Forestry-assisted unmanned vehicle

Abstract

The present application relates to forestry auxiliary unmanned vehicle, including chassis, upper dress, task unit, task unit including box, task equipment, box and chassis are detachably connected, task equipment is arranged in the box, the box can be opened and closed from the top, task equipment at least includes forest monitoring part, mechanical arm device, one end of mechanical arm device is detachably arranged in the box, the other end is connected with forest monitoring part and controls forest monitoring part from the top of the box to rise and fall in and out; Forest monitoring part at least includes the equipment for monitoring the health state of forest, the equipment for removing pests and diseases; The upper dress is fixed above the chassis, the upper dress is provided with a situation awareness system for autonomous cruise obstacle avoidance, and the situation awareness system at least includes a laser radar, a camera, a millimeter wave radar and an RTK module; A power supply interface is arranged on the side wall of the upper dress to supply power for the task equipment in the box; A plurality of boxes are arranged on the chassis, and different boxes can have different task equipment.

Description

Technical Field

[0001] This invention relates to unmanned vehicles, and more particularly to unmanned vehicles that assist in forestry protection operations. Background Technology

[0002] The ecological environment of forest areas is extremely fragile, with forests being the key support for the entire forest ecosystem. Human intervention is necessary at critical moments in forest growth and survival to ensure ecological sustainability. Forest monitoring and forest ecological protection are current challenges faced by forestry practitioners. In addition to satellite monitoring technology, forest monitoring relies heavily on ground-based methods, such as drone monitoring and ground scanning equipment. Drone monitoring and ground scanning equipment are complementary approaches, scanning forests from the air and ground to obtain detailed information on the three-dimensional spatial structure of trees and the understory topography, providing data and support for ecological governance. Forest ecological protection generally refers to pest and disease monitoring and control, typically employing chemical pesticides and biological pest control methods.

[0003] Unmanned aerial vehicle (UAV) surveying and monitoring uses phased array radar to scan the canopy of trees from the air, while ground-based scanning equipment can obtain more precise forest information from the ground. For example, a stand-alone laser scanner can scan trees, collect information, and then process the collected information through software to analyze and identify individual trees in batches, obtaining information such as tree location, number, height, and diameter at breast height (DBH), which serves as a direct basis for ecological management. However, stand-alone scanners are inconvenient to move during scanning and have low scanning efficiency. When mobile scanning is required, a special backpack or carrying bag needs to be purchased, and staff have to carry the scanner on their backs to scan while moving around. The disadvantages are that the scanner is too heavy and has a short battery life when powered by batteries, requiring battery replacement on average every 40 to 50 minutes, which is extremely inconvenient. Similarly, when carrying out ecological protection of forests and trees, backpack chemical pesticides have limited capacity, and biological pest control also involves carrying too many parasitic larvae and containers. Furthermore, the placement of parasitic larvae may be in the middle of the tree trunk, about 1.8 to 2.9 meters above the ground, which is also inconvenient. Summary of the Invention

[0004] To address the aforementioned issues, a forestry-assisted unmanned vehicle is provided, with the following solution: It includes a chassis, a superstructure, and a task unit. The task unit comprises a housing and task equipment. The housing is detachably connected to the chassis, and the task equipment is housed within the housing. The housing can be opened and closed from the top. The task equipment includes at least a forest monitoring unit and a robotic arm. One end of the robotic arm is detachably mounted within the housing, and the other end is connected to the forest monitoring unit and controls its movement in and out of the housing from the top. The forest monitoring unit includes at least equipment for monitoring the health status of trees and equipment for removing pests and diseases.

[0005] The superstructure is fixed on the chassis and is equipped with a situational awareness system for autonomous cruise and obstacle avoidance. The situational awareness system includes at least a lidar, a camera, a millimeter-wave radar, and an RTK module. The side wall of the superstructure is equipped with a power interface to power the mission equipment inside the enclosure.

[0006] The chassis has multiple enclosures, and different enclosures can house different mission equipment.

[0007] Based on the above technical solutions, equipment for monitoring the health status of forest trees includes laser scanners.

[0008] Based on the above technical solutions, equipment for monitoring the health status of forest trees includes pest detection cameras.

[0009] Based on the above technical solutions, the equipment for removing pests and diseases includes biological dispensing devices;

[0010] The biological delivery device includes a base and a two-step mechanism. The two-step mechanism includes a positioning mechanism and a delivery mechanism. The base is connected to the robotic arm device, and the positioning mechanism and the delivery mechanism are set on the base.

[0011] The positioning mechanism provides the deployment conditions on tree branches and determines the deployment location for the deployment mechanism. The positioning mechanism includes a nail-shooting mechanism, and the deployment conditions include shooting nails toward the tree as the deployment location. The deployment mechanism includes a carrying component and a temperature control component. The carrying component includes a container for holding parasitic larvae and a deployment nest for holding the container. An installation groove is opened on the base, and the deployment nest is detachably installed in the installation groove. The front end of the deployment nest has multiple accommodating chambers for holding the container. The carrying component is driven by a robotic arm device to approach the nail and place the container in the accommodating chamber on the nail.

[0012] The temperature control component includes a heating device and a temperature controller. The heating device is installed in the containment chamber inside the nest, and the temperature controller maintains the survival temperature required for parasitic larvae in the container by adjusting the working status of the heating device.

[0013] Based on the above technical solution, the delivery mechanism also includes a power chamber, which is connected to the end interface of the robotic arm device. The base is fixed to the power chamber, and a positioning column is installed in the mounting groove of the base. A power mechanism is installed in the power chamber, and the power mechanism is powered to the positioning column through a transmission shaft. The positioning column is connected to the delivery nest and drives the delivery nest to rotate in the mounting groove.

[0014] The mounting groove of the base is also equipped with a dispensing assist mechanism, which includes a linear motion mechanism. The linear motion mechanism acts on the container and helps the container slide out of the holding chamber more easily.

[0015] Based on the above technical solution, the linear motion mechanism is a miniature telescopic mechanism. The base is hollow inside, and a through hole is opened in the inner wall of the accommodating compartment. The miniature telescopic mechanism is set inside the base and pushes the container to slide away from the accommodating compartment through the through hole.

[0016] Based on the above technical solution, the linear motion mechanism is a miniature electric slide rail mechanism. The delivery nest is divided into an inner nest and an outer nest. The outer edges of both the inner and outer nests are provided with slots that connect to the receiving chambers. The mounting groove of the base is provided with multiple annular baffles for positioning the inner and outer nests. The inner nest is powered and connected to the positioning column, and the inner and outer nests are installed on the corresponding annular baffles in sequence. The inner and outer nests are connected to each other from the outside using connectors to ensure synchronous rotation.

[0017] An inner groove corresponding to the slot is opened at the top of the inner wall of the annular baffle. The inner groove is formed by connecting the middle horizontal section and the two arc-shaped sections at both ends. The arc-shaped track of the micro electric slide rail mechanism is set in the inner groove. When the slider I of the micro electric slide rail mechanism moves to the horizontal section, it partially invades the slot.

[0018] The bottom outer wall of the container is fixed with a rough adhesive surface. The slider I is fixed with a hook face that corresponds to the rough adhesive surface. When the slider I enters the groove, the hook face hooks onto the rough adhesive surface to form an adhesive fastener, which drives the container to slide out of the holding chamber.

[0019] Based on the above technical solution, the deployment conditions also include a drilled hole as the deployment location, and the positioning mechanism also includes a drilling mechanism. The bearing component is driven by the robotic arm device to approach the hole drilled in the tree by the drilling mechanism and causes the container in the receiving slot to slide into the hole.

[0020] Based on the above technical solution, the mission equipment also includes a lifting unit, which includes a heavy-duty electric slide rail assembly and a lifting platform. The electric slide rail of the heavy-duty slide rail assembly is installed on the inner side wall of the box. The slider II of the heavy-duty slide rail assembly is connected to the lifting platform, and the robotic arm device is installed on the lifting platform.

[0021] Based on the above technical solution, the mission equipment also includes a disinfection unit, which includes a water tank, a water pump, and an atomizing sprayer installed inside the enclosure. The water pump pumps the chemical agent in the water tank to the atomizing sprayer, and sprays it out through the atomizing sprayer.

[0022] Beneficial effects: 1. Reduces manual labor intensity and improves accessibility. Using unmanned vehicles to carry natural enemy organisms on foot into forests that are difficult for vehicles to pass through significantly reduces the burden of heavy pest control and spraying operations, and can carry a large number of live natural enemies.

[0023] 2. It has the ability to autonomously pass through complex terrain, and integrates a situational awareness system with lidar, vision, millimeter-wave radar and RTK to achieve autonomous cruise and obstacle avoidance; at the same time, it supports manual remote control intervention to pass through unpaved roads such as rugged field paths to ensure passability.

[0024] 3. Modular multi-tasking expansion: Multiple boxes can be detachably installed on the chassis, and task equipment such as robotic arms can also be removed as needed; by changing the equipment inside the box, tasks such as forest monitoring, biological release, and chemical pest control can be flexibly switched to improve the utilization rate of a single vehicle.

[0025] 4. Accurate monitoring and diagnosis of pests and diseases: The robotic arm carrying a laser scanner can perform digital modeling of forest areas and regularly monitor tree growth; the ultra-high-definition pest monitoring camera combined with biometric algorithms can remotely identify the types of pests and diseases, providing a basis for targeted rescue.

[0026] 5. Environmentally friendly biological control: The release of natural enemy larvae replaces chemical agents, reducing environmental pollution; Two-step positioning: The release mechanism can push aside branches and leaves and fix the container with nails, allowing the larvae to crawl along the nails to parasitize the pests, achieving precise biological pest control.

[0027] 6. To ensure the survival rate of natural enemy larvae, the containment chamber is equipped with a temperature-controlled heating device and insulation materials to ensure that the larvae remain alive before release, creating conditions for successful parasitism.

[0028] 7. To improve the reliability of deployment in complex environments, a power chamber is added to drive the deployment nest to rotate. This, along with a deployment assistance mechanism (a miniature telescopic push rod or a miniature electric sliding rail hook-and-finish adhesive structure), actively pushes out the container, preventing failure to detach when the container is blocked by tree branches, thus achieving reliable deployment at a certain distance.

[0029] 8. Simplified structure and multiple deployments: It adopts the principle of rotational firing, and the rotating deployment nest allows each containment compartment to share a linear motion mechanism, eliminating the need for a separate assist mechanism for each compartment, thereby simplifying the structure and reducing costs.

[0030] 9. Visualized and precise delivery assistance: The pest monitoring camera and laser emitter are placed on the front of the base, allowing for real-time observation and alignment with the nails or drop points to ensure that the container is accurately fitted onto the nail or falls into the drill hole, thus improving delivery accuracy.

[0031] 10. It has diverse deployment adaptability, and can use the nailing mechanism to set the mounting point, or use the drilling mechanism to drill holes from the upper side and push them into the container in the opposite direction, adapting to different tree trunk conditions and operational needs.

[0032] 11. Increase the processing height range. The robotic arm can be installed on a lifting platform and raised and lowered along a heavy-duty electric slide rail, further expanding the coverage height of the robotic arm to meet the pest and disease treatment requirements of taller trees.

[0033] 12. Chemical and biological control complement each other. While the robotic arm is operating, another box can be equipped with a water tank, water pump and atomizing sprayer to carry out chemical spraying and disinfection, so as to achieve synergy between the two types of control methods.

[0034] 13. Improves forest passage performance. The branch separator installed on the side wall of the box can automatically clear branches and leaves when moving forward or backward, reducing obstacles and damage to the vehicle body. Attached Figure Description

[0035] Figure 1 This is a three-dimensional schematic diagram of the disassembled state structure of the unmanned vehicle of the present invention.

[0036] Figure 2 This is a side view cross-sectional structural diagram of the unmanned vehicle of the present invention.

[0037] Figure 3 For the present invention Figure 2 The side view of the robotic arm device in the raised state shows the structural intent.

[0038] Figure 4 This is a three-dimensional structural diagram of the unmanned vehicle in operation according to the present invention.

[0039] Figure 5 This is a three-dimensional structural diagram of the installation structure of the lifting platform, robotic arm device, and load-bearing component of the present invention.

[0040] Figure 6 This is an exploded side view of the load-bearing component and robotic arm device according to some embodiments of the linear motion mechanism of the present invention.

[0041] Figure 7 For the present invention Figure 6 A schematic diagram of the main structure.

[0042] Figure 8 This is a side cross-sectional view of the installation state of the load-bearing component and the robotic arm device in some embodiments of the linear motion mechanism of the present invention.

[0043] Figure 9 For the present invention Figure 8 A schematic diagram of the decomposed state structure.

[0044] Figure 10 This is a front view schematic diagram of the deployment nest in some embodiments of the linear motion mechanism of the present invention.

[0045] Figure 11 This is a front view structural diagram of the base (without the delivery nest installed) of some embodiments of the linear motion mechanism of the present invention.

[0046] Figure 12 This is a schematic diagram illustrating the working principle of the present invention.

[0047] Figure 13 This is a side cross-sectional structural diagram showing the installation state of the load-bearing component and the robotic arm device in some other embodiments of the linear motion mechanism of the present invention.

[0048] Figure 14 For the present invention Figure 13 A magnified side view cross-sectional diagram of the deployment nest.

[0049] Figure 15 For the present invention Figure 14 A schematic diagram of the main structure of the nest being deployed.

[0050] Figure 16 This is a schematic diagram of the three-dimensional combination structure of the inner and outer nests in some other embodiments of the linear motion mechanism of the present invention.

[0051] Figure 17 This is a three-dimensional structural schematic diagram of the arc-shaped slide rail in some other embodiments of the linear motion mechanism of the present invention.

[0052] Figure 18 This is a three-dimensional structural schematic diagram of the load-bearing component of some other embodiments of the linear motion mechanism of the present invention.

[0053] Figure 19 For the present invention Figure 18 A three-dimensional structural diagram of the decomposed state.

[0054] Figure 20 This is a three-dimensional structural diagram of the annular baffle in some other embodiments of the linear motion mechanism of the present invention.

[0055] Figure 21 This is a conceptual schematic diagram of the working state of the present invention. Detailed Implementation

[0056] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0057] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0058] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0059] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0060] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0061] This embodiment provides an unmanned vehicle solution that transfers some of the more arduous daily pest control and spraying operations to unmanned vehicles for assistance. For example, in biological pest control operations, if it is difficult for cars to enter the forest, it is difficult to manually carry a sufficient number of natural enemy organisms on foot.

[0062] In this embodiment, an optimized unmanned vehicle solution suitable for forestry use is provided, capable of carrying large quantities of live natural enemy organisms and providing biological deployment. For example... Figures 1 to 4 As shown, the unmanned vehicle adopts a conventional chassis 1 and upper structure 2 layout. The upper structure 2 is equipped with a situational awareness system 5 for autonomous navigation and obstacle avoidance, which integrates lidar, visual camera 31, millimeter-wave radar, RTK module, etc. This embodiment can also realize manual remote control intervention at the same time, so that the unmanned vehicle can be remotely controlled to pass through unpaved roads such as rugged country roads that may cause hesitation in autonomous navigation.

[0063] In this embodiment, the remaining space on the chassis 1 is detachably equipped with multiple boxes 3. The specific equipment inside each box 3 varies depending on the task. Each box 3 has an opening at the top, with a cover for opening and closing. Due to the height of the trees, the equipment should at least include a robotic arm device 4 and a forest monitoring unit. The robotic arm device 4 is typically a multi-axis robotic arm device 4, which can operate autonomously according to a preset program (e.g., extending and retracting to enter and exit the box 3), or it can be remotely controlled to perform specific tasks after approaching the trees. The robotic arm device 4 can be detachably installed inside the box 3 and can be removed when performing tasks that do not require it. The specific tasks of the forest monitoring unit include at least monitoring the health status of the trees and taking further action to remove pests and diseases. The equipment for monitoring the health status of the trees and removing pests and diseases described in this embodiment can be implemented using any feasible method, and a power interface is provided at the bottom of the upper unit 2 to facilitate power supply to the box 3. The equipment for monitoring the health status of forest trees can be a laser scanner or a pest monitoring camera 31. The laser scanner can provide data for digital modeling of the forest area and regularly monitor the growth of trees. The pest monitoring camera 31 uses an ultra-high-definition camera to capture images of trees infested or suspected of being infested, transmitting the images and videos back to the ground or control center. Using biometric algorithms combined with experience, the type of pest can be determined, allowing for appropriate intervention. Both the laser scanner and the pest monitoring camera 31 can be mounted on a robotic arm, which extends to a suitable position and height for operation.

[0064] In some embodiments, the equipment for removing pests and diseases includes a biological dispensing device. Using biological pest control methods is more likely to meet environmental protection requirements and reduce the use of chemical agents.

[0065] The base 6 of the biological delivery device is connected to the robotic arm device 4. The delivery of biological enemies is completed through a two-step mechanism, which consists of two steps: positioning and delivery. The first step, positioning, is achieved by the positioning mechanism 7, and the second step, delivery, is achieved by the delivery mechanism.

[0066] The staff remotely controls the robotic arm 4 to extend from the housing 3, driving the positioning mechanism 7 on the base 6 to push aside the obstruction of branches and leaves, reaching the location of the pest on the tree trunk. The positioning mechanism 7 needs to first determine the placement location on the tree trunk to form the placement conditions. The nailing mechanism is used to shoot nails 13 near the pest location to serve as the placement location. The carrying component 8 of the placement mechanism has been pre-installed in the mounting groove 11 of the base 6. Each placement nest 10 has a container 9 in its holding chamber 12. The container 9 contains larvae of natural enemies corresponding to the pests and diseases. The container 9 also contains the necessary resources for the larvae to survive and grow, allowing them to successfully leave the container 9 and climb up the tree trunk to parasitize the pests and diseases. After determining the release location and obtaining the release conditions, the supporting component 8, driven by the robotic arm, approaches the nail 13, placing the container 9 inside the release nest 10 close to the upper side of the nail 13. The robotic arm device 4 controls the release nest 10 to tilt slightly downwards and move towards the nail 13. Once it is confirmed that the inner wall of the container 9 is in contact with the nail 13, the robotic arm device 4 is manipulated again to control the release nest 10 to return to a horizontal angle and slowly withdraw it away from the tree. The container 9, under the friction hook of the nail 13, detaches from the containment chamber 12 and is fitted onto the nail 13. After a period of time, the larvae grow and climb from the container 9 up the nail 13 onto the tree trunk. The temperature control component of the release mechanism is equipped with a heating device for the heating container 9 inside the containment chamber 12. The temperature of the heating device is controlled by the staff by adjusting the thermostat, so that the larvae can remain alive before release. Before release, the heating device is turned off, the condition of the larvae in the container 9 is checked, and a certain amount of insulating material, such as cotton, is stuffed into the container 9. However, the insulating material needs to be kept at a certain distance from the opening of the container 9 to avoid contact with the nail 13, and it is also necessary to avoid the insulating material completely blocking the container 9, so as to leave oxygen and space for the larvae to enter and exit.

[0067] In other embodiments, to prevent the container 9 from failing to detach from the containing chamber 12, and considering that the conditions at the delivery location are not always satisfactory, such as excessive tree branches or other obstructions preventing close proximity for delivery, there is a need for the container 9 to be delivered from a certain distance. Therefore, in this embodiment, the delivery mechanism includes a power chamber 14 and a delivery assistance mechanism. Figures 1 to 11 As shown, the power chamber 14 is located between the base 6 and the robotic arm device 4. One end of the power chamber 14 is directly connected to the interface at the end of the robotic arm device 4, and the other end is fixedly connected to the base 6. The power chamber 14 is equipped with a power mechanism. The mounting groove 11 of the base 6 is equipped with a positioning post 15 that can rotate but cannot be detached. The positioning post 15 is powered by the power mechanism to drive the positioning post 15 to rotate. The delivery nest 10 can be provided with holes or slots that cooperate with the positioning post 15. When the delivery nest 10 is installed, it can be positioned and installed through the corresponding holes or slots via the positioning post 15. The delivery nest 10 can also be connected to the positioning post 15 and driven to rotate by the power mechanism.

[0068] In this embodiment, the delivery assistance mechanism provides assistance for the container 9 to detach from the receiving chamber 12 from the mounting groove 11. The delivery assistance mechanism includes a linear motion mechanism, which applies an external force to the container 9 through linear motion. Combined with the slight tilt of the robotic arm device 4 during delivery, the container 9 can be better fitted onto the nail 13 under the influence of gravity from an upward angle. The linear motion mechanism can adopt any design, and any necessary and adaptable improvements can be made to the delivery mechanism and the base 6 to facilitate the application of a linear motion external force to the container 9, assisting it in detaching from the receiving chamber 12.

[0069] This embodiment uses a principle similar to rotational firing. Based on the individual and positional factors of the accommodating compartments 12 opened on the delivery nest 10, a sufficient number of linear motion mechanisms are set. Since the linear motion mechanisms do not participate in the rotation, it is only necessary to rotate the delivery nest 10 to rotate the container 9 to be delivered to a position where the linear motion mechanism can apply external force to complete the assistance, without having to set a corresponding linear motion mechanism for each accommodating compartment 12.

[0070] The linear motion mechanism can be a miniature telescopic mechanism 16, such as a miniature electric actuator or a miniature pneumatic actuator. The base 6 has a hollow internal structure, and the miniature telescopic mechanism 16 is placed inside the base 6. At the same time, a through hole 17 is opened on the inner wall of the original single-opening accommodating chamber 12, making the accommodating chamber 12 open from front to back. The miniature telescopic mechanism 16 can apply a linear motion force to the container 9 by directly contacting it, pushing it away from the accommodating chamber 12.

[0071] Linear motion mechanisms can also be miniature electric slide rail mechanisms, such as... Figures 13 to 20 As shown, the structure of nest 10 can be divided into two parts: inner nest 18 and outer nest 19, as follows: Figure 16 and Figure 19 As shown, the inner and outer nests 19 have the same structure, both being concentric circles with an unchanged basic structure, and still containing a accommodating chamber 12 for the container 9. However, the outer edges of the inner and outer nests 19 have multiple slots 20, with each accommodating chamber 12 corresponding to one slot 20. Since the placement nest 10 is now a split structure, at least two annular baffles 21 are concentrically arranged within the mounting groove 11 to provide stable support and positioning for the inner nest 18 and outer nest 19. The smaller diameter annular baffle 21 is used to install the outer nest 19, while the larger diameter annular baffle 21 is located on the outer edge of the outer nest 19, providing limitation and protection for the outer nest 19. Figure 13 , Figure 14 and Figure 20As shown, an inner groove 22 is formed on the top of the inner wall of the annular baffle 21. The number and position of the inner grooves 22 correspond to the slot opening 20. The front and rear ends of the inner groove 22 are curved into arc-shaped sections, and the middle section of the inner groove 22 is straight. The entire inner groove 22 is similar to a horizontally lying letter C. The shape of the inner groove 22 is adapted to the miniature electric slide rail mechanism. Its arc-shaped track 23 follows the shape of the inner groove 22. When the slider I 33 of the track is located on the arc-shaped track 23 or in the arc-shaped section of the inner groove 22, the slider I 33 moves away from the slot opening 20. When the slider I 33 slides to the horizontal section of the inner groove 22, it enters the slot opening 20. A rough-surface adhesive 24 is fixed around the outer wall of the bottom end of container 9. A hook-face buckle 25 is provided on slider I 33. When slider I 33 enters the groove 20, the hook-face buckle 25 and the rough-surface adhesive 24 form an adhesive fastener, and slider I 33 applies pressure to container 9. When slider I 33 slides outward along the track, it drives container 9 to slide outward. When slider I 33 slides to the position close to the outlet of the storage chamber 12, it slides upward along the arc track 23, causing the adhesive fastener to separate. At this time, most of container 9 is already outside the storage chamber 12. Under the action of gravity, it detaches from the storage chamber 12 and is fitted onto nail 13.

[0072] It should be noted that in this embodiment and all other embodiments, when the container 9 is installed in the delivery nest 10, the accommodating chamber 12 of the delivery nest 10 needs to adopt certain limiting measures to prevent the container 9 from slipping uncontrollably when the robotic arm device 4 is working. The limiting measures can be in any way, but the force required to contact the limiting measures cannot prevent the container 9 from slipping under gravity under controlled conditions, nor can it prevent the delivery assist mechanism from applying the linear motion force.

[0073] It should also be noted that since the container 9 and the nail 13 of the dispensing mechanism are both small in size and not easily visible to workers on the ground, and tree branches and leaves may obstruct the view when the container 9 is being dispensed, the pest detection camera 31 can be set on the front of the base 6 to provide a field of view. At the same time, a laser emitter 32 can also be set on the front of the base 6. When the robotic arm controls the container 9 to approach the nail 13, the laser beam can be aimed at the nail 13 so that the container 9 can be accurately placed on the nail 13. In other embodiments, when container 9 is deployed using its own weight, the landing point of the laser beam is determined based on the position of container 9. For example, before the next deployment of container 9 at the top of the deployment nest 10, the angle of the laser beam from laser emitter 32 is adjusted by a motor or other electric control mechanism to ensure that the landing point of the laser beam is exactly aligned with the sliding landing point or deployment position of container 9 at the top of the deployment nest 10. After the top container 9 is deployed, the angle of the laser beam from laser emitter 32 is adjusted to the expected sliding landing point or deployment position of the next container 9 to be deployed. In embodiments where a deployment assist mechanism assists in the deployment of container 9, since the position of the deployment assist mechanism is fixed, the receiving groove will rotate to the designated position during deployment, and the angle of laser emitter 32 will always remain at the deployment position corresponding to the deployment assist mechanism.

[0074] In other embodiments, the deployment conditions may also include drilling, with the deployment position determined by the drilling location. Therefore, the positioning mechanism 7 also includes a drilling mechanism. Both the drilling mechanism and the nail-shooting mechanism can be implemented using existing technologies. For example, the nail-shooting mechanism can refer to an automatically firing nail gun installed on a woodworking machine tool, and the drilling mechanism can refer to an automatic drilling machine, both of which are manually remotely operated by ground personnel. Figure 5 , Figure 7 , Figure 11 As shown, a space can be opened on one side of the base 6 to accommodate a drilling mechanism or a nail-shooting mechanism.

[0075] When using the drilling method, the opening of container 9 does not face the opening of the containing chamber 12; instead, container 9 is placed upside down with its opening facing the inner wall of the containing chamber 12. Drilling is performed from an angled downwards. After drilling, a linear motion mechanism causes the bottom of container 9 to slide into the hole first, with the opening of container 9 facing outwards so that the larvae can crawl out directly. In this embodiment, the biological container 9 still uses a linear motion mechanism, but with slight modifications based on the above-described inventive concept. It only needs to be able to contact container 9. If necessary, the position of the through hole 17 or the fixing position of the textured adhesive 24 can be adjusted to ensure that the linear motion mechanism can assist container 9 in detaching from the containing chamber 12.

[0076] In other embodiments, the task equipment also includes a lifting unit 26 to increase the coverage area of ​​the robotic arm device 4. The robotic arm device 4 is mounted on a lifting platform 29. As the slider II 28 slides, it moves the robotic arm device 4 up and down along the electric slide rail 27 of the heavy-duty slide rail assembly, further increasing the height of the robotic arm device 4 and enabling treatment of pests and diseases at higher locations. To enhance task versatility, the task equipment also includes a pest control unit, which includes a water tank, a water pump, and a misting sprayer housed within the housing 3. The water pump delivers the chemical agent from the water tank to the misting sprayer, where it is sprayed out. Figures 1 to 4 As shown, the upper structure 2 is set in the middle of the chassis 1, and the box body 3 is set on the front and rear sides of the upper structure 2. If the box body 3 located on the front side is equipped with a robotic arm device 4, then the box body 3 located on the rear side can be equipped with a disinfection section.

[0077] A branch separator 30 can also be installed on the side wall of the container 3 via a frame. The branch separator is located on both sides of the side wall of the container 3 and can separate branches and leaves when the unmanned vehicle moves forward or backward.

Claims

1. A forestry-assisted unmanned vehicle, characterized in that, The system includes a chassis, a superstructure, and a task unit. The task unit includes a housing and task equipment. The housing is detachably connected to the chassis. The task equipment is housed inside the housing, which can be opened and closed from the top. The task equipment includes at least a forest monitoring unit and a robotic arm device. One end of the robotic arm device is detachably installed inside the housing, and the other end is connected to the forest monitoring unit and controls the forest monitoring unit to move in and out from the top of the housing. The forest monitoring unit includes at least equipment for monitoring the health status of trees and equipment for removing pests and diseases. The superstructure is fixed on the chassis and is equipped with a situational awareness system for autonomous cruise and obstacle avoidance. The situational awareness system includes at least a lidar, a visual camera, a millimeter-wave radar, and an RTK module. The side wall of the superstructure is equipped with a power interface to power the mission equipment inside the enclosure. The chassis has multiple enclosures, and different enclosures can house different mission equipment.

2. The forestry-assisted unmanned vehicle as described in claim 1, characterized in that, Equipment for monitoring the health of trees includes laser scanners.

3. The forestry auxiliary unmanned vehicle as described in claim 1 or 2, characterized in that, Equipment for monitoring the health of trees includes pest detection cameras.

4. The forestry-assisted unmanned vehicle as described in claim 1, characterized in that, Equipment for controlling pests and diseases includes biological dispensing devices; The biological delivery device includes a base and a two-step mechanism. The two-step mechanism includes a positioning mechanism and a delivery mechanism. The base is connected to the robotic arm device, and the positioning mechanism and the delivery mechanism are set on the base. The positioning mechanism provides the deployment conditions on tree branches and determines the deployment location for the deployment mechanism. The positioning mechanism includes a nail-shooting mechanism, and the deployment conditions include shooting nails toward the tree as the deployment location. The deployment mechanism includes a carrying component and a temperature control component. The carrying component includes a container for holding parasitic larvae and a deployment nest for holding the container. An installation groove is opened on the base, and the deployment nest is detachably installed in the installation groove. The front end of the deployment nest has multiple accommodating chambers for holding the container. The carrying component is driven by a robotic arm device to approach the nail and place the container in the accommodating chamber on the nail. The temperature control component includes a heating device and a temperature controller. The heating device is installed in the containment chamber inside the nest, and the temperature controller maintains the survival temperature required for parasitic larvae in the container by adjusting the working status of the heating device.

5. The forestry-assisted unmanned vehicle as described in claim 4, characterized in that, The delivery mechanism also includes a power chamber, which is connected to the end interface of the robotic arm device. The base is fixed to the power chamber, and a positioning column is installed in the mounting groove of the base. A power mechanism is installed in the power chamber, and the power mechanism is powered to the positioning column through a transmission shaft. The positioning column is connected to the delivery nest and drives the delivery nest to rotate in the mounting groove. The mounting groove of the base is also equipped with a dispensing assist mechanism, which includes a linear motion mechanism. The linear motion mechanism acts on the container and helps the container slide out of the holding chamber more easily.

6. The forestry auxiliary unmanned vehicle as described in claim 5, characterized in that, The linear motion mechanism is a miniature telescopic mechanism. The base is hollow inside, and the inner wall of the accommodating compartment has a through hole. The miniature telescopic mechanism is located inside the base and pushes the container to slide away from the accommodating compartment through the through hole.

7. The forestry auxiliary unmanned vehicle as described in claim 5, characterized in that, The linear motion mechanism is a miniature electric slide rail mechanism. The delivery nest is divided into an inner nest and an outer nest. The outer edges of both the inner and outer nests are provided with slots that allow the interior and exterior of the receiving compartment to pass through. The mounting groove of the base is provided with multiple annular baffles for positioning the inner and outer nests. The inner nest is powered and connected to the positioning column, and the inner and outer nests are installed on the corresponding annular baffles in sequence. The inner and outer nests are connected to each other from the outside using connectors to ensure synchronous rotation. An inner groove corresponding to the slot is opened at the top of the inner wall of the annular baffle. The inner groove is formed by connecting the middle horizontal section and the two arc-shaped sections at both ends. The arc-shaped track of the micro electric slide rail mechanism is set in the inner groove. When the slider I of the micro electric slide rail mechanism moves to the horizontal section, it partially invades the slot. The bottom outer wall of the container is fixed with a rough adhesive surface. The slider I is fixed with a hook face that corresponds to the rough adhesive surface. When the slider I enters the groove, the hook face hooks onto the rough adhesive surface to form an adhesive fastener, which drives the container to slide out of the holding chamber.

8. The forestry auxiliary unmanned vehicle as described in any one of claims 1, 6, and 7, characterized in that, The deployment conditions also include a drilled hole as the deployment location, and the positioning mechanism also includes a drilling mechanism. The bearing component is driven by the robotic arm device to approach the hole drilled in the tree by the drilling mechanism, and causes the container in the receiving slot to slide into the hole.

9. The forestry auxiliary unmanned vehicle as described in any one of claims 4 to 7, characterized in that, The task equipment also includes a lifting unit, which includes a heavy-duty electric slide rail assembly and a lifting platform. The electric slide rail of the heavy-duty slide rail assembly is installed on the inner side wall of the box. The slider II of the heavy-duty slide rail assembly is connected to the lifting platform, and the robotic arm device is installed on the lifting platform.

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