Insect trapping and killing device and method for forest resource management and protection

Abstract

The invention relates to an insect trapping and killing device for forest resource management and protection and a method thereof, and belongs to the technical field of forest resource management and protection and flexible robot executors.The method comprises the steps that S1, a sectional type pneumatic corrugated pipe, a micro electromagnetic coil array and a double-helix antagonism type air bag rib structure are configured; s2, an exhaust inlet of the motor communicates with a corrugated pipe, and an exhaust end communicates with the airbag ribs through a differential valve; s3, the corrugated pipe is driven to extend under positive pressure, a coil array is dynamically adjusted based on coil inductance change self-sensing detection, and the rigidity is switched between an obstacle avoidance state and a locking state; s4, after reaching the target, inducing the deformation of the pipe wall and extruding the shear thickening fluid by virtue of negative pressure, and locking the corrugated pipe into a rigid cantilever beam in cooperation with magnetization hardening of the magnetorheological material; s5, the exhaust positive pressure is guided into the air bag ribs through the differential valve, axial tension is generated to counteract the negative pressure contraction force, and insect trapping and killing are carried out. According to the characteristic that rigidity enters flexibility, the infiltration capacity of the device in dense forest canopies is greatly improved, and it is ensured that the insect killing operation can go deep into a core area.

Description

Technical Field

[0001] This invention relates to the fields of forest resource management and flexible robot actuators, specifically to an insect-attracting and insect-killing device and method for forest resource management. Background Technology

[0002] In forest resource management operations, the task of trapping pests deep in the tree canopy usually requires the implementing agency to have extremely high environmental adaptability and structural stability; existing solutions mostly adopt conventional flexible pipe structures, which utilize the high compliance of their materials to penetrate the gaps between dense branches and leaves. While such solutions offer certain advantages in initial obstacle avoidance, their core drawback lies in the uncontrollability of their mechanical properties: on the one hand, flexible pipes lack the necessary support stiffness when extended over long distances, resulting in poor end-point directional accuracy and difficulty in precisely locking onto target locations; on the other hand, during high-intensity negative pressure insect-fighting operations, the pipe walls are highly susceptible to radial instability and axial buckling due to the pressure difference between the inside and outside, causing airflow channel blockage and operational interruption; furthermore, the complex unstructured environment inside the canopy layer can easily obstruct or damage external visual or mechanical sensors, limiting the system's state perception and closed-loop control capabilities. Therefore, how to construct a pneumatic coupling device that has the ability to actively switch between rigid and flexible modes, can effectively balance the axial shrinkage stress generated by negative pressure, and can achieve sensorless sensing and detection through the inherent electrical characteristics of the system, so as to improve the extension depth of operations and the anti-blockage stability of passages in complex forest environments, has become an urgent technical problem to be solved.

[0003] The information disclosed in the background section is only intended to enhance the understanding of the background of this disclosure and therefore does not constitute information about prior art known to those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide an insect-attracting and insect-killing device and method for forest resource management, so as to solve the problems mentioned in the background art. The technical solution of this invention includes: S1. A segmented pneumatic bellows, a micro electromagnetic coil array, and a double-helix antagonistic airbag rib structure are provided; wherein, the bellows has a double-layered wall, between which a mixed medium of magnetorheological elastomer particles and shear-thickening fluid is filled; the micro electromagnetic coil array is distributed along the bellows wall, and the airbag rib structure is wound around the outer wall of the bellows. S2. Configure the main suction motor and differential valve, connect the motor's suction port to the internal channel of the bellows, and connect its exhaust end to the double spiral antagonistic airbag rib structure through the differential valve, thereby constructing a complete air circulation system. S3. Initiate the bellows extension action, using positive pressure airflow to drive it to extend deeper into the tree canopy. The system dynamically adjusts the on / off state of the coil array based on self-sensing detection results based on changes in coil inductance, rather than external visual sensors, and intelligently switches local stiffness between obstacle avoidance and locking states; S4. After reaching the target position, the main suction motor generates negative pressure suction, which causes micro-deformation of the double-layer pipe wall and squeezes and shears the thickened fluid, causing its viscosity to surge. At the same time, the control coil is energized to magnetize and harden the magnetorheological elastomer particles, locking the bellows into a rigid cantilever beam state. S5. The differential valve is used to guide the positive pressure airflow discharged from the motor into the airbag rib structure, generating axial tension to effectively counteract the axial contraction force of the bellows caused by the internal negative pressure, and finally smoothly carry out the insect attraction and extermination operation.

[0005] Preferably, step S3 is preceded by: S31 establishes a magnetic-elastic-fluid coupling stiffness model, using the local curvature of the segmented pneumatic bellows and the load current of the main suction motor as input parameters, and the current intensity of the micro electromagnetic coil array as the output variable, to calculate the minimum magnetic field gradient required to maintain the pipe wall from buckling instability.

[0006] Preferably, in step S31: the local curvature is obtained by analyzing the changes in inductance of each segment of the coil in the micro electromagnetic coil array, and the load current is obtained by extracting the high-frequency component of the operating current ripple of the main suction motor.

[0007] Preferably, step S3 includes: When no obstacles are detected ahead, the entire micro electromagnetic coil array is energized to maintain the directional properties of the segmented pneumatic bellows. When a tree branch obstacle is detected ahead, the local coil at the corresponding position of the obstacle is de-energized, reducing the Young's modulus of that section of the pipe wall to a soft mode, and using the thrust of positive pressure airflow to slide over the tree branch obstacle. After overcoming the obstacle, the local coil is energized again.

[0008] Preferably, in step S1, the double-helix antagonistic airbag rib structure includes an A-rotation airbag and a B-rotation airbag distributed in a double helix, wherein the A-rotation airbag and the B-rotation airbag are intertwined on the surface of the segmented pneumatic bellows.

[0009] Preferably, in step S5, when the segmented pneumatic bellows swings laterally, the pressure difference between the A swivel airbag and the B swivel airbag, generated by compression and tension, drives the gas to flow in the connected circuit to consume vibration energy.

[0010] Preferably, step S5 further includes: Real-time monitoring of the inductance of the miniature electromagnetic coil array and the current ripple of the main suction motor; If it is determined that the tube wall has flattened, increase the current of the coil corresponding to the flattened part to forcibly open the tube wall; If a blockage is detected at the suction port, the main suction motor is controlled to generate high-frequency positive and negative pressure pulses, which, in conjunction with the magnetic field of the micro electromagnetic coil array, are rapidly adjusted to produce slight peristalsis of the pipe wall to clear the blockage.

[0011] Preferably, in step S1, the volume fraction of the magnetorheological elastomer particles in the mixed medium is 20%-40%, and the shear-thickening fluid is a suspension of nano-silica and polyethylene glycol.

[0012] A forest resource management and protection insect-attracting and pest-killing device includes: Base; A segmented pneumatic bellows is installed on the base. The segmented pneumatic bellows has a double-walled structure, and the double-walled structure is filled with a mixed medium of magnetorheological elastomer particles and shear thickening fluid. A miniature electromagnetic coil array is distributed along the axial direction of the segmented pneumatic bellows on the pipe wall; A double-helix antagonistic airbag rib structure is wrapped around the outer surface of the segmented pneumatic bellows; The main suction motor is located inside the base and is used to provide negative pressure suction for the segmented pneumatic bellows. The main suction motor is used in conjunction with a reversing air valve, or the main suction motor is configured as a reversible high-pressure fan to provide positive pressure airflow to drive the bellows to extend during the extension phase. A differential valve is connected between the main suction motor and the double-helix antagonistic airbag rib structure.

[0013] Preferably, the device further includes a control unit, which is electrically connected to the miniature electromagnetic coil array, the main suction motor and the differential valve respectively. The control unit is configured to infer the bending posture of the segmented pneumatic bellows by detecting the inductance change of the miniature electromagnetic coil array.

[0014] This invention provides an insect-attracting and insect-killing device and method for forest resource management, which has the following improvements and advantages compared with the prior art: 1. This invention achieves dynamic adjustment of pipe stiffness through the coupling design of segmented pneumatic bellows with magnetorheological elastomer and shear-thickening fluid mixing medium. During the extension into the depths of the tree canopy, positive pressure drive combined with the self-sensing function of coil inductance can detect obstacles in front in real time. Once a branch is detected as an obstacle, the system can precisely control the local coil to cut off the power, so that the pipe wall of that section can instantly switch to soft mode and use airflow thrust to flexibly glide over the obstacle. Compared with traditional rigid robotic arms, this characteristic of transitioning from rigid to flexible greatly improves the device's penetration ability in dense forest canopies, ensuring that pest control operations can penetrate deep into the core area. 2. This invention abandons visual sensors that are prone to failure under complex lighting conditions in forests. Instead, it constructs a unique self-sensing system by utilizing the inductance changes of a miniature electromagnetic coil array and the high-frequency components of the motor current ripple. This design can not only infer the bending posture and local curvature of the corrugated pipe in real time, but also accurately calculate the minimum magnetic field gradient required to maintain the stability of the pipe wall through a magneto-elastic-fluid coupling model. This sensing method based on changes in physical quantities is less affected by environmental interference and can achieve high-precision operation monitoring in non-direct-view, highly obstructed environments. It significantly reduces the hardware complexity of the system and improves the robustness of operation in harsh forest environments. 3. This invention addresses the problem of axial contraction and buckling instability of flexible tubes caused by high negative pressure suction. It provides a solution through a double-helix antagonistic airbag rib structure. The positive pressure gas discharged from the main motor drives the A and B rotating airbags, generating axial tension to counteract the contraction force generated by the internal negative pressure, allowing the bellows to maintain a stable, rigid cantilever beam state in the locked position. Furthermore, the double-helix interlaced structure effectively absorbs and dissipates vibration energy through the pressure difference flow between the airbags when subjected to lateral oscillation. This dynamic balancing mechanism ensures directional accuracy after long-distance extension and retraction, significantly enhancing the structural lifespan of the device during insect-attracting operations. 4. This invention possesses powerful proactive fault diagnosis and intervention capabilities. By monitoring current ripple and inductance, it can accurately determine potential issues such as pipe wall folding or suction port blockage. Once folding is detected, the system will increase the current at the corresponding location to forcibly open the pipe wall. If blockage is detected, the main motor generates high-frequency positive and negative voltage pulses, which, combined with rapid switching of the magnetic field, induce a slight deformation in the pipe wall similar to biological peristalsis. This magnetic-pneumatic synergistic peristaltic effect can autonomously remove residual pests or debris from the pipe without manual disassembly and cleaning, significantly reducing the labor maintenance costs in forest management and ensuring that the equipment can operate continuously and efficiently for a long time. Attached Figure Description

[0015] The present invention will be further explained below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the overall external structure of the device; Figure 2This is a structural diagram of the main suction motor and differential valve; Figure 3 This is a schematic diagram of the connection structure of a segmented pneumatic bellows; Figure 4 This is a schematic diagram of the process flow of the method of the present invention.

[0016] In the diagram: 100, base; 200, segmented pneumatic bellows; 210, miniature electromagnetic coil array; 220, double-helix antagonistic airbag rib structure; 300, main suction motor; 400, differential valve; 500, control unit. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments.

[0018] Example 1: Please see Figure 1-4 A method for attracting and controlling insects in forest resource management, comprising: S1. A segmented pneumatic bellows 200, a micro electromagnetic coil array 210, and a double-helix antagonistic airbag rib structure 220 are provided; wherein, the bellows has a double-layered wall, between which a mixed medium of magnetorheological elastomer particles and shear thickening fluid is filled; the micro electromagnetic coil array 210 is distributed along the bellows wall, and the airbag rib structure is wrapped around the outer wall of the bellows. S2. Configure the main suction motor 300 and differential valve 400 to connect the motor's suction port to the internal channel of the bellows, and connect its exhaust end to the double spiral antagonistic airbag rib structure 220 through the differential valve 400, thereby constructing a complete air circulation system. S3. Initiate the bellows extension action, using positive pressure airflow to drive it to extend into the depth of the tree canopy; the system dynamically adjusts the on / off state of the coil array based on the self-sensing detection results based on the change of coil inductance, rather than external visual sensors, and intelligently switches the local stiffness between obstacle avoidance state and locking state. S4. After reaching the target position, the main suction motor 300 generates negative pressure suction, which causes micro-deformation of the double-layer pipe wall and squeezes and shears the thickened fluid, causing its viscosity to surge. At the same time, the control coil is energized to magnetize and harden the magnetorheological elastomer particles, locking the bellows into a rigid cantilever beam state. S5. The differential valve 400 is used to guide the positive pressure airflow discharged from the motor into the airbag rib structure, generating axial tension to effectively counteract the axial contraction force generated by the internal negative pressure of the bellows, and finally carry out the insect attraction and extermination operation smoothly.

[0019] This embodiment addresses the technical problem of traditional flexible insect-absorbing tubes being difficult to penetrate deep into complex tree canopies and prone to negative pressure blockage. It proposes a pneumatic coupling method based on the variable stiffness of a non-Newtonian fluid medium. In existing technologies, flexible pipes must maintain high compliance to pass through dense foliage, but this characteristic leads to poor directionality in long-distance cantilever states, and the pipe wall is prone to buckling and instability under strong negative pressure, blocking airflow. This embodiment achieves active switching and adaptive balance between rigid and flexible modes by constructing a composite system of a segmented pneumatic corrugated pipe (200mm), a magnetorheological / shear-thickening hybrid medium, and a double-helix airbag. The specific implementation steps are as follows: S1. System Construction Phase: Setting up the core execution component—segmented pneumatic bellows 200; this bellows is not a traditional single-layer rubber tube, but adopts a special double-wall sandwich structure; a special mixed medium is filled in the sealed cavity formed by the inner and outer walls, which is composed of magnetorheological elastomer particles uniformly dispersed in a shear-thickening fluid; this mixed medium gives the tube wall a dual response capability to magnetic field and mechanical stress; on the tube wall of the bellows, a micro electromagnetic coil array 210 is distributed at equal intervals along the axial direction to generate a controllable local magnetic field; in addition, on the outermost layer of the bellows, a double-helix antagonistic airbag rib structure 220 is wound, which is similar to the double helix shape of DNA, does not directly participate in the drive, but serves as a passive damping and active tension mechanism; S2, Power Configuration Stage: The main suction motor 300 is configured as a negative pressure source, and its suction port is directly connected to the internal main channel of the corrugated pipe for trapping pests; the key is the introduction of a differential valve 400, which is physically connected and connected between the exhaust end of the main suction motor 300 and the air inlet of the double helix antagonistic airbag rib structure 220; this design cleverly utilizes the pressure difference energy inside the system, and can drive the airbag without the need for an additional air pump; S3, Extension and Obstacle Avoidance Phase: When starting the operation, the system is in positive pressure extension mode; the high-pressure positive airflow generated by the main suction motor 300 under the logic switching of the reversing valve or by the motor reversal is used to fill the bellows, driving the bellows to grow and extend into the depth of the tree canopy; during this process, the system mainly adjusts the on / off state of the micro electromagnetic coil array 210 based on the self-sensing detection results based on the change of coil inductance as described below; for example, when it is necessary to bypass branches, the coil at the corresponding part is de-energized, the mixed medium is in a liquid / soft state, the pipe wall exhibits a low-stiffness obstacle avoidance state, and the compliance is good; when it is necessary to maintain straight extension, the coil is energized, the pipe wall is locally hardened, and the directionality is maintained; S4. Stiffness Locking and Suction Preparation Stage: Once the corrugated pipe reaches the target pest gathering area, the main suction motor 300 is immediately activated to generate strong negative pressure. At this time, the negative pressure suction will cause the double-layer pipe wall to collapse slightly inward. This mechanical compression acts on the shear-thickening fluid in the interlayer, causing its viscosity to surge instantly, i.e., the shear-thickening effect, which initially hardens the pipe wall. Specifically, this hardening is based on two physical mechanisms: the high-speed airflow generated by the main suction motor 300 induces high-frequency turbulent micro-vibrations on the inner wall of the corrugated pipe, providing a continuous dynamic shear rate for the shear-thickening fluid, keeping it in a thickened high-viscosity state; the pipe wall collapse and compression caused by the negative pressure changes the free volume in the interlayer, causing the volume fraction of dispersed particles to exceed the critical blockage density, thereby triggering the blockage phase transition, so that the fluid can also exhibit a solid-like yield strength under static pressure, preventing the pipe wall from collapsing further. Simultaneously, the entire or key sections of the micro electromagnetic coil array 210 are energized, and the resulting magnetic field causes the magnetorheological elastomer particles to align into chains along the magnetic field lines, resulting in magnetostriction. Under the dual action of STF and MRE, the originally flexible bellows is instantly locked into a rigid cantilever beam state. This state can resist gravity to keep it suspended and not fall, and can also effectively resist the buckling of the pipe wall caused by negative pressure, ensuring that the airflow channel is unobstructed. S5. Adaptive Balancing and Operation Phase: During continuous insect suction, the high negative pressure inside the pipe generates a huge axial contraction force, attempting to shorten the pipe. At this time, the differential valve 400 automatically opens, introducing the positive pressure gas discharged by the main suction motor 300 into the outer double-helix antagonistic airbag rib structure 220. The expansion of the airbag generates axial tension, which forms a pair of balancing forces with the internal contraction force, thereby counteracting the contraction trend of the corrugated pipe, maintaining the stability of the pipe length and position, and thus efficiently completing the insect attraction and extermination operation.

[0020] Before step S3, the following steps are included: S31. Establish a magnetic-elastic-fluid coupling stiffness model, using the local curvature of the segmented pneumatic bellows 200 and the load current of the main suction motor 300 as input parameters, and the current intensity of the micro electromagnetic coil array 210 as the output variable, to calculate the minimum magnetic field gradient required to maintain the pipe wall from buckling instability.

[0021] This embodiment further refines the algorithmic basis for stiffness control; in complex forest environments, blindly applying the maximum current to all coils not only consumes a lot of energy, but also causes the tube walls to become too hard and lose the necessary flexibility, and may even damage the trees; therefore, a magnetic-elastic-fluid coupled stiffness model is pre-constructed before performing the extension action. This model is a mathematical description of multiphysics coupling, comprehensively considering the influence of the magnetic field on the MRE modulus, the influence of the fluid shear rate on the STF viscosity, and the elastic mechanical behavior of the pipe wall itself; specifically, the total equivalent stiffness of the system... Defined as:

[0022] in, The inherent elastic stiffness of the corrugated pipe substrate. For magnetic induction intensity The contribution of the modulated magnetorheological modulus, Shear rate The non-Newtonian fluid viscosity term is affected; the model input receives two key parameters in real time: the current local curvature of the bellows, reflecting the degree of bending; and the load current of the main suction motor 300, reflecting the airflow resistance and suction load. The model's output is the target current intensity that should be applied to each coil in the miniature electromagnetic coil array 210. Using this model, the system can calculate the minimum magnetic field gradient required to prevent buckling instability of the pipe wall under the current bending posture and airflow load. The calculation of the minimum magnetic field gradient is based on: making... The resulting structural restoring moment is greater than that generated by the internal negative pressure. The resulting radial instability moment That is, it meets the judgment criteria. ,in For the local infinitesimal element rotation angle, The diameter of the pipe is determined by adjusting the current. Make the local magnetic field satisfy This enables energy supply to be provided on demand.

[0023] In step S31: the local curvature is obtained by analyzing the changes in the inductance of each segment of the coil in the micro electromagnetic coil array 210, and the load current is obtained by extracting the high-frequency component of the operating current ripple of the main suction motor 300.

[0024] This embodiment solves the problem of difficulty in deploying external sensors in unstructured environments; in the depths of the tree canopy, traditional optical or mechanical sensors are easily blocked or damaged by branches and leaves; this invention innovatively utilizes the electrical characteristics of the actuator itself as a feedback signal to achieve sensorless sensing. Regarding the acquisition of local curvature: Since the pipe wall is filled with magnetorheological elastomer particles, when the bellows is bent and deformed, the spacing and arrangement of the particles in the pipe wall will change microscopically, which in turn causes the magnetic reluctance of the magnetic circuit of the miniature electromagnetic coil wrapped around the pipe wall to change. This change is directly reflected in the fluctuation of the coil inductance. By scanning the inductance value of each section of the coil in real time and comparing it with the reference value, the system can analyze the curvature distribution of the bellows along the axial direction, and thus infer its three-dimensional posture. Regarding the acquisition of load current: The operating current of the main suction motor 300 is not a constant DC, but contains rich dynamic information; when the suction port is unobstructed, the airflow is stable and the current ripple is small; when the suction port is blocked by leaves or the pipe wall is flattened, the airflow is violently disturbed, causing a sudden change in motor load; by extracting the high-frequency components in the motor operating current ripple, these subtle changes in airflow state can be sensitively captured, serving as an important basis for judging whether aerodynamic instability has occurred in the pipe wall.

[0025] The steps of S3 include: when no obstacle is detected ahead, controlling the entire section of the micro electromagnetic coil array 210 to be energized to maintain the directional of the segmented pneumatic bellows 200; when a tree branch obstacle is detected ahead, controlling the local coil at the corresponding position of the obstacle to be de-energized, so that the Young's modulus of that section of the pipe wall is reduced to a soft mode, and the positive pressure airflow is used to slide over the tree branch obstacle; after passing the obstacle, restoring the energization state of the local coil.

[0026] This embodiment specifically describes the intelligent obstacle avoidance logic of the bellows during the extension process; this logic utilizes the characteristic of the reversible change of stiffness of the hybrid medium under the action of a magnetic field to achieve dexterous movement similar to biological tentacles; When the system detects that the path ahead is clear and unobstructed through front-end sensors or inductors, the control unit 500 instructs the miniature electromagnetic coil array 210 to be energized throughout. At this time, the mixed medium hardens, the overall stiffness of the bellows is increased, and it is similar to a telescopic rod, which can overcome the influence of gravity, maintain good straight-line orientation, and quickly extend into the depth. When obstacles such as tree branches are detected blocking the path, the system calculates the corresponding position where the obstacle will contact the bellows and controls the local coil near that position to be de-energized. After the power is de-energized, the magnetorheological effect in that local area disappears, the mixed medium returns to a liquid / gel state, and the Young's modulus of the pipe wall decreases rapidly, entering a soft mode. At this time, under the continuous push of the internal positive pressure airflow, the soft pipe wall will deform along the contour of the obstacle, thus sliding or squeezing through the gaps between the branches, instead of hitting and getting stuck. Once the system detects that the pipe segment has crossed an obstacle, for example by restoring the normal range through changes in inductance, it immediately restores the energization of the local coil, causing the pipe wall to harden again, restoring directional accuracy, and continuing to extend to the next target point.

[0027] In step S1, the double-helix antagonistic airbag rib structure 220 includes an A-rotating airbag and a B-rotating airbag distributed in a double helix, with the A-rotating airbag and the B-rotating airbag interlaced on the surface of the segmented pneumatic bellows 200.

[0028] This embodiment details the specific structural form of the airbag ribs; in order to provide axial support without sacrificing bending freedom, a biomimetic double helix structure design is adopted; Specifically, the structure includes two independent air bladder channels: A spiral air bladder and B spiral air bladder; they are arranged in opposite spiral directions, for example, A is left-handed and B is right-handed, or they are in the same direction but 180 degrees out of phase, forming a double helix DNA-like tightly wrapped around the outer surface of the segmented pneumatic bellows 200; this interlaced wrapping method constitutes the external skeleton of the bellows. Here, the winding angles of the A and B rotatable airbags relative to the bellows axis are strictly set to be greater than the neutral angle of the McKibben-type artificial muscle, preferably in the range of 60° to 75°. According to the mechanical principle of pneumatic artificial muscles, when the winding angle is greater than 54.7°, the inflation of the airbags will generate an axial elongation component rather than a contraction component. This axial elongation thrust is opposite in direction to the axial contraction force generated by the negative pressure inside the bellows, thus forming a counterbalance and preventing the bellows length from being shortened by the negative pressure. Compared with traditional straight reinforcing ribs, the double helix structure has significant advantages: it allows the bellows to bend in any direction without structural locking caused by excessive stretching or compression of one side of the reinforcing rib; at the same time, the two sets of airbags, A and B, are spatially antagonistic to each other. When the tube is subjected to external disturbances, the stress states of the two sets of airbags will show opposite changes, providing a physical basis for subsequent vibration suppression.

[0029] In step S5, when the segmented pneumatic bellows 200 swings laterally, the pressure difference between the A-rotating airbag and the B-rotating airbag, which is under pressure and tension, is used to drive the gas to flow in the connected circuit to consume the vibration energy.

[0030] This embodiment illustrates the unique function of the double-helix air sac structure in suppressing the whip-tip effect; when a long-distance cantilever spirochete inhales a high-speed airflow, it is prone to high-frequency lateral oscillation, i.e., the whip-tip effect, which affects the suction accuracy. In this embodiment, the A swivel airbag and the B swivel airbag are connected to each other or to a common chamber through a specific air passage, which includes a throttle or damping valve. When the bellows swings and bends laterally, due to geometric deformation, the airbag on the inner side of the bend, such as a section of the A airbag, is compressed, and the internal air pressure increases instantaneously. Meanwhile, the corresponding section of the airbag on the outer side of the bend, such as the B airbag, is stretched, the internal volume increases, and the air pressure decreases. The pressure difference generated by this deformation drives the gas to flow rapidly in the connected circuit of airbags A and B. When the gas flows through narrow channels or throttling elements, it generates viscous frictional heat, which converts the mechanical vibration energy of the tube into heat energy and dissipates it. This mechanism is similar to a hydraulic shock absorber, but in this solution it is a purely pneumatic, endogenous self-suppressing mechanism that can effectively suppress the shaking of the tube and keep the suction port stable without the need for additional electronic control intervention.

[0031] The steps of S5 also include: real-time monitoring of the inductance of the micro electromagnetic coil array 210 and the current ripple of the main suction motor 300; If it is determined that the tube wall has flattened, increase the current of the coil corresponding to the flattened part to forcibly open the tube wall; If a blockage is detected at the suction port, the main suction motor 300 is controlled to generate high-frequency positive and negative pressure pulses, which, together with the magnetic field of the micro electromagnetic coil array 210, are rapidly adjusted to generate slight peristalsis of the pipe wall to clear the blockage. This embodiment describes the abnormal state handling mechanism of the system during operation, ensuring the reliability of long-term operation; The system continuously monitors two core parameters: coil inductance, which reflects the tube wall morphology, and motor current ripple, which reflects the airflow state. The tube wall flattens, i.e. buckling instability; if the inductance of a certain section of the coil shows a sharp increase in curvature, and at the same time the motor current shows that the suction force is blocked, the system determines that the tube wall at that point has flattened due to excessive negative pressure or external pressure; at this time, the control unit 500 immediately increases the current intensity of the coil corresponding to the flattened part; the enhanced magnetic field significantly increases the hardness of the MRE medium at that point, and the structural stiffness generated by magnetostriction is used to forcibly open the flattened tube wall, restoring the circular cross-section and airflow channel; If the inductor shows a normal pipe wall shape, but the motor current exhibits stall characteristics or ripples at a specific frequency, the system determines that the inductor is blocked by leaves or debris. In this case, the main suction motor 300 is controlled to enter pulse cleaning mode, generating high-frequency alternating positive and negative pressure airflow. Simultaneously, the micro electromagnetic coil array 210 rapidly switches between strong and weak magnetic fields, causing the pipe wall to undergo slight contraction-expansion peristalsis. The airflow impact combined with the pipe wall peristalsis can effectively shake off or expel the blockage at the inductor, achieving self-cleaning.

[0032] In step S1, the volume fraction of magnetorheological elastomer particles in the mixed medium is 20%-40%, and the shear thickening fluid is a suspension of nano-silica and polyethylene glycol.

[0033] This embodiment specifies the composition of the core material—the mixed medium—to ensure optimal rheological properties; Experiments have shown that a volume fraction of 20% to 40% for magnetorheological elastomer particles in the mixed medium is the preferred range. If it is below 20%, the magnetostriction effect is not obvious and cannot provide sufficient stiffness support. If it is above 40%, the basic viscosity of the mixed medium is too high, which causes the pipe wall to remain too hard in soft mode, affecting obstacle avoidance performance and extension compliance. Meanwhile, the shear-thickening fluid is a suspension formed by dispersing nano-silica particles in polyethylene glycol, wherein the average particle size of the nano-silica particles is distributed between 100nm and 500nm. This combination has significant non-Newtonian fluid characteristics: it is liquid under normal conditions and has good fluidity; once subjected to high-speed shear or compression, such as the rapid deformation of the tube wall under negative pressure, its viscosity will increase exponentially, exhibiting solid-like properties. This characteristic, combined with MRE particles, forms a smart material system with both mechanical and magnetic responses. Example 2: Please see Figure 1-3 A forest resource management and insect-attracting device, comprising: Base 100; The segmented pneumatic bellows 200 is installed on the base 100. The segmented pneumatic bellows 200 has a double-walled structure, and the double-walled structure is filled with a mixed medium of magnetorheological elastomer particles and shear thickening fluid. A miniature electromagnetic coil array 210 is distributed along the axial direction of the segmented pneumatic bellows 200 on the pipe wall; a double-helix antagonistic airbag rib structure 220 is wound around the outer surface of the segmented pneumatic bellows 200. The main suction motor 300 is located inside the base 100 and is used to provide negative pressure suction for the segmented pneumatic bellows 200. The main suction motor 300 is used in conjunction with a reversing air valve, or the main suction motor 300 is configured as a reversible high-pressure fan to provide positive pressure airflow to drive the bellows to extend during the extension phase. The differential valve 400 is connected between the main suction motor 300 and the double-spiral antagonistic airbag rib structure 220.

[0034] This embodiment describes a hardware device structure for implementing the above method; the device mainly consists of a base 100, an actuator, and a power system; The base 100 serves as the installation platform for the entire device and can be mounted on a drone, ground vehicle, or fixed tower. One end of the segmented pneumatic bellows 200 is fixed to the base 100, while the other end is a free-expanding end. The bellows adopts a special double-wall structure, with the interlayer sealed and filled with the aforementioned MRE and STF mixed medium. The miniature electromagnetic coil array 210 is not a simple wire winding, but consists of multiple independent ring coil units arranged in series along the tube axis. Each coil unit is embedded or close to the tube wall, and the current can be adjusted independently by the control circuit. The double-helix antagonistic airbag rib structure 220 is made of high-strength flexible material and tightly wraps around the corrugated tube in a double helix shape, which plays a protective and mechanical balance role. The main suction motor 300 is built into the base 100 and is connected to the bellows through the internal air duct; the differential valve 400 is a key pneumatic component, which is physically connected between the exhaust port of the main suction motor 300 and the air inlet of the double helix antagonistic airbag rib structure 220. It can automatically adjust the amount of air entering the airbag according to the exhaust pressure to realize waste gas utilization and passive pressurization.

[0035] The device also includes a control unit 500, which is electrically connected to the miniature electromagnetic coil array 210, the main suction motor 300 and the differential valve 400 respectively. The control unit 500 is configured to infer the bending posture of the segmented pneumatic bellows 200 by detecting the inductance change of the miniature electromagnetic coil array 210.

[0036] This embodiment supplements the control system architecture of the device; the device is equipped with a core control unit 500, such as an MCU or FPGA controller; the control unit 500 is connected to a micro electromagnetic coil array 210 via electrical lines for driving and detection, a main suction motor 300 for suction and current sampling, and a differential valve 400. The control unit 500 has a dedicated algorithm module configured to perform inductance-attitude inversion. It measures the inductance of each coil in real time by injecting a high-frequency micro-current signal into the coil array. Since the bending of the pipe wall changes the distribution of the internal magnetic medium, thereby changing the coil inductance, the control unit 500 uses a pre-stored mapping table or neural network model to convert the change in inductance into the bending angle and direction data of each segment of the bellows. This allows for accurate reconstruction of the actual attitude of the bellows deep in the tree canopy without relying on external visual sensors, providing data support for closed-loop control.

[0037] 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 it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for attracting and controlling insects in forest resource management, characterized in that, The application relates to a segmented pneumatic bellows (200), a micro electromagnetic coil array (210) and a double-helix antagonistic airbag structure (220), wherein the bellows has a double-layer tube wall filled with a mixed medium of magnetorheological elastomer particles and shear thickening fluid; the micro electromagnetic coil array (210) is distributed along the tube wall of the bellows; and the airbag structure is wound on the outer wall of the bellows. A main air suction motor (300) and a differential valve (400) are arranged, the air suction port of the motor is communicated with the internal channel of the bellows, the exhaust end of the motor is communicated with the double-helix antagonistic airbag structure (220) through the differential valve (400), and a complete air circulation system is formed. The bellows is stretched by using positive pressure airflow to drive the bellows to extend to the deep part of the tree crown; the system dynamically adjusts the on-off state of the coil array according to self-sensing detection results based on the change of the inductance of the coil, intelligently switches the local rigidity between the obstacle avoidance state and the locking state, and detects the front obstacle. After reaching the target position, the main air suction motor (300) generates negative pressure suction force, causes the double-layer tube wall to be slightly deformed and squeeze the shear thickening fluid to make the viscosity of the shear thickening fluid greatly increase, controls the coil to be electrified to magnetize and harden the magnetorheological elastomer particles, and locks the bellows into a rigid cantilever beam state. The segmented pneumatic bellows (200) is used for the segmented pneumatic bellows (200), the micro electromagnetic coil array (210) is used for the micro electromagnetic coil array (210), and the double-helix antagonistic airbag structure (220) is used for the double-helix antagonistic airbag structure (220). The step S31 comprises the following steps.

2. The method according to claim 1, wherein the method is characterized by, The local curvature is obtained by analyzing the inductance change of each coil in the micro electromagnetic coil array (210), and the load current is obtained by extracting the high-frequency component of the working current ripple of the main air suction motor (300). When no obstacle is detected in front, all the coils in the micro electromagnetic coil array (210) are controlled to be electrified to maintain the directivity of the segmented pneumatic bellows (200).

3. The method according to claim 2, wherein the method is characterized by, When a branch obstacle is detected in front, the local coils corresponding to the obstacle are controlled to be deenergized, the Young's modulus of the tube wall of the segment is reduced to a soft mode, and the positive pressure airflow thrust is used to slide through the branch obstacle.

4. The moth attracting and exterminating method for forest resource management according to any one of claims 1 to 3, characterized in that, After passing through the obstacle, the electrification state of the local coils is restored. In the step S1, the double-helix antagonistic airbag structure (220) comprises A-helix airbags and B-helix airbags which are distributed in a double-helix mode and are interlaced and wound on the surface of the segmented pneumatic bellows (200). ​ ​ 5. The moth attracting and exterminating method for forest resource management according to any one of claims 1 to 3, characterized in that, ​ 6. The method of claim 5, wherein the method is used for forest resource management and protection. In the step S5, when the segmented pneumatic bellows (200) swings laterally, the pressure difference between the pressure and the tension between the A-rotation air bag and the B-rotation air bag is used to drive the gas to flow in the communication loop to consume the vibration energy.

7. The method according to any one of claims 1 to 3, wherein the method is used for forest resource management and protection. The step S5 further includes: Real-time monitoring of the inductance of the micro electromagnetic coil array (210) and the current ripple of the main air suction motor (300); If it is determined that the pipe wall is folded, the current of the coil corresponding to the folded part is increased to forcibly open the pipe wall; If it is determined that the suction port is blocked, the main air suction motor (300) is controlled to generate high-frequency positive and negative pressure pulses, and the magnetic field of the micro electromagnetic coil array (210) is adjusted quickly to generate a small amplitude peristalsis of the pipe wall to remove the blockage.

8. The moth attracting and exterminating method for forest resource management according to any one of claims 1 to 3, characterized in that, In the step S1, the volume fraction of the magnetic rheological elastomer particles in the mixed medium is 20%-40%, and the shear thickening fluid is a suspension of nano silicon dioxide and polyethylene glycol.

9. The device for attracting and killing insects for forest resource management according to any one of claims 1 to 8, characterized in that, It includes: a base (100); a segmented pneumatic bellows (200) mounted on the base (100), the segmented pneumatic bellows (200) having a double-layer pipe wall filled with a mixed medium of magnetic rheological elastomer particles and shear thickening fluid; a micro electromagnetic coil array (210) distributed on the pipe wall along the axial direction of the segmented pneumatic bellows (200); a double-helix antagonistic air bag muscle structure (220) wrapped around the outer surface of the segmented pneumatic bellows (200); a main air suction motor (300) arranged in the base (100) for providing negative pressure suction force for the segmented pneumatic bellows (200), the main air suction motor (300) cooperating with a reversing air valve, or the main air suction motor (300) being configured as a reversible high-pressure fan to provide positive pressure air flow to drive the bellows to stretch in the extension stage; a differential valve (400) connected between the main air suction motor (300) and the double-helix antagonistic air bag muscle structure (220).

10. The insect trapping and killing device for forest resource management according to claim 9, characterized in that, The device further includes a control unit (500) electrically connected with the micro electromagnetic coil array (210), the main air suction motor (300) and the differential valve (400), respectively, and the control unit (500) is configured to infer the bending posture of the segmented pneumatic bellows (200) by detecting the inductance change of the micro electromagnetic coil array (210).

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