A high-efficiency spraying positioning semi-enclosed trunk whitening system and method

Abstract

This invention relates to a highly efficient semi-enclosed tree trunk whitening system and method for spraying and positioning. The system includes a vehicle body and a spraying device mounted on the vehicle body. The spraying device includes a spraying assembly and a vertical lifting mechanism for controlling the vertical lifting and lowering of the spraying assembly. The spraying assembly includes a horizontally arranged linear V-shaped bracket with its opening facing away from the vehicle body. The bifurcation angle of the linear V-shaped bracket is 60°. The spraying assembly also includes three spraying mechanisms respectively located at the bifurcation node and the ends of the two branches of the linear V-shaped bracket, with the connecting lines between the three spraying mechanisms forming an equilateral triangle. Multiple touch sensors are spaced along the enclosing path on the inner side of the linear V-shaped bracket. Each spraying mechanism includes a spraying component rotatably mounted on the linear V-shaped bracket. This invention achieves efficient and reasonable positioning of multiple spraying components while maintaining a simple overall structure and controllable production costs.

Description

Technical Field

[0001] Several embodiments of this specification relate to the field of tree trunk whitening, specifically to a semi-enclosed tree trunk whitening system and method with efficient spray positioning. Background Technology

[0002] Whitewashing tree trunks is a key tree protection measure. By applying a whitewash made of lime milk, salt, lime sulfur and other ingredients to the lower part of the tree trunk, it can effectively achieve multiple functions such as preventing pests and diseases, avoiding sunscald damage to the tree trunk, and delaying the budding period of the tree.

[0003] Currently, some whitening machines designed specifically for tree trunk whitening exist. For example, Chinese invention patent application number CN201711447218.1 discloses a multi-adaptive tree trunk whitening machine, including a spraying rod, a rotating support device, a support plate, and a lifting device. The rotating support device drives the spraying rod to rotate in a horizontal plane. Both the rotating support device and the drive device are mounted on the support plate. The drive device drives the rotating support device to rotate. The support plate is hinged to the frame. The lifting device drives the support plate to rotate around the frame. This whitening machine can perform all-around rotating spraying of whitening liquid on trees, adapting to trees of different thicknesses and shapes. It has the advantages of strong adaptability, energy saving and environmental protection, simple operation, high efficiency, and convenient maintenance. However, this whitening machine only uses a single spraying rod for rotating tree trunk whitening, resulting in relatively low spraying efficiency. For example, Chinese invention patent application number CN202411988392.7 discloses a tree trunk whitewashing machine with adaptive spraying function. It has five sequentially rotatably connected supports and multiple V-shaped nozzles. Ultrasonic sensors and collision sensors mounted on the supports adjust the rotation angle between the supports to ensure the gap between the V-shaped nozzles and the tree trunk remains within an appropriate range. While this whitewashing machine improves spraying efficiency by using multiple V-shaped nozzles and ensures the gap between the nozzles and the trunk remains within an appropriate range (meaning it can position multiple V-shaped nozzles to suitable spraying positions), the positioning process is complex (requiring multiple adjustments to position the nozzles correctly), the overall structure of the whitewashing machine is complex, and its production cost is high.

[0004] Therefore, there is an urgent need for a whitening machine that uses multiple nozzles to efficiently whiten tree trunks, can efficiently position multiple nozzles to the appropriate spraying position, has a simple overall structure, and has controllable production costs. Summary of the Invention

[0005] This specification provides a semi-enclosed tree trunk whitening system and method for efficient spraying positioning. Through a simple device structure design and a simple background algorithm processing logic, the center of the tree trunk can be made to coincide with the spraying center of multiple sprayed parts. Thus, based on the simple overall structure of the device and controllable production cost, efficient and reasonable positioning of the spraying position of multiple sprayed parts can be achieved.

[0006] The technical solution is as follows:

[0007] Firstly, this specification provides an efficient semi-enclosed tree trunk whitening system for spray positioning. The system includes a vehicle body and a spraying device mounted on the vehicle body. The spraying device includes a spraying assembly and a vertical lifting mechanism for controlling the vertical lifting of the spraying assembly. The spraying assembly includes a horizontally arranged linear V-shaped bracket with its opening facing away from the vehicle body. The bifurcation angle of the linear V-shaped bracket is 60°. The spraying assembly also includes three spraying mechanisms respectively arranged at the bifurcation node position and the two branch ends of the linear V-shaped bracket. The connecting lines between the three spraying mechanisms form an equilateral triangle. Multiple touch sensors are spaced along the enclosing path on the inner side of the linear V-shaped bracket. The spraying mechanism includes a spraying component rotatably mounted on the linear V-shaped bracket. The system also includes a pre-storage module, a first acquisition module, a second acquisition module, a third acquisition module, and a control module.

[0008] The pre-storage module pre-stores the distances between each of the multiple touch sensors and the bifurcation node positions, as well as the first distance between the incenter of the equilateral triangle and the vertex of the equilateral triangle.

[0009] The first acquisition module acquires the distance between the touch sensor that senses the contact and the branch node position when the inner sides of both branches of the straight V-shaped support are in contact with the tree trunk, and regards it as the sensing distance information.

[0010] The second acquisition module, based on sensing distance information, acquires the second distance between the center position of the tree trunk and the position of the forking node when the inner sides of both branches of the straight V-shaped support are in contact with the tree trunk;

[0011] The third acquisition module acquires the direction of the bifurcation angle bisector of the straight V-shaped support when the inner sides of both branches of the straight V-shaped support are in contact with the tree trunk, and regards it as the target direction.

[0012] The control module, based on the first distance and the second distance, controls the linear V-shaped bracket to move along the target direction so that the incenter of the equilateral triangle formed by the lines connecting the three spraying mechanisms coincides with the center of the tree trunk, and controls the spraying components to spray the tree trunk.

[0013] As a preferred embodiment, the spraying mechanism also includes two baffles that are rotatably disposed on both sides of the spraying part, and whose opening and closing angle range between the two can be adjusted by adjusting the rotation angle, thereby realizing the adjustment of the spraying range of the spraying part on the inner side of the linear V-shaped bracket.

[0014] The second acquisition module also acquires the trunk radius based on the sensing distance information;

[0015] The control module also obtains the rotation angle control information of each barrier based on the trunk radius and the first distance, and performs rotation control on each barrier based on the rotation angle control information of each barrier.

[0016] As a preferred option, the pre-storage module also pre-stores the thickness of the coating on the tree trunk surface;

[0017] The control module obtains the rotation angle control information of each barrier plate based on the trunk radius, the thickness of the coating on the trunk surface, and the first distance.

[0018] As a preferred embodiment, the control module controls the spraying component to rotate within the opening and closing angle range of its two corresponding baffles, and controls it to spray the tree trunk during the rotation process.

[0019] As a preferred embodiment, the control module controls the spraying intensity of the sprayed part in real time based on the real-time deviation between the real-time spraying direction of the sprayed part and the direction of the angle bisector of the angle corresponding to the sprayed part in the equilateral triangle.

[0020] As a preferred option, the second acquisition module also acquires the trunk radius based on the sensing distance information;

[0021] The control module controls the spraying intensity of the sprayed parts based on the first distance and the trunk radius.

[0022] As a preferred option, the system also includes a fourth acquisition module;

[0023] The fourth acquisition module acquires an image of the tree trunk bark and obtains the unevenness of the tree trunk bark based on the image.

[0024] The control module controls the spraying intensity of the sprayed parts based on the first distance, the trunk radius, and the unevenness of the trunk bark.

[0025] As a preferred solution, the control module controls the movement of the vehicle body, thereby driving the linear V-shaped bracket to move along the target direction.

[0026] As a preferred embodiment, the spraying mechanism also includes a telescopic mechanism that is vertically lifted and connected to the vertical lifting mechanism at one end and connected to the straight V-shaped bracket at the other end, and can extend and retract along the bifurcation angle bisector of the straight V-shaped bracket.

[0027] The control module controls the extension and retraction of the telescopic mechanism, thereby driving the linear V-shaped bracket to move along the target direction.

[0028] Secondly, embodiments of this specification provide a highly efficient spray-painting and positioning method for semi-enclosed tree trunk whitening. Based on the highly efficient spray-painting and positioning semi-enclosed tree trunk whitening system described in the first aspect of the above embodiments, it includes:

[0029] Pre-store the distances between each of the multiple touch sensors and the bifurcation node positions, as well as the first distance between the incenter of the equilateral triangle and the vertex of the equilateral triangle;

[0030] When the inner sides of both branches of the straight V-shaped support are in contact with the tree trunk, the distance between the touch sensor that senses the contact and the position of the branch node is obtained and regarded as the sensing distance information.

[0031] Based on sensing distance information, the second distance between the center of the tree trunk and the position of the fork node is obtained when the inner sides of both branches of the straight V-shaped support are in contact with the tree trunk.

[0032] Obtain the direction of the bifurcation angle bisector of the straight V-shaped support when the inner sides of both branches of the straight V-shaped support are in contact with the tree trunk, and regard it as the target direction;

[0033] Based on the first distance and the second distance, the linear V-shaped bracket is controlled to move along the target direction so that the incenter of the equilateral triangle formed by the lines connecting the three spraying mechanisms coincides with the center of the tree trunk, and the spraying components are controlled to spray the tree trunk.

[0034] Thirdly, embodiments of this specification provide an electronic device, including a processor and a memory; the processor is connected to the memory; the memory is used to store executable program code; the processor reads the executable program code stored in the memory to run a program corresponding to the executable program code, so as to perform the steps described in the second aspect of the above embodiments.

[0035] Fourthly, embodiments of this specification provide a computer storage medium storing a plurality of instructions adapted for loading by a processor and executing the steps described in the second aspect of the above embodiments.

[0036] The beneficial effects of the technical solutions provided in some embodiments of this specification include at least the following:

[0037] The connection between the three spraying mechanisms mounted on the straight V-shaped support is defined as an equilateral triangle, thus providing a geometric basis for the uniform spraying of the tree trunk by the three spraying components and for the efficient and reasonable positioning of the spraying positions of the three components simultaneously. Furthermore, the bifurcation angle of the straight V-shaped support is defined as 60°, and multiple touch sensors are spaced apart on its inner side. This allows for the calculation of a second distance between the center of the tree trunk and the bifurcation node, based on the distance between the touch sensor that senses the contact and the bifurcation node when both inner branches of the straight V-shaped support are in contact with the tree trunk. The incenter of the equilateral triangle... The first distance between the three sprayed parts and the vertices of the equilateral triangle can be obtained in advance. That is, the distance between the spraying center of the three sprayed parts and the bifurcation node can be obtained in advance. When the inner sides of the two branches of the straight V-shaped bracket are in contact with the trunk, the center of the trunk and the center of the equilateral triangle are both located on the bifurcation angle bisector of the straight V-shaped bracket. Therefore, at this time, based on the first distance and the second distance, the straight V-shaped bracket can be moved along the bifurcation angle bisector of the straight V-shaped bracket to make the spraying center of the three sprayed parts coincide with the center of the trunk, thereby achieving efficient and reasonable positioning of the spraying position of the three sprayed parts at the same time. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 A schematic diagram of the overall structure of a semi-enclosed tree trunk whitening system for efficient spray positioning, according to some embodiments of the present disclosure, is shown.

[0040] Figure 2 A schematic diagram of the structure of a spraying assembly according to some embodiments of the present disclosure is shown.

[0041] Figure 3 A schematic diagram illustrating the calculation logic of the first distance and the second distance in some embodiments of this disclosure is shown.

[0042] Figure 4 A schematic flowchart of a semi-enclosed tree trunk whitening method for efficient spray positioning according to some embodiments of the present disclosure is shown.

[0043] Figure 5 A schematic block diagram of an electronic device according to some embodiments of the present disclosure is shown.

[0044] In the picture: 1. V-shaped bracket; 11. Touch sensor; 2. Spraying part; 21. Nozzle; 22. Rotary table; 3. Baffle plate; 4. Vertical lifting mechanism; 5. Mixing tank; 6. Mixing motor; 7. Camera; 8. Vehicle body; 9. Tree trunk. Detailed Implementation

[0045] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings.

[0046] The terms "first," "second," "third," etc., in the description, claims, and accompanying drawings are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus.

[0047] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made to the function and arrangement of the described elements without departing from the scope of this specification. Various processes or components may be appropriately omitted, substituted, or added to the examples. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.

[0048] Figure 1 A schematic diagram of the overall structure of a highly efficient spray-positioning semi-enclosed tree trunk whitening system according to some embodiments of this disclosure is shown. Figure 1 As shown, the tree trunk whitening system may include at least a vehicle body 8 and a spraying device mounted on the vehicle body 8. The spraying device includes a spraying assembly and a vertical lifting mechanism 4 for controlling the vertical lifting of the spraying assembly. The spraying assembly includes a horizontally arranged linear V-shaped bracket 1 with its opening facing away from the vehicle body. The bifurcation angle of the linear V-shaped bracket 1 is 60°. The spraying assembly also includes three spraying mechanisms respectively arranged at the bifurcation node position and the two branch ends of the linear V-shaped bracket 1. The connecting lines between the three spraying mechanisms form an equilateral triangle. Multiple touch sensors 11 are arranged at intervals along the enclosing path on the inner side of the linear V-shaped bracket 1. The spraying mechanism includes a spraying component 2 rotatably mounted on the linear V-shaped bracket 1. The system also includes a pre-storage module, a first acquisition module, a second acquisition module, a third acquisition module, and a control module.

[0049] The pre-storage module pre-stores the distances between each of the multiple touch sensors 11 and the bifurcation node positions, as well as the first distance H1 between the incenter of the equilateral triangle and its vertex (see reference). Figure 3 As shown, this refers to the distance between point O' and point A in the diagram, or the distance between point O' and point D in the diagram.

[0050] The first acquisition module acquires the distance between the touch sensor 11 that senses the contact and the position of the fork node when the inner sides of both branches of the straight V-shaped support 1 are in contact with the tree trunk, and regards it as the sensing distance information.

[0051] The second acquisition module, based on the sensing distance information, acquires the second distance H2 between the center position of the tree trunk and the position of the forking node when the inner sides of both branches of the straight V-shaped support 1 are in contact with the tree trunk 9 (refer to...). Figure 3 As shown in the figure, that is, the distance between point O and point A).

[0052] The third acquisition module acquires the direction of the angle bisector of the bifurcation angle of the straight V-shaped support 1 when the inner sides of both branches of the straight V-shaped support 1 are in contact with the trunk 9, and considers it as the target direction (refer to...). Figure 3 (as shown)

[0053] The control module, based on the first distance H1 and the second distance H2, controls the linear V-shaped bracket 1 to move along the target direction so that the incenter of the equilateral triangle formed by the lines connecting the three spraying mechanisms coincides with the center of the tree trunk (at this time, the tree trunk 9 reaches the spraying center position of the three spraying mechanisms), and controls the spraying component 2 to spray the tree trunk 9.

[0054] Reference Figure 3 As shown, it is understandable that since the bifurcation angle of the straight V-shaped bracket 1 is 60°, assuming the length between A and B is L1, the formula for calculating the second distance H2 is: H2 = L1 / cos30°, and the trunk radius r = L1 * tan30°. Since the line connecting the three spraying mechanisms forms an equilateral triangle, H1 = L / (2 * cos30°), where L is the side length of the equilateral triangle formed by the line connecting the three spraying mechanisms.

[0055] Furthermore, it can be understood that by simply controlling the distance (H1-H2) that the linear V-shaped bracket 1 moves along the target direction, the incenter of the equilateral triangle formed by the lines connecting the three spraying mechanisms can be made to coincide with the center of the tree trunk.

[0056] In this embodiment, the line connecting the three spraying mechanisms on the linear V-shaped bracket 1 is defined as an equilateral triangle. This provides a geometric basis for the uniform spraying of the tree trunk 9 by the three spraying components 2 and for the efficient and reasonable positioning of the spraying positions of the three spraying components 2 simultaneously. Furthermore, the bifurcation angle of the linear V-shaped bracket 1 is defined as 60°, and multiple touch sensors 11 are spaced apart on its inner side. Therefore, based on the distance between the touch sensor 11 that senses the contact and the bifurcation node position when both inner sides of the linear V-shaped bracket 1 are in contact with the tree trunk, the second distance H2 between the center of the tree trunk and the bifurcation node position can be calculated. The first distance H1 between the incenter of the triangle and the vertex of the equilateral triangle can be obtained in advance. That is, the distance between the spraying center of the three sprayed parts 2 and the bifurcation node can be obtained in advance. When the inner sides of the two branches of the straight V-shaped bracket 1 are in contact with the trunk, the center of the trunk and the incenter of the equilateral triangle are both located on the bifurcation angle bisector of the straight V-shaped bracket 1. Therefore, at this time, based on the first distance H1 and the second distance H2, the straight V-shaped bracket 1 is controlled to move along the bifurcation angle bisector of the straight V-shaped bracket 1, so that the spraying center of the three sprayed parts 2 coincides with the center of the trunk, thereby achieving efficient and reasonable positioning of the spraying position of the three sprayed parts 2.

[0057] In some embodiments of this specification, when the inner sides of both branches of the straight V-shaped bracket 1 are in contact with the trunk 9, there may be multiple touch sensors 11 that sense the contact, such as one on each side of the straight V-shaped bracket 1. Therefore, the formula for calculating the second distance H2 is: H2 = (L2 / cos30° + L3 / cos30°) / 2, where L2 represents the distance between the touch sensor 11 sensed by the left side of the straight V-shaped bracket 1 and the position of the branch node, and L3 represents the distance between the touch sensor 11 sensed by the right side of the straight V-shaped bracket 1 and the position of the branch node.

[0058] Reference Figure 1 , Figure 2 As shown, in some embodiments of this specification, the spraying mechanism further includes two baffles 3 that are rotatably disposed on both sides of the spraying component 2, and whose opening and closing angle range between the two can be adjusted by adjusting the rotation angle, thereby realizing the adjustment of the spraying range of the spraying component 2 on the inner side of the linear V-shaped bracket 1.

[0059] The second acquisition module also acquires the trunk radius based on the sensing distance information;

[0060] The control module also obtains the rotation angle control information corresponding to each of the blocking plates 3 based on the trunk radius and the first distance, and performs rotation control on each blocking plate 3 based on the rotation angle control information corresponding to each of the blocking plates 3.

[0061] Understandably, to avoid waste of paint sprayed from the spraying component 2 and to prevent collisions between paint sprayed from multiple spraying components 2, the spraying range of the spraying component 2 should be limited. Therefore, in this embodiment of the specification, the spraying range of the spraying component 2 can be controlled by adjusting the opening and closing angle range of the two baffle plates 3.

[0062] Reference Figure 3 As shown, to better avoid paint waste and collisions between paint particles, the spraying range of each sprayed part 2 on the surface of the tree trunk 9 should be 120°. The rotation angle control information of the baffle plate 3 can be obtained by calculating the size of ∠α, because after calculating the size of ∠α, it is possible to know the position to which the baffle plate 3 needs to be rotated.

[0063] In triangle CDO', the length of CO' is r, the length of DO' is equal to H1, and the measure of ∠CO'D is 60 degrees. Therefore, the calculation logic for ∠α is as follows:

[0064] Step 1: Calculate the length of CD using the Law of Cosines. Assume the length of CD is X, then X² = r² + H1² - 2r * H1 * cos60°, and thus the value of X can be obtained.

[0065] Step 2: Based on the Law of Sines and the arcsine function, find the size of ∠α. Based on the Law of Sines, we know that r / sin∠α=X / sin60°. After further calculating the value of sin∠α, we can find the size of ∠α using the arcsine function.

[0066] In some embodiments of this specification, the pre-storage module also pre-stores the thickness of the coating sprayed on the tree trunk surface;

[0067] The control module obtains the rotation angle control information of each blocking plate 3 based on the trunk radius, the thickness of the coating on the trunk surface, and the first distance.

[0068] Understandably, in order to ensure that the coating thickness on the tree trunk surface meets the requirements, the coating thickness on the tree trunk surface should also be considered when calculating ∠α. Therefore, the calculation logic for ∠α is as follows:

[0069] Step 1: Calculate the length of CD based on the Law of Cosines. Assume the length of CD is X and the thickness of the coating on the trunk surface is h. Then X² = (r + h)² + H1² - 2(r + h) * H1 * cos60°, and then the value of X can be obtained.

[0070] Step 2: Based on the Law of Sines and the arcsine function, find the size of ∠α. Based on the Law of Sines, we know that (r+h) / sin∠α=X / sin60°. After further calculating the value of sin∠α, we can find the size of ∠α using the arcsine function.

[0071] Understandably, in order to ensure that the entire surface of the tree trunk is coated, in some embodiments of this specification, the control module controls the spraying component 2 to rotate within the opening and closing angle range of its two corresponding baffles 3, and controls it to spray the tree trunk 9 during the rotation.

[0072] Understandably, during the spraying process, because the spraying component 2 rotates, the spraying distance between the paint sprayed by the spraying component 2 and the tree trunk surface will change in real time. If the spraying intensity is not adjusted at this time, the uniformity of the spraying on the tree trunk surface cannot be guaranteed. Furthermore, this change in spraying distance varies with the real-time deviation between the real-time spraying direction of the spraying component 2 and the direction of the angle bisector of the equilateral triangle corresponding to the spraying component. Therefore, in some embodiments of the specification, the control module controls the spraying intensity of the spraying component 2 in real time based on the real-time deviation between the real-time spraying direction of the spraying component 2 and the direction of the angle bisector of the equilateral triangle corresponding to the spraying component 2. And understandably, the greater the real-time deviation, the greater the spraying intensity should be.

[0073] Understandably, the smaller the trunk radius, the farther the spraying distance from the sprayed part 2 to the trunk 9 will be. Therefore, in some embodiments of this specification, the second acquisition module also acquires the trunk radius based on the sensing distance information; the control module controls the spraying intensity of the sprayed part 2 based on the first distance and the trunk radius.

[0074] Understandably, for tree trunks 9 with large surface unevenness (i.e., tree trunks 9 with large surface roughness), a stronger spraying intensity should be used to ensure that the paint can penetrate into the uneven gaps. Therefore, in some embodiments of this specification, the system also includes a fourth acquisition module.

[0075] The fourth acquisition module acquires an image of the tree trunk bark (which can be obtained by a camera 7 set inside the straight V-shaped bracket 1), and obtains the unevenness of the tree trunk bark based on the image (Note: The unevenness of the tree trunk bark can be obtained by inputting the image of the tree trunk bark into a pre-trained intelligent model, and the intelligent model outputs the unevenness of the tree trunk bark. This technology is existing technology, so it will not be described in detail).

[0076] The control module controls the spraying intensity of the sprayed part 2 based on the first distance, the trunk radius, and the unevenness of the trunk bark.

[0077] It should also be noted that the method of controlling the spraying intensity of the sprayed part 2 based on the first distance, trunk radius, and bark unevenness, and the method of controlling the spraying intensity of the sprayed part 2 based on the real-time deviation between the real-time spraying direction of the sprayed part 2 and the angle bisector of the angle corresponding to the sprayed part 2 in the equilateral triangle, can be used together. In this case:

[0078] The control module obtains the basic spraying intensity based on the first distance, trunk radius, and trunk surface unevenness.

[0079] The control module controls the spraying intensity of the sprayed part 2 in real time based on the real-time deviation between the real-time spraying direction of the sprayed part 2 and the direction of the angle bisector of the angle corresponding to the sprayed part 2 in the equilateral triangle, as well as the basic spraying intensity. (That is, the basic spraying intensity is adjusted in real time as the real-time deviation changes. When the real-time deviation is 0, the basic spraying intensity can be used directly for spraying.)

[0080] In some embodiments of this specification, the control module controls the movement of the vehicle body 8, thereby driving the linear V-shaped bracket 1 to move along the target direction.

[0081] In some embodiments of this specification, the spraying mechanism further includes a telescopic mechanism with one end vertically connected to the vertical lifting mechanism 4 and the other end connected to the linear V-shaped bracket 1, which can extend and retract along the bisector of the bifurcation angle of the linear V-shaped bracket 1 (Note: Figure 1 , Figure 2 (not shown in the middle).

[0082] The control module controls the extension and retraction of the telescopic mechanism, thereby driving the linear V-shaped bracket 1 to move along the target direction.

[0083] In addition, the vehicle body 8 is equipped with a mixing tank 5 and a mixing motor 6 to ensure the uniformity of the coating.

[0084] Furthermore, some essential modules can be installed on the vehicle body 8, such as a battery storage module and an electronic control module, but these are not the focus of this solution, so they will not be discussed in detail.

[0085] The following describes the trunk whitening process of this trunk whitening system:

[0086] Step 1: Control the vehicle body 8 to drive so that the inner sides of both branches of the straight V-shaped bracket 1 touch the trunk 9. Then, based on the calculation logic explained above, calculate the second distance H2 between the center position of the trunk and the position of the branch node.

[0087] Step 2: Obtain the direction of the bifurcation angle bisector of the straight V-shaped support 1 when the inner sides of both branches of the straight V-shaped support 1 are in contact with the trunk 9, and regard it as the target direction;

[0088] Step 3: Based on the first distance H1 and the second distance H2 between the incenter of the equilateral triangle and its vertices, obtain the third distance (i.e., the distance difference between the first and second distances).

[0089] Step 4: Control the linear V-shaped bracket 1 to move a third distance along the target direction so that the incenter of the equilateral triangle formed by the lines connecting the three spraying mechanisms coincides with the center of the tree trunk.

[0090] Step 5: Control the spraying component 2 to spray the tree trunk 9. After each horizontal level of spraying is completed, the spraying device is raised by the vertical lifting mechanism 4 to complete the entire spraying work.

[0091] It should be noted that after each time the spraying device rises to a preset height, steps one to four above can be re-executed to reposition the spraying positions of the three sprayed parts 2 to adapt to the vertical bending of the tree trunk 9.

[0092] Figure 4 This document illustrates a flowchart of a semi-enclosed tree trunk whitening method for efficient spray positioning, representing some embodiments of the present disclosure. The various embodiments in this specification are described in a progressive manner; similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the tree trunk whitening method embodiments are substantially similar to the tree trunk whitening system embodiments, and therefore the description is relatively simple; relevant details can be found in the descriptions of the tree trunk whitening system embodiments.

[0093] like Figure 4 As shown, methods for whitewashing tree trunks can include at least:

[0094] Step 402: Pre-store the distance between each of the multiple touch sensors 11 and the position of the bifurcation node, as well as the first distance between the incenter of the equilateral triangle and the vertex of the equilateral triangle;

[0095] Step 404: Obtain the distance between the touch sensor 11 that senses the contact and the branch node position when the inner sides of both branches of the straight V-shaped support 1 touch the trunk 9, and regard it as the sensing distance information;

[0096] Step 406: Based on the sensing distance information, obtain the second distance between the center of the trunk and the position of the fork node when the inner sides of both branches of the straight V-shaped support 1 are in contact with the trunk 9.

[0097] Step 408: Obtain the direction of the bifurcation angle bisector of the straight V-shaped support 1 when the inner sides of both branches of the straight V-shaped support 1 are in contact with the trunk 9, and regard it as the target direction;

[0098] Step 410: Based on the first distance and the second distance, control the linear V-shaped bracket 1 to move along the target direction so that the incenter of the equilateral triangle formed by the lines connecting the three spraying mechanisms coincides with the center of the tree trunk, and control the spraying component 2 to spray the tree trunk 9.

[0099] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this specification are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in or transmitted through a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Versatile Discs (DVDs)), or semiconductor media (e.g., Solid State Disks (SSDs)).

[0100] Figure 5 A block diagram of an electronic device 500 that can implement various embodiments of the present disclosure is shown. For example... Figure 5 As shown, the electronic device 500 includes a processor 510, a disk drive 520, an input / output interface 530, a network interface 540, and a memory 550. The processor 510, disk drive 520, input / output interface 530, network interface 540, and memory 550 can communicate with each other via a communication bus 560.

[0101] The processor 510 can be implemented using a general-purpose CPU, microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits to execute relevant programs and implement the technical solution provided in this application.

[0102] The memory 550 can be implemented in the form of ROM (Read Only Memory), RAM (Read Access Memory), static memory, dynamic storage devices, etc. The memory 550 can store the operating system 551 used to control the operation of the electronic device 500, and the basic input / output system (BIOS) 552 used to control the low-level operations of the electronic device 500. Additionally, it can store a web browser 553, a data storage management system 554, etc. In summary, when implementing the technical solution provided in this application through software or firmware, the relevant program code is stored in the memory 550 and is called and executed by the processor 510.

[0103] Input / output interface 530 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touch screens, microphones, various sensors, etc., and output devices may include displays, speakers, vibrators, indicator lights, etc.

[0104] Network interface 540 is used to connect a communication module (not shown in the figure) to enable communication and interaction between the device and other devices. The communication module can communicate via wired means (e.g., USB, Ethernet cable) or wireless means (e.g., mobile network, Wi-Fi, Bluetooth).

[0105] Bus 560 includes a pathway for transmitting information between various components of the device, such as processor 510, disk drive 520, input / output interface 530, network interface 540, and memory 550.

[0106] It should be noted that although the above-described device only shows the processor 510, disk drive 520, input / output interface 530, network interface 540, memory 550, bus 560, etc., in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the method of this application, and does not necessarily include all the components shown in the figures.

[0107] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0108] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. Furthermore, although operations are depicted in a specific order, this should be understood as requiring that such operations be performed in the specific order shown or in sequential order, or requiring that all illustrated operations be performed to achieve the desired result. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the foregoing discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single implementation. Conversely, various features described in the context of a single implementation may also be implemented individually or in any suitable sub-combination in multiple implementations.

[0109] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A highly efficient spray-painting and positioning semi-enclosed tree trunk whitening system, characterized in that, The system includes a vehicle body and a painting device mounted on the vehicle body. The painting device includes a painting assembly and a vertical lifting mechanism for controlling the vertical lifting of the painting assembly. The painting assembly includes a horizontally arranged linear V-shaped bracket with its opening facing away from the vehicle body. The bifurcation angle of the linear V-shaped bracket is 60°. The painting assembly also includes three painting mechanisms respectively located at the bifurcation node and the ends of the two branches of the linear V-shaped bracket. The lines connecting the three painting mechanisms form an equilateral triangle. Multiple touch sensors are spaced along the enclosing path inside the linear V-shaped bracket. The painting mechanism includes a painting component rotatably mounted on the linear V-shaped bracket. The system also includes a pre-storage module, a first acquisition module, a second acquisition module, a third acquisition module, and a control module. The pre-storage module pre-stores the distances between each of the multiple touch sensors and the bifurcation node positions, as well as the first distance between the incenter of the equilateral triangle and the vertex of the equilateral triangle. The first acquisition module acquires the distance between the touch sensor that senses the contact and the branch node position when the inner sides of both branches of the straight V-shaped support are in contact with the tree trunk, and regards it as the sensing distance information. The second acquisition module, based on sensing distance information, acquires the second distance between the center position of the tree trunk and the position of the forking node when the inner sides of both branches of the straight V-shaped support are in contact with the tree trunk; The third acquisition module acquires the direction of the bifurcation angle bisector of the straight V-shaped support when the inner sides of both branches of the straight V-shaped support are in contact with the tree trunk, and regards it as the target direction. The control module, based on the first distance and the second distance, controls the linear V-shaped bracket to move along the target direction so that the incenter of the equilateral triangle formed by the lines connecting the three spraying mechanisms coincides with the center of the tree trunk, and controls the spraying components to spray the tree trunk.

2. The semi-enclosed tree trunk whitewashing system with high-efficiency spraying and positioning according to claim 1, characterized in that, The spraying mechanism also includes two baffles that are rotatably mounted on both sides of the spraying part. By adjusting the rotation angle, the opening and closing angle range between the two baffles can be adjusted, thereby realizing the adjustment of the spraying range of the spraying part on the inner side of the straight V-shaped bracket. The second acquisition module also acquires the trunk radius based on the sensing distance information; The control module also obtains the rotation angle control information of each barrier based on the trunk radius and the first distance, and performs rotation control on each barrier based on the rotation angle control information of each barrier.

3. The semi-enclosed tree trunk whitewashing system with high-efficiency spraying and positioning according to claim 2, characterized in that, The pre-stored module also pre-stores the thickness of the coating on the tree trunk surface; The control module obtains the rotation angle control information of each barrier plate based on the trunk radius, the thickness of the coating on the trunk surface, and the first distance.

4. A semi-enclosed tree trunk whitewashing system with high-efficiency spraying and positioning according to claim 2 or 3, characterized in that, The control module controls the spraying component to rotate within the opening and closing angle range of its two corresponding baffles, and controls it to spray the tree trunk during the rotation.

5. The semi-enclosed tree trunk whitewashing system with high-efficiency spraying and positioning according to claim 4, characterized in that, The control module controls the spraying intensity of the part in real time based on the real-time deviation between the real-time spraying direction of the part and the direction of the angle bisector of the angle corresponding to the part in the equilateral triangle.

6. The semi-enclosed tree trunk whitewashing system with high-efficiency spraying and positioning according to claim 1, characterized in that, The second acquisition module also acquires the trunk radius based on the sensing distance information; The control module controls the spraying intensity of the sprayed parts based on the first distance and the trunk radius.

7. The semi-enclosed tree trunk whitewashing system with high-efficiency spraying and positioning according to claim 6, characterized in that, The system also includes a fourth acquisition module; The fourth acquisition module acquires an image of the tree trunk bark and obtains the unevenness of the tree trunk bark based on the image. The control module controls the spraying intensity of the sprayed parts based on the first distance, the trunk radius, and the unevenness of the trunk bark.

8. The semi-enclosed tree trunk whitewashing system with high-efficiency spraying and positioning according to claim 1, characterized in that, The control module controls the movement of the vehicle body, thereby driving the linear V-shaped bracket to move along the target direction.

9. The semi-enclosed tree trunk whitewashing system with high-efficiency spraying and positioning according to claim 1, characterized in that, The spraying mechanism also includes a telescopic mechanism that is vertically lifted and connected to the vertical lifting mechanism at one end and connected to the straight V-shaped bracket at the other end, and can extend and retract along the bifurcation angle bisector of the straight V-shaped bracket. The control module controls the extension and retraction of the telescopic mechanism, thereby driving the linear V-shaped bracket to move along the target direction.

10. A method for efficient spraying and positioning of semi-enclosed tree trunk whitening, based on the efficient spraying and positioning of semi-enclosed tree trunk whitening system according to any one of claims 1 to 9, characterized in that, include: Pre-store the distances between each of the multiple touch sensors and the bifurcation node positions, as well as the first distance between the incenter of the equilateral triangle and the vertex of the equilateral triangle; When the inner sides of both branches of the straight V-shaped support are in contact with the tree trunk, the distance between the touch sensor that senses the contact and the position of the branch node is obtained and regarded as the sensing distance information. Based on sensing distance information, the second distance between the center of the tree trunk and the position of the fork node is obtained when the inner sides of both branches of the straight V-shaped support are in contact with the tree trunk. Obtain the direction of the bifurcation angle bisector of the straight V-shaped support when the inner sides of both branches of the straight V-shaped support are in contact with the tree trunk, and regard it as the target direction; Based on the first distance and the second distance, the linear V-shaped bracket is controlled to move along the target direction so that the incenter of the equilateral triangle formed by the lines connecting the three spraying mechanisms coincides with the center of the tree trunk, and the spraying components are controlled to spray the tree trunk.

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