CN109744006A - A kind of greenbelt cutting system and its pruning method based on laser cutting - Google Patents
A kind of greenbelt cutting system and its pruning method based on laser cutting Download PDFInfo
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- CN109744006A CN109744006A CN201910151378.4A CN201910151378A CN109744006A CN 109744006 A CN109744006 A CN 109744006A CN 201910151378 A CN201910151378 A CN 201910151378A CN 109744006 A CN109744006 A CN 109744006A
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- greenbelt
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- synchronous belt
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Abstract
The invention discloses a kind of greenbelt cutting system based on laser cutting, including pruning car, pruning car are equipped with lifting device, and laser emitter, telescopic rod and camera are respectively equipped on lifting device, and telescopic rod carries out expanding-contracting action by driving mechanism A driving.The invention also discloses the pruning method of above-mentioned cutting system, the trim mode of cutting system provided by the invention can reduce the generation and sprawling of pest and disease damage, and improve work efficiency.
Description
Technical field
The invention belongs to modern garden pruning technique fields, are related to a kind of greenbelt cutting system based on laser cutting,
The invention further relates to the pruning methods of above-mentioned cutting system.
Background technique
Trimming greenbelt is the common requirement in city management and construction, traditional with the increasingly increase of green coverage
Manpower trimming has been no longer desirable for large area trimming greenbelt, especially once individual plant occur pest and disease damage (such as brown spot,
Rust, red spider, aphid etc.), it is spread with the diffusion that machinery knives trimming will lead to pest and disease damage, because using machinery knives, very
It is easy to appear after being trimmed to a certain plant for having infected pest and disease damage, cutter is infected with pest and disease damage, then goes to trim again using the cutter
Other plant cause other plant equally to infect pest and disease damage, lead to the sprawling of pest and disease damage, after pest and disease damage sprawling, and a wide range of
The phenomenon that inside spraying insecticide, causing extremely not environmentally.
Mainly the mode of trimming greenbelt has currently on the market:
1, manpower is trimmed: trimming greenbelt using manpower, such mode is most commonly used, but needs a large amount of manpower
Material resources, and take a long time, working efficiency is obviously low, to nowadays a wide range of trimming greenbelt and is not suitable for.
2, pruning car is trimmed: being driven engineering truck using people and is trimmed to greenbelt, the method is trimmed relative to manpower
Efficiency is improved, but pruning car still uses machinery knives to be trimmed, trimming can not only generate a large amount of dust pollution rings later
Border, and wound easy infection generate pest and disease damage.
3, Scroll laser trimmer: the invention is a kind of for cutting off the Scroll grass trimmer of vegetation, is cut using laser
The principle cut has axis rotation of one or more laser beams in mowing casing in the grass trimmer, in order that repeated cutting is (more
Secondary cutting) vegetation that is introduced, increase the dynamics for cutting off vegetation.Wherein a branch of or multiple laser is along a plurality of substantially parallel
Outlet openings, axis rotation of each path in the housing of mowing machine have downward opening on shell, connect by the opening
The vegetation cut off by needs.But the working method (Scroll) of such grass trimmer is only applicable to cut the grass on a lawn, though so using swashing
Light is cut, and is not still suitable for the greenbelt that trimming has shrub but, less be can solve and is inhibited disease pest occur in greenbelt
Harmful problem.
In conclusion currently there are trim mode and device all cannot inhibit disease with effective trimming means
The sprawling of insect pest.
Summary of the invention
The object of the present invention is to provide a kind of greenbelt cutting system based on laser cutting, the trimming side of the cutting system
Formula can reduce the generation and sprawling of pest and disease damage, and improve work efficiency.
The greenbelt pruning method based on laser cutting that the present invention also provides a kind of.
The first technical solution of the present invention is a kind of greenbelt cutting system based on laser cutting, including
Pruning car, pruning car are equipped with lifting device, are respectively equipped with laser emitter, telescopic rod and camera on lifting device, stretch
Bar carries out expanding-contracting action by driving mechanism A driving.
The characteristics of the first technical solution of the invention, also resides in,
Lifting device includes rack, and the bottom of rack is equipped with support tube I, the both ends of support tube I pass through respectively bearing block I with
Rack connects, and is also coaxially socketed with synchronizing wheel I and synchronizing wheel V respectively on support tube I；
The support tube II and support tube III being parallel to each other are respectively equipped at the top of rack, support tube II and support tube III are equal
Parallel with support tube I, the both ends of support tube II are coaxially socketed with synchronizing wheel II and synchronizing wheel IV, and the both ends of support tube II respectively
It is connect respectively by bearing block II with rack；
Synchronizing wheel II is connect by synchronous belt II with synchronizing wheel V；
The both ends of support tube III pass through bearing block III respectively and connect with rack, and one end of support tube III is coaxially socketed
There is synchronizing wheel III；The lower section of synchronizing wheel III is equipped with driving mechanism B；Driving mechanism B passes through synchronous belt I and synchronizing wheel I, synchronizing wheel
IV, synchronizing wheel III connection；
Machine frame inside is equipped with lifting platform, and one end of lifting platform is equipped with the driving mechanism A, and the other end of lifting platform is equipped with branch
Synchronizing wheel VI is coaxially socketed on stay tube IV, support tube IV, synchronizing wheel VI is connect by synchronous belt III with driving mechanism A；
The both ends of lifting platform are connect with synchronous belt I and synchronous belt II respectively, and lifting platform passes through synchronous belt I and synchronous belt II band
It moves and moves up and down.
Driving mechanism B includes motor B, is coaxially socketed with synchronizing wheel VIII on the output shaft of motor B；Synchronizing wheel I, synchronizing wheel
IV, synchronizing wheel III and synchronizing wheel VIII are connected by synchronous belt I.
Driving mechanism A includes motor A, and synchronizing wheel VII is coaxially socketed on the main shaft of motor A, and synchronizing wheel VII passes through synchronization
Band III is connect with synchronizing wheel VI.
The upper surface of lifting platform is equipped with sliding slot, and one end bottom of telescopic rod is equipped with sliding block, and sliding block and sliding slot cooperate, telescopic rod
One end connect with synchronous belt III by screw, synchronous belt III drives telescopic rod that can move in sliding slot in transmission process,
To make telescopic rod reach flexible purpose, the other end of telescopic rod is equipped with laser absorption plate, and the middle part of telescopic rod is sent out equipped with laser
Emitter, camera is located at the side of rack, and camera and laser emitter are located at the same side of rack.
Camera connects FPGA module, and FPGA module connects ARM module, and ARM module is dynamic for controlling motor A and motor B
Make.
Solar panel is additionally provided in pruning car.
Second of technical solution of the present invention is a kind of greenbelt pruning method based on laser cutting, specifically
Include the following steps:
Step 1, trimming prepares；
When pruning car is run to by the greenbelt wait trim, motor B starting is driven by synchronous belt I and synchronous belt II and is risen
Drop platform movement, when lifting platform height in the horizontal direction can make just laser absorption plate be located at when trimming the top of greenbelt,
Motor B stopping movement；At this point, motor A starts, synchronous belt III drives telescopic rod to stretch out to greenbelt direction to be trimmed,
When laser emitter and laser absorption plate are located exactly at the opposite sides wait trim greenbelt, motor B stopping movement；
Step 2, greenbelt is trimmed using laser；
Laser transmitter projects laser trims greenbelt, and camera adopts greenbelt surrounding road condition information
Collection, and is sent to FPGA module for the traffic information image of acquisition, when FPGA module by camera detection to there is barrier to go out
When existing and the distance between telescopic rod and barrier are 0.1~1.5m, ARM module will be transmitted a signal to, ARM module receives letter
After number, signal is issued to motor B immediately, motor B rotates forward starting, and control telescopic rod is withdrawn, avoiding obstacles, at this point, FPGA mould
Block continues to monitor barrier by camera, and after pruning car leaves barrier, FPGA module sends a signal and gives ARM mould
Block, ARM module control motor B reversion, stretch out telescopic rod, work on, until completing greenbelt trimming.
Beneficial effects of the present invention are as follows:
(1) plants wound can be made to be carbonized after laser trimming, loses bioactivity, prevents pest poisoning intrusion；
(2) all it is new light beam for vegetation per the light of a branch of cutting vegetation, will not be infected with as conventional tool
Pest and disease damage causes pest and disease damage to spread；
(3) Laser emission is noiseless, can be reduced noise pollution caused by traditional pruning car trimming during trimming.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the greenbelt cutting system based on laser cutting of the present invention；
Fig. 2 is the structural schematic diagram of lifting device in a kind of greenbelt cutting system based on laser cutting of the present invention；
Fig. 3 is the partial enlarged view in Fig. 2 at A；
Fig. 4 is the structural schematic diagram in a kind of greenbelt cutting system based on laser cutting of the present invention on driving mechanism B；
Fig. 5 is that lifting platform upper hopper chute and sliding block cooperate in a kind of greenbelt cutting system based on laser cutting of the present invention
Top view；
Fig. 6 is to install solar panel on a kind of pruning car of the greenbelt cutting system based on laser cutting of the present invention
Structural schematic diagram.
In figure, 1. laser emitters, 2. user feedback control interfaces, 3. motor A, 4. cameras, 5. telescopic rods, 6. is sliding
Block, 7. pruning cars, 8. lifting platforms, 9. synchronous belt I, 10. laser absorption plates, 11. solar panels, 12. warning lamps, 13.
Stay tube I, 14. bearing block I, 15. synchronizing wheel I, 16. support tube II, 17. bearing block II, 18. synchronizing wheel II, 19. support tube III,
20. bearing block III, 21. synchronizing wheel III, 22.ARM modules, 23.FPGA module, 24. sliding slots, 25. synchronous belt II, 26. is synchronous
The band synchronizing wheel of III, 27. synchronizing wheel IV, 28. V, 29. synchronizing wheel VI, 30. support tube IV, 31. synchronizing wheel VII, 32. racks, 33.
Motor B, 34. synchronizing wheel VIII, 35. fans.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
A kind of greenbelt cutting system based on laser cutting of the present invention, as shown in Figures 1 to 3, including pruning car 7, trimming
Vehicle 7 is equipped with lifting device, and lifting device includes rack 32, and the bottom of rack 32 is equipped with support tube I13, and the two of support tube I13
End is connect by bearing block I14 with rack 32 respectively, is also coaxially socketed with synchronizing wheel I15 and synchronizing wheel on support tube I13 respectively
V28；
The top of rack 32 is respectively equipped with the support tube II16 and support tube III19 being parallel to each other, support tube II16 and branch
Stay tube III19 is parallel with support tube I13, and the both ends of support tube II16 are coaxially socketed with synchronizing wheel II18 and synchronizing wheel respectively
IV27, and the both ends of support tube II16 pass through bearing block II17 respectively and connect with rack 32；
Synchronizing wheel II18 is connect by synchronous belt II25 with synchronizing wheel V28；
The both ends of support tube III19 pass through bearing block III20 respectively and connect with rack 32, and one end of support tube III19
Coaxially it is socketed with synchronizing wheel III21；The lower section of synchronizing wheel III21 is equipped with driving mechanism B；
As shown in figure 4, driving mechanism B includes motor B33, synchronizing wheel is coaxially socketed on the output shaft of motor B33
VIII34；
Synchronizing wheel I15, synchronizing wheel IV27, synchronizing wheel III21 and synchronizing wheel VIII34 are connected by synchronous belt I9；
Lifting platform 8 is equipped with inside rack 32 (can be used any structure that can complete lifting work, can preferentially select following
Organization plan uses toothed belt transmission, and the schemes such as motorized precision translation stage also may be selected), one end of lifting platform 8 is equipped with driving mechanism A,
The other end of lifting platform 8 is equipped with support tube IV30, is coaxially socketed with synchronizing wheel VI29 on support tube IV30, synchronizing wheel VI29 passes through
Synchronous belt III26 is connect with driving mechanism A；
Driving mechanism A includes motor A3, and synchronizing wheel VII31 is coaxially socketed on the main shaft of motor A3, and synchronizing wheel VII31 is logical
Synchronous belt III26 is crossed to connect with synchronizing wheel VI29.
The both ends of lifting platform 8 are connect with synchronous belt I9 and synchronous belt II25 respectively, lifting platform 8 by synchronous belt I9 with it is synchronous
Band II25, which drives, to be moved up and down.
As shown in figure 5, the upper surface of lifting platform 8 is equipped with sliding slot 24, (telescopic rod stretching structure can be used any telescopic rod 5
The structure that can complete flexible work, can preferentially use method of the invention, the modes such as side's motorized precision translation stage such as can also be used)
One end bottom is equipped with sliding block 6, and sliding block 6 and sliding slot 24 cooperate, and one end of telescopic rod 5 is connect (even by screw with synchronous belt III26
There is certain distance with the both ends end of lifting platform 8 in the screw for connecing telescopic rod 5 Yu synchronous belt III26, can thus make same
Step band III26 is moved a certain distance with telescopic rod 5, simultaneously as telescopic rod 5 and synchronous belt III26 is fixed by screw, because
And screw limits the stretching of telescopic rod 5 and retraction distance), synchronous belt III26 drives telescopic rod in transmission process
5 can move in sliding slot 24, so that telescopic rod 5 be made to reach flexible purpose, the other end of telescopic rod 5 is equipped with laser absorption plate 10,
The middle part of telescopic rod 5 is equipped with laser emitter 1.
The side of rack 32 is equipped with camera 4, and camera 4 and laser emitter 1 are located at the same side of rack 32.
User feedback control interface 2 is equipped in the driver's cabin of pruning car 7, the vehicle of pruning car 7 is equipped with warning lamp 12.
As shown in fig. 6, being additionally provided with solar panel 11 in pruning car 7, solar panel 11 is used to supply to fan 35
Electricity, fan 35 are arranged in rack 32 and are used for entire cutting system inner ventilation.
A kind of greenbelt cutting system based on laser cutting of the present invention further includes that (any energy can be used in road conditions identification module
The mode of enough cognitive disorders objects, mode preferably of the invention), road conditions identification module includes FPGA module 23, FPGA module 23
It is sequentially connected ARM module 22 and user feedback control interface 2, FPGA module 23 is connect with camera 4, and ARM module 22 is for controlling
Driving mechanism A (motor A) processed and driving mechanism B (motor B) movement.
The function of part-structure is as follows in a kind of greenbelt cutting system based on laser cutting of the present invention:
1.FPGA module 23:FPGA module 23 is used to carry out hardware filtering to 4 acquired image data of camera, so
After extracting afterwards by the boundary to entire environment main information, the segmentation of image is carried out, to judge stretching for present apparatus
The distance between barriers such as contracting bar 5 and trees, electric pole, once between telescopic rod 5 and barrier distance reach 0.1m~
1.5m, FPGA module 23 just communicate information to ARM module 22, and ARM module 22 controls telescopic rod 5 and retracts, to reach image knowledge
Other purpose, during telescopic rod 5 retracts, FPGA module 23 continues to monitor barrier by camera 4, when telescopic rod 5
After avoiding, ARM module 22 is communicated information to again, and ARM module 22 sends instruction to motor A3, works normally telescopic rod 5.
The present invention also provides the pruning methods of above-mentioned cutting system, and detailed process is as follows:
Step 1, trimming prepares
When by the operation to the greenbelt wait trim of pruning car 7, motor B33 starting passes through synchronous belt I9 and synchronous belt II25
Lifting platform 8 is driven to move, when the height in the horizontal direction of lifting platform 8 can make laser absorption plate 10 be located at greenbelt to be trimmed just
Top when, motor B33 stopping movement；At this point, motor A3 starts, synchronous belt III26 drives telescopic rod 5 to greening to be trimmed
Band direction is stretched out, when laser emitter 1 is located exactly at the opposite sides wait trim greenbelt with laser absorption plate 10, electricity
Machine A3 stopping movement；
Step 2, greenbelt is trimmed using laser；
Laser emitter 1 emits laser and trims to greenbelt, since laser absorption plate 10 and laser emitter 1 are located at
The opposite sides of greenbelt, therefore, after the laser that laser emitter 1 emits trims greenbelt, extra laser is swashed
Light absorption plate 10 absorbs, and can avoid extra laser and causes to damage to human eye；Camera 4 carries out greenbelt surrounding road condition information
Acquisition, and the traffic information image of acquisition is sent to FPGA module 23, FPGA module 23 carries out the road conditions image received
It handles and traffic information is passed into ARM module 22, ARM module 22 can be supplied on received information user's feedback control interface 2
Driver on pruning car 7 checks；
When FPGA module 23 has detected that barrier occurs and the distance between telescopic rod and barrier are by camera 4
When 0.1m~1.5m, ARM module 22 will be transmitted a signal to, after ARM module 22 receives signal, issues believe to motor A3 immediately
Number, motor A3 rotates forward starting, and control telescopic rod 5 is withdrawn, avoiding obstacles, at this point, FPGA module 23 is by camera 4 to obstacle
Object continues to monitor, and after pruning car 7 leaves barrier, FPGA module 23 sends a signal to ARM module 22, ARM module 22
Motor A3 reversion is controlled, telescopic rod 5 is stretched out, works on, until completing greenbelt trimming.
Claims (8)
1. a kind of greenbelt cutting system based on laser cutting, it is characterised in that: including pruning car, pruning car is equipped with lifting
Device, laser emitter, telescopic rod and camera are respectively equipped on lifting device, and telescopic rod is carried out by driving mechanism A driving
Expanding-contracting action.
2. a kind of greenbelt cutting system based on laser cutting according to claim 1, it is characterised in that: the lifting
Device includes rack, and the bottom of rack is equipped with support tube I, and the both ends of support tube I pass through bearing block I respectively and connect with rack, prop up
Synchronizing wheel I and synchronizing wheel V are also coaxially socketed on stay tube I respectively；
The support tube II and support tube III being parallel to each other are respectively equipped at the top of the rack, support tube II and support tube III are equal
Parallel with support tube I, the both ends of support tube II are coaxially socketed with synchronizing wheel II and synchronizing wheel IV, and the both ends of support tube II respectively
It is connect respectively by bearing block II with rack；
Synchronizing wheel II is connect by synchronous belt II with synchronizing wheel V；
The both ends of support tube III pass through bearing block III respectively and connect with rack, and one end of support tube III is coaxially socketed with together
Step wheel III；The lower section of synchronizing wheel III is equipped with driving mechanism B；Driving mechanism B by synchronous belt I and synchronizing wheel I, synchronizing wheel IV,
Synchronizing wheel III connection；
Machine frame inside is equipped with lifting platform, and one end of lifting platform is equipped with the driving mechanism A, and the other end of lifting platform is equipped with support tube
Synchronizing wheel VI is coaxially socketed on IV, support tube IV, synchronizing wheel VI is connect by synchronous belt III with driving mechanism A；
The both ends of lifting platform are connect with synchronous belt I and synchronous belt II respectively, and lifting platform is driven by synchronous belt I and synchronous belt II
It moves up and down.
3. a kind of greenbelt cutting system based on laser cutting according to claim 2, it is characterised in that: the driving
Mechanism B includes motor B, is coaxially socketed with synchronizing wheel VIII on the output shaft of motor B；Synchronizing wheel I, synchronizing wheel IV, synchronizing wheel III
And synchronizing wheel VIII is connected by synchronous belt I.
4. a kind of greenbelt cutting system based on laser cutting according to claim 3, it is characterised in that: the driving
Mechanism A includes motor A, is coaxially socketed with synchronizing wheel VII on the main shaft of motor A, synchronizing wheel VII by synchronous belt III with it is synchronous
Take turns VI connection.
5. a kind of greenbelt cutting system based on laser cutting according to claim 4, it is characterised in that: the lifting
The upper surface of platform is equipped with sliding slot, and one end bottom of telescopic rod is equipped with sliding block, and sliding block and sliding slot cooperate, and one end of telescopic rod passes through spiral shell
Nail is connect with synchronous belt III, and synchronous belt III drives telescopic rod that can move in sliding slot in transmission process, to make telescopic rod
Reach flexible purpose, the other end of telescopic rod is equipped with laser absorption plate, and telescopic rod is equipped with laser emitter, and camera is located at machine
The side of frame, and camera and laser emitter are located at the same side of rack.
6. a kind of greenbelt cutting system based on laser cutting according to claim 5, it is characterised in that: the camera shooting
Head connection FPGA module, FPGA module connect ARM module, and ARM module is for controlling motor A and motor B movement.
7. a kind of greenbelt cutting system based on laser cutting according to claim 4, it is characterised in that: the trimming
Car is additionally provided with solar panel.
8. a kind of greenbelt cutting system based on laser cutting described in any claim is repaired according to claim 1~7
Shear method, it is characterised in that: specifically comprise the following steps:
Step 1, trimming prepares；
When pruning car is run to by the greenbelt wait trim, motor B starting drives lifting platform by synchronous belt I and synchronous belt II
Movement, when lifting platform height in the horizontal direction can make laser absorption plate be located at motor B when trimming the top of greenbelt just
Stopping movement；At this point, motor A starts, synchronous belt III drives telescopic rod to stretch out to greenbelt direction to be trimmed, when sharp
When optical transmitting set and laser absorption plate are located exactly at the opposite sides wait trim greenbelt, motor A stopping movement；
Step 2, greenbelt is trimmed using laser；
Laser transmitter projects laser trims greenbelt, and camera is acquired greenbelt surrounding road condition information, and
The traffic information image of acquisition is sent to FPGA module, when FPGA module by camera detection to have barrier appearance and stretch
When the distance between contracting bar and barrier are 0.1m~1.5m, ARM module will be transmitted a signal to, after ARM module receives signal,
Signal is issued to motor A immediately, motor A rotates forward starting, and control telescopic rod is withdrawn, avoiding obstacles, at this point, FPGA module passes through
Camera continues to monitor barrier, and after pruning car leaves barrier, FPGA module sends a signal and gives ARM module, ARM
Module controls motor A reversion, stretches out telescopic rod, works on, until completing greenbelt trimming.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910151378.4A CN109744006B (en) | 2019-02-28 | 2019-02-28 | Green belt trimming system based on laser cutting and trimming method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910151378.4A CN109744006B (en) | 2019-02-28 | 2019-02-28 | Green belt trimming system based on laser cutting and trimming method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109744006A true CN109744006A (en) | 2019-05-14 |
| CN109744006B CN109744006B (en) | 2021-02-12 |
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ID=66406835
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910151378.4A Active CN109744006B (en) | 2019-02-28 | 2019-02-28 | Green belt trimming system based on laser cutting and trimming method thereof |
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| CN111194631A (en) * | 2019-12-26 | 2020-05-26 | 景古环境建设股份有限公司 | Green belt trimming device for landscaping |
| CN111603599A (en) * | 2020-05-09 | 2020-09-01 | 福建新位激光科技有限公司 | Air curtain type laser aerosol disinfection device and use method |
| US20220159908A1 (en) * | 2020-11-25 | 2022-05-26 | James C. Young | Laser trimming device and method |
| CN114711042A (en) * | 2022-04-01 | 2022-07-08 | 仲恺农业工程学院 | Automatic grape spica removing and shaping device based on image recognition |
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| Publication number | Publication date |
|---|---|
| CN109744006B (en) | 2021-02-12 |
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