injection device is aligned with the wormhole in the eucalyptus, and punching and liquid medicine injection are performed on the wormhole. The mechanical arm can flexibly move in the working range so as to bypass obstacles, the punching and liquid medicine injection device at the tail end of the mechanical arm comprises a punching drill bit and a liquid medicine injector, and integrated control operation can be conducted on insect pests. The robot aims at eucalyptus pest control, and investment of manpower and material resources can be reduced.

Description

Technical Field

[0001] The invention relates to a tree pest control device, in particular to a eucalyptus pest control robot based on visual guidance, and belongs to the technical field of forestry tools. Background Art

[0002] Eucalyptus, as one of the fastest growing tree species in the world, is also an important economic tree in southern my country. For a long time, eucalyptus has been facing serious threats from various pests. Among them, leaf-eating pests such as geometrids and leaf rollers are usually distributed in the crown of the top of eucalyptus. For this, spraying liquid medicine with drones can have a good effect; while ground pests, such as termites and mole crickets, can be directly solved by manual spraying and digging the ground to release medicine; but the most common stem-boring pests such as longhorn beetles and eucalyptus bat moths, whether plant protection drones or manual operations are restricted by the complex environment of the forest farm and it is difficult to produce good results. Stem-boring pests can eat tree tissues in the trunk to form blind holes or through holes, which seriously affects the growth of eucalyptus, causing the trunk to bend and break or even the death of the whole plant. For the prevention and control of stem-boring pests, targeted chemical control is currently the most effective method.

[0003] The use of chemical pesticides for prevention and control, such as the use of efficient spraying equipment, can significantly improve the damage to eucalyptus trees. However, it should be noted that spraying pesticides can easily cause widespread spread of pesticides, causing pollution to non-target organisms and the environment. Therefore, chemical control should be used with caution to avoid environmental pollution. At the same time, in order to target the insect holes formed by stem borers, the operator needs to use a certain amount of energy to complete the precise application of pesticides, which makes the work inefficient and easily causes environmental pollution and safety risks. Overall, the effect of use is not ideal.

[0004] To solve the above problems, we proposed a eucalyptus pest control robot based on vision guidance. Summary of the invention

[0005] The present invention provides a eucalyptus pest control robot based on visual guidance, which is characterized in that it has the help of introducing vision to realize the position data collection and analysis of insect eyes, so as to complete the injection of liquid medicine more accurately. In addition, the robot includes a climbing device and a mechanical arm, wherein the electric push rod of the climbing device is fixed between the upper and lower base plates, and the extension and contraction of the push rod is controlled by the motor to complete the movement of the upper and lower parts of the mechanism; at the same time, it has a variable diameter clamping mechanism, which drives the movable clamping claw to hold the eucalyptus trunk by controlling the slide rail to ensure the stability and reliable support of the lifting device. In addition, the mechanical arm is installed on the upper base plate plane, which has the characteristics of six-axis freedom, and a binocular camera and a perforating and injecting liquid medicine device are installed at the end of the mechanical arm, which is convenient for collecting the position information of the target and performing perforating and applying medicine to the insect eyes. In the control device, a linear lifting mechanism is used to realize the smooth lifting and lowering of the upper and lower base plates, ensuring the accuracy and stability of the mechanical arm when working; and the mechanical arm automatically identifies the insect eyes on the eucalyptus to ensure the efficiency and accuracy of the perforating injection.

[0006] Preferably, the upper and lower base plates use rectangular materials as the main structural material. This structure can provide support for the mechanism through bolts or welding to ensure the stability of the mechanism.

[0007] Preferably, the climbing mechanism uses two electric push rods, the bottom and stroke of the push rods are respectively fixed to the upper and lower base plates, and the transmission is carried out through the motor and the lead screw to provide climbing guarantee for the mechanism.

[0008] Preferably, there are two clamping mechanisms, which are fixed on the upper and lower base plates respectively, and can be moved by controlling the slide rail to adapt to the trunks of eucalyptus trees with different diameters. The slide rail includes a transmission motor, a device support frame, a main transmission screw and a secondary auxiliary screw; the main transmission screw cooperates with the movable clamp through the transmission thread to complete the diameter change of the clamp so as to hold the trunk tightly.

[0009] Preferably, the mechanical arm is fixed on the upper base plate, and is driven to move by a plurality of driving motors, so that flexible movement can be achieved within the working range, and excellent working effect can be achieved.

[0010] Preferably, the binocular camera is installed at the end of the robotic arm, and adopts binocular combined with IMU technology, which can improve its depth perception and positioning capabilities when the camera moves, and better present visual measurement and guidance effects.

[0011] Preferably, the perforating and liquid medicine injection device comprises a perforating mechanism and an injection mechanism, including two micro drive motors, a medicine storage shell, an injection piston and a special perforating drill bit, etc.

[0012] Preferably, the perforating and liquid medicine injection device is fixed to the end of a robotic arm, and its position control and work feeding are completed by the movement coordination of a multi-axis robotic arm.

[0013] Preferably, one or more technical solutions provided by the embodiments of the present invention have at least the following technical effects or advantages: In the present invention, the main working machinery is installed on the upper and lower base plates, wherein the climbing mechanism includes an electric telescopic clamping mechanism, and the movement of the upper and lower parts of the mechanism is completed by the extension and retraction of the electric push rod; the movable clamping claws are used to hold the tree trunk tightly through the variable diameter clamping mechanism to ensure the stability and reliable support of the lifting device. In addition, the mechanical arm installed on the upper base plate plane has the characteristics of multiple degrees of freedom, can perform flexible operations within a range, and can be installed with a binocular depth camera and a drilling and injection device, which is convenient for collecting the position information of the insect eyes of the tree trunk and drilling and applying medicine to the insect eyes. The robot has the characteristics of high integrated automation, simple structure and convenient operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0015] Figure 1 This is a schematic diagram of the structure of the eucalyptus pest control robot based on vision guidance proposed in the present invention.

[0016] Figure 2 This is a schematic diagram of the structure of the climbing device proposed in the present invention.

[0017] Figure 3 This is a schematic diagram of the clamping mechanism proposed by the present invention.

[0018] Figure 4 Schematic diagram of the multi-axis robotic arm proposed in the present invention.

[0019] Figure 5 This is a schematic diagram of the perforating injection medication device proposed by the present invention.

[0020] Figure 6 Schematic diagram of the binocular depth camera proposed in the present invention.

[0021] In the figure: 1-1-lower base plate, 1-2-upper base plate, 2-climbing device, 21-sleeve, 22-driving motor, 23-stroke push rod, 24-fixed hinge, 3-clamping device, 3-1-lower clamping device, 3-2-upper clamping device, 31-servo motor, 32-plum coupling, 33-fixed bracket, 34-auxiliary screw, 35-end fixed bracket, 36-ball screw, 37-gripper, 4-mechanical arm, 41-bottom Seat, 42-mechanical arm shaft 1, 43-mechanical arm shaft 2, 44-mechanical arm shaft 3, 45-mechanical arm shaft 4, 46-mechanical arm shaft 5, 47-mechanical arm shaft 6, 5-punching and injection device, 51-drug storage shell, 52-first motor frame, 53-micro drive motor, 54-movable piston, 55-second motor frame, 56-second drive motor, 57-drill chuck, 58-special drill bit, 6-binocular depth camera. DETAILED DESCRIPTION

[0022] In order to facilitate the understanding of the present application, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.

[0023] like Figure 1 As shown, the main structure of the present invention is shown, the upper and lower ends of the climbing device 2 are connected to the upper and lower base plates 1; the clamping device 3 is installed at the front end of the working position of the upper and lower base plates 1-1; the mechanical arm 4 is installed in the middle and rear part of the upper base plate; the perforating and injection device 5 and the binocular depth camera 6 are fixed at the end of the mechanical arm 4. The upper and lower base plates 1 serve as the main connection and support to maintain the stability of the structure.

[0024] like Figure 2 , Figure 3 As shown, the climbing device 2 relies on the driving motor 22 to drive the worm under the electric push rod to rotate the screw in the sleeve, thereby controlling the extension and retraction of the travel push rod 23 to complete the climbing of the device. When climbing, it is necessary to rely on the cooperation of the clamping device 3. When climbing, the lower clamping device 3-1 controls the rotation of the ball screw 36 through the servo motor 31 to control the clamping claw 37 to clamp the tree trunk to fix the lower bottom plate; at this time, the travel push rod 23 is acted upon by the screw in the sleeve 21 to push the upper half of the structure upward. When it runs to the specified range, the upper clamping device 3-2 starts to work and controls the clamping claw 37 to retract and clamp the tree trunk; then the clamping claw 37 of the lower clamping device 3-1 opens, and the climbing device 2 continues to work, and the lower half of the mechanism is lifted by the tension generated by the contraction of the travel push rod 23, thereby completing a climbing action.

[0025] like Figure 3As shown, the transmission thread of the ball screw 36 is divided into two sections with opposite rotation directions from the middle, so that the opening and closing of the clamping jaws can be controlled simultaneously.

[0026] like Figure 4 As shown, the robot arm 4 is fixed to the upper base plate 1-2 and has 6 rotary motors to control the rotation of the robot arm shaft, thereby completing the information collection of a wide range of insect eyes and flexible posture control.

[0027] like Figure 5 As shown, the perforating and liquid injection device 5 is composed of a perforating mechanism and an injection mechanism. When the perforating starts, the second drive motor 56 is started to drive the drill bit to move at high speed to cut the tree, so as to complete the perforation facing the wormhole of the eucalyptus. After the perforation is completed, the second drive motor 56 is reversed or stopped, and the drill bit is pulled out and the wood chips are exhausted by relying on the mechanical arm 4. Then the micro drive motor 53 is started, and the motor output shaft controls the movable piston 54 to start moving, and the liquid medicine flows out from the liquid flow channel inside the special drill bit 58 to the liquid outlet hole on the front side by compressing the space inside the medicine storage shell 51, so as to realize integrated perforating and injection.

[0028] like Figure 6 As shown, the binocular depth camera 6 is installed at the end of the robotic arm. As the robotic arm 4 moves, it can scan all angles of the eucalyptus tree in all directions to ensure that the insect eye position information on all tree trunks can be collected; at the same time, it adopts binocular combined with IMU technology, which can improve its depth perception and positioning capabilities when the camera moves, and better present visual measurement and guidance effects.

[0029] A robot for controlling eucalyptus pests based on visual guidance, the implementation principle of the invention is: relying on a binocular depth camera 6 to capture the position information of the insect eyes on the trunk in all directions, converting the position information of the insect eyes into a rotation matrix or other posture form, and mapping it to the body coordinate system of the mechanical arm 4, through the rotation of multiple motors on the mechanical arm 4, the posture control of the terminal punching and injection device 5 is completed, and the insect eyes on the eucalyptus are punched and the liquid is injected, thereby completing the control of eucalyptus pests. When the device needs to perform the next target operation, the climbing device 2 starts to work, the travel push rod 23 extends from the sleeve 21, driving the upper base plate and the mechanical arm 4 thereon to move upward, when moving to the specified range, the upper clamping device (3-2) starts to work, the servo motor 31 controls the clamping claw 37 to clamp the trunk, fix the upper half of the mechanism, and then the lower clamping mechanism 3-1 is released, the travel push rod 23 retracts and drives the lower base plate 1-1 to climb upward, thereby completing a climbing movement.

Claims

1. A vision-guided eucalyptus pest control robot, the features of which include: The robot comprises an upper and lower base plate, a climbing mechanism and a mechanical arm; the climbing mechanism comprises a clamping mechanism and a telescopic mechanism; the upper and lower base plates are respectively arranged at the upper and lower ends of the climbing mechanism; the telescopic mechanism is used to drive the upper and lower base plates to separate or approach; the clamping device comprises a movable clamping claw and a control slide rail, which are used to fix the robot on the tree trunk; the mechanical arm comprises a mechanical arm body, a drilling and liquid injection device fixed to the end of the mechanical arm, and a binocular camera, which are used to collect insect eye posture information and to drill holes and inject liquid into eucalyptus trees to achieve pest control of eucalyptus trees.

2. The eucalyptus pest control robot based on vision guidance according to claim 1, characterized in that: There are multiple telescopic mechanisms; the telescopic mechanism includes: a driving motor, a ball screw, a travel push rod and a sleeve; the output shaft of the driving motor is connected to the worm of the ball screw through a reduction gear, the interior of the travel push rod is provided with a thread that forms a thread match with the ball screw and relies on the transmission force generated by the rotation of the ball screw to achieve the telescopic effect; the sleeve is arranged outside the ball screw.

3. The eucalyptus pest control robot based on vision guidance according to claim 1, characterized in that: The lower end of the telescopic device is connected to the lower base plate through bolts; the upper end of the travel push rod is connected to the upper base plate through a hinge.

4. The eucalyptus pest control robot based on vision guidance according to claim 1, characterized in that: The mechanical arm is hinged to the upper base plate; the perforating and liquid injection device and the binocular camera are fixed at the end of the mechanical arm.

5. The eucalyptus pest control robot based on vision guidance according to claim 1, characterized in that: The mechanical arm is a six-degree-of-freedom mechanical arm structure; the binocular camera can collect and analyze the insect eye position information; the drilling and liquid injection device has the integrated function of drilling and liquid injection.

6. The eucalyptus pest control robot based on vision guidance according to claim 1, characterized in that: The clamping mechanism comprises: a movable clamping claw and a control slide rail, and the device is fixed on the upper and lower bottom plates.

7. The eucalyptus pest control robot based on vision guidance according to claim 1, characterized in that: The control slide rail relies on a driving motor to drive the ball screw to rotate, and drives the movable clamp to fix the robot on the eucalyptus.

8. The eucalyptus pest control robot based on vision guidance according to claim 1, characterized in that: The ball screw is classified into two sections of threads with opposite spiral directions.

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