CN105830754A - Obstructed greenbelt trimming method - Google Patents
Obstructed greenbelt trimming method Download PDFInfo
- Publication number
- CN105830754A CN105830754A CN201610189406.8A CN201610189406A CN105830754A CN 105830754 A CN105830754 A CN 105830754A CN 201610189406 A CN201610189406 A CN 201610189406A CN 105830754 A CN105830754 A CN 105830754A
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- China
- Prior art keywords
- armstand
- clipping device
- sensor
- distance
- greenbelt
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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
- A01G3/0426—Machines for pruning vegetation on embankments and road-sides
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Soil Working Implements (AREA)
Abstract
The invention relates to an obstructed greenbelt trimming method comprising the following steps: 1, a control unit determines whether two side trimming devices have made contact with the greenbelt or not according to signals detected by a first contact sensor and a second contact sensor, if not, a cutter spacing adjusting mechanism is triggered to move, and if yes, the cutter spacing adjusting mechanism is stopped; a trimming device on the end portion of a vertical arm trims the greenbelt, and a drive unit on the vertical arm cannot move; 2, a first distance sensor arranged on the trimming device detects a distance value signal between the trimming device and a forward obstacle, and sends the detected signal to the control unit; a second distance sensor detects a distance signal between the trimming device and a lateral obstacle, and sends the detected signal to the control unit. Compared with a conventional mechanical type greenbelt trimming method, the obstructed greenbelt trimming method is more intelligent.
Description
Technical field
The present invention relates to one and have obstacle greenbelt pruning method.
Background technology
Typically, by the way of artificial pruning, 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 typically 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 the most easily to affect traffic safety.
The patent of invention of Application No. 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 one and have obstacle greenbelt pruning method, use 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:
One has obstacle greenbelt pruning method, relying on a kind of greenbelt clipping device, this device includes mobile dolly, armstand base, armstand, clipping device, driving means, the first range sensor, second distance sensor, the first touch sensor, the second touch sensor and control unit；Wherein, armstand base fixed by mobile dolly, 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；
Described clipping device includes the base of tool, top clipping device and two sidepiece clipping devices；Wherein, the described base of tool is fixing with armstand to be connected, and the bottom of the described base of tool connects described top clipping device, and said two sidepiece clipping device is symmetricly set on the arranged on left and right sides of described top clipping device；Connect between two sidepiece clipping devices and have cutter distance regulating mechanism；One in two sidepiece clipping devices is provided with the first touch sensor, and another is provided with described second touch sensor；
The signal that first sensor, the second sensor, the first touch sensor and the second touch sensor collect all transmits to described control unit；
Described control unit receives and controls driving means according to the testing result from the first range sensor and second distance sensor；Cutter distance regulating mechanism is controlled according to the testing result from the first touch sensor and the second touch sensor；
Described driving means is used for controlling described armstand and stretches；Described cutter distance regulating mechanism is for controlling the horizontal range between said two sidepiece clipping device；Comprise the following steps:
S1: under normal circumstances, in clipping device, the distance of two sidepiece clipping devices reaches maximum, by the signal that the first touch sensor and the second touch sensor detect, control unit judges whether two sidepiece clipping devices touch greenbelt, if not, then trigger cutter distance regulating mechanism action, shorten the horizontal range between two sidepiece clipping devices；The most then stop cutter distance regulating mechanism；Mobile dolly drives armstand base and armstand to move on greenbelt, and greenbelt is pruned by the clipping device of armstand end, and now, the driving means 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；
By the distance values that the first range sensor detects, S3: control unit judges whether described clipping device front has barrier；The most then control unit controls the driving means in armstand, and driving means 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, the most then control unit controls driving means driving armstand and again recovers pruning form, if it is not, then continue holding to dodge form.
Described driving means 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 sidepiece clipping device includes being connected to the link bottom the described base of tool, left and right two ends in described link are respectively arranged with a tool rest, being provided with second motor in each tool rest, each described second motor-driven connects a vertically arranged chain saw blade；Described cutter is away from two hydraulic jack that adjusting means is horizontally set in described link, and the tailpiece of the piston rod of each hydraulic jack is fixing with a described tool rest respectively to be connected.
Described armstand base includes base, rotary disk and the pedestal 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 using the present invention, compares more existing greenbelt clipping device, has a following beneficial effect:
S1: under normal circumstances, in clipping device, the distance of two sidepiece clipping devices reaches maximum, by the signal that the first touch sensor and the second touch sensor detect, control unit judges whether two sidepiece clipping devices touch greenbelt, if not, then trigger cutter distance regulating mechanism action, shorten the horizontal range between two sidepiece clipping devices；The most then stop cutter distance regulating mechanism；Mobile dolly drives armstand base and armstand to move on greenbelt, and greenbelt is pruned by the clipping device of armstand end, and now, the driving means 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；By the distance values that the first range sensor detects, S3: control unit judges whether described clipping device front has barrier, the most then control unit controls the driving means in armstand, and driving means 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, the most then control unit controls driving means driving armstand and again recovers pruning form, if it is not, then continue holding 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 that the present invention has obstacle greenbelt pruning method；
Fig. 2 is the structural representation that trimmer normal row of the present invention studies when cutting；
Fig. 3 is the side view of Fig. 2；
Wherein, 11 is the first range sensor；12 is second distance sensor；13, the first touch sensor；14, the second touch 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 are obtained under not making creative work premise, broadly fall into the scope of protection of the invention.
As shown in Figure 1, one has obstacle greenbelt pruning method, relying on a kind of greenbelt clipping device, this device includes mobile dolly, armstand base, armstand, clipping device, driving means, the first range sensor, second distance sensor, the first touch sensor, the second touch sensor and control unit；Wherein, armstand base fixed by mobile dolly, 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；
Described clipping device includes the base of tool, top clipping device and two sidepiece clipping devices；Wherein, the described base of tool is fixing with armstand to be connected, and the bottom of the described base of tool connects described top clipping device, and said two sidepiece clipping device is symmetricly set on the arranged on left and right sides of described top clipping device；Connect between two sidepiece clipping devices and have cutter distance regulating mechanism；One in two sidepiece clipping devices is provided with the first touch sensor, and another is provided with described second touch sensor；
The signal that first sensor, the second sensor, the first touch sensor and the second touch sensor collect all transmits to described control unit；
Described control unit receives and controls driving means according to the testing result from the first range sensor and second distance sensor；Cutter distance regulating mechanism is controlled according to the testing result from the first touch sensor and the second touch sensor；
Described driving means is used for controlling described armstand and stretches；Described cutter distance regulating mechanism is for controlling the horizontal range between said two sidepiece clipping device；Comprise the following steps:
S1: under normal circumstances, in clipping device, the distance of two sidepiece clipping devices reaches maximum, by the signal that the first touch sensor and the second touch sensor detect, control unit judges whether two sidepiece clipping devices touch greenbelt, if not, then trigger cutter distance regulating mechanism action, shorten the horizontal range between two sidepiece clipping devices；The most then stop cutter distance regulating mechanism；Mobile dolly drives armstand base and armstand to move on greenbelt, and greenbelt is pruned by the clipping device of armstand end, and now, the driving means 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；
By the distance values that the first range sensor detects, S3: control unit judges whether described clipping device front has barrier；The most then control unit controls the driving means in armstand, and driving means 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, the most then control unit controls driving means driving armstand and again recovers pruning form, if it is not, then continue holding to dodge form.
As present invention further optimization scheme, described driving means 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 scheme, described sidepiece clipping device includes being connected to the link bottom the described base of tool, left and right two ends in described link are respectively arranged with a tool rest, being provided with second motor in each tool rest, each described second motor-driven connects a vertically arranged chain saw blade；Described cutter is away from two hydraulic jack that adjusting means is horizontally set in described link, and the tailpiece of the piston rod of each hydraulic jack is fixing with a described tool rest respectively to be connected.
As present invention further optimization scheme, described armstand base includes base, rotary disk and the pedestal set gradually from the bottom up.
As present invention further optimization scheme, described range sensor is the one in infrared distance sensor, laser distance sensor or ultrasonic distance sensor.
Above disclosed 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 (6)
1. one kind has obstacle greenbelt pruning method, relying on a kind of greenbelt clipping device, this device includes mobile dolly, armstand base, armstand, clipping device, driving means, the first range sensor, second distance sensor, the first touch sensor, the second touch sensor and control unit；Wherein, armstand base fixed by mobile dolly, 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；
Described clipping device includes the base of tool, top clipping device and two sidepiece clipping devices；Wherein, the described base of tool is fixing with armstand to be connected, and the bottom of the described base of tool connects described top clipping device, and said two sidepiece clipping device is symmetricly set on the arranged on left and right sides of described top clipping device；Connect between two sidepiece clipping devices and have cutter distance regulating mechanism；One in two sidepiece clipping devices is provided with the first touch sensor, and another is provided with described second touch sensor；
The signal that first sensor, the second sensor, the first touch sensor and the second touch sensor collect all transmits to described control unit；
Described control unit receives and controls driving means according to the testing result from the first range sensor and second distance sensor；Cutter distance regulating mechanism is controlled according to the testing result from the first touch sensor and the second touch sensor；
Described driving means is used for controlling described armstand and stretches；Described cutter distance regulating mechanism is for controlling the horizontal range between said two sidepiece clipping device；It is characterized in that: comprise the following steps:
S1: under normal circumstances, in clipping device, the distance of two sidepiece clipping devices reaches maximum, by the signal that the first touch sensor and the second touch sensor detect, control unit judges whether two sidepiece clipping devices touch greenbelt, if not, then trigger cutter distance regulating mechanism action, shorten the horizontal range between two sidepiece clipping devices；The most then stop cutter distance regulating mechanism；Mobile dolly drives armstand base and armstand to move on greenbelt, and greenbelt is pruned by the clipping device of armstand end, and now, the driving means 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；
By the distance values that the first range sensor detects, S3: control unit judges whether described clipping device front has barrier；The most then control unit controls the driving means in armstand, and driving means 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, the most then control unit controls driving means driving armstand and again recovers pruning form, if it is not, then continue holding to dodge form.
The most according to claim 1 have obstacle greenbelt pruning method, it is characterised in that described driving means includes the first telescoping mechanism being arranged between armstand pedestal and armstand and the second telescoping mechanism being arranged between armstand and clipping device.
The most according to claim 1 have obstacle greenbelt pruning method, it is characterized in that, described sidepiece clipping device includes being connected to the link bottom the described base of tool, left and right two ends in described link are respectively arranged with a tool rest, being provided with second motor in each tool rest, each described second motor-driven connects a vertically arranged chain saw blade；Described cutter is away from two hydraulic jack that adjusting means is horizontally set in described link, and the tailpiece of the piston rod of each hydraulic jack is fixing with a described tool rest respectively to be connected.
The most according to claim 1 have obstacle greenbelt pruning method, it is characterised in that described armstand base includes base, rotary disk and the pedestal set gradually from the bottom up.
The most according to claim 1 have obstacle greenbelt pruning method, it is characterised in that described range sensor is the one in infrared distance sensor, laser distance sensor or ultrasonic distance sensor.
The most according to claim 1 have obstacle greenbelt pruning method, it is characterised in that: described control unit is single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610189406.8A CN105830754A (en) | 2016-03-30 | 2016-03-30 | Obstructed greenbelt trimming method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610189406.8A CN105830754A (en) | 2016-03-30 | 2016-03-30 | Obstructed greenbelt trimming method |
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| CN105830754A true CN105830754A (en) | 2016-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610189406.8A Pending CN105830754A (en) | 2016-03-30 | 2016-03-30 | Obstructed greenbelt trimming method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106718630A (en) * | 2016-12-30 | 2017-05-31 | 德州东威履带机械有限公司 | A kind of winter grape pruning machine |
| CN111567253A (en) * | 2020-05-15 | 2020-08-25 | 北京林业大学 | Intelligence under forest bush cuts off device |
| CN111699856A (en) * | 2020-06-29 | 2020-09-25 | 合肥学院 | Hedge shears with composite inductor and trimming method thereof |
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| CN101849481A (en) * | 2010-06-08 | 2010-10-06 | 长安大学 | On-vehicle hedge clipping machine |
| CN201630059U (en) * | 2010-02-10 | 2010-11-17 | 河南农业大学 | Revolving cutter type arbor trimmer |
| CN102759895A (en) * | 2012-07-24 | 2012-10-31 | 朱桂新 | Timed maintenance controller for lawn trimmer and control method |
| 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 |
| 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
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Patent Citations (7)
| 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 |
| CN102759895A (en) * | 2012-07-24 | 2012-10-31 | 朱桂新 | Timed maintenance controller for lawn trimmer and control method |
| 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 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106718630A (en) * | 2016-12-30 | 2017-05-31 | 德州东威履带机械有限公司 | A kind of winter grape pruning machine |
| CN111567253A (en) * | 2020-05-15 | 2020-08-25 | 北京林业大学 | Intelligence under forest bush cuts off device |
| CN111699856A (en) * | 2020-06-29 | 2020-09-25 | 合肥学院 | Hedge shears with composite inductor and trimming method thereof |
| CN111699856B (en) * | 2020-06-29 | 2021-11-02 | 合肥学院 | Hedge shears with composite inductor and trimming method thereof |
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Application publication date: 20160810 |
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