15 results about "Trunk surface" patented technology

The present invention discloses a method for automatic centering, clamping and vibration of trees, comprising: a depth camera identifies the relative position of a roller and the trunk of a tree; when a preset point is reached, a driving mechanism drives two clamping heads to move closer; during the clamping process, the roller rolls along the surface of the trunk, that is, the roller and the trunk undergo relative motion, and this relative motion drives the clamping head to slide on the clamping arm until the trunk axis is aligned with the center position of the elastic band, completing the centering; further clamping, until each roller is in close contact with the trunk surface and the two clamping heads and the elastic band are in close contact with the trunk surface in turn, completing the centering clamping; starting the vibration device, completing the harvesting. The present invention can clamp the head, elastic band, and roller, and under the action of the clamping force, the clamping head gradually reaches the center position of the trunk, making the clamping point of the clamping head more accurate. After centering and clamping, the trunk, elastic band, and clamping head are in close contact, which ensures the effective transmission of the vibration energy and avoids damage to the tree during the vibration harvesting of forest fruits.

The invention discloses an accurate pesticide application control method of a tree plant protection machine, and relates to the technical field of tree pesticide application, comprising the following steps: S1, preparation before pesticide application; s2, trunk diameter quantification: calculating the trunk diameter through the horizontal distance between the two groups of transverse seats, and determining the pesticide spraying amount according to the trunk diameter; s3, climbing in the dry direction; s4, top lowering: after the rack finishes the spraying operation at the set height, changing the rotating direction of a driving wheel, and driving the rack and the arc-shaped pipeline to gradually move downwards; s5, resetting the equipment: gradually increasing the horizontal distance between the two groups of arc-shaped resistance plates to enable the two groups of arc-shaped resistance plates and the driving wheel to be far away from the trunk; by arranging the climbing and moving mechanism, the problem that the pesticide spraying height of an existing plant protection machine is limited is effectively solved, the pesticide can uniformly cover the whole trunk surface of a tall tree until the set height is reached, then it is ensured that the trunk part of the tall tree can be comprehensively sprayed, and the prevention and treatment effect on diseases and insect pests of the tall tree is improved.

The application discloses a system and method for determining the prevention and control suitable period of grape Dendroctonus valens based on image recognition, and belongs to the cross technical field of plant protection and computer vision. A plurality of two-dimensional images are continuously acquired by an image acquisition device arranged in a grape planting area; image recognition processing is performed, and index data of adult emergence hole crawling base, male to female ratio, trunk surface boring hole density, sap flow characteristic, grape tree foot area wood powder accumulation thickness, and fallen or suspended cylindrical boring debris distribution density are respectively counted and generated; each index is compared with a corresponding preset prevention and control starting threshold value, and when at least three indexes reach or exceed the threshold value, it is determined that the current time is a suitable time node for starting prevention and control measures. The application automatically captures the early representation of multiple dimensions of the bark beetle damage through the image recognition technology, realizes the accurate and objective determination of the prevention and control suitable period of the grape Dendroctonus valens, and provides a scientific basis for the intelligent prevention and control of the grape Dendroctonus valens.

The invention relates to a tree mover arc-shaped shovel tree-digging adaptive alignment method and device, and the method comprises the steps: distributing point clouds through a structured light device, projecting the structured light to the trunk surface of a tree with a to-be-cut tree root, and calculating the width information of the trunk surface according to the deformation and phase change of the structured light. Analyzing the received reflection point cloud by using a point cloud analysis algorithm, determining the three-dimensional coordinates of the central axis of the to-be-cut tree and the trunk width of the to-be-cut tree, incorporating the three-dimensional coordinates of the central axis of the to-be-cut tree and the trunk width of the to-be-cut tree into a coronal tree root fuzzy algorithm, receiving the spatial position of the coronal tree root, and calculating the spatial position of the coronal tree root according to the spatial position of the coronal tree root. And based on the spatial position of the coronal tree root and the rotation center of the curved working part of the tree mover, outputting an action instruction that the tree mover aligns to the cutting part. The point cloud scattering cost of the structured light equipment is relatively low, and a good depth measurement effect can be provided under the environment of tree shade and the like. The defect that a curved working part of a traditional tree mover is not easy to align with the center line of the root of a to-be-cut tree is overcome.

The invention relates to the technical field of forestry robots and intelligent nondestructive testing, in particular to a tree body disease and pest detection robot based on knocking-echo analysis. The robot comprises a movable climbing mechanism, a variable-diameter mechanical claw driving mechanism and a knocking detection and intelligent marking mechanism. The movable climbing mechanism is matched with a tensioning wheel and a guide frame through a multi-connecting-rod suspension type main body frame, and self-adaptive climbing and stable attachment of the robot on the surfaces of different trunks can be achieved. The variable-diameter mechanical claw driving mechanism drives a transmission sliding block through a transmission motor and drives a clamping frame to achieve self-adaptive clamping of a tree. The knocking detection and intelligent marking mechanism drives a knocking mechanism to generate high-frequency mechanical knocking through a knocking motor, echo signals are collected through a sonic sensor, the positions of plant diseases and insect pests are positioned after the echo signals are analyzed and processed through a main controller, and accurate spraying marking is conducted through the intelligent marking mechanism capable of moving along a track. According to the invention, automatic and nondestructive detection and intelligent marking of plant diseases and insect pests in the tree body are realized, and the problems that the traditional manual detection efficiency is low, the chemical control pollution is serious and the existing robot lacks a tree interior detection function are effectively solved.

The invention discloses a climbing robot, and relates to the technical field of agricultural robots, the climbing robot comprises a climbing mechanism, and the climbing mechanism comprises a support, a rolling part and a clamping driving assembly; the number of the rolling parts is multiple, all the rolling parts are rotatably arranged on the support, all the rolling parts are arranged at intervals in the circumferential direction of the tree trunk, and at least one rolling part is provided with a guide groove capable of being matched with the surface of the tree trunk in the circumferential direction; the clamping driving assembly comprises a driving adjusting piece and an elastic buffering piece, the driving adjusting piece is used for adjusting the relative positions of the rolling pieces, the elastic buffering piece is matched with the driving adjusting piece, and the elastic buffering piece can absorb impact and adapt to the diameter and surface appearance changes of the tree trunk. According to the climbing mechanism, the guide grooves are formed in the rolling pieces, so that transverse sliding and circumferential deflection of the climbing mechanism can be fundamentally restrained. Meanwhile, the adopted clamping driving assembly works cooperatively through a driving adjusting piece and an elastic buffering piece, self-adaptive clamping is achieved, and the device can adapt to the complex and changeable working conditions of the surface of the tree trunk.

The invention discloses a grape smooth foot distance bark beetle control suitable period determination system and method based on image recognition, and belongs to the technical field of plant protection and computer vision crossing. Continuously acquiring multiple frames of two-dimensional images through image acquisition equipment arranged in a grape planting area; carrying out identification processing on the image, and respectively counting and generating an adult outlet crawling cardinal number, a male-female ratio, a trunk surface boring hole density, a runoff character characteristic, a grape tree foot area wood powder accumulation thickness, and cylindrical boring chip distribution density index data falling off or hanging around a trunk; and comparing each index with a corresponding preset prevention and control starting threshold value, and when at least three indexes reach or exceed the threshold values, determining that the current moment is a suitable time node when prevention and control measures need to be started. According to the method, the image recognition technology is adopted to automatically capture the early representation of the moth harm in multiple dimensions, so that the accurate and objective judgment of the appropriate prevention and control period of the grape beetle beetle is realized, and a scientific basis is provided for the intelligent prevention and control of the grape beetle beetle.

A highly stackable modular flowerpot structure consists of stacked modules. Each module is formed by a deformed trunk with a base profile that is neither circular nor a regular polygon, having the same geometry as its upper profile but rotated by an angle ( ) and shifted by a height ( H) relative to the vertical axis. Connections between modules occur between the base profile of the upper module and the top profile of the lower module. This artificially designed twist creates preferred regions where the trunk surface is closer to the structure's axis. Arms that hold the substrate or flowerpot are located in these regions to: (i) be closer to the axis, improving stability; (ii) provide a larger cultivation area, increasing capacity; and / or (iii) create more space for plant growth. The resulting structure forms a single continuous surface with its arms distributed in a continuous rotating branch pattern.

The invention discloses a trunk surface reinforcing device which comprises a connecting pressing block, a connecting pressing strip, an adjusting pressing strip and a fixing belt. The connecting pressing blocks, the connecting pressing strips and the adjusting pressing strips form a grid type structure, the large-area repairing part on the surface of a tree trunk can be covered, the corresponding number of connecting pressing blocks, connecting pressing strips and adjusting pressing strips can be detached so as to adapt to fixing of small repairing parts, and use is flexible; the fixing parts are the contact parts of the connecting pressing blocks, the connecting pressing strips and the adjusting pressing strips with the trunk, and through the grid type structure formed by the transverse and longitudinal connecting pressing strips and the adjusting pressing strips, the ventilation of the trunk is ensured, and meanwhile, the stability of overall reinforcement is enhanced; according to the device, the length of the adjusting pressing strip can be adjusted, meanwhile, a triangular reinforcing structure formed by rotation of the adjusting pressing strip comprehensively reinforces the protruding part of the trunk and surrounding bark, and the problem that the protruding part, especially the periphery of the protruding part, is prone to falling off is solved.

This utility model provides an automotive trunk inspection tool, relating to the field of trunk inspection tool technology, to solve the problems of existing automotive trunk inspection tools having poor flexibility and weak adaptability, and failing to fit well with trunk molds. The tool includes a base plate; support frames are provided on both sides of the top of the base plate; a surface detection block is provided on a fixing component; the surface detection block is connected to an adjustment handle; a detection block A is provided on the top right side of the base plate; an insert A is bolted onto a mounting bracket; and an adjustable clamp is provided on the front side of the base plate. The surface detection block is flipped and stably connected to the fixing component via the adjustment handle, and is equipped with a contact sensor to contact the trunk surface. The trunk is inspected through the fitting component and the contact sensor on detection block A. The trunk is conveniently positioned using positioning components A and B, insert A, pins, and insert B. All components on the base plate are bolted together, facilitating adjustment of the installation position as needed.

The utility model belongs to the technical field of tree lodging prevention, and particularly relates to a lodging prevention device for garden engineering. According to the technology, a horizontally-arranged clamping hoop is included, an adjuster used for connecting the clamping hoop end to end and adjusting the tightness of the clamping hoop is installed on the clamping hoop, the clamping hoop is sleeved with at least three supporting plates in sliding fit with the clamping hoop, the supporting plates are each of an arc-shaped plate structure, extension rods are vertically fixed to the tops of the supporting plates, and the outer sides of the extension rods are sleeved with medicine bags of an annular structure; supporting rods swinging left and right are hinged to the bottoms of the supporting plates. According to the tree seedling supporting device, the supporting plate which moves flexibly is attached to the outer side of a tree trunk after avoiding tree trunk branches, damage to tree tips and tree roots is reduced, stable supporting force is provided for the tree trunk in cooperation with the supporting rod, the situation that tree seedlings are blown down by strong wind is avoided, and the extending rod is attached to the surface of the tree trunk along with the supporting plate; the medicine bag surrounds the extension rod and is attached to the surface of the trunk, so that the sapling is prevented from being damaged by grooving in the surface of the trunk, and the survival rate of the transplanted sapling is improved.

This invention discloses a method for semi-wild cultivation of Dendrobium officinale, comprising the following steps: Step 1, seedling and substrate preparation: cutting sections of Pinus massoniana trunks, disinfecting and soaking them in pine needle extract, and then air-drying them for later use; selecting Dendrobium officinale seedlings, disinfecting and treating the roots with rooting agents for later use; Step 2, seedling planting and fixing: attaching the seedling roots to the bark surface of the trunk section, and covering the root attachment area with a moisturizing substrate; then fixing the seedling stems, leaves, and roots at corresponding positions on the upper and lower parts of the trunk section with fixing ropes; Step 3, movable hanging: hooks are pre-installed on the trunk section, and the trunk section is hung on a greenhouse, living tree branches, pergola, or wall embedded parts using the hooks; Step 4, cultivation period management: maintaining air humidity and trunk surface moisture through spraying, and regularly replenishing nutrients; Step 5, harvesting and trunk maintenance. This invention utilizes a section of Masson pine trunk as a movable epiphytic carrier, eliminating the need to rely on living trees or rock walls. By fixing the stems, leaves, and roots at the top and bottom respectively, it ensures plant stability, significantly improves cultivation flexibility and space utilization, and effectively enhances the survival rate and medicinal quality of Dendrobium officinale.

The application provides a kind of trunk volume calculation method based on triangular surface model and tetrahedron model, comprising: step 1, obtaining the initial point of trunk triangular surface model construction;Step 2, constructing the initial triangular surface model of trunk;Step 3, subdividing the triangular surface model of trunk;Step 4, trunk tetrahedron model construction and trunk volume calculation.The application subdivides the initial triangular surface model of trunk to obtain the geometric characteristics that can truly reflect the unevenness of trunk surface, then constructs the tetrahedron model of trunk by triangular surface model, obtains the trunk volume by the accumulation of each tetrahedron volume, the triangular surface model constructed can effectively reflect the geometric characteristics of trunk surface, the tetrahedron model constructed is a solid geometric model, which can accurately calculate the trunk volume, and can provide basic data for estimating tree volume, tree biomass, carbon storage and trunk volume optimization.

This makes it possible to more comprehensively measure the trunk surfaces of trees within the measurement range while generating travel routes that minimize travel time. [Solution] The system includes a tree position acquisition unit 102 that acquires tree position information of trees within a designated area, a grouping unit 104 that groups trees based on the tree position information acquired by the tree position acquisition unit 102, a virtual wall setting unit 106 that sets a virtual wall connecting the trees grouped by the grouping unit 104, and a path generation unit 107 that generates a movement path for measuring the state of the trees from the side using a measuring instrument. The path generation unit 107 generates a movement path that follows both sides of the virtual wall set by the virtual wall setting unit 106.