CN109582014A - A kind of the intelligent walking mechanism and its control method of bamboo container made of bamboo, wicker, ratten, etc. removing machine - Google Patents
A kind of the intelligent walking mechanism and its control method of bamboo container made of bamboo, wicker, ratten, etc. removing machine Download PDFInfo
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- CN109582014A CN109582014A CN201811255201.0A CN201811255201A CN109582014A CN 109582014 A CN109582014 A CN 109582014A CN 201811255201 A CN201811255201 A CN 201811255201A CN 109582014 A CN109582014 A CN 109582014A
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- 239000011425 bamboo Substances 0.000 title claims abstract description 224
- 230000007246 mechanism Effects 0.000 title claims abstract description 127
- 241000700159 Rattus Species 0.000 title claims abstract description 100
- 238000000034 method Methods 0.000 title claims abstract description 26
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- 238000012545 processing Methods 0.000 claims abstract description 16
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- 229910000013 Ammonium bicarbonate Inorganic materials 0.000 description 3
- 235000012538 ammonium bicarbonate Nutrition 0.000 description 3
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- 208000027418 Wounds and injury Diseases 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
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- 239000002360 explosive Substances 0.000 description 1
- XDDAORKBJWWYJS-UHFFFAOYSA-N glyphosate Chemical compound OC(=O)CNCP(O)(O)=O XDDAORKBJWWYJS-UHFFFAOYSA-N 0.000 description 1
- 229940097068 glyphosate Drugs 0.000 description 1
- 239000011121 hardwood Substances 0.000 description 1
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Classifications
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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
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/06—Uprooting or pulling up trees; Extracting or eliminating stumps
- A01G23/067—Uprooting or pulling up trees; Extracting or eliminating stumps by comminuting the tree stumps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/06—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
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Abstract
The present invention provides the intelligent walking mechanism and its control method of a kind of bamboo container made of bamboo, wicker, ratten, etc. removing machine, comprising: walking mechanism 1, for driving bamboo container made of bamboo, wicker, ratten, etc. removing machine mobile；Brake apparatus 2, for being braked to walking mechanism 1；Range sensor obtains the distance apart from barrier for bamboo container made of bamboo, wicker, ratten, etc. removing machine；Control device, for controlling the start and stop of brake apparatus 2, to control the movement speed of walking mechanism 1；Signal processing apparatus, for handling the signal of range sensor transmission, and will treated that signal is sent to control device controls control device to body movement speed.The bamboo container made of bamboo, wicker, ratten, etc. removing machine provided by the invention can realize the function of intelligent barrier avoiding by range sensor, when there is barrier in front, gradually slow down and static；The bamboo container made of bamboo, wicker, ratten, etc. removing machine stationarity is stronger, can guarantee stationary state, not appear in the case where breakking away on slope；Program technic is simple and practical, can reasonably realize the function of the bamboo container made of bamboo, wicker, ratten, etc. removing machine.
Description
Technical field
The present invention relates to bamboo container made of bamboo, wicker, ratten, etc. disposal facility fields, a kind of intelligent walking mechanism more particularly to bamboo container made of bamboo, wicker, ratten, etc. removing machine and its
Control method.
Background technique
Bamboo grove is known as the laudatory title of " second forest reserves ", is the important forest reserves type in China.China's bamboo grove area and
Bamboo yield occupies first place in the world.Whole world bamboo plant is there are about more than 70 categories, and more than 1200, China possesses more than 37 categories 50, bamboo
7,200,000 hm2 of the woods gross area, wherein artificial bamboo grove 4,200,000 hm2, original high 3,000,000 hm2 of mangosteen clump.Annual output 18000000
Ton, the advantageous bamboo resource in China just gradually attract people's attention.Bamboo is often and other tree species form mixed forest together, and
And under main storry, the past is seldom paid attention to by people.After upper layer forest is cut down, just to grow, fast, reproductive capacity is strong for bamboo
The characteristics of, grow up to secondary bamboo grove rapidly on cutover.Therefore, bamboo is ideal natural regeneration tree species.Since bamboo has
Having growth, the period of felling in turn is short rapidly, intensity height, good toughness, hardness is big, main mechanical properties can be suitable etc. special with Hard―Wood
Point has been increasingly becoming the substitute of timber.
Bamboo after felling cuts down rear bamboo container made of bamboo, wicker, ratten, etc. root system and buries in the soil, need under field conditions (factors) long time (8~
10 years) it can just rot, it is embedded in soil without the rotten rear bamboo container made of bamboo, wicker, ratten, etc. that cuts down, hard such as stone interferes the extension of bamboo whip and penetrates life
It is long, while the space of other plant growth is alsied occupy, nutrient, moisture and the oxygen in soil are drawn, large stretch of forest land is obtained
Less than effective use, extremely it is unfavorable for the growth of other new plants and the update of bamboo grove.According to investigations, in bamboo grove, bamboo whip institute
The area accounted for 1/10 or so, excavate after cutting down bamboo it is remaining in the soil cut down rear stake root, so that this part forest land is obtained benefit
With, and the bamboo container made of bamboo, wicker, ratten, etc. and bamboo root dug out can be used as to process raw material and utilize again, not only foster bamboo grove, but also additional income, be worth energetically
It advocates.
The method that the bamboo container made of bamboo, wicker, ratten, etc. uses at present mainly has hand digging, the splitting of the vertical container made of bamboo, wicker, ratten, etc., machinery smash to pieces, pull out, chemical attack and quick-fried
It is broken；Traditional artificial excavation hoe digs up the bamboo container made of bamboo, wicker, ratten, etc. died, but because the business efficiency of the bamboo container made of bamboo, wicker, ratten, etc. is not high, therefore special messenger need to be engaged to dig
Pick, cost are excessively high；Vertical container made of bamboo, wicker, ratten, etc. splitting is that under field conditions (factors), the bamboo container made of bamboo, wicker, ratten, etc. after splitting increases the bamboo container made of bamboo, wicker, ratten, etc. because destroying its elementary organization
The aerial area of exposure can promote it and rot naturally, but speed of rotting is still relatively slow, is suitable only for requiring not renewal speed
High bamboo grove, popularization and application are limited in scope；Chemical corrosion method is the method for the more common cleaning bamboo container made of bamboo, wicker, ratten, etc. at present, Zhu Caixi
(2005) have studied the method that ammonium hydrogen carbonate adds salt to remove the bamboo container made of bamboo, wicker, ratten, etc..It is first all to get through the ring in the bamboo container made of bamboo, wicker, ratten, etc., but not hurt
Evil bottom, by ammonium hydrogen carbonate and salt in the ratio of 10:1 mix backsight bamboo container made of bamboo, wicker, ratten, etc. size apply respectively its bottom (generally 50~
100g), tight sealing finally is buried with soil.The bamboo container made of bamboo, wicker, ratten, etc. blacks after half a year, and start to decay decomposition, and the bamboo container made of bamboo, wicker, ratten, etc. can be extracted by being struck with hoe one.It is mixed
The dispensing in 4~June that object is preferably selected in abundant rainfall is closed, in order to dissolve, permeate.7 ~ September is not only difficult to because of high temperature and little rainfall, mixture
Dissolution, and ammonium bicarbonate therein easily gasifies volatilization, causes to waste.Chinese-language gift, Wu Lidong et al. (2000) have studied to be made first
Promote the bamboo container made of bamboo, wicker, ratten, etc. dead with glyphosate chemical herbicide, the method for then promoting it to rot naturally using salt and urea reaches both
Clear up the bamboo container made of bamboo, wicker, ratten, etc., and the purpose for keeping its underground bamboo whip injury-free.It can save in this way manually, conserve water and soil and do not flow
It loses；, explosion must use explosive and detonator, need professional to operate, there are certain risk, and efficiency is lower, and can break
Bad bamboo grove soil property, it is difficult to popularize.
Summary of the invention
The present invention provide it is a kind of can automatic obstacle-avoiding bamboo container made of bamboo, wicker, ratten, etc. removing machine, comprising:
Crushing device, for being crushed to the bamboo container made of bamboo, wicker, ratten, etc.；
Walking mechanism, for driving bamboo container made of bamboo, wicker, ratten, etc. removing machine body to walk；
Range sensor obtains the distance apart from obstacle for body；
Control device controls walking mechanism movement speed；
Signal processing apparatus, for handling the signal of range sensor transmission, and by treated, signal is sent to control device
Control control device to body movement speed.
Above-mentioned technical proposal, for bamboo container made of bamboo, wicker, ratten, etc. removing machine be automatic running machinery, the bamboo container made of bamboo, wicker, ratten, etc. removing machine during traveling,
Range sensor is in running order, and range sensor incudes distance of the front obstacle apart from body at any time, and body is incuding
There is barrier to front, and within the scope of obstacle distance body a certain distance, range sensor provides signal, signal processing
Device receives the signal that range sensor provides, and signal is handled, and signal is sent to control device by treated,
Control device controls walking mechanism and slows down, and closer apart from barrier in body, the brake force that walking mechanism is subject to is bigger, works as body
When being critical distance between barrier, brake force is maximum, and body is changed into stationary state by movement；The program can effectively be kept away
Exempt from bamboo container made of bamboo, wicker, ratten, etc. removing machine to collide in moving process with barrier, while when there is barrier in front, there is an apparent system
Dynamic process, while in the process of moving as intelligent apparatus, the mobile speed of body can't quickly, therefore body can be timely
Slow down, and reach stationary state, effectively avoid collision, in another situation, that is, be in the position on slope, because range sensor is pacified
The positional relationship of dress, when can guarantee that body runs to slope position, the signal of monitoring is not extreme position, body still low speed
Slope is spent in movement, reaches next flat position, and barrier disappears, and body speed is restored, and is continued on；On the other hand, should
Device will not influence bamboo container made of bamboo, wicker, ratten, etc. crusher and carry out broken process to the bamboo container made of bamboo, wicker, ratten, etc., and when the bamboo container made of bamboo, wicker, ratten, etc. is barrier, body is parked in front of the bamboo container made of bamboo, wicker, ratten, etc.,
Its crushing device can be crushed the bamboo container made of bamboo, wicker, ratten, etc. for the position, or in addition the sensor of the setting special monitoring bamboo container made of bamboo, wicker, ratten, etc. even fills
It sets, body is enable to distinguish different barriers, and then prevent the device of the invention from generating with bamboo container made of bamboo, wicker, ratten, etc. crushing device and conflict.
As a preferred embodiment, walking mechanism is movable pulley, and movable pulley is equipped with brake apparatus, brake apparatus for pair
Movable pulley is braked, and control device control brake apparatus operation starts and stops；Movable pulley is advantageous in that movement
Speed is fast, is not susceptible to failure, and easy to maintenance after breaking down, and movable pulley is equipped with brake apparatus, when body is apart from obstacle
Object certain distance, when body needs to slow down, brake apparatus slows down to body, and brake apparatus is still controlled by control device
System.
As a preferred embodiment, walking mechanism can also be crawler type walking mechanism, and crawler type walking mechanism is equipped with system
Dynamic device, brake apparatus for being braked to crawler type walking mechanism, control device control brake apparatus operation starting and
Stop；Being advantageous in that for crawler type walking mechanism can ignore most of landform, make to walk more convenient, for different
Walking mechanism, the position of range sensor are also required to change accordingly, to adapt to the various situations of above-mentioned appearance, make machine
Body is judged by accident, and action is made to generate error.
As a preferred embodiment, brake apparatus is mechanical braking, and mechanical brake device has structure simple, cost
Low advantage has better generalization.
It as a preferred embodiment, further include energy resource system, which is small diesel engine, and small diesel engine provides
To human body energy, which is used to include crushing device and walking mechanism；Bamboo container made of bamboo, wicker, ratten, etc. crushing device during the work time, needs power
Greatly, for battery, the energy of small diesel engine storage is more, and battery is placing a period of time, it may appear that electric leakage feelings
Condition, small diesel engine then can be to avoid these problems.
It as a preferred embodiment, further include video generation device and memory, video generation device and memory signals
Connection, video generation device shoots body surrounding terrain, and generates image, and the image after generation is put into memory；Image is raw
The a certain range of situation in this area can be stored at device, as being further processed, these images can be given birth to jointly
At the running route of bamboo container made of bamboo, wicker, ratten, etc. removing machine, the case where to reduce the range ability of body, duplicate route, to improve the work of body
Make efficiency.
As a preferred embodiment, further include image transmission and long-distance monitorng device, image transmission respectively with
Video generation device is connected with long-distance monitorng device signal, and the image that video generation device generates is transmitted to through image transmission
Long-distance monitorng device；The image of generation is presented by long-distance monitorng device, and operator can watch body work according to body
Condition, to be handled according to corresponding situation.
A kind of brake apparatus having fixed effect for bamboo container made of bamboo, wicker, ratten, etc. removing machine, including walking mechanism and brake apparatus, braking
Device one end is fixed, the other end and walking mechanism be it is accessible separately positioned, brake apparatus is equipped with close to walking mechanism side
Sheet rubber, sheet rubber contact brake apparatus are braked, and walking mechanism is equipped with several apertures, and brake apparatus is inserted equipped with spring
Bamboo container made of bamboo, wicker, ratten, etc. removing machine is fixed in pin, the aperture that night bolt is inserted into walking mechanism.
By adopting the above technical scheme, one end of brake apparatus can be fixed on the non-walking mechanism of the body of bamboo container made of bamboo, wicker, ratten, etc. removing machine
It on position, may also be arranged in walking mechanism, when needing to slow down, sheet rubber contacts walking mechanism, friction eceleration, at body
When stationary state, the night bolt on brake apparatus is inserted on the aperture of walking mechanism, remain stationary walking mechanism, is prevented
The case where only walking mechanism is slided.
As a preferred embodiment, the aperture in walking mechanism is arranged around walking mechanism, and the position where aperture is row
Walk the outside of mechanism；When fixed device is fixed in non-walking mechanism, the outside of walking mechanism is arranged in aperture, can reduce solid
Determine the backbone length of device, while improving braking efficiency.
As a preferred embodiment, the night bolt quantity of brake apparatus is at least one；Using multiple night bolts, altogether
With work, the braking efficiency of brake apparatus can be improved, while can guarantee its fixed effect, makes body when fixed, more surely
Gu.
As a preferred embodiment, brake apparatus at least one；Purpose using multiple brake apparatus is still to improve
The braking efficiency of brake apparatus, for economy and usability, the braking that different number can be arranged according to corresponding situation is filled
It sets, such as the material used according to the size of walking mechanism, walking mechanism and brake apparatus, and local topographic features, the gradient
Deng setting quantity, while guaranteeing performance, it is contemplated that economy.
As a preferred embodiment, walking mechanism includes two road wheels, and each road wheel is equipped at least one braking
Device.
As a preferred embodiment, bamboo container made of bamboo, wicker, ratten, etc. removing machine is equipped with switch, and switch control night bolt is inserted into walking mechanism
On aperture；The device can be used for automatic bamboo container made of bamboo, wicker, ratten, etc. removing machine, it can also be used to which semi-automatic bamboo container made of bamboo, wicker, ratten, etc. removing machine is removed in the semi-automatic bamboo container made of bamboo, wicker, ratten, etc.
On machine, when body needs fixed, the operation of arrestment mechanism can be controlled, is made by the switch being located in bamboo container made of bamboo, wicker, ratten, etc. removing machine
Body is kept fixed, and for automatic bamboo container made of bamboo, wicker, ratten, etc. removing machine, which can be used for emergency set, out of control in remote-control device, intelligent program
In the case where, manually body is controlled.
As a preferred embodiment, brake apparatus is remote controlled, can control sheet rubber relative motion respectively and spring is inserted
The movement of pin；As automatic bamboo container made of bamboo, wicker, ratten, etc. removing machine, the remote controlled brake apparatus of operator slow down or fix grasping to body
Make.
As a preferred embodiment, brake apparatus is equipped with protecting cover, and protecting cover protects brake apparatus；Prevent body because
Scratching or falling down influences brake apparatus performance, or damage, improves the economy and practicability of body.
A kind of intelligent walking mechanism of bamboo container made of bamboo, wicker, ratten, etc. removing machine, comprising:
Walking mechanism, for driving bamboo container made of bamboo, wicker, ratten, etc. removing machine mobile；
Brake apparatus, for being braked to walking mechanism；
Range sensor obtains the distance apart from barrier for bamboo container made of bamboo, wicker, ratten, etc. removing machine；
Control device, for controlling the start and stop of brake apparatus, to control the movement speed of walking mechanism；
Signal processing apparatus, for handling the signal of range sensor transmission, and by treated, signal is sent to control device
Control control device to body movement speed.
As a preferred embodiment, brake apparatus and walking mechanism are accessible separately positioned, brake apparatus basis row
It walks mechanism to be braked, walking mechanism is equipped with several apertures, and brake apparatus is equipped with night bolt, night bolt insertion walking
Body is fixed in aperture in mechanism.
As a preferred embodiment, brake apparatus is equipped with sheet rubber close to walking mechanism one end, and sheet rubber contacts vehicle with walking machine
Structure is braked.
It as a preferred embodiment, further include remote control apparatus, remote control apparatus and signal processing apparatus signal connect
It connects, remote control apparatus can issue signal to control device by signal processing apparatus, to control the start and stop of brake apparatus.
As a preferred embodiment, bamboo container made of bamboo, wicker, ratten, etc. removing machine is equipped with switch, the start and stop of the switch controls brake apparatus.
A kind of control method of the intelligent walking mechanism of bamboo container made of bamboo, wicker, ratten, etc. removing machine, the intelligent walking based on above-mentioned bamboo container made of bamboo, wicker, ratten, etc. removing machine
Mechanism, comprising the following steps:
Step 1: range sensor initialization, brake apparatus are separated with walking mechanism；
Step 2: range sensor work scans surrounding terrain；
Step 3: range sensor senses obstacle, sends a signal to signal transmitting apparatus；
Step 4: signal transmitting apparatus handles signal, and by treated, signal is sent to brake apparatus；
Step 5: brake apparatus brakes walking mechanism.
As a preferred embodiment, the process of signal transmitting apparatus processing signal, comprising the following steps:
Step 1: range sensor distance of reaction S；
Step 2: as distance S >=2m of induction, range sensor does not issue signal；As S < 2m, step 3 is executed；When S is less than
When 0.1m, step 4 is executed；
Step 3: range sensor issues signal 1 to signal transmitting apparatus, and signal transmitting apparatus handles signal, will handle
Signal afterwards is sent to control device, and control device controls sheet rubber and contacts walking mechanism；
Step 4: range sensor issues signal 2 to signal transmitting apparatus, and signal transmitting apparatus handles signal, will handle
Signal afterwards is sent to control device, and control device controls in the aperture of night bolt insertion walking mechanism.
The beneficial effects of the present invention are:
1, the bamboo container made of bamboo, wicker, ratten, etc. removing machine can realize that the function of intelligent barrier avoiding gradually subtracts when there is barrier in front by range sensor
It is fast and static；
2, the bamboo container made of bamboo, wicker, ratten, etc. removing machine stationarity is stronger, can guarantee stationary state, not appear in the case where breakking away on slope；
3, program technic is simple and practical, can reasonably realize the function of the bamboo container made of bamboo, wicker, ratten, etc. removing machine.
Detailed description of the invention
Fig. 1 is the side view of walking mechanism of the embodiment of the present invention and brake apparatus；
Fig. 2 is the front view of walking mechanism of the embodiment of the present invention and brake apparatus；
Appended drawing reference:
1-walking mechanism, 2-brake apparatus, 3-sheet rubbers, 4-apertures, 5-night bolts.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiments are merely a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1:
The present invention provide it is a kind of can automatic obstacle-avoiding bamboo container made of bamboo, wicker, ratten, etc. removing machine, comprising:
Crushing device, for being crushed to the bamboo container made of bamboo, wicker, ratten, etc.；
Walking mechanism 1, for driving bamboo container made of bamboo, wicker, ratten, etc. removing machine body to walk；
Range sensor obtains the distance apart from obstacle for body；
Control device controls 1 movement speed of walking mechanism；
Signal processing apparatus, for handling the signal of range sensor transmission, and by treated, signal is sent to control device
Control control device to body movement speed.
Above-mentioned technical proposal, for bamboo container made of bamboo, wicker, ratten, etc. removing machine be automatic running machinery, the bamboo container made of bamboo, wicker, ratten, etc. removing machine during traveling,
Range sensor is in running order, and range sensor incudes distance of the front obstacle apart from body at any time, and body is incuding
There is barrier to front, and within the scope of obstacle distance body a certain distance, range sensor provides signal, signal processing
Device receives the signal that range sensor provides, and signal is handled, and signal is sent to control device by treated,
Control device controls walking mechanism 1 and slows down, and closer apart from barrier in body, the brake force that walking mechanism 1 is subject to is bigger, works as machine
When being critical distance between body and barrier, brake force is maximum, and body is changed into stationary state by movement；The program can be effective
Avoid bamboo container made of bamboo, wicker, ratten, etc. removing machine from colliding in moving process with barrier, while when there is barrier in front, have one it is apparent
Braking process, while in the process of moving as intelligent apparatus, the mobile speed of body can't quickly, therefore body can and
When slow down, and reach stationary state, effectively avoid collision, in another situation, that is, the position on slope is in, because of range sensor
The positional relationship of installation, when can guarantee that body runs to slope position, the signal of monitoring is not extreme position, and body is still low
Slope is spent in speed movement, reaches next flat position, and barrier disappears, and body speed is restored, and is continued on；On the other hand,
The device will not influence bamboo container made of bamboo, wicker, ratten, etc. crusher and carry out broken process to the bamboo container made of bamboo, wicker, ratten, etc., when the bamboo container made of bamboo, wicker, ratten, etc. is barrier, before body is parked in the bamboo container made of bamboo, wicker, ratten, etc.
Side, crushing device can be crushed the bamboo container made of bamboo, wicker, ratten, etc. for the position, or the sensor of the special monitoring bamboo container made of bamboo, wicker, ratten, etc. in addition is arranged very
To device, body is enable to distinguish different barriers, and then prevents the device of the invention and bamboo container made of bamboo, wicker, ratten, etc. crushing device from generating
Conflict.
As a kind of preferred embodiment, walking mechanism 1 is movable pulley, and movable pulley is equipped with brake apparatus 2, brake apparatus 2
For braking to movable pulley, what control device control brake apparatus 2 was run is started and stopped；The advantage of movable pulley is in
It is fast in movement speed, be not susceptible to failure, and easy to maintenance after breaking down, movable pulley is equipped with brake apparatus 2, when body away from
With a certain distance from barrier, when body needs to slow down, brake apparatus 2 slows down to body, and brake apparatus 2 is still by control device
It is controlled.
As a kind of preferred embodiment, walking mechanism 1 can also be crawler type walking mechanism 1, set on crawler type walking mechanism 1
There is brake apparatus 2, for braking to crawler type walking mechanism 1, control device controls brake apparatus 2 and runs brake apparatus 2
Start and stop；Being advantageous in that for crawler type walking mechanism 1 can ignore most of landform, make to walk more convenient,
For different walking mechanisms 1, the position of range sensor is also required to change accordingly, to adapt to each of above-mentioned appearance
Kind situation, judges body by accident, and action is made to generate error.
As a kind of preferred embodiment, brake apparatus 2 is mechanical braking, and mechanical brake device 2 has structure simple, cost
The advantages that at low cost, has better generalization.
It further include energy resource system as a kind of preferred embodiment, which is small diesel engine, and small diesel engine mentions
Human body energy is supplied, which is used to include crushing device and walking mechanism 1；Bamboo container made of bamboo, wicker, ratten, etc. crushing device during the work time, needs
Power is big, and for battery, the energy of small diesel engine storage is more, and battery is placing a period of time, it may appear that leakage
Electric situation, small diesel engine then can be to avoid these problems.
It further include video generation device and memory as a kind of preferred embodiment, video generation device and memory are believed
Number connection, video generation device shoot body surrounding terrain, and generate image, and the image after generation is put into memory；Image
Generating means can store a certain range of situation in this area, can be common by these images as being further processed
The running route for generating bamboo container made of bamboo, wicker, ratten, etc. removing machine, the case where to reduce the range ability of body, duplicate route, to improve body
Working efficiency.
It further include image transmission and long-distance monitorng device, image transmission difference as a kind of preferred embodiment
It is connect with video generation device and long-distance monitorng device signal, the image that video generation device generates is transmitted through image transmission
To long-distance monitorng device；The image of generation is presented by long-distance monitorng device, and operator can watch body work according to body
Make condition, to be handled according to corresponding situation.
Embodiment 2:
A kind of brake apparatus having fixed effect for bamboo container made of bamboo, wicker, ratten, etc. removing machine, including walking mechanism 1 and brake apparatus 2, braking dress
2 one end are set to fix, the other end and walking mechanism 1 be it is accessible separately positioned, brake apparatus 2 is set close to 1 side of walking mechanism
There is sheet rubber 3, sheet rubber 3 contacts brake apparatus 2 and braked, and walking mechanism 1 is equipped with several apertures 4, sets on brake apparatus 2
There is night bolt 5, bamboo container made of bamboo, wicker, ratten, etc. removing machine is fixed in the aperture 4 that night bolt 5 is inserted into walking mechanism 1.
By adopting the above technical scheme, one end of brake apparatus 2 can be fixed on the non-walking mechanism 1 of the body of bamboo container made of bamboo, wicker, ratten, etc. removing machine
Position on, may also be arranged in walking mechanism 1, when needing to slow down, sheet rubber 3 contact walking mechanism 1, friction eceleration, when
When body remains static, the night bolt 5 on brake apparatus 2 is inserted on the aperture 4 of walking mechanism 1, makes walking mechanism 1
The case where remaining stationary, preventing walking mechanism 1 from sliding.
As a kind of preferred embodiment, the aperture 4 in walking mechanism 1 is arranged around walking mechanism 1, the position where aperture 4
It is set to the outside of walking mechanism 1；When fixed device is fixed in non-walking mechanism 1, the outer of walking mechanism 1 is arranged in aperture 4
Side, can reduce the backbone length of fixed device, while improve braking efficiency.
As a kind of preferred embodiment, 5 quantity of night bolt of brake apparatus 2 is at least one；It is inserted using multiple springs
Pin 5 works together, the braking efficiency of brake apparatus 2 can be improved, while can guarantee its fixed effect, makes body when fixed,
It is more firm.
As a kind of preferred embodiment, brake apparatus 2 at least one；Purpose using multiple brake apparatus 2 be still in order to
The system of different number can be arranged for economy and usability in the braking efficiency for improving brake apparatus 2 according to corresponding situation
Dynamic device 2, such as the material used according to the size of walking mechanism 1, walking mechanism 1 and brake apparatus 2, and local landform feelings
Quantity is arranged in condition, gradient etc., while guaranteeing performance, it is contemplated that economy.
As a kind of preferred embodiment, walking mechanism 1 includes two road wheels, and each road wheel is equipped at least one system
Dynamic device 2.
As a kind of preferred embodiment, bamboo container made of bamboo, wicker, ratten, etc. removing machine is equipped with switch, and switch control night bolt 5 is inserted into vehicle with walking machine
Aperture 4 on structure 1；The device can be used for automatic bamboo container made of bamboo, wicker, ratten, etc. removing machine, it can also be used to semi-automatic bamboo container made of bamboo, wicker, ratten, etc. removing machine, in the semi-automatic bamboo container made of bamboo, wicker, ratten, etc.
In removing machine, when body needs fixed, the fortune of arrestment mechanism can be controlled by the switch being located in bamboo container made of bamboo, wicker, ratten, etc. removing machine
Row, is kept fixed body, for automatic bamboo container made of bamboo, wicker, ratten, etc. removing machine, which can be used for emergency set, in remote-control device, intelligent program
In the case where out of control, manually body is controlled.
As a kind of preferred embodiment, brake apparatus 2 is remote controlled, can control 3 relative motion of sheet rubber and bullet respectively
The movement of spring bolt 5；As automatic bamboo container made of bamboo, wicker, ratten, etc. removing machine, the remote controlled brake apparatus 2 of operator, to body carry out slow down or
Fixed operation.
As a kind of preferred embodiment, brake apparatus 2 is equipped with protecting cover, and protecting cover protects brake apparatus 2；Prevent machine
Body influences 2 performance of brake apparatus, or damage because scratching or falling down, and improves the economy and practicability of body.
Embodiment 3:
A kind of intelligent walking mechanism of bamboo container made of bamboo, wicker, ratten, etc. removing machine, comprising:
Walking mechanism 1, for driving bamboo container made of bamboo, wicker, ratten, etc. removing machine mobile；
Brake apparatus 2, for being braked to walking mechanism 1；
Range sensor obtains the distance apart from barrier for bamboo container made of bamboo, wicker, ratten, etc. removing machine；
Control device, for controlling the start and stop of brake apparatus 2, to control the movement speed of walking mechanism 1；
Signal processing apparatus, for handling the signal of range sensor transmission, and by treated, signal is sent to control device
Control control device to body movement speed.
As a kind of preferred embodiment, brake apparatus 2 and walking mechanism 1 be it is accessible separately positioned, brake apparatus 2 connects
Touching walking mechanism 1 is braked, and walking mechanism 1 is equipped with several apertures 4, and brake apparatus 2 is equipped with night bolt 5, and spring is inserted
Body is fixed in the aperture 4 that pin 5 is inserted into walking mechanism 1.
As a kind of preferred embodiment, brake apparatus 2 is equipped with sheet rubber 3 close to 1 one end of walking mechanism, and sheet rubber 3 contacts
Walking mechanism 1 is braked.
It further include remote control apparatus, remote control apparatus and signal processing apparatus signal as a kind of preferred embodiment
Connection, remote control apparatus can issue signal to control device by signal processing apparatus, to control the start and stop of brake apparatus 2.
As a kind of preferred embodiment, bamboo container made of bamboo, wicker, ratten, etc. removing machine is equipped with switch, and the switch controls brake apparatus 2 opens
Stop.
A kind of control method of the intelligent walking mechanism of bamboo container made of bamboo, wicker, ratten, etc. removing machine, the intelligent walking based on above-mentioned bamboo container made of bamboo, wicker, ratten, etc. removing machine
Mechanism, comprising the following steps:
Step 1: range sensor initialization, brake apparatus 2 are separated with walking mechanism 1；
Step 2: range sensor work scans surrounding terrain；
Step 3: range sensor senses obstacle, sends a signal to signal transmitting apparatus；
Step 4: signal transmitting apparatus handles signal, and by treated, signal is sent to brake apparatus 2；
Step 5: brake apparatus 2 brakes walking mechanism 1.
As a kind of preferred embodiment, signal transmitting apparatus handles the process of signal, comprising the following steps:
Step 1: range sensor distance of reaction S；
Step 2: as distance S >=2m of induction, range sensor does not issue signal；As S < 2m, step 3 is executed；When S is less than
When 0.1m, step 4 is executed；
Step 3: range sensor issues signal 1 to signal transmitting apparatus, and signal transmitting apparatus handles signal, will handle
Signal afterwards is sent to control device, and control device controls sheet rubber 3 and contacts walking mechanism 1；
Step 4: range sensor issues signal 2 to signal transmitting apparatus, and signal transmitting apparatus handles signal, will handle
Signal afterwards is sent to control device, and control device controls night bolt 5 and is inserted into the aperture 4 of walking mechanism 1.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (7)
1. a kind of intelligent walking mechanism of bamboo container made of bamboo, wicker, ratten, etc. removing machine characterized by comprising
Walking mechanism (1), for driving bamboo container made of bamboo, wicker, ratten, etc. removing machine mobile；
Brake apparatus (2), for being braked to walking mechanism (1)；
Range sensor obtains the distance apart from barrier for bamboo root and stem of certain plants removing machine；
Control device, for controlling the start and stop of brake apparatus (2), to control the movement speed of walking mechanism (1)；
Signal processing apparatus, for handling the signal of range sensor transmission, and by treated, signal is sent to control device
Control control device to body movement speed.
2. the intelligent walking mechanism of bamboo container made of bamboo, wicker, ratten, etc. removing machine as described in claim 1, which is characterized in that the brake apparatus (2) with
Walking mechanism (1) be it is accessible separately positioned, brake apparatus (2) contact walking mechanism (1) is braked, walking mechanism (1)
It is equipped with several apertures (4), brake apparatus (2) is equipped with night bolt (5), and night bolt (5) is inserted on walking mechanism (1)
Body is fixed in aperture (4).
3. the intelligent walking mechanism of bamboo container made of bamboo, wicker, ratten, etc. removing machine as claimed in claim 2, which is characterized in that the brake apparatus (2) is leaned on
Nearly walking mechanism (1) one end is equipped with sheet rubber (3), and sheet rubber (3) contact walking mechanism (1) is braked.
4. the intelligent walking mechanism of bamboo container made of bamboo, wicker, ratten, etc. removing machine as claimed in claim 3, which is characterized in that further include long-range control dress
It sets, remote control apparatus is connect with signal processing apparatus signal, and remote control apparatus can fill control by signal processing apparatus
Sending signal is set, to control the start and stop of brake apparatus.
5. the intelligent walking mechanism of bamboo container made of bamboo, wicker, ratten, etc. removing machine as claimed in claim 4, which is characterized in that bamboo container made of bamboo, wicker, ratten, etc. removing machine is equipped with and opens
It closes, the start and stop of the switch controls brake apparatus (2).
6. a kind of control method of the intelligent walking mechanism of bamboo root and stem of certain plants removing machine, described bamboo to be used for based on claim 1 to 5 is any
The intelligent walking mechanism of root and stem of certain plants removing machine, which comprises the following steps:
Step 1: range sensor initialization, brake apparatus (2) are separated with walking mechanism (1)；
Step 2: range sensor work scans surrounding terrain；
Step 3: range sensor senses obstacle, sends a signal to signal transmitting apparatus；
Step 4: signal transmitting apparatus handles signal, and by treated, signal is sent to brake apparatus (2)；
Step 5: brake apparatus (2) brakes walking mechanism (1).
7. the control method of the intelligent walking mechanism of bamboo root and stem of certain plants removing machine as claimed in claim 6, which is characterized in that signal transmission
The process of device processing signal, comprising the following steps:
Step 1: range sensor distance of reaction S；
Step 2: as distance S >=2m of induction, range sensor does not issue signal；As S < 2m, step 3 is executed；When S is less than
When 0.1m, step 4 is executed；
Step 3: range sensor issues signal 1 to signal transmitting apparatus, and signal transmitting apparatus handles signal, will handle
Signal afterwards is sent to control device, and control device controls sheet rubber (3) contact walking mechanism (1)；
Step 4: range sensor issues signal 2 to signal transmitting apparatus, and signal transmitting apparatus handles signal, will handle
Signal afterwards is sent to control device, and control device controls in the aperture (4) of night bolt (5) insertion walking mechanism (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811255201.0A CN109582014A (en) | 2018-10-26 | 2018-10-26 | A kind of the intelligent walking mechanism and its control method of bamboo container made of bamboo, wicker, ratten, etc. removing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811255201.0A CN109582014A (en) | 2018-10-26 | 2018-10-26 | A kind of the intelligent walking mechanism and its control method of bamboo container made of bamboo, wicker, ratten, etc. removing machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109582014A true CN109582014A (en) | 2019-04-05 |
Family
ID=65920817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811255201.0A Withdrawn CN109582014A (en) | 2018-10-26 | 2018-10-26 | A kind of the intelligent walking mechanism and its control method of bamboo container made of bamboo, wicker, ratten, etc. removing machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109582014A (en) |
-
2018
- 2018-10-26 CN CN201811255201.0A patent/CN109582014A/en not_active Withdrawn
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