CN110562343B - Tree climbing pruning robot - Google Patents
Tree climbing pruning robot Download PDFInfo
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- CN110562343B CN110562343B CN201910204051.9A CN201910204051A CN110562343B CN 110562343 B CN110562343 B CN 110562343B CN 201910204051 A CN201910204051 A CN 201910204051A CN 110562343 B CN110562343 B CN 110562343B
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- 238000013138 pruning Methods 0.000 title claims abstract description 126
- 230000009194 climbing Effects 0.000 title claims abstract description 74
- 230000009193 crawling Effects 0.000 claims abstract description 16
- 238000006073 displacement reaction Methods 0.000 claims abstract description 15
- 230000002829 reductive effect Effects 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims description 23
- 230000009471 action Effects 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 8
- 244000141353 Prunus domestica Species 0.000 claims description 4
- 239000010720 hydraulic oil Substances 0.000 claims description 4
- 230000008602 contraction Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 3
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000670 limiting effect Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000029553 photosynthesis Effects 0.000 description 1
- 238000010672 photosynthesis Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
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Abstract
The invention discloses a hydraulic drive tree climbing pruning robot which comprises a wireless controller and a host, wherein the host is provided with a power module, a clamping crawling module, an electric chain saw, a rotating speed sensor, an ultrasonic sensor, an attitude sensor, a linear displacement sensor and a control unit; the hydraulic drive design is adopted, the structure is simple, the working performance of the whole machine is stable, the running condition of the tree climbing pruning robot is detected by utilizing a plurality of sensors, the self-adaptive control is carried out through the control unit, the working efficiency of the pruning robot is improved, the tree holding mode of clamping is designed, the tree conversion time is shortened, and the labor intensity of workers is reduced.
Description
[ field of technology ]
The invention relates to the technical field of forestry machinery, in particular to a robot device for automatically pruning branches.
[ background Art ]
The fast-growing forest is an artificial forest with short rotation cycle, has great demand in the field of industrial papermaking, and has good economic value due to the excellent characteristics of fast-growing advantage, good material quality, high survival rate of forestation and the like. The rapid-growing forest is reasonably pruned, so that the growth of trees can be promoted, the straightness, roundness, bending strength and toughness of the trees are improved, the growth environment and fireproof condition of the trees are improved, and the photosynthesis of the upper part is enhanced.
The planting area of the fast-growing forest in China is continuously enlarged, but the pruning mode of the fast-growing forest is behind, and pruning is still carried out in many areas by manual hand-held tools, so that the amount of labor is large, the pruning efficiency is low, and the trees with higher pruning dangers are produced; in the partial area, the tree climbing robot is used for pruning, but in the process of climbing and pruning by using the existing method, the tree climbing robot adopts a spiral climbing mode, the tree climbing track is uncontrollable, the tree needs to be completely surrounded during installation, the difficulty is high, the problems of small pruning range, low pruning efficiency, high pruning labor intensity and the like are caused, and the economic benefit of large-area planting of fast-growing forests is adversely affected.
Aiming at the problems that the fast-growing Lin Xiuzhi machine has poor safety, high labor intensity, inapplicable pruning height and the like, the invention provides the fast-growing forest pruning maintenance robot which has good operability, high automation degree, high working efficiency and good safety so as to complete the fast-growing forest pruning maintenance work, and has important promotion function for the development of the fast-growing forest industry.
[ invention ]
The invention aims to solve the problems in the prior art, and provides a hydraulic drive tree climbing pruning robot which can realize automatic and rapid tree climbing and pruning work. Such a hydraulically driven tree climbing pruning robot may comprise: a wireless controller which is held by an operator and a host machine for climbing and pruning. The main machine is mainly provided with a power module, a clamping crawling module, an electric chain saw and a control unit. In particular, various types of sensors are also arranged on the host machine for automatically and accurately detecting the travel path and cutting action of the robot for efficient operation. For example, an arranged rotation speed sensor may be used to detect the robot running speed, and an ultrasonic sensor may be used to detect whether an obstacle exists in front of the host machine running. On the basis, an attitude sensor can be further arranged for detecting the attitude of the main machine during operation, and a displacement sensor can be used for detecting the extension length of the piston rod of the hydraulic cylinder so as to calculate the diameter of the tree to be trimmed. The control unit is connected to the sensors to control the motion and travel state of the host and can be remotely and wirelessly communicated to the wireless controller.
Based on this, a tree climbing pruning robot includes: the wireless controller and the host computer controlled by the wireless controller. Thus, the running and advancing states of each tree climbing pruning robot can be remotely and wirelessly controlled, and one effect of the method is that the working data can be detected and collected regularly so that an operator can acquire and modify the control mode timely.
Specifically, be equipped with power module, press from both sides and hold the module of crawling, electric chain saw, control unit and install a plurality of sensor in this host computer structure different positions department on the host computer, wherein electric chain saw is fixed and is used for pruning the branch on the top of host computer, press from both sides and hold the module of crawling and be used for embracing the host computer and press from both sides and hold in the trunk, a plurality of sensor, power module are respectively the electricity connect control unit, control unit is used for receiving and discernment wireless controller send control command, power module is connected respectively with hydraulic drive press from both sides and hold the mechanical action of module of crawling, electric chain saw.
In one embodiment, the host may comprise: the two parallel fixed mounting plates and a plurality of fixed supporting rods used for connecting the fixed mounting plates, the fixed mounting plates can be integrally of rectangular structures, the fixed supporting rods are cylindrical straight rods, and the fixed mounting plates are fixedly connected with the fixed supporting rods.
Further, the power module includes a compact gasoline engine, a generator, and a hydraulic system. The hydraulic system comprises a hydraulic oil tank and a hydraulic pump communicated with the hydraulic oil tank, the gasoline engine is connected with the generator and the hydraulic pump through a belt pulley and a belt, and the power module is arranged on a fixed mounting plate.
More specifically, the clasping crawling module comprises a driving portion and a driven portion, wherein the driving portion comprises: the movable arm is held to action wheel, hydraulic motor, clamp and hold the movable arm and press from both sides and hold the pneumatic cylinder, the action wheel mountable is on first fixed mounting plate, hydraulic motor links to each other with the action wheel, press from both sides and hold the movable arm through the support mounting on first fixed mounting plate and can rotate around this support, press from both sides and hold movable arm one end and hold the pneumatic cylinder and link to each other with pressing from both sides, press from both sides and hold the pneumatic cylinder other end through the support mounting is on the second fixed mounting plate, press from both sides and hold the expansion of movable arm and press from both sides the holding of movable arm through the expansion control clamp of piston rod. The driven part comprises a driven wheel and a movable side wheel, the driven wheel is arranged on the first fixed mounting plate, the driven wheel and the driving wheel are identical in structure, and the movable side wheel is arranged at the other end of the clamping arm.
In another embodiment, the sensor includes: the rotating speed sensors are used for detecting the moving running speed of the tree-climbing pruning robot; the gesture sensor is arranged on the second fixed plate and is used for detecting the action gesture of the tree-climbing pruning robot, when the host is detected to incline to the outside of the trunk surface, the control unit is used for controlling and reducing the pressure of the clamping hydraulic cylinder at the inclined side by a certain proportion of amplitude, so that the pruning gesture of the tree-climbing pruning robot is adjusted, and the tree-climbing pruning robot is kept in a vertical working state; the displacement sensor is arranged on the clamping hydraulic cylinder and is used for detecting the telescopic length of a piston rod of a hydraulic system of the power module to calculate the diameter of a branch to be trimmed and automatically adjust the helix angle of the tree-climbing pruning robot; the ultrasonic sensor is arranged on the first fixed mounting plate and is used for detecting and determining an obstacle existing in front of the running path of the tree climbing pruning robot; wherein the rotation speed sensor, the ultrasonic sensor, the gesture sensor and the displacement sensor are respectively and electrically connected with the control unit, and the control unit is configured to: determining an obstacle from the ultrasonic sensor; the output power adjustment of the hydraulic cylinder is determined and controlled through the action gesture detected by the gesture sensor and the diameter of the needed pruning branches.
As an optimization of the above embodiment, the host computer may further comprise a third fixed mounting plate or more fixed mounting plates mounted in parallel to each other to arrange different types of the sensors on, for example, the third fixed mounting plate.
As an improvement, the driving part further comprises a steering connecting rod and a steering motor, wherein the steering connecting rod is used for connecting an auxiliary wheel with the driving wheel to synchronously steer; the steering motor is connected with the driven wheel and used for controlling steering.
On the basis, the driving wheel, the driven wheel and the movable side wheels are universal wheels, and the surface of the driving wheel, the driven wheel and the movable side wheels are wrapped with rubber anti-slip layers.
In yet another embodiment, the electric chain saw is mounted and fixed on the first mounting and fixing plate, and a rotation speed sensor is installed in the electric chain saw and used for detecting whether the electric chain saw contacts and saws to branches; the driving wheel and the auxiliary wheel are respectively provided with a rotation speed sensor, and standard operation data stored in the wireless controller can be compared with operation state data obtained remotely in real time to judge the operation condition of the tree climbing pruning robot.
Based on the above scheme, the method for executing the tree climbing and pruning by the tree climbing and pruning robot can comprise the following steps:
placing a tree climbing pruning robot at the bottom of a trunk, enabling two clamping arms to clamp the trunk, starting a compact gasoline engine to drive a hydraulic pump and a generator to work, remotely controlling a clamping hydraulic cylinder through a wireless controller, extending a piston rod of the clamping hydraulic cylinder, pushing the clamping arms to enable movable side wheels to be clung to the surface of the tree, measuring and calculating the diameter of the tree through a displacement sensor on the clamping hydraulic cylinder, and controlling a steering motor to automatically adjust the angle of a driving wheel according to the diameter of the trunk so as to adjust the helix angle by a control unit;
the electric chain saw and the hydraulic motor are started, the driving wheel is driven by the hydraulic motor to operate the tree climbing pruning robot to ascend around the tree spiral, the electric chain saw cuts branches, when the rotation speed sensor on the electric chain saw detects that the rotation speed of the electric chain saw is reduced, the electric chain saw cuts branches, and at the moment, the rotation speed of the hydraulic motor is reduced through the control unit to protect the electric chain saw;
detecting a forward travelling path of the tree climbing pruning robot through an ultrasonic sensor, and driving a driving wheel to turn by a turning motor to enable the tree climbing pruning robot to reversely spiral climb to avoid the obstacle when the obstacle incapable of being overturned is detected; and
when the tree-climbing pruning robot prunes to a specified height, the control unit controls the hydraulic motor to reversely rotate, the driving wheel drives the tree-climbing pruning robot to reversely spirally descend, after the tree-climbing pruning robot reaches the ground, the hydraulic motor and the electric chain saw stop working, the piston rod of the clamping hydraulic cylinder is retracted, the clamping movable arm is opened, and the pruning process is finished.
In one refinement of the above method, it further comprises: the automatic tree climbing and pruning device is characterized in that the driving wheel and the auxiliary wheel are respectively provided with a rotating speed sensor, the speed of the driving wheel and the speed of the auxiliary wheel are compared to detect whether the tree climbing and pruning robot has a slipping phenomenon, when the slipping phenomenon of the tree climbing and pruning robot is detected, the control unit controls the hydraulic motor to reversely rotate, so that the tree climbing and pruning robot reversely operates for a certain distance, and then the hydraulic motor is started forward again.
In one refinement of the above method, it further comprises: when detecting that the host of the tree climbing pruning robot inclines, the gesture sensor transmits signals to the control unit, the control unit reduces the pressure of the clamping hydraulic cylinder at the inclined side, and then the gesture of the tree climbing pruning robot is adjusted, so that the tree climbing pruning robot keeps in a vertical working state.
Based on the scheme, the invention has the beneficial effects that: according to the invention, the hydraulic power is applied to the tree climbing pruning robot, the running condition of the host is detected by utilizing the plurality of sensors, and the self-adaptive control is performed by the control unit, so that the tree pruning efficiency is greatly improved, and the labor intensity of operators is remarkably reduced.
[ description of the drawings ]
Some or all of the features and advantages of the present invention will be described in detail with reference to the accompanying drawings. The construction of a device and its components may be illustrated in different views in different figures to facilitate a better understanding of the solution of the invention, wherein:
fig. 1 is a schematic structural view of a hydraulically driven tree climbing pruning robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a clamping crawling module of a hydraulically driven tree-climbing pruning robot according to an embodiment of the invention;
fig. 3 is a schematic diagram of an internal structure of a clamping crawling module of the hydraulically driven tree-climbing pruning robot according to the embodiment of the invention;
fig. 4 is a schematic structural view of a steering mechanism of a hydraulically driven tree-climbing pruning robot according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of a hydraulically driven tree climbing pruning robot according to an embodiment of the present invention;
in the figure: 1-front mounting fixing plate, 2-rear mounting fixing plate, 3-fixing support rod, 4-fixing support rod, 5-fixing support rod, 6-fixing support rod, 7-electric chain saw, 8-rotating speed sensor, 9-attitude sensor, 10-rotating speed sensor, 11-rotating speed sensor, 12-displacement sensor, 13-displacement sensor, 14-ultrasonic sensor, 15-ultrasonic sensor, 16-wireless controller, 101-compact gasoline engine, 102-generator, 103-storage battery, 104-hydraulic pump, 105-hydraulic pump, 201-driving wheel, 202-hydraulic motor, 203-clamping and holding arm, 204-clamping and holding arm, 205-clamping and holding hydraulic cylinder, 206-clamping and holding hydraulic cylinder, 207-auxiliary wheel, 208-driven wheel, 209-driven wheel, 210-movable side wheel, 211-movable side wheel, 212-steering motor, 213-steering connecting rod and 300-main machine.
[ detailed description ] of the invention
The following describes specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention. In the present invention, unless otherwise specified, terms such as "upper, lower, left, and right" are used to generally refer to the upper, lower, left, and right directions shown in the drawings. For example, from the perspective of the drawings, the first and second fixed mounting plates may be more visually considered as the front fixed mounting plate 1 and the rear fixed mounting plate 2 in terms of the mounting use orientation. Of course, the example structures in the drawings are not limiting on the technical solution of the invention.
Referring to fig. 1 to 5, the hydraulically driven tree climbing and pruning robot according to the embodiment of the invention comprises a wireless controller 16 and a host machine 300, wherein the host machine is provided with a power module, a clamping crawling module, an electric chain saw 7, rotation speed sensors 8, 10 and 11, an attitude sensor 9, displacement sensors 12 and 13, ultrasonic sensors 14 and 15 and a control unit; the rotation speed sensors 8, 10 and 11 are used for detecting the running speed of the robot; the ultrasonic sensors 14 and 15 are used for detecting whether an obstacle exists in front of the operation of the host; the gesture sensor 9 is used for detecting the action form of the host in the running process; the displacement sensors 12 and 13 are used for detecting the extending length of the piston rod of the hydraulic cylinder, so as to calculate the diameter of the tree to be trimmed; the control unit is electrically connected with the sensor and used for controlling the action form and the running of the host in the running process.
According to the hydraulically driven tree climbing and pruning robot provided by the embodiment of the invention, the plurality of rotation speed sensors 8, 10 and 11, the ultrasonic sensors 14 and 15, the gesture sensor 9, the displacement sensors 12 and 13 and the control unit are arranged, so that the hydraulically driven tree climbing and pruning robot can automatically identify and prune tree side branches, the problem that a host machine tilts in the pruning process can be effectively prevented, whether an obstacle exists in front of a path or not and is avoided is detected by the ultrasonic sensors 14 and 15, and the slipping phenomenon is detected in time by the rotation speed sensors 8, 10 and 11, so that the tree climbing and pruning robot is more intelligent, and the pruning efficiency of the tree climbing and pruning robot is improved.
In the example shown in fig. 1, the host machine may comprise a front fixed mounting plate 1, a rear fixed mounting plate 2, four fixed support bars 3, 4, 5, 6. The front and rear fixed mounting plates 1, 2 are integrally rectangular in structure, the fixed support rods 3, 4, 5, 6 are cylindrical straight rods, and the fixed support rods 3, 4, 5, 6 are connected with and fix the front fixed mounting plate 1 and the rear fixed mounting plate 2.
On this basis, the power module may comprise a compact gasoline engine 101, generator 102, battery 103 and one or more hydraulic systems. Sometimes, the battery 103 may be used to provide operating power to the gasoline engine 101 and the above-described sensors.
Specifically, the hydraulic system may include a hydraulic tank 104 and a hydraulic pump 105. The gasoline engine 101 is connected with the generator 102 and the hydraulic pump 105 through pulleys and belts, and all parts of the power module are mounted on the rear fixed mounting plate 2.
In addition, the clamping crawling module comprises a driving part and a driven part. In one example, the driving part includes: the hydraulic motor 202 is connected with the driving wheel 201, and the clamping arms 203 and 204 are installed on the front fixed mounting plate 1 through a proper bracket structure and can rotate around the bracket. One ends of the clamping arms 203 and 204 are respectively connected with clamping hydraulic cylinders 205 and 206, the other ends of the clamping hydraulic cylinders 205 and 206 are arranged on the rear fixed mounting plate 2 through brackets, and the clamping hydraulic cylinders 205 and 206 control the opening and clamping of the clamping arms 203 and 204 through the expansion and contraction of piston rods.
The driven portion includes a plurality of driven wheels 208, 209 and movable side wheels 210, 211. The driven wheels 208, 209 are mounted on the front fixed mounting plate 1.
In one example, the driven wheels 208, 209 are identical in structure to the driving wheel 201, and the movable side wheels 210, 211 are mounted on the other ends of the clamping arms 203, 204.
On this basis, the driving part may further include a steering connecting rod 213, a steering motor 212. The steering connecting rod 213 connects the driving wheel 201 with an auxiliary wheel 207 for synchronous steering, and the steering motor 212 is connected with the auxiliary wheel 207 for controlling steering.
In the above embodiment, the driving wheel 201, the driven wheels 208, 209 and the movable side wheels 210, 211 may all adopt a universal wheel structure, and the surface is wrapped with a rubber anti-slip layer.
In the example shown in fig. 2 and 3, various sensor components are also mounted on one or more mounting plates of the host computer. For example, the electric chain saw 7 is fixed on the front mounting fixing plate 1, and a speed sensor 8 is installed in the electric chain saw 7 and used for detecting whether the electric chain saw 7 contacts and saws into branches. For another example, the driving wheel 201 and the auxiliary wheel 207 are respectively provided with the speed sensors 10 and 11, and the operation condition of the tree climbing pruning robot is judged by the comparison data. The ultrasonic sensors 14 and 15 are installed on the front fixed mounting plate 1 and are used for detecting the situation of an obstacle in front of the running path of the tree climbing pruning robot and avoiding the obstacle.
Meanwhile, the displacement sensors 12 and 13 are arranged on the clamping hydraulic cylinders 205 and 206, the diameter D of the pruned tree is calculated by detecting the extending length of the piston rods of the clamping hydraulic cylinders 205 and 206, and the helix angle of the tree-climbing pruning robot is automatically adjusted according to the effective working length L of the electric chain saw 7. Preferably, the helix angle β is such that:
in addition, the posture sensor 9 is mounted on the rear fixed mounting plate 2, when the inclination of the host relative to the trunk surface is detected, the control unit controls the pressure in the clamping hydraulic cylinders 205 and 206 of the robot towards the inclined side to be reduced by an amplitude ratio, so that the pruning posture of the climbing pruning robot is adjusted, and the climbing pruning robot is kept in a working state of being closely attached to the trunk surface, for example.
Fig. 5 shows schematically an example of an application, and the method of pruning branches provided on the basis of the above-described embodiments can be accomplished by several steps:
s10, placing the climbing pruning robot at a proper position at the bottom of a trunk, so that the two clamping arms 203 and 204 symmetrically clamp the trunk. Here, the compact gasoline engine 101 may be started by the wireless controller 16 to drive the hydraulic pump 105 and the generator 102 to operate.
On the basis, the wireless controller 16 is used for remotely controlling the control unit to start the clamping hydraulic cylinders 205 and 206, piston rods of the clamping hydraulic cylinders 205 and 206 extend out, the clamping movable arms 203 and 204 are pushed to enable the movable side wheels 210 and 211 to be clung to the surfaces of trees, the diameter of the trees is measured and calculated through the displacement sensors 12 and 13 on the clamping hydraulic cylinders 205 and 206, and the control unit controls the steering motor 212 according to the diameter of the tree trunk to automatically adjust the angle of the driving wheel 201 so as to adjust the helix angle.
S20, starting the electric chain saw 7 and the hydraulic motor 202, and driving the driving wheel 201 to operate the tree climbing pruning robot to ascend around the tree by the hydraulic motor 202. In the process, the branches are sawed using the electric chain saw 7. Wherein it is determined that the electric chain saw 7 is sawing branches when the rotation speed sensor 8 on the electric chain saw 7 detects a decrease in the rotation speed of the electric chain saw 7, at which time the rotation speed of the hydraulic motor 202 is decreased by the control unit to protect the electric chain saw 7;
and S30, detecting the forward travelling path of the tree climbing and pruning robot through the ultrasonic sensors 14 and 15, and when detecting that an obstacle incapable of being overturned occurs, driving the driving wheel 201 to rotate by the steering motor 212 so as to enable the tree climbing and pruning robot to reversely spiral and climb to avoid the obstacle.
And S40, when the climbing pruning robot prunes to a designated height, the control unit controls the hydraulic motor 202 to reversely rotate, the driving wheel 201 drives the climbing pruning robot to reversely spirally descend, after the climbing pruning robot reaches the ground, the hydraulic motor 202 and the electric chain saw 7 stop working, piston rods of the clamping hydraulic cylinders 205 and 206 retract, the clamping movable arms 203 and 204 open, and the pruning process is finished.
In an optimization aspect, the rotation speed sensors 10 and 11 are respectively arranged on the driving wheel and the auxiliary wheel, the speed of the driving wheel and the speed of the auxiliary wheel are compared by the control unit to detect whether the climbing pruning robot has a slipping phenomenon, and when the climbing pruning robot is detected to have the slipping phenomenon, the control unit controls the hydraulic motor 202 to reversely rotate, so that after the climbing pruning robot reversely operates for a certain distance, the hydraulic motor 202 is started forward again.
Preferably, in the step S10, the method further includes: determining an obstacle in front of a clamping crawling path on a trunk according to an ultrasonic sensor; the output power adjustment of the clamping hydraulic cylinders 205 and 206 is determined and controlled according to the action gesture of the climbing pruning robot detected by the gesture sensor 9 and the diameter of the needed pruning branches. For example, the output power adjustment comprises determining and correspondingly changing the rated power to be output according to the diameter of the required pruning side branch, namely, the output power of the hydraulic system of the robot is different from the output power when the clamping and crawling is performed and the power conversion of the hydraulic system by the control unit is triggered according to the sensing data of the sensor.
Meanwhile, the diameter D of the pruned tree is calculated by detecting the extension length of the piston rods of the clamping hydraulic cylinders 205 and 206, and the helix angle of the tree-climbing pruning robot is automatically adjusted according to the effective working length L of the electric chain saw 7. Preferably, the helix angle β is such that:
when the situation that the host of the tree climbing pruning robot inclines is detected, the gesture sensor 9 transmits signals to the control unit, the pressure of the clamping hydraulic cylinders 202 and 206 on the inclined side is reduced through the control unit, and then the gesture of the tree climbing pruning robot is adjusted, so that the tree climbing pruning robot keeps a vertical working state.
The invention adopts a hydraulic drive design, has simple structure and stable working performance of the whole machine, simultaneously utilizes a plurality of sensors to detect the running condition of the tree climbing pruning robot, and carries out self-adaptive control through the control unit, thereby improving the working efficiency of the pruning robot, shortening the time for converting the tree and reducing the labor intensity of workers through the design of a tree holding mode of clamping.
The above embodiments are illustrative of the present invention, and not limiting, and any simple modifications of the present invention fall within the scope of the present invention.
Claims (5)
1. A method for climbing and pruning by a climbing and pruning robot is characterized by comprising the following steps: the tree climbing and pruning method adopts a wireless controller and a host controlled by the wireless controller, wherein the host is provided with a power module, a clamping crawling module, an electric chain saw, a control unit and a plurality of sensors arranged at different positions of the host structure, the electric chain saw is fixed at the top end of the host and used for pruning branches, the clamping crawling module is used for encircling and clamping the host on a trunk, the plurality of sensors and the power module are respectively and electrically connected with the control unit, the control unit is used for receiving and identifying control instructions sent by the wireless controller, and the power module is respectively connected with and drives the clamping crawling module and the electric chain saw to perform mechanical actions;
the host includes: the fixing device comprises a fixing mounting plate and a fixing support rod connected with the fixing mounting plate, wherein the whole fixing mounting plate is of a rectangular structure, the fixing support rod is a cylindrical straight rod, and the fixing support rod is connected with and fixed with the fixing mounting plate;
the power module comprises a compact gasoline engine, a generator and a hydraulic system, wherein the hydraulic system comprises a hydraulic oil tank and a hydraulic pump communicated with the hydraulic oil tank, the gasoline engine is connected with the generator and the hydraulic pump through belt pulleys and belts, and the power module is arranged on a fixed mounting plate;
the clamping crawling module comprises a driving part and a driven part, wherein
The driving section includes: the clamping and holding hydraulic device comprises a driving wheel, a hydraulic motor, a clamping and holding arm and a clamping and holding hydraulic cylinder, wherein the driving wheel is arranged on a first fixed mounting plate, the hydraulic motor is connected with the driving wheel, the clamping and holding arm is arranged on the first fixed mounting plate through a bracket and can rotate around the bracket, one end of the clamping and holding arm is connected with the clamping and holding hydraulic cylinder, the other end of the clamping and holding hydraulic cylinder is arranged on a second fixed mounting plate through the bracket, and the clamping and holding hydraulic cylinder controls the opening and clamping and holding of the clamping and holding arm through the expansion and contraction of a piston rod;
the driven part comprises a driven wheel and a movable side wheel, the driven wheel is arranged on the first fixed mounting plate, the driven wheel and the driving wheel have the same structure, and the movable side wheel is arranged at the other end of the clamping arm;
the sensor includes:
the rotating speed sensor is used for detecting the moving running speed of the tree climbing pruning robot;
the gesture sensor is arranged on the second fixed plate and is used for detecting the action gesture of the tree-climbing pruning robot, when the host computer is detected to incline, the control unit is used for controlling and reducing the pressure of the clamping hydraulic cylinder at the inclined side so as to adjust the gesture of the tree-climbing pruning robot, so that the tree-climbing pruning robot keeps a vertical working state;
the displacement sensor is arranged on the clamping hydraulic cylinder and is used for detecting the telescopic length of a piston rod of a hydraulic system of the power module to calculate the diameter of a branch to be trimmed and automatically adjust the helix angle of the tree-climbing pruning robot;
the ultrasonic sensor is arranged on the first fixed mounting plate and is used for detecting and determining an obstacle existing in front of the running path of the tree climbing pruning robot; wherein the rotation speed sensor, the ultrasonic sensor, the gesture sensor and the displacement sensor are respectively and electrically connected with the control unit, and the control unit is configured to: determining an obstacle from the ultrasonic sensor; determining and controlling the output power adjustment of the clamping hydraulic cylinder through the action gesture detected by the gesture sensor and the diameter of the branches to be trimmed;
the electric chain saw is fixedly arranged on the first installation fixing plate, and is provided with a rotating speed sensor for detecting whether the electric chain saw contacts and saws branches; the driving wheel and the auxiliary wheel are respectively provided with a rotating speed sensor so as to judge the running condition of the tree climbing pruning robot;
the method for climbing and pruning comprises the following steps:
placing a tree climbing pruning robot at the bottom of a trunk, enabling two clamping arms to clamp the trunk, starting a compact gasoline engine to drive a hydraulic pump and a generator to work, remotely controlling a clamping hydraulic cylinder through a wireless controller, extending a piston rod of the clamping hydraulic cylinder, pushing the clamping arms to enable movable side wheels to be clung to the surface of the tree, measuring and calculating the diameter of the tree through a displacement sensor on the clamping hydraulic cylinder, and controlling a steering motor to automatically adjust the angle of a driving wheel according to the diameter of the trunk so as to adjust the helix angle by a control unit;
the method comprises the steps that an electric chain saw and a hydraulic motor are started, the hydraulic motor drives a driving wheel to operate a tree climbing pruning robot to ascend around a tree in a spiral mode, the electric chain saw cuts branches, when a rotation speed sensor on the electric chain saw detects that the rotation speed of the electric chain saw is reduced, the electric chain saw cuts branches, and at the moment, the rotation speed of the hydraulic motor is reduced through a control unit to protect the electric chain saw;
detecting a forward travelling path of the tree climbing pruning robot through an ultrasonic sensor, and driving a driving wheel to turn by a turning motor to enable the tree climbing pruning robot to reversely spiral climb to avoid the obstacle when the obstacle incapable of being overturned is detected;
and when the climbing pruning robot prunes to a specified height, the control unit controls the hydraulic motor to reversely rotate, the driving wheel drives the climbing pruning robot to reversely spirally descend, after the climbing pruning robot reaches the ground, the hydraulic motor and the electric chain saw stop working, the piston rod of the clamping hydraulic cylinder is retracted, the clamping movable arm is opened, and the pruning process is finished.
2. The method for pruning a tree by climbing a tree pruning robot according to claim 1, wherein the driving part further comprises a steering connecting rod and a steering motor, and the steering connecting rod connects the driving wheel with an auxiliary wheel for synchronous steering; the steering motor is connected with the auxiliary wheel and used for controlling steering.
3. The method for pruning a tree by climbing a tree pruning robot according to claim 1, wherein the driving wheel, the driven wheel and the movable side wheels are universal wheels, and a rubber anti-slip layer is wrapped on the surfaces of the driving wheel, the driven wheel and the movable side wheels.
4. The method for pruning a tree by climbing a tree pruning robot according to claim 1, wherein the driving wheel and the auxiliary wheel are respectively provided with a rotation speed sensor, the speed of the driving wheel and the speed of the auxiliary wheel are compared to detect whether the tree pruning robot slips, and when the slipping phenomenon of the tree pruning robot is detected, the control unit controls the hydraulic motor to reversely rotate, so that the hydraulic motor is started forward again after the tree pruning robot reversely runs for a certain distance.
5. The method for pruning a tree by a tree-climbing pruning robot according to claim 1, wherein when the situation that the host of the tree-climbing pruning robot is inclined is detected, the gesture sensor transmits a signal to the control unit, and the control unit reduces the pressure of the clamping hydraulic cylinder at the inclined side, so that the gesture of the tree-climbing pruning robot is adjusted, and the tree-climbing pruning robot is kept in a vertical working state.
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| US11785901B2 (en) * | 2020-02-10 | 2023-10-17 | Deere & Company | Tree processing system |
| CN111990208A (en) * | 2020-07-21 | 2020-11-27 | 北京理工华汇智能科技有限公司 | Spiral track type rubber tapping mechanism |
| CN112352570B (en) * | 2020-11-10 | 2022-07-26 | 武汉轻工大学 | Branch pruning robot |
| CN114940472A (en) * | 2022-07-21 | 2022-08-26 | 启东凯顺机械制造有限公司 | Construction lifter for vegetation dense forest area |
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