Multi-stage spraying tree trunk whitening device and tree trunk whitening method thereof

Abstract

The invention discloses a multi-stage spraying tree trunk whitewashing device and a tree trunk whitewashing method thereof.The multi-stage spraying tree trunk whitewashing device comprises a spraying manipulator capable of performing opening and closing movement and surrounding a tree trunk in a closed state; the coating executing mechanism can drive the spraying manipulator to move up and down along the geometric center line of the trunk; the spraying mechanical arm comprises an atomization spraying module, the atomization spraying module comprises a main spraying head and an auxiliary spraying head, in the coating process, the main spraying head can conduct spraying perpendicular to the surface of the tree trunk, the auxiliary spraying head can conduct vertical sweeping spraying on the spraying space of the main spraying head, and the auxiliary spraying head and the main spraying head are vertically aligned in position; the spraying manipulator further comprises a sensing control mechanism, the sensing control mechanism can detect and control the angle between the main spraying head and the surface of the tree trunk, can detect the reserved space after spraying of the main spraying head, and feeds back and controls the sweeping spraying action of the auxiliary spraying head. According to the method, the whitewashing coverage rate and uniformity of the surface of the multi-seam and multi-hole trunk can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of tree trunk whitewashing, in particular to a multi-stage spraying tree trunk whitewashing device and a tree trunk whitewashing method. Background Art

[0002] Whitewashing tree trunks can reflect some sunlight, reducing heat absorption, so that the trunks will not freeze and crack due to the huge temperature difference between day and night. It also has the effect of sterilization and insect prevention. At present, manual roller brush coating is mostly used, which has the problems of low whitewashing efficiency and poor effect. There are also automated whitewashing equipment on the market, but when it comes to complex tree trunk surfaces, such as bark gaps, holes, surface adhesions, etc., there are phenomena such as brushing spots and leakage, and falling off after drying, resulting in low whitewashing coverage and poor uniformity, affecting the final whitewashing effect. Summary of the invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a multi-stage spraying tree trunk whitewashing device and a tree trunk whitewashing method, which can improve the whitewashing coverage and uniformity of the surface of a multi-seam and multi-porous tree trunk.

[0004] Technical solution: To achieve the above-mentioned purpose, a multi-stage spraying tree trunk whitening device and a tree trunk whitening method of the present invention include a spraying manipulator that can open and close and embrace the tree trunk in a closed state;

[0005] The coating actuator can drive the spraying robot to move up and down along the geometric center line of the tree trunk;

[0006] The spraying manipulator includes an atomizing spraying module, and the atomizing spraying module includes a main nozzle and an auxiliary nozzle. During the coating process, the main nozzle can spray vertically on the surface of the tree trunk, and the auxiliary nozzle can spray up and down on the spraying space of the main nozzle. The auxiliary nozzle is aligned with the main nozzle up and down;

[0007] The spraying robot also includes a sensor control mechanism, which can detect and control the angle between the main nozzle and the surface of the tree trunk, and can detect the space left after the main nozzle sprays, and feedback control the sweeping action of the auxiliary nozzle.

[0008] Furthermore, a flushing manipulator is provided on the lower side of the spraying manipulator, which can open and close synchronously with the spraying manipulator and protect the tree trunk, and can move up and down synchronously with the spraying manipulator;

[0009] The flushing robot includes a high-pressure nozzle. In the embracing state, multiple high-pressure nozzles evenly surround the tree trunk.

[0010] Furthermore, the spraying robot includes a lime water pipe, one end of which is connected to the lime water tank through a first booster pump, and the pipe body is connected to multiple atomizing spray modules through multiple branches; in an embracing state, multiple atomizing spray modules evenly surround the tree trunk; the branches include a main branch connected to the main nozzle and a secondary branch connected to the secondary nozzle, and the secondary branch is provided with a switch valve, which is controlled to open after the sensor control mechanism detects that it is empty.

[0011] Furthermore, the spraying robot comprises two claws that are relatively opened and closed, and the main nozzle and the auxiliary nozzle are connected to the claws through a longitudinal angle adjustment mechanism;

[0012] The sensing control mechanism includes an infrared angle sensor installed relative to the main nozzle; and a white detection module installed between the upper and lower main nozzles and the auxiliary nozzles; the infrared angle sensor and the white detection module are electrically connected to a control box, and the control box is electrically connected to the upper and lower angle adjustment mechanisms of each of the atomizing spray modules.

[0013] Furthermore, the flushing manipulator includes a clean water pipe, one end of which is connected to the clean water tank through a second booster pump, and the pipe body is connected to the plurality of high-pressure nozzles through a plurality of branches;

[0014] The end of the clean water pipe is connected to the end of the lime water pipe through an on-off valve, the clean water pipe, the lime water pipe and their respective branches are connected through switch valves, and the connecting end of the lime water pipe and the first booster pump is connected to the lime water tank through a reflux branch.

[0015] Furthermore, a supplementary spraying robot is also provided on the upper side of the spraying robot, which can independently open and close and embrace the tree in a closed state, and can independently move up and down along the geometric center axis of the tree trunk;

[0016] The supplementary spraying robot includes several supplementary spraying modules. In the embracing state, multiple supplementary spraying modules evenly surround the tree trunk; the supplementary spraying modules include supplementary spraying nozzles and dark area detection modules. The supplementary spraying robot can stop moving up and down when a dark area is detected, and the supplementary spraying nozzles can sweep left and right to spray when a dark area is detected.

[0017] Furthermore, the flushing robot and the re-spraying robot also include two claws that open and close relative to each other. The claws of the spraying robot, the flushing robot and the re-spraying robot all include a fixed section and a flexible section. The atomizing spray module, the high-pressure nozzle and the re-spraying module are all installed on the corresponding fixed sections. The flexible section connects two adjacent fixed sections. The flexible section can be telescopically adjusted to adjust its own length and its own bending curvature. The synchronous adjustment of multiple flexible sections on a single claw can enable the claw to maintain a semi-circular arc structure at any length.

[0018] Furthermore, the spraying robot, flushing robot and re-spraying robot are all located on the front side of the transferring mechanism. An infrared sensor array is also provided on the front side of the transferring mechanism, which can measure the distance and feedback control the relative position and distance between the transferring mechanism and the tree trunk, and can measure the local width of the tree trunk, which is used to adjust the claw lengths of the spraying robot, flushing robot and re-spraying robot.

[0019] Furthermore, the flushing robot includes a center adjustment sensor array, which is electrically connected to the control box. The control signal output end of the control box is electrically connected to the coating actuator, and can feedback control and adjust the horizontal position of the flushing robot and the spraying robot, so that during the up and down flushing and coating process, the tree trunk is always located in the central area embraced by the flushing robot; the center adjustment sensor array includes a number of infrared ranging sensors, and in the embracing state, multiple infrared ranging sensors evenly surround the tree trunk.

[0020] Furthermore, during the spraying process, starting from the required spraying height, the spraying manipulator and the flushing manipulator both move downward synchronously at a uniform speed, and the main nozzle always sprays perpendicularly to the surface of the tree trunk. When the auxiliary nozzle receives the white-painting and blanking detection signal, it first swings downward to spray at a uniform speed, and when the detection signal disappears, it immediately swings upward to spray quickly. When the area swept by the upward swing is exactly the area swept from the start of spraying to the end of the downward swing action, it is reset horizontally;

[0021] In the initial state, the supplementary spraying robot moves downward at a uniform speed synchronously with the first two. When it senses a dark area, it stops moving downward and sprays until the dark area disappears or the spray turns white to a certain extent. Then it accelerates downward to catch up with the spraying robot. During the chasing process, if it encounters a dark area again, it stops moving downward and supplements spraying. After completion, it continues to accelerate to catch up. After catching up, it continues to maintain a uniform downward movement state synchronized with the flushing robot and the spraying robot. If it encounters a dark area again, repeat the above actions until the spraying is completed.

[0022] Beneficial effects: The multi-stage spraying tree trunk whitewashing device and the tree trunk whitewashing method of the present invention use a spraying robot to spray at a uniform speed from top to bottom, and use an auxiliary nozzle to repeatedly spray the empty areas that have not been sprayed by the main spraying to improve the spraying coverage rate; by flushing in advance and then spraying, it is avoided that the whitewashing effect is affected by shedding after drying; the problem of low whitewashing coverage caused by spraying blind spots due to deep gaps and deep holes is further solved by the supplementary spraying robot; and the high coverage rate of whitewashing of the trunk part with branches is met by the adjustable robot claw. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the white coating device of the present invention;

[0024] Figure 2This is a schematic diagram of the structures of a spraying robot, a flushing robot, and a supplementary spraying robot according to an embodiment of the present invention;

[0025] Figure 3 It is a schematic diagram of the pipeline connection of the atomization spray module;

[0026] Figure 4 It is a schematic diagram of the pipeline connection between the spraying robot and the flushing robot;

[0027] Figure 5 It is a structural schematic diagram of a claw body embodiment. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings.

[0029] As attached Figure 1-5 The multi-stage spraying tree trunk whitening device and the tree trunk whitening method described herein include a spraying robot 1 that can open and close and embrace the tree trunk in a closed state. The coating actuator can drive the spraying robot 1 to move up and down along the geometric center line of the tree trunk; the coating actuator is installed on the front side of the transfer mechanism, and in the open state, the spraying robot is moved to a suitable position relative to the tree trunk through the transfer mechanism, and then closed to embrace the tree trunk, and then in the embraced state, driven by the coating actuator, the tree trunk is sprayed from bottom to top or from top to bottom. The geometric center line refers to the line connecting the center points of each cross section of the trunk from top to bottom, that is, when the trunk is bent, the spraying robot 1 will translate in a horizontal embraced state to make the trunk always located in the center area of ​​the embraced spraying area, so that the circumferential whitening is relatively uniform.

[0030] The spraying robot 1 includes an atomizing spraying module, and the atomizing spraying module includes a main nozzle 11 and an auxiliary nozzle 12. During the coating process, the main nozzle 11 can spray perpendicularly to the surface of the tree trunk, and the auxiliary nozzle 12 can sweep and spray the spraying space of the main nozzle up and down. The auxiliary nozzle 12 is aligned with the main nozzle 11 up and down. The spraying robot 1 also includes a sensor control mechanism, which can detect and control the angle between the main nozzle 11 and the surface of the tree trunk, and can detect the space left after the main nozzle sprays, and feedback control the sweeping action of the auxiliary nozzle. Among them, the main nozzle 11 and the auxiliary nozzle 12 can adopt the nozzle structure of the same specification, and can spray sprays of the same size range. In the embracing state, there are overlapping parts in the spraying intervals of adjacent atomizing spraying modules, which can ensure complete circumferential coverage. In addition, it can ensure that the up and down sweeping spraying area of ​​the auxiliary nozzle corresponds to the continuous spraying area of ​​the main nozzle aligned with it. Therefore, the auxiliary nozzle can repeat the spraying in the blank areas where the main spraying is not in place, so as to improve the spraying coverage.

[0031] Since the relative up and down positions of the main nozzle 11 and the auxiliary nozzle 12 are determined, during the spraying process, starting from a fixed height, the two nozzles move downward synchronously at a uniform speed, and the main nozzle always maintains a posture perpendicular to the surface of the tree trunk, spraying with a stable spray volume and a uniform downward movement state, without considering the blind area of ​​spraying, so that the sprayed area is painted relatively evenly. On this basis, the auxiliary nozzle is set to sweep up and down, and also maintains a stable spray volume. The spraying action is triggered by an induction signal, that is, spraying starts after detecting an unpainted white area on the spraying path. In the initial spraying state, the auxiliary nozzle is in a horizontal state, and within the spraying response time period from detection, the distance the auxiliary nozzle moves down is just the distance between the detection module and the auxiliary nozzle, so that it is just located in the unpainted white area when spraying. As the induction signal continues to exist, the auxiliary nozzle begins to swing down, and the spraying area gradually catches up with the detection area downward. When the signal disappears, it immediately swings up quickly at a certain angle. The area swept by the upward swing angle is just the area swept from the start of spraying to the end of the downward swing action, so that a complete double-layer spraying is performed on the detected unpainted white area. After the upward swing is in place, it is immediately reset horizontally. If a signal occurs again during this process, it will continue to swing down at a uniform speed and quickly swing up while resetting horizontally and maintaining the spraying state. If no signal occurs temporarily, it will be reset horizontally in a closed state after completing the upward swing action. When there are continuous missed spraying areas, the lower swing chase sweeping spraying can lag the detected unpainted white areas for supplementary spraying, and chase downward to the current detection area to actively interrupt the signal and trigger the upper swing re-spraying. If the continuous missed spraying area has not ended, the signal will appear again as it continues to move downward. From this moment on, until the horizontal position of the auxiliary nozzle moves to the corresponding unpainted white position, the auxiliary nozzle has just completed the complete action of swinging up to horizontal reset, and then can continue to repeat the lower swing spraying. Therefore, when encountering continuous unpainted white areas on the spraying path, the auxiliary nozzle will form a continuous up and down reciprocating sweeping spraying action, and the lower swing sweeps and sprays at a uniform speed, and the upper swing sweeps and sprays quickly. The shorter the signal duration, the smaller the angle range of the upper and lower sweeping sprays. Moreover, the upper and lower sweep spraying can supplement the upper and lower walls of gaps or holes, so as to supplement the missed spraying areas and blind spraying areas of multiple main nozzles. This process is completed by the spraying robot 1 in a single uniform spraying action from top to bottom, which greatly improves the spraying efficiency and ensures the spraying coverage.

[0032] A flushing manipulator 2 is provided at the lower side of the spraying manipulator 1, which can open and close synchronously with the spraying manipulator 1 and protect the tree trunk, and can move up and down synchronously with the spraying manipulator 1. The flushing manipulator 2 includes a high-pressure nozzle 21. In the embracing state, multiple high-pressure nozzles 21 evenly surround the tree trunk. The flushing manipulator flushes the surface of the tree trunk before the spraying manipulator sprays, and washes away the easily detached bark, rotten leaves, dust particles and other substances adhered to the surface of the tree trunk and in the gaps and holes, so as to avoid the whitewashing effect being affected by the detachment and falling of these substances after whitewashing.

[0033] The spraying robot 1 includes a lime water pipe 13, one end of which is connected to a lime water tank 15 through a first booster pump 14, and the pipe body is connected to multiple atomizing spray modules through multiple branches; in the embracing state, multiple atomizing spray modules evenly surround the tree trunk; the branch includes a main branch pipe 16 connected to the main nozzle 11 and a secondary branch pipe 17 connected to the secondary nozzle 12, and the secondary branch pipe 17 is provided with a switch valve, which is controlled to open after the sensor control mechanism detects that it is empty. That is, the main nozzle and the secondary nozzle are supplied through the same lime water pipe, and a switch valve is separately set for the secondary nozzle to control the on-off. The switch valve adopts a solenoid valve, and the on-off is controlled by an electrical signal. Among them, the lime water tank is a mixing tank, which can be configured on-site according to the ratio of lime water for whitewashing.

[0034] The spraying robot 1 includes two claws that open and close relative to each other, and the main nozzle 11 and the auxiliary nozzle 12 are connected to the claws through a longitudinal angle adjustment mechanism. The longitudinal angle adjustment mechanism is composed of an articulated seat structure, a nozzle bracket and a swing motor. The nozzle bracket is used to fix the nozzle. The nozzle bracket is rotatably arranged relative to the articulated seat through the rotating shafts on both sides. The articulated seat is fixedly connected to the claw, and the swing motor drives the rotating shaft to control the swing angle of the nozzle bracket relative to the articulated seat.

[0035] The sensing control mechanism includes an infrared angle sensor, which is installed relative to the main nozzle 11. The infrared angle sensor is a point-to-point detection infrared sensor. The infrared emission direction is consistent with the spraying direction of the main nozzle. The angle between the main nozzle and the trunk surface is controlled by feedback from the angle detection. Each main nozzle is controlled separately. Therefore, during the spraying process, when the bending amplitudes of the circumferential surface of the trunk at the same height position vary greatly in various directions, targeted spraying can be carried out to improve the uniformity of spraying when facing a curved trunk; it includes a white detection module, which is installed between the upper and lower main nozzles 11 and the auxiliary nozzles 12; the infrared angle sensor and the white detection module are electrically connected to the control box, and the control box is electrically connected to the upper and lower angle adjustment mechanisms of each of the atomizing spray modules. The white detection module is a sensor that can identify or distinguish white, and may be an infrared sensor or a visual module. Since the color of the tree trunk itself is darker brown, coffee, green, gray and other colors, after painting white, the white-painted area and the unpainted area form a relatively obvious difference in light and dark. If an infrared sensor is used, since white can reflect light of all colors, a high-level signal will be formed, and the unpainted area is closer to black and reflects less light, it can generate a low-level signal that is significantly different from white, thereby realizing the identification of the unpainted area. The infrared sensor uses a line scan infrared sensor to scan the surface of the tree trunk by emitting a horizontal infrared beam, and the scanning range corresponds to the horizontal spraying range of the corresponding main nozzle. On this basis, the auxiliary nozzle is set as a nozzle with an adjustable spraying range. For example, a nozzle that sprays solid cone spray is used. The spraying range of the end is adjusted by changing the taper of the sprayed spray. The width change of the unpainted white area in the horizontal direction is obtained according to the infrared scanning, and the spraying range of the auxiliary nozzle is adjusted accordingly. In the process of the auxiliary nozzle's downward swing and uniform speed sweeping and spraying, the spraying range is adaptively changed according to the spraying position. In the process of the upward swing and rapid sweeping and spraying, the normal spraying range is restored, realizing a uniform transition between the supplementary spraying area and the surrounding spraying area, which not only meets the key spraying of gaps, holes, etc., but also ensures the uniformity of the overall trunk spraying.

[0036] The flushing manipulator 2 includes a clean water pipe 22, one end of which is connected to a clean water tank 24 through a second booster pump 23, and the pipe body is connected to multiple high-pressure nozzles 21 through multiple branches. The high-pressure nozzle can spray a flat water curtain, the intersection of the water curtain and the tree trunk remains horizontal, and an angle is formed between the surface of the water curtain and the surface of the trunk, which can achieve a better flushing effect. Preferably, the end of the clean water pipe 22 is connected to the end of the lime water pipe 13 through an on-off valve, and the clean water pipe 22, the lime water pipe 13 and their respective multiple branches are respectively connected through switch valves, and the connecting end of the lime water pipe 13 and the first booster pump 14 is connected to the lime water tank 15 through a reflux branch 18. Backwashing of the lime water pipe can be achieved.

[0037] After all spraying tasks are completed, first close the branches connecting the high-pressure nozzle and the atomizing spray module, and open the on-off valve connecting the clean water pipe and the lime water pipe and the valve of the reflux branch 18 to form a pipeline connected to the lime water tank by the clean water pipe. The second booster pump 23 draws clean water in the clean water tank 24 and sends it to the lime water pipe along the clean water pipe. The clean water flows in the lime water pipe in the opposite direction to the lime water, and the residual lime in the lime water pipe is backwashed into the lime water tank. After the water becomes relatively clear, close the valve of the reflux branch 18 and open the switch valves of the multiple branches connecting the atomizing spray module to flush each branch and the main and auxiliary nozzles. This can recycle part of the lime water, reduce waste, and avoid the lime water from drying and solidifying on the inner side of the pipe wall and inside the nozzle to cause blockage.

[0038] The upper side of the spraying manipulator 1 is also provided with a supplementary spraying manipulator 3, which can open and close independently and embrace the tree in a closed state, and can move up and down independently along the geometric center axis of the trunk. The supplementary spraying manipulator 3 includes a plurality of supplementary spraying modules. In the embracing state, a plurality of the supplementary spraying modules evenly surround the trunk; the supplementary spraying module includes a supplementary spraying nozzle 31 and a dark area detection module. The supplementary spraying manipulator 3 can stop moving up and down when a dark area is detected, and the supplementary spraying nozzle 31 can sweep left and right when a dark area is detected. Different from the synchronous uniform downward movement spraying of the flushing manipulator and the spraying manipulator, the supplementary spraying manipulator 3 moves downward synchronously with the former two in the initial state. When a dark area is sensed, it stops and completes the spraying until the dark area disappears or the white reaches a certain degree, and then accelerates downward to catch up with the spraying manipulator. During the catching-up process, the supplementary spraying stops when a dark area is encountered, and continues to accelerate to catch up after completion. After catching up, it continues to maintain a uniform downward movement state synchronized with the flushing manipulator and the spraying manipulator until the spraying is completed. Stopping for supplementary spraying can focus more on fixed-point spraying, and after the first two rounds of spraying, the areas that need to be focused on for supplementary spraying are mostly those with gaps, deep holes, and obvious blind spots formed by inward deflection. Among them, the dark area detection module can also use an infrared beam sensor to obtain dark blocks that are obviously different from the white-painted areas through scanning, and multiple sensors and supplementary spray nozzles in an angle azimuth interval are grouped as a group. For example, a group is a 90° interval. Within this angle range, when the sensor detects a dark block, multiple nozzles in the interval can be adjusted to adjust the angle and focus on the dark area, so that the dark area can be concentratedly sprayed from multiple spraying angles, so that it can be sprayed into deeper gaps or holes, and form a connection with the white-painted surface of the tree trunk, and a more comprehensive antibacterial and insect-proof effect has been obtained. The up and down sweeping spray of the auxiliary nozzle and the lateral swing spraying of the supplementary spray nozzle can cooperate with each other to achieve all-round supplementary spraying of the blind spots of spraying, and maximize the coverage of white-painting.

[0039] Preferably, the supplementary spray nozzle 31 can spray a solid cone spray, and can infinitely adjust the taper of the solid cone spray according to the intensity feedback of the dark signal of the dark area detection module. The darker the dark, the smaller the taper. The smaller the taper, the farther the spraying distance, the greater the spraying amount per unit area, and the darker the dark, the deeper the hole. Through concentrated spraying, it can be sprayed deeper, and even a certain amount of accumulation can be formed inside the hole, and finally solidified into a coating layer thicker than the surface of the trunk, so as to achieve focused spraying protection for the hole.

[0040] The flushing manipulator 2 and the re-spraying manipulator 3 also include two claws that are relatively open and closed. The claws of the spraying manipulator 1, the flushing manipulator 2 and the re-spraying manipulator 3 all include a fixed section 4 and a flexible section 5. The atomizing spray module, the high-pressure nozzle 21 and the re-spraying module are all installed on the corresponding fixed section 4. The flexible section 5 connects the two adjacent fixed sections 4. The flexible section 5 can adjust its own length and its own bending curvature by telescoping. The multiple flexible sections 5 on a single claw are adjusted synchronously, so that the claw can maintain a semicircular arc structure at any length. Among them, the flexible section can adopt a bionic joint, and the adjustment of its own length and curvature is achieved through the cooperation of the elastic contraction structure and the angle adjustment structure. The claw body has the ability to stretch and bend and straighten. Based on this, the size of the double claw body embraced area can be freely adjusted according to the thickness of the sprayed tree, ensuring that each nozzle always maintains a similar spraying distance when spraying tree trunks of different thicknesses, thereby producing a similar uniform spraying effect.

[0041] In addition, for the aesthetics of spraying, the whitewash height on multiple tree trunks on the same road section is usually required to be consistent. Under this premise, some tree trunks at the same height may have branches. For thinner side-growing branches, after the overall spraying from top to bottom, the claws can be straightened and extended between the branches to spray the blind areas during the ring spraying. For two forks of similar size, the part below the fork can be regarded as an ordinary regular trunk, and the part above the fork can be regarded as two thinner trunks. By adjusting the size of the claws, the same process can be used to spray the two forks and the main trunk respectively. This further meets the demand for high coverage of spraying on complex trunks with branches.

[0042] The spraying robot 1, flushing robot 2 and supplementary spraying robot 3 are all located in front of the transfer mechanism. The front of the transfer mechanism is also provided with an infrared sensor array, which can measure the relative position and distance between the transfer mechanism and the tree trunk, and can measure the local width of the tree trunk, and is used to adjust the length of the claws of the spraying robot 1, the flushing robot 2 and the supplementary spraying robot 3. By infrared scanning the transverse contour of the trunk, the size of the trunk width is obtained, and the center position of the trunk is calculated, so that the transfer mechanism can be aligned with the center of the trunk. The obtained trunk width is used to calculate the size of the area to be embraced, and the circumference is calculated according to the size of the area, so as to obtain the length of a single claw. The length is adjusted and bent to form two opposite semicircular claws. After the transfer mechanism moves close to the trunk to a suitable distance, the two claws are clamped together.

[0043] The flushing manipulator 2 includes a centering sensor array, which is electrically connected to the control box. The control signal output end of the control box is electrically connected to the coating actuator, and can feedback control and adjust the horizontal position of the flushing manipulator 2 and the spraying manipulator 1, so that during the up and down flushing and coating process, the tree trunk is always located in the central area surrounded by the flushing manipulator 2; the centering sensor array includes a plurality of infrared ranging sensors, and in the surrounded state, a plurality of infrared ranging sensors evenly surround the tree trunk. The coating actuator includes a longitudinal moving mechanism and a transverse moving mechanism, and the longitudinal moving mechanism can drive the transverse moving mechanism to move up and down. A telescopic arm is vertically arranged on the front side of the sliding seat of the transverse moving mechanism, and the spraying manipulator 1 and the flushing manipulator 2 are installed at the front end of the telescopic arm.

[0044] By initially measuring the width of the tree trunk, a circular area boundary slightly larger than the trunk diameter is drawn up as a reference line for the eccentric adjustment of the spraying robot and the washing robot. Since the robot's embrace area is calculated and adjusted based on the trunk width measurement, the distance between the embrace area boundary and the reference line can be calculated. When the infrared distance measurement value in a certain direction is less than the distance value, it indicates that a deviation has occurred in the direction, and it can be adjusted to all distance measurement values ​​greater than or equal to the distance value. The specific adjustment is completed by the lateral movement mechanism and the telescopic arm.

[0045] The above description is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the above principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A multi-stage spraying tree trunk whitening device, characterized in that: It comprises a spraying robot (1) which can open and close and embrace the tree trunk in a closed state; The coating actuator is capable of driving the spraying robot (1) to move up and down along the geometric center line of the tree trunk; The spraying robot (1) comprises an atomizing spraying module, wherein the atomizing spraying module comprises a main spray head (11) and an auxiliary spray head (12). During the coating process, the main spray head (11) can spray perpendicularly to the surface of the tree trunk, and the auxiliary spray head (12) can spray upward and downward on the spraying blank of the main spray head. The auxiliary spray head (12) is aligned with the main spray head (11) in the vertical direction. The spraying robot (1) also includes a sensor control mechanism, which can detect and control the angle between the main nozzle (11) and the surface of the tree trunk, and can detect the space left after the main nozzle sprays, and feedback control the sweeping action of the auxiliary nozzle.

2. A multi-stage spraying tree trunk whitening device according to claim 1, characterized in that: A flushing robot (2) is provided on the lower side of the spraying robot (1), which can open and close synchronously with the spraying robot (1) to protect the tree trunk, and can move up and down synchronously with the spraying robot (1); The flushing robot (2) comprises a high-pressure nozzle (21). In the embracing state, a plurality of high-pressure nozzles (21) evenly surround the tree trunk.

3. A multi-stage spraying tree trunk whitening device according to claim 2, characterized in that: The spraying robot (1) comprises a lime water pipe (13), one end of which is connected to a lime water tank (15) via a first booster pump (14), and the pipe body is respectively connected to a plurality of atomizing spray modules via a plurality of branches; in an embracing state, the plurality of atomizing spray modules uniformly surround the tree trunk; the branches comprise a main branch pipe (16) connected to a main nozzle (11) and a secondary branch pipe (17) connected to a secondary nozzle (12), and the secondary branch pipe (17) is provided with a switch valve, which is controlled to open after a sensing control mechanism detects that the trunk is empty.

4. A multi-stage spraying tree trunk whitening device according to claim 3, characterized in that: The spraying robot (1) comprises two claw bodies that open and close relative to each other, and the main spray head (11) and the auxiliary spray head (12) are both connected to the claw bodies via a longitudinal angle adjustment mechanism; The sensor control mechanism comprises an infrared angle sensor installed relative to the main nozzle (11); It comprises a white detection module installed between the upper and lower main nozzles (11) and the auxiliary nozzles (12); the infrared angle sensor and the white detection module are electrically connected to a control box, and the control box is electrically connected to the upper and lower angle adjustment mechanisms of each atomizing spray module.

5. The multi-stage spraying tree trunk whitening device according to claim 3, characterized in that: The flushing robot (2) comprises a clean water pipe (22), one end of which is connected to a clean water tank (24) via a second booster pump (23), and the pipe body is respectively connected to a plurality of high-pressure nozzles (21) via a plurality of branches; The end of the clean water pipe (22) is connected to the end of the lime water pipe (13) via an on-off valve, the clean water pipe (22), the lime water pipe (13) and their respective multiple branches are connected via switch valves, and the connecting end of the lime water pipe (13) and the first booster pump (14) is connected to the lime water tank (15) via a reflux branch (18).

6. A multi-stage spraying tree trunk whitening device according to claim 2, characterized in that: A supplementary spraying robot (3) is also provided on the upper side of the spraying robot (1), which can independently open and close and embrace the tree in a closed state, and can independently move up and down along the geometric center axis of the tree trunk; The supplementary spraying manipulator (3) comprises a plurality of supplementary spraying modules. In an embracing state, the plurality of supplementary spraying modules evenly surround the tree trunk. The supplementary spraying modules comprise supplementary spraying nozzles (31) and dark area detection modules. The supplementary spraying manipulator (3) can stop the downward movement when a dark area is detected, and the supplementary spraying nozzles (31) can sweep left and right to spray when a dark area is detected.

7. A multi-stage spraying tree trunk whitening device according to claim 6, characterized in that: The flushing robot (2) and the re-spraying robot (3) also include two claws that are relatively open and closed. The claws of the spraying robot (1), the flushing robot (2) and the re-spraying robot (3) all include a fixed section (4) and a flexible section (5). The atomizing spray module, the high-pressure nozzle (21) and the re-spraying module are all installed on the corresponding fixed section (4). The flexible section (5) connects two adjacent fixed sections (4). The flexible section (5) can be telescopically adjusted to adjust its own length and can adjust its own bending curvature. The multiple flexible sections (5) on a single claw can be adjusted synchronously, so that the claw can maintain a semi-circular arc structure at any length.

8. The multi-stage tree trunk whitening spraying device according to claim 7, characterized in that: The spraying robot (1), the flushing robot (2) and the supplementary spraying robot (3) are all located on the front side of the transfer mechanism. The front side of the transfer mechanism is also provided with an infrared sensor array, which can measure the distance and feedback control of the relative position and distance between the transfer mechanism and the tree trunk, and can measure the local width of the tree trunk, so as to adjust the claw lengths of the spraying robot (1), the flushing robot (2) and the supplementary spraying robot (3).

9. The multi-stage tree trunk spraying whitening device according to claim 2, characterized in that: The flushing robot (2) includes a centering sensor array, which is electrically connected to a control box. The control signal output end of the control box is electrically connected to the coating actuator, and can feedback control and adjust the horizontal positions of the flushing robot (2) and the spraying robot (1), so that during the up and down flushing and coating process, the tree trunk is always located in the center area surrounded by the flushing robot (2); the centering sensor array includes a plurality of infrared distance measuring sensors, and in the surrounded state, the plurality of infrared distance measuring sensors evenly surround the tree trunk.

10. A tree trunk whitening method using a multi-stage spray tree trunk whitening device according to any one of claims 1 to 9, characterized in that: During the spraying process, starting from the required spraying height, the spraying manipulator (1) and the flushing manipulator (2) move downward synchronously at a uniform speed, and the main nozzle (11) always sprays perpendicularly to the surface of the tree trunk. When the auxiliary nozzle (12) receives a whitening and leaving space detection signal, it first swings downward to spray at a uniform speed, and when the detection signal disappears, it immediately swings upward to spray quickly. When the area swept by the upward swing is exactly the area swept from the start of spraying to the end of the downward swing action, it is reset to the horizontal position. The supplementary spraying robot (3) moves downward at a uniform speed synchronously with the first two in the initial state. When a dark area is sensed, it stops moving downward and sprays until the dark area disappears or the spray turns white to a certain degree. Then it accelerates downward to catch up with the spraying robot (1). During the chasing process, if a dark area is encountered again, it stops moving downward and supplements spraying. After completion, it continues to accelerate to catch up. After catching up, it continues to maintain a uniform downward movement state synchronized with the flushing robot and the spraying robot. If a dark area is encountered again, the above actions are repeated until the spraying is completed.

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