CN105794499A - Pruning method of green belt pruning machine - Google Patents
Pruning method of green belt pruning machine Download PDFInfo
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- CN105794499A CN105794499A CN201610189407.2A CN201610189407A CN105794499A CN 105794499 A CN105794499 A CN 105794499A CN 201610189407 A CN201610189407 A CN 201610189407A CN 105794499 A CN105794499 A CN 105794499A
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- armstand
- control unit
- distance
- clipping device
- sensor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
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- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to a pruning method of a green belt pruning machine. The pruning method of the green belt pruning machine comprises the following steps that S1, a green belt is pruned by using a pruning device at the end of a vertical arm under the normal situation, and a driving device on the vertical arm does not execute actions; S2, a first distance sensor arranged on the pruning device detects a numerical value signal of the distance between the pruning device and a front obstacle in advancing and transmits the detected signal to a control unit; a second distance sensor detects a signal of the distance between the pruning device and an obstacle in the side orientation and transmits the detected signal to the control unit; S3, the control unit judges whether an obstacle exists in front of the pruning device or not according to the distance numerical value detected by the first distance sensor, if yes, the control unit controls the driving device on the vertical arm, and the driving device drives the vertical arm to avoid the obstacle.
Description
Technical field
The present invention relates to the pruning method of a kind of Green belt trimmer.
Background technology
Typically via the artificial mode pruned, there is labor intensity big in existing green belt along highway clipping device, prunes speed slowly, the problem with potential safety hazard.Along with social development, greenbelt clipping device is also with appearance, but existing clipping device generally can only carry out top pruning, prunes effect undesirable.The car speed run due to highway is fast, therefore it is required that the greenbelt of highway prunes process quickly, effectively, otherwise easily to affect traffic safety.
Application number is the patent of invention of 201510580074.1, discloses a kind of greenbelt clipping device, and this device, when running into barrier such as street lamp, direction board vertical rod etc., can only lean on driver to operate, and intelligence degree is inadequate.
Summary of the invention
The invention discloses the pruning method of a kind of Green belt trimmer, adopt sensor intelligent detection barrier and dodge in advance；Without manually dodging.
In order to realize above-mentioned technical purpose, the present invention adopts the following technical scheme that:
The pruning method of a kind of Green belt trimmer, relies on a kind of greenbelt clipping device, and this device includes travelling car, armstand base, armstand, clipping device, driving device, the first range sensor, second distance sensor and control unit；Wherein, travelling car is fixed armstand base, one end of hinged described armstand on armstand base, the hinged described clipping device of the armstand other end；Described first range sensor and second distance sensor are arranged on clipping device, wherein, described first range sensor is for detecting on described clipping device and direct of travel the distance signal between barrier, and second distance sensor is for detecting the distance signal between described clipping device and side coil barrier；First sensor and the second sensor acquisition to signal all transmit to described control unit；
Described control unit receives and according to the testing result from the first range sensor and second distance sensor, controls driving device；
Described driving device is used for controlling described armstand and stretches；It is characterized in that: comprise the following steps:
S1: under normal circumstances, travelling car drives armstand base and armstand to move on greenbelt, and greenbelt is pruned by the clipping device of armstand end, and now, the driving device in armstand is failure to actuate；
S2: the first range sensor being arranged on clipping device detects the distance values signal between described clipping device and traveling preceding object thing, and detection signal is passed to described control unit；Second distance sensor detects the distance signal between described clipping device and side coil barrier, and detection signal is passed to described control unit；
S3: by the distance values that the first range sensor detects, control unit judges whether described clipping device front has barrier；If so, then control unit controls the driving device in armstand, and driving device drives armstand to be deformed into and dodges form and dodge out barrier；Meanwhile, the distance signal between second distance sensor detection clipping device and side coil barrier is to be confirmed whether to break the barriers, and if so, then control unit controls driving device driving armstand and again recovers pruning form, if it is not, then continue maintenance to dodge form.
Described driving device includes the first telescoping mechanism being arranged between armstand pedestal and armstand and the second telescoping mechanism being arranged between armstand and clipping device.
Described armstand base includes the base, rotary disk and the pedestal that set gradually from the bottom up.
Described range sensor is the one in infrared distance sensor, laser distance sensor or ultrasonic distance sensor.
Described control unit is single-chip microcomputer.
The method adopting the present invention, existing greenbelt clipping device of comparing, there is following beneficial effect:
Under normal circumstances, greenbelt is pruned by the clipping device of armstand end, and the driving device in armstand is failure to actuate；S2: the first range sensor being arranged on clipping device detects the distance values signal between described clipping device and traveling preceding object thing, and detection signal is passed to described control unit；Second distance sensor detects the distance signal between described clipping device and side coil barrier, and detection signal is passed to described control unit；S3: by the distance values that the first range sensor detects, control unit judges whether described clipping device front has barrier, if so, then control unit controls the driving device in armstand, and driving device drives armstand to dodge out barrier；Meanwhile, the distance signal between second distance sensor detection clipping device and side coil barrier is to be confirmed whether to break the barriers, and if so, then control unit controls driving device driving armstand and again recovers pruning form, if it is not, then continue maintenance to dodge form；Said process is fully achieved automatization, it is not necessary to direct surveillance.
Accompanying drawing explanation
Fig. 1 is the functional block diagram of steel plate hoisting method of the present invention；
The normal row that Fig. 2 is greenbelt clipping device of the present invention studies structural representation when cutting；
Fig. 3 is the side view of Fig. 2；
Wherein, 11 is the first range sensor；12 is second distance sensor.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
As it is shown in figure 1, the pruning method of a kind of Green belt trimmer, relying on a kind of greenbelt clipping device, this device includes travelling car, armstand base, armstand, clipping device, driving device, the first range sensor, second distance sensor and control unit；Wherein, travelling car is fixed armstand base, one end of hinged described armstand on armstand base, the hinged described clipping device of the armstand other end；Described first range sensor and second distance sensor are arranged on clipping device, wherein, described first range sensor is for detecting on described clipping device and direct of travel the distance signal between barrier, and second distance sensor is for detecting the distance signal between described clipping device and side coil barrier；First sensor and the second sensor acquisition to signal all transmit to described control unit；
Described control unit receives and according to the testing result from the first range sensor and second distance sensor, controls driving device；
Described driving device is used for controlling described armstand and stretches；It is characterized in that: comprise the following steps:
S1: under normal circumstances, travelling car drives armstand base and armstand to move on greenbelt, and greenbelt is pruned by the clipping device of armstand end, and now, the driving device in armstand is failure to actuate；
S2: the first range sensor being arranged on clipping device detects the distance values signal between described clipping device and traveling preceding object thing, and detection signal is passed to described control unit；Second distance sensor detects the distance signal between described clipping device and side coil barrier, and detection signal is passed to described control unit；
S3: by the distance values that the first range sensor detects, control unit judges whether described clipping device front has barrier；If so, then control unit controls the driving device in armstand, and driving device drives armstand to be deformed into and dodges form and dodge out barrier；Meanwhile, the distance signal between second distance sensor detection clipping device and side coil barrier is to be confirmed whether to break the barriers, and if so, then control unit controls driving device driving armstand and again recovers pruning form, if it is not, then continue maintenance to dodge form.
As present invention further optimization technical scheme, described driving device includes the first telescoping mechanism being arranged between armstand pedestal and armstand and the second telescoping mechanism being arranged between armstand and clipping device.
As present invention further optimization technical scheme, described armstand base includes the base, rotary disk and the pedestal that set gradually from the bottom up.
As present invention further optimization technical scheme, described range sensor is the one in infrared distance sensor, laser distance sensor or ultrasonic distance sensor.
As present invention further optimization technical scheme, described control unit is single-chip microcomputer.
Above disclosed it is only one preferred embodiment of the present invention, certainly the interest field of the present invention can not be limited with this, one of ordinary skill in the art will appreciate that all or part of flow process realizing above-described embodiment, and according to the equivalent variations that the claims in the present invention are made, still fall within the scope that invention is contained.
Claims (5)
1. a pruning method for Green belt trimmer, relies on a kind of greenbelt clipping device, and this device includes travelling car, armstand base, armstand, clipping device, driving device, the first range sensor, second distance sensor and control unit；Wherein, travelling car is fixed armstand base, one end of hinged described armstand on armstand base, the hinged described clipping device of the armstand other end；Described first range sensor and second distance sensor are arranged on clipping device, wherein, described first range sensor is for detecting on described clipping device and direct of travel the distance signal between barrier, and second distance sensor is for detecting the distance signal between described clipping device and side coil barrier；First sensor and the second sensor acquisition to signal all transmit to described control unit；
Described control unit receives and according to the testing result from the first range sensor and second distance sensor, controls driving device；
Described driving device is used for controlling described armstand and stretches；It is characterized in that: comprise the following steps:
S1: under normal circumstances, travelling car drives armstand base and armstand to move on greenbelt, and greenbelt is pruned by the clipping device of armstand end, and now, the driving device in armstand is failure to actuate；
S2: the first range sensor being arranged on clipping device detects the distance values signal between described clipping device and traveling preceding object thing, and detection signal is passed to described control unit；Second distance sensor detects the distance signal between described clipping device and side coil barrier, and detection signal is passed to described control unit；
S3: by the distance values that the first range sensor detects, control unit judges whether described clipping device front has barrier；If so, then control unit controls the driving device in armstand, and driving device drives armstand to be deformed into and dodges form and dodge out barrier；Meanwhile, the distance signal between second distance sensor detection clipping device and side coil barrier is to be confirmed whether to break the barriers, and if so, then control unit controls driving device driving armstand and again recovers pruning form, if it is not, then continue maintenance to dodge form.
2. the pruning method of Green belt trimmer according to claim 1, it is characterised in that described driving device includes the first telescoping mechanism being arranged between armstand pedestal and armstand and the second telescoping mechanism being arranged between armstand and clipping device.
3. the pruning method of Green belt trimmer according to claim 1, it is characterised in that described armstand base includes the base, rotary disk and the pedestal that set gradually from the bottom up.
4. the pruning method of Green belt trimmer according to claim 1, it is characterised in that described range sensor is the one in infrared distance sensor, laser distance sensor or ultrasonic distance sensor.
5. the pruning method of Green belt trimmer according to claim 1, it is characterised in that: described control unit is single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610189407.2A CN105794499A (en) | 2016-03-30 | 2016-03-30 | Pruning method of green belt pruning machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610189407.2A CN105794499A (en) | 2016-03-30 | 2016-03-30 | Pruning method of green belt pruning machine |
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| CN105794499A true CN105794499A (en) | 2016-07-27 |
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| CN201610189407.2A Pending CN105794499A (en) | 2016-03-30 | 2016-03-30 | Pruning method of green belt pruning machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111656987A (en) * | 2020-06-29 | 2020-09-15 | 中徽生态环境有限公司 | Trimming method of hedgerow trimming device |
| CN113766824A (en) * | 2019-04-25 | 2021-12-07 | 株式会社久保田 | Harvester, obstacle determination program, recording medium having obstacle determination program recorded thereon, obstacle determination method, agricultural machine, control program, recording medium having control program recorded thereon, and control method |
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| CN203457509U (en) * | 2013-07-06 | 2014-03-05 | 西北农林科技大学 | Intelligent all-dimensional mechanical weeding machine of orchards |
| CN103609347A (en) * | 2013-12-06 | 2014-03-05 | 广西大学 | Hedgerow trimming cutter overload protection device |
| CN104067145A (en) * | 2014-05-26 | 2014-09-24 | 中国科学院自动化研究所 | Pruning robot system |
| CN105145141A (en) * | 2015-09-11 | 2015-12-16 | 徐州工程学院 | Green belt trimming device for highway |
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2016
- 2016-03-30 CN CN201610189407.2A patent/CN105794499A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201630059U (en) * | 2010-02-10 | 2010-11-17 | 河南农业大学 | Revolving cutter type arbor trimmer |
| CN101849481A (en) * | 2010-06-08 | 2010-10-06 | 长安大学 | On-vehicle hedge clipping machine |
| CN102224795A (en) * | 2011-05-04 | 2011-10-26 | 河南省路科威公路机械制造有限公司 | Hedge trimmer |
| WO2013006921A1 (en) * | 2011-07-13 | 2013-01-17 | South Australian No-Till Farmers Association Inc. | Weed pruner |
| CN103542800A (en) * | 2012-07-09 | 2014-01-29 | 迪尔公司 | Boundary sensor assembly for a robotic lawn mower, robotic lawn mower and robotic lawn mower system |
| CN102759895A (en) * | 2012-07-24 | 2012-10-31 | 朱桂新 | Timed maintenance controller for lawn trimmer and control method |
| CN103190298A (en) * | 2013-04-01 | 2013-07-10 | 华南农业大学 | Suspension type hydraulic profiling flower and fruit thinning machine and usage method thereof |
| CN103283508A (en) * | 2013-06-05 | 2013-09-11 | 上海电机学院 | Lifting-type hedgerow trimmer |
| CN203457509U (en) * | 2013-07-06 | 2014-03-05 | 西北农林科技大学 | Intelligent all-dimensional mechanical weeding machine of orchards |
| CN103609347A (en) * | 2013-12-06 | 2014-03-05 | 广西大学 | Hedgerow trimming cutter overload protection device |
| CN104067145A (en) * | 2014-05-26 | 2014-09-24 | 中国科学院自动化研究所 | Pruning robot system |
| CN105145141A (en) * | 2015-09-11 | 2015-12-16 | 徐州工程学院 | Green belt trimming device for highway |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113766824A (en) * | 2019-04-25 | 2021-12-07 | 株式会社久保田 | Harvester, obstacle determination program, recording medium having obstacle determination program recorded thereon, obstacle determination method, agricultural machine, control program, recording medium having control program recorded thereon, and control method |
| CN111656987A (en) * | 2020-06-29 | 2020-09-15 | 中徽生态环境有限公司 | Trimming method of hedgerow trimming device |
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Application publication date: 20160727 |
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