Sampling device for areas with high branches and sampling difficulty and use method of sampling device

Abstract

The invention relates to the technical field of sampling devices, in particular to a sampling device used in areas with high branches and difficult sampling and a using method of the sampling device. The sampling device comprises an unmanned aerial vehicle unit, a moving unit, a clamping unit, a shearing unit and a collecting unit, and the center of an unmanned aerial vehicle of the unmanned aerial vehicle unit is connected with a mechanical arm of the moving unit; the clamping unit is connected with a first movable mounting base at the tail end of the manipulator, the shearing unit is connected with a second movable mounting base at the tail end of the manipulator, the collecting unit is connected with a protective frame of the unmanned aerial vehicle, propeller blades of the unmanned aerial vehicle are located between the protective frame and the manipulator, and fixing supporting feet are arranged at the bottoms of the propeller blades. According to the sampling device for the high-branch and difficult-to-sample areas and the use method, all the units work cooperatively, sampling can be completed under the condition that the sampling device does not make contact with trees, the real-time camera can help operators find the states of the trees corresponding to research institutes, the clamping unit and the shearing unit are accurately operated, and the sampling efficiency is improved. And collecting a corresponding branch sample.

Description

Technical Field

[0001] The present invention relates to the technical field of sampling devices, and particularly to a sampling device and a using method for high branches of tree branches and areas where sampling is difficult. Background Art

[0002] In the fields of forestry research, plant pest monitoring, and ecological environment investigation, etc., it is often necessary to sample the high branches of tree branches or the tree branches in areas where sampling is difficult. Traditional sampling methods, such as manually climbing trees, not only have low efficiency, but also for tall trees or trees in complex terrains (such as steep slopes, swamp areas, etc.), or in tropical rainforests where the terrain is complex and there are often swamps, dense bushes, etc. as obstacles, the personal safety of sampling personnel faces great risks. Using a long pole tool for sampling, the height that can be reached is limited, and the operation flexibility is poor, making it difficult to accurately collect the target sample. In addition, when using these traditional methods to sample rare tree species or protected trees, it is easy to cause damage to the trees due to improper operation, affecting the growth of the trees and the balance of the ecological environment. With the in-depth development of related research, the demand for efficient, safe, and accurate tree branch sampling devices is becoming increasingly urgent. Summary of the Invention

[0003] The purpose of the present invention is to provide a sampling device and a using method for high branches of tree branches and areas where sampling is difficult. Each unit works together to complete sampling without contacting the tree. The real-time camera can help the operator discover the state of the tree corresponding to the research, and by precisely operating the clamping and shearing units, the corresponding tree branch samples can be accurately collected.

[0004] To achieve the above purpose, the present invention provides a sampling device for high branches of tree branches and areas where sampling is difficult, including a drone unit, a moving unit, a clamping unit, a shearing unit, and a collection unit. The drone center of the drone unit is connected to the manipulator of the moving unit. The clamping unit is connected to the moving mounting seat one at the end of the manipulator. The shearing unit is connected to the moving mounting seat two at the end of the manipulator. The collection unit is connected to the protective frame of the drone. The propeller blades of the drone are located between the protective frame and the manipulator, and fixed feet are provided at the bottom of the propeller blades.

[0005] Preferably, the jaw mounting seat of the clamping unit is connected to the moving mounting seat one. The jaw mounting seat is connected to the jaw fixing seat through a connecting column. The jaw motor is connected to the side of the jaw mounting seat away from the moving mounting seat one. The driving screw connected by the jaw motor is in threaded connection with the threaded hole in the center of the jaw moving seat. One end of the jaw connecting rod is connected to the jaw moving seat, and the other end is connected to the jaw. The jaw limiting rod hinged in the middle of the jaw connecting rod is hinged to the jaw fixing seat.

[0006] Preferably, the end of the shearing blade of the shearing unit is connected to the second moving mounting base. A shearing drive box is provided in the middle of the shearing blade. The shearing motor in the shearing drive box is connected to a vertical gear, and the vertical gear meshes with a horizontal gear of the shearing blade moving part. The shearing blade fixing part is connected to the shearing drive box.

[0007] Preferably, the manipulator of the moving unit is successively provided with a first rotating motor, a second rotating motor, a third rotating motor, a fourth rotating motor, and a fifth rotating motor from bottom to top. The fifth rotating motor is connected to a cylinder mounting base. A first moving cylinder and a second moving cylinder are provided on the cylinder mounting base. The first moving cylinder is connected to the first moving mounting base, and the second moving cylinder is connected to the second moving mounting base.

[0008] Preferably, the arc-shaped collection box of the collection unit is connected to the protective frame. The installation part of the arc-shaped collection box is provided with an installation hole and an installation groove. The installation hole is connected to the installation positioning block of the protective frame, and the installation groove is connected to the top of the protective frame in a matching manner. The collection part of the collection box is located inside the protective frame.

[0009] Preferably, the horizontal height of the bottom of the collection part is higher than the horizontal height of the top of the propeller blade.

[0010] Preferably, real-time cameras are provided on the drone, the first moving mounting base, and the second moving mounting base.

[0011] The usage method of the above-mentioned sampling device for high branches of tree branches and difficult sampling areas includes the following steps when sampling high branches of tree branches. S1. Install the collection box on the protective frame, start the propeller blade to drive the sampling device to rise to the lower, middle, and upper layers of the tree branches in sequence, and judge the position of the drone through the real-time camera. S2. After the sampling device rises to the height of the lower layer of the tree branch, start the manipulator to drive the clamping unit and the shearing unit to approach the tree branch. The clamping unit clamps the tree branch at the part to be sheared, and the shearing unit cuts off the tree branch. S3. The tree branch cut in S2 is placed in the collection box below the shearing unit. S4. Repeat the steps in S2 - S3, and raise the sampling device to the middle layer and the upper layer of the tree branch again to sample the middle layer and the upper layer of the tree branch. S5. Place the tree branches in the middle layer and the lower layer of the tree branch in S4 in different collection boxes.

[0012] The usage method of the above-mentioned sampling device for high branches of tree branches and difficult sampling areas includes the following steps when sampling in difficult areas. S1. Install the collection box on the protective frame, start the propeller blade to drive the sampling device to enter the difficult area, and judge the position of the drone through the real-time camera. S2. After the sampling device reaches the plant to be sampled in the difficult area, start the manipulator to drive the clamping unit and the shearing unit to approach the plant to be sampled. The clamping unit clamps the plant at the part to be sampled, and the shearing unit cuts off the plant. S3. Put the sampled plants cut in S2 into the collection box under the shearing unit. S4. Repeat the steps in S2 - S3 to sample different plants to be sampled in the difficult area. S5. Place the different sampled plants cut in S4 in different collection boxes.

[0013] Preferably, in S2, the positions of the clamping unit and the shearing unit are respectively controlled by the first moving cylinder and the second moving cylinder of the moving unit.

[0014] Therefore, the sampling device and its using method of the present invention adopting the above structure for high branches of tree branches and difficult sampling areas have the following beneficial effects: 1. Each unit in the sampling device provided by the present invention works in cooperation, can complete sampling without contacting the trees. The real - time camera can help the operator discover and study the state of the corresponding trees. By precisely operating the clamping and shearing units, the corresponding tree branch samples are collected, providing data support for forest research. The collection unit timely collects the samples to avoid damage or loss of the samples in a humid environment. 2. The unmanned aerial vehicle unit provided by the present invention can quickly cover a large area and can also easily cross complex terrains such as forests and mountains to reach areas that are difficult to reach by traditional sampling means, greatly expanding the sampling range and improving the adaptability to difficult sampling areas. 3. The sampling device provided by the present invention can perform layered sampling, and can sample the lower, middle, and upper layers of the tree branches respectively, providing rich and targeted samples for studying the growth characteristics, pest and disease distribution, etc. of different parts of the trees. 4. In the present invention, the clamping unit drives the clamping jaws through the clamping jaw motor, can stably clamp the tree branch to be sampled, ensuring that the tree branch does not shake during the shearing process, and improving the accuracy and success rate of sampling. 5. Through the real - time camera, the operator can obtain the image information of the surrounding environment of the sampling device and the operation part in real time, which is convenient for timely adjusting the sampling position and operation method, and further improving the accuracy and safety of sampling.

[0015] The technical solutions of the present invention will be further described in detail below through the drawings and embodiments. Description of the Drawings

[0016] Figure 1 is a schematic diagram of a sampling device of the present invention for high branches of tree branches and difficult sampling areas; Figure 2Schematic diagram of the clamping unit in a sampling device for high branches of tree branches and areas with difficult sampling according to the present invention; Figure 3 Schematic diagram of the shearing unit in a sampling device for high branches of tree branches and areas with difficult sampling according to the present invention; Figure 4 Schematic diagram of the collection unit in a sampling device for high branches of tree branches and areas with difficult sampling according to the present invention.

[0017] Reference numerals: 1. UAV unit; 11. UAV; 12. Protective frame; 13. Propeller blade; 14. Fixed support leg; 2. Moving unit; 21. First rotating motor; 22. Fifth rotating motor; 23. Cylinder mounting seat; 24. First moving cylinder; 25. Second moving cylinder; 26. First moving mounting seat; 27. Second moving mounting seat; 28. Manipulator; 3. Clamping unit; 31. Jaw mounting seat; 32. Connecting column; 33. Jaw fixing seat; 34. Jaw moving seat; 35. Driving screw; 36. Jaw motor; 37. Jaw connecting rod; 38. Jaw limiting rod; 4. Shearing unit; 41. Shearing knife moving part; 42. Shearing knife fixing part; 43. Shearing drive box; 5. Collection unit; 51. Collection box; 52. Mounting part; 53. Collection part; 6. Real-time camera. Specific embodiments

[0018] The present invention will be further described below in conjunction with the accompanying drawings and embodiments. Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the ordinary meaning understood by those of ordinary skill in the field to which the present invention belongs. The above-mentioned features mentioned in the present invention or the features mentioned in the specific examples can be combined arbitrarily. These specific embodiments are only used to illustrate the present invention and not to limit the scope of the present invention.

[0019] Embodiment 1 As Figure 1 shown, the present invention provides a sampling device for high branches of tree branches and areas with difficult sampling, including a UAV unit 1, a moving unit 2, a clamping unit 3, a shearing unit 4 and a collection unit 5. The center of the UAV 11 of the UAV unit 1 is connected to the manipulator 28 of the moving unit 2. The clamping unit 3 is connected to the first moving mounting seat 26 at the end of the manipulator 28, and the shearing unit 4 is connected to the second moving mounting seat 27 at the end of the manipulator 28. The collection unit 5 is connected to the protective frame 12 of the UAV 11. The propeller blade 13 of the UAV 11 is located between the protective frame 12 and the manipulator 28, and a fixed support leg 14 is provided at the bottom of the propeller blade 13.

[0020] The drone unit 1 drives the entire sampling device to move its position. The drone 11 can easily pass through complex terrains such as forests and mountains, reaching areas that are difficult to access by traditional sampling methods, greatly expanding the sampling range and improving the adaptability to sampling-difficult areas. The moving unit 2 drives the clamping unit 3 and the shearing unit 4 to move, sampling the plants to be sampled at different positions, and the sampled plants are placed in the collection unit 5. The settings of the moving mounting base one 26 and the moving mounting base two 27 separately control the positions of the clamping unit 3 and the shearing unit 4. The setting of the protective frame 12 blocks the branches to prevent them from affecting the rotation of the propeller blades 13 when the drone 11 moves between the tree crowns.

[0021] As Figure 2 shown, the jaw mounting seat 31 of the clamping unit 3 is connected to the moving mounting base one 26, and the jaw mounting seat 31 is connected to the jaw fixing seat 33 through the connecting column 32. The jaw motor 36 is connected to the side of the jaw mounting seat 31 away from the moving mounting base one 26, and the driving screw 35 connected to the jaw motor 36 is in threaded connection with the threaded hole in the center of the jaw moving seat 34. One end of the jaw connecting rod 37 is connected to the jaw moving seat 34, and the other end is connected to the jaw. The jaw limiting rod 38 hinged in the middle of the jaw connecting rod 37 is hinged to the jaw fixing seat 33.

[0022] The jaws of the clamping unit 3 clamp the branches to be sheared, and the jaw motor 36 is started to drive the jaws to work. When the jaw motor 36 is started, it drives the driving screw 35 to move, the driving screw 35 drives the jaw moving seat 34 to move, and the jaw connecting rod 37 is driven to move during the movement of the jaw moving seat 34. The jaw limiting rod 38 limits the jaw connecting rod 37 to complete the opening and clamping process of the jaws. The top end of the driving screw 35 is hinged to the jaw fixing seat 33, and the jaw moving seat 34 is located between the jaw fixing seat 33 and the jaw mounting seat 31. Rubber pads are provided at the top ends of the jaws to increase the friction with the plants and prevent the plants from moving during the shearing process, affecting the accuracy of the shearing position of the shear blade on the plants.

[0023] As Figure 3 shown, the end of the shear blade of the shearing unit 4 is connected to the moving mounting base two 27, and a shear driving box 43 is provided in the middle of the shear blade. The shear motor in the shear driving box 43 is connected to a vertical gear, the vertical gear meshes with the horizontal gear of the shear blade moving part 41, and the shear blade fixing part 42 is connected to the shear driving box 43.

[0024] The shearing knife moves driven by the moving mounting base two 27, approaches the plant to shear the plant. The shearing is carried out above the collection box 51, and the sheared plant branches and leaves are placed inside the collection box 51 through the clamping unit 3. The shearing knife shears the plant driven by the shearing motor. The shearing motor is started to drive the vertical gear to rotate, the vertical gear drives the horizontal gear to rotate, and then drives the moving part 41 of the shearing knife to move relative to the fixed part 42 of the shearing knife, completing the shearing process of the plant.

[0025] The manipulator 28 of the moving unit 2 is successively provided with a first rotating motor 21, a second rotating motor, a third rotating motor, a fourth rotating motor, and a fifth rotating motor 22 from bottom to top. The fifth rotating motor 22 is connected to the cylinder mounting base 23. The cylinder mounting base 23 is provided with a first moving cylinder 24 and a second moving cylinder 25. The first moving cylinder 24 is connected to the moving mounting base one 26, and the second moving cylinder 25 is connected to the moving mounting base two 27.

[0026] The whole manipulator 28 rotates in direction driven by the first rotating motor 21 to shear plants growing at different angles. The second rotating motor, the third rotating motor, and the fourth rotating motor adjust the positions of the moving mounting base one 26 and the moving mounting base two 27 to facilitate shearing plants at different positions of the clamping unit 3 and the shearing unit 4. The fifth rotating motor 22 adjusts the angles of the moving mounting base one 26 and the moving mounting base two 27 to facilitate clamping and shearing of the plant. The first moving cylinder 24 and the second moving cylinder 25 respectively drive the moving mounting base one 26 and the moving mounting base two 27 to adjust their positions, and then adjust the positions of the clamping unit 3 and the shearing unit 4 to facilitate clamping and shearing of the plant.

[0027] As Figure 4 shown, the arc-shaped collection box 51 of the collection unit 5 is connected to the protective frame 12. The mounting part 52 of the arc-shaped collection box 51 is provided with a mounting hole and a mounting groove. The mounting hole is connected to the mounting positioning block of the protective frame 12, and the mounting groove is connected to the top of the protective frame 12 in a matching manner. The collection part 53 of the collection box 51 is located inside the protective frame 12.

[0028] The collection box 51 is detachably connected to the protective frame 12, facilitating removing the collection box 51 to uniformly process the plants collected inside it. The mounting hole of the collection box 51 is connected to the mounting positioning block of the protective frame 12. At the same time, the mounting groove is synchronously connected to the top of the protective frame 12 to fix the collection box 51 on the protective frame 12. The box body of the collection box 51 and the protective frame 12 cooperate with each other to prevent plant branches and leaves from affecting the normal operation of the propeller blade 13. When the propeller blade 13 is affected by plant branches and leaves, the moving unit 2, the clamping unit 3, and the shearing unit 4 are started to shear and discard the corresponding plant branches and leaves.

[0029] The horizontal height of the bottom of the collection part 53 is higher than the horizontal height of the top of the propeller blade 13, so as to avoid affecting the rotation of the propeller blade 13 when putting plants into the collection box 51.

[0030] Real-time cameras 6 are provided on the unmanned aerial vehicle 11, the first mobile mount 26 and the second mobile mount 27. The setting of the real-time cameras 6 provides real-time feedback on the positions and working environments of the unmanned aerial vehicle 11, the clamping unit 3 and the shearing unit 4 respectively, facilitating precise shearing of plants.

[0031] Embodiment 2 When sampling the high branches of tree branches using the sampling device in Embodiment 1, the following steps are included. S1. Install the collection box 51 on the protective frame 12, start the propeller blade 13 to drive the sampling device to rise to the lower layer, middle layer and upper layer of the tree branches in sequence, and judge the position of the unmanned aerial vehicle 11 through the real-time camera 6; S2. After the sampling device rises to the height of the lower layer of the tree branch, start the manipulator 28 to drive the clamping unit 3 and the shearing unit 4 to approach the tree branch. The clamping unit 3 clamps the tree branch at the part to be sheared, and the shearing unit 4 cuts off the tree branch; In S2, the positions of the clamping unit 3 and the shearing unit 4 are respectively controlled by the first moving cylinder 24 and the second moving cylinder 25 of the moving unit 2.

[0032] S3. The tree branch cut off in S2 is placed in the collection box 51 below the shearing unit 4; S4. Repeat the steps in S2 - S3, and raise the sampling device to the middle layer and the upper layer of the tree branch again to sample the middle layer and the upper layer of the tree branch; S5. Place the tree branches in the middle layer and the lower layer of the tree branch in S4 in different collection boxes 51.

[0033] Embodiment 3 When sampling in difficult areas, the following steps are included. S1. Install the collection box 51 on the protective frame 12, start the propeller blade 13 to drive the sampling device to enter the difficult area, and judge the position of the unmanned aerial vehicle 11 through the real-time camera 6; S2. After the sampling device reaches the plant to be sampled in the difficult area, start the manipulator 28 to drive the clamping unit 3 and the shearing unit 4 to approach the plant to be sampled. The clamping unit 3 clamps the plant at the part to be sampled, and the shearing unit 4 cuts off the plant; In S2, the positions of the clamping unit 3 and the shearing unit 4 are respectively controlled by the first moving cylinder 24 and the second moving cylinder 25 of the moving unit 2.

[0034] S3. The sampled plant cut off in S2 is placed in the collection box 51 below the shearing unit 4; S4. Repeat the steps in S2 - S3 to sample different plants to be sampled in difficult areas; S5. Place the different sampled plants cut in S4 in different collection boxes 51.

[0035] Therefore, the present invention adopts a sampling device and a usage method for high branches of trees and difficult sampling areas with the above structure. Each unit works in coordination to complete sampling without contacting the trees. The real - time camera can help the operator discover the tree state corresponding to the research. By precisely operating the clamping and shearing units, the corresponding tree branch samples can be collected.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify or equivalently replace the technical solutions of the present invention, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A sampling device for high branches and areas with difficult sampling of tree branches, characterized in that: It includes a drone unit, a mobile unit, a clamping unit, a shearing unit and a collection unit. The center of the drone in the drone unit is connected to the manipulator of the mobile unit. The clamping unit is connected to the first mobile mounting base at the end of the manipulator. The shearing unit is connected to the second mobile mounting base at the end of the manipulator. The collection unit is connected to the protective frame of the drone. The propeller blades of the drone are located between the protective frame and the manipulator, and fixed feet are provided at the bottom of the propeller blades.

2. The sampling device for high branches and areas with difficult sampling according to claim 1, characterized in that: The jaw mounting base of the clamping unit is connected to the first mobile mounting base. The jaw mounting base is connected to the jaw fixing base through a connecting column. The jaw motor is connected to the side of the jaw mounting base away from the first mobile mounting base. The driving screw connected to the jaw motor is in threaded connection with the threaded hole in the center of the jaw moving seat. One end of the jaw connecting rod is connected to the jaw moving seat, and the other end is connected to the jaw. The jaw limiting rod hinged in the middle of the jaw connecting rod is hinged to the jaw fixing base.

3. The sampling device for high branches and areas with difficult sampling according to claim 1, characterized in that: The end of the shearing blade of the shearing unit is connected to the second mobile mounting base. A shearing drive box is provided in the middle of the shearing blade. The shearing motor in the shearing drive box is connected to a vertical gear. The vertical gear meshes with the horizontal gear of the shearing blade moving part. The shearing blade fixing part is connected to the shearing drive box.

4. The sampling device for high branches and areas with difficult sampling according to claim 1, wherein: The manipulator of the mobile unit is successively provided with a first rotation motor, a second rotation motor, a third rotation motor, a fourth rotation motor, and a fifth rotation motor from bottom to top. The fifth rotation motor is connected to the cylinder mounting base. A first mobile cylinder and a second mobile cylinder are provided on the cylinder mounting base. The first mobile cylinder is connected to the first mobile mounting base, and the second mobile cylinder is connected to the second mobile mounting base.

5. The sampling device for high branches and areas with difficult sampling according to claim 1, characterized in that: The arc-shaped collection box of the collection unit is connected to the protective frame. The installation part of the arc-shaped collection box is provided with an installation hole and an installation groove. The installation hole is connected to the installation positioning block of the protective frame, and the installation groove is connected to the top of the protective frame in a matching manner. The collection part of the collection box is located inside the protective frame.

6. The sampling device for high branches and areas with difficult sampling according to claim 1, wherein: The horizontal height at the bottom of the collection part is higher than the horizontal height at the top of the propeller blades.

7. A sampling device for high branches and areas with difficult sampling according to claim 1, characterized in that: Real-time cameras are provided on the drone, the first mobile mounting base and the second mobile mounting base.

8. A method for using the sampling device for high branches of tree branches and areas with difficult sampling according to any one of claims 1-7, characterized in that: When sampling high branches of tree branches, it includes the following steps: S1. Install the collection box on the protective frame, start the propeller blades to drive the sampling device to rise to the lower layer, middle layer and upper layer of the tree branches in turn, and judge the position of the drone through the real-time camera. S2. After the sampling device rises to the height of the lower layer of the tree branch, start the manipulator to drive the clamping unit and the shearing unit to approach the tree branch. The clamping unit clamps the tree branch at the part to be sheared, and the shearing unit cuts off the tree branch. S3. The tree branch cut in S2 is placed in the collection box below the shearing unit. S4. Repeat the steps in S2 - S3, and raise the sampling device to the middle layer and upper layer of the tree branch again to sample the middle layer and upper layer of the tree branch. S5. Place the tree branches in the middle layer and lower layer of the tree branch in S4 in different collection boxes.

9. A method for using the sampling device for high branches and areas with difficult sampling according to any one of claims 1-7, characterized in that: When sampling in difficult areas, it includes the following steps: S1. Install the collection box on the protective frame, start the propeller blades to drive the sampling device to enter the difficult area, and judge the position of the drone through the real-time camera. S2. After the sampling device reaches the plant to be sampled in the difficult area, start the manipulator to drive the clamping unit and the cutting unit to approach the plant to be sampled. The clamping unit clamps the plant at the part to be sampled, and the cutting unit cuts off the plant. S3. Put the sampled plant cut in S2 into the collection box under the cutting unit. S4. Repeat the steps in S2 - S3 to sample different plants to be sampled in the difficult area. S5. Place the different sampled plants cut in S4 in different collection boxes.

10. A method for using a sampling device for high branches and areas with difficult sampling of tree branches, according to any one of claims 8 or 9, characterized in that: In S2, the positions of the clamping unit and the cutting unit are respectively controlled by the first moving cylinder and the second moving cylinder of the moving unit.

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