CN110915458B - Multifunctional hedgerow trimming vehicle and operation method - Google Patents

Multifunctional hedgerow trimming vehicle and operation method Download PDF

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Publication number
CN110915458B
CN110915458B CN201911165999.4A CN201911165999A CN110915458B CN 110915458 B CN110915458 B CN 110915458B CN 201911165999 A CN201911165999 A CN 201911165999A CN 110915458 B CN110915458 B CN 110915458B
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trimming
hedge
cutter head
arm support
arm
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CN110915458A (en
Inventor
覃先云
肖庆麟
滕新科
刘伯祥
易尧
罗文刚
苏琦
丁伟
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Zoomlion Heavy Industry Science and Technology Co Ltd
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
    • A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
    • A01G3/0426—Machines for pruning vegetation on embankments and road-sides
    • 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
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/09—Watering arrangements making use of movable installations on wheels or the like
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/10—Hydraulically loosening or dislodging undesirable matter; Raking or scraping apparatus ; Removing liquids or semi-liquids e.g., absorbing water, sliding-off mud
    • E01H1/101—Hydraulic loosening or dislodging, combined or not with mechanical loosening or dislodging, e.g. road washing machines with brushes or wipers

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Environmental Sciences (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Ecology (AREA)
  • Forests & Forestry (AREA)
  • Water Supply & Treatment (AREA)
  • Harvester Elements (AREA)

Abstract

The invention discloses a multifunctional hedge trimming vehicle and an operation method, the multifunctional hedge trimming vehicle comprises a vehicle chassis, a water spraying device for pre-wetting and irrigating hedges and washing road surfaces, a trimming device for trimming hedges, a collecting device for collecting trimmed branches and leaves, a storing device for storing leaves collected by the collecting device and storing water required by the water spraying device are arranged on the vehicle chassis, the multifunctional hedge trimming vehicle also comprises a control system for controlling the working states of the vehicle chassis, the water spraying device, the trimming device, the collecting device and the storing device, the control system controls the trimming device to hover to the position of the hedgerow to be trimmed, and sequentially controls the water spraying device to spray water to wet the hedgerow, the trimming device trims the target hedgerow, the collecting device synchronously collects trimmed branches and leaves, and the output end of the collecting device is communicated to the storage device to convey the collected branches and leaves to the storage device for storage.

Description

Multifunctional hedgerow trimming vehicle and operation method
Technical Field
The invention relates to the technical field of hedge trimming equipment, in particular to a multifunctional hedge trimming vehicle and an operation method.
Background
The existing hedge trimmer is simple in design, and is mainly characterized in that a trimming device assembly is installed on a truck carriage, so that a simple modification design is made. Raise dust is easily generated when the hedgerow is pruned, influences the surrounding environment, and the efficiency of manually collecting the pruned branches and leaves is low and unsafe.
Disclosure of Invention
The invention provides a multifunctional hedge trimming vehicle and an operation method thereof, and aims to solve the technical problems that dust is generated when an existing hedge trimming vehicle trims a hedge, and the trimmed branches and leaves are collected manually, so that the efficiency is low and the existing hedge trimming vehicle is unsafe.
According to one aspect of the present invention, there is provided a multi-functional hedge trimmer comprising a chassis, a water spraying device mounted on the chassis for pre-wetting and irrigating a hedge and for washing a road surface, a trimming device for trimming the hedge, a collecting device for collecting the trimmed leaves, and a storing device for storing the leaves collected by the collecting device and storing water required by the water spraying device, and a control system for controlling the operating states of the chassis, the water spraying device, the trimming device, the collecting device, and the storing device, the control system controls the trimming device to hover to the position of the hedgerow to be trimmed, and sequentially controls the water spraying device to spray water to wet the hedgerow, the trimming device trims the target hedgerow, the collecting device synchronously collects trimmed branches and leaves, and the output end of the collecting device is communicated to the storage device to convey the collected branches and leaves to the storage device for storage.
Furthermore, the trimming device comprises an arm support arranged on the automobile chassis, a trimming cutter head arranged on the movable end of the arm support, an arm support driving device used for driving the arm support to move and a cutter head driving device used for driving the trimming cutter head to rotate and swing.
Furthermore, a camera for acquiring an image of a scene in front of the trimming cutter and a recognition device for automatically recognizing whether an obstacle exists in front of the trimming cutter according to an image signal acquired by the camera are mounted on the trimming cutter, the camera and the recognition device are both connected with a control system of the hedge trimming vehicle, the image signal acquired by the camera is transmitted to the recognition device through the control system for recognition, and the working state of the cutter rotation mechanism is controlled according to information recognized by the recognition device.
Further, the arm support driving device comprises an arm support rotating mechanism with a fixed end installed on the automobile chassis and used for driving the arm support to rotate, and an arm support overturning mechanism installed on a movable end of the arm support rotating mechanism and used for driving the arm support to overturn, the arm support is installed on the movable end of the arm support rotating mechanism, the cutter head driving device comprises a cutter head overturning mechanism used for driving the trimming cutter head to overturn and a cutter head rotating mechanism used for driving the trimming cutter head to rotate, the control system of the hedge trimming vehicle controls the working states of the arm support overturning mechanism, the trimming cutter head, the cutter head overturning mechanism and the cutter head rotating mechanism, the arm support is driven to move by the arm support overturning mechanism and the arm support rotating mechanism, so that the trimming cutter head is driven to move to a hedge position on one side of the automobile body, and then the trimming cutter head is driven to overturn by the cutter, and the cutter head rotating mechanism drives the cutter head to rotate to one side without the obstacle when the cutter head meets the obstacle, so that the cutter head avoids the obstacle.
The arm support comprises a main arm and an auxiliary arm, the main arm is arranged on the movable end of the arm support swing mechanism, the auxiliary arm is hinged to the main arm, the fixed end of the cutter disc turnover mechanism is arranged on the auxiliary arm, the arm support turnover mechanism comprises a main arm oil cylinder and an auxiliary arm oil cylinder, the main arm oil cylinder is used for driving the main arm to turn over, the fixed end of the main arm oil cylinder is hinged to the movable end of the arm support swing mechanism, the movable end of the main arm oil cylinder is hinged to the main arm, the fixed end of the auxiliary arm oil cylinder is hinged to the main arm, and the movable; the boom driving device comprises a main arm angle sensor for detecting the turning angle of the main arm, an auxiliary arm angle sensor for detecting the turning angle of the auxiliary arm and a boom slewing encoder for detecting the slewing angle of the boom, and the control system acquires information of the attitude and the position of the boom according to detection signals of the main arm angle sensor, the auxiliary arm angle sensor and the boom slewing encoder and further controls the working states of the boom turning mechanism and the boom slewing mechanism according to the information of the attitude and the position of the boom.
Furthermore, the cutter head driving device comprises a cutter head angle sensor for detecting the trimming angle of the trimming cutter head and a cutter head rotary encoder for detecting the rotary angle of the trimming cutter head, and the control system acquires the information of the posture and the position of the trimming cutter head according to the detection signals of the cutter head angle sensor and the cutter head rotary encoder, and then controls the working states of the cutter head turnover mechanism and the cutter head rotary mechanism according to the information of the posture and the position of the trimming cutter head.
Furthermore, a flow channel is arranged in the trimming cutter disc, the collecting device comprises a fan which is communicated with the storage device and is used for enabling the storage device to form negative pressure and a suction pipe which is arranged on the trimming cutter disc and is used for communicating the flow channel with the storage device, the negative pressure is formed in the storage device through the fan, and therefore branches and leaves trimmed by the trimming cutter disc are sucked from the flow channel and the suction pipe and are settled in the storage device.
Furthermore, the water spraying device comprises pre-wetting nozzles which are arranged on the pruning cutter head and are used for pre-wetting the hedgerow before pruning, cleaning nozzles which are arranged on the two sides of the vehicle body and are used for washing the road surface around the pruned hedgerow, spraying nozzles which are arranged at the suction pipe and are used for spraying branches and leaves in the suction pipe, and a spraying water cannon which is arranged in front of the vehicle body and is used for spraying and irrigating the hedgerow in the non-pruning period; pre-wetting the hedgerow before trimming through a pre-wetting nozzle so as to prevent dust from being generated when the hedgerow is trimmed by a trimming cutter head; the branches and leaves in the suction pipe are sprayed through the spraying nozzle, so that the branches and leaves discharged by the suction pipe are quickly settled into the storage device.
Further, the storage device comprises a front cavity used for storing water needed by the water spraying device and a rear cavity used for storing water needed by the water spraying device and storing branches and leaves collected by the collecting device, a filling pipeline used for filling water into the front cavity is arranged at the bottom of the front cavity, a filling valve used for controlling the filling pipeline to be communicated with the water supply pipeline and an outer port used for being communicated with the water spraying device to convey water in the storage device into the water spraying device are arranged on the filling pipeline, an overflow pipeline communicated with the rear cavity is arranged at the top of the front cavity, and an air outlet communicated with a fan and an air inlet communicated with a suction pipe are arranged at the top of the rear cavity.
According to another aspect of the present invention, there is also provided an operating method of a multi-purpose hedge trimmer for operating the multi-purpose hedge trimmer, comprising the steps of: starting a hedge trimming and collecting operation mode to trim the hedges: the arm support is driven by the arm support driving device to extend towards one side of the vehicle body, so that the trimming cutter head is driven to move to the hedgerow, and the trimming cutter head is driven by the cutter head driving device to move to a part of the hedgerow to be trimmed; before trimming the hedge, wetting the hedge by water mist sprayed by pre-wetting nozzles arranged on a trimming cutter head, starting the trimming cutter head to trim the hedge, collecting the trimmed branches and leaves into a storage device by a collection device, and washing the residual branches and leaves on the road surface around the hedge to the outer side of the road surface by water columns sprayed by cleaning nozzles on the two sides of the vehicle body; the hedgerow is pruned and is converted into the afforestation after finishing and spray the watering mode: when the hedgerow does not need to be pruned, the arm support is driven to retract through the arm support driving device, so that the pruning cutter head is driven to move to the position above the vehicle body, and the hedgerow is sprayed and irrigated through the water spraying cannon.
The invention has the following beneficial effects:
according to the multifunctional hedge trimming vehicle, after the hedges are pre-wetted by the water spraying device, the hedges are trimmed by the trimming device, so that dust generated during hedge trimming is effectively reduced; when the hedgerow is pruned, the pruned branches and leaves are immediately collected into the storage device through the collection device without manual collection, so that the labor cost is saved, and the hedgerow pruning efficiency is improved; washing the road surface by a water spraying device for the branches and leaves remained on the road surface; the water needed by the water spraying device and the leaves collected by the collecting device are stored in the storing device, and a plurality of storing devices are not required to be arranged for storing the water needed by the water spraying device and the leaves collected by the collecting device respectively, so that the occupied space of the storing device is reduced; when the hedgerow does not need to be trimmed, the hedgerow is irrigated through the water spraying device, and the hedgerow is maintained.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural view of a multi-purpose hedge trimmer of the preferred embodiment of the present invention;
FIG. 2 is a schematic view of the construction of the clipping apparatus of the preferred embodiment of the present invention;
FIG. 3 is a view showing a state of use of the clipping apparatus according to the preferred embodiment of the present invention;
FIG. 4 is a schematic illustration of the trimmer cutter head of the preferred embodiment of the present invention;
FIG. 5 is a schematic diagram of the attitude of the boom according to the preferred embodiment of the invention;
FIG. 6 is a schematic view of the adjustment of the boom according to the preferred embodiment of the present invention;
FIG. 7 is a schematic structural view of a storage unit according to a preferred embodiment of the present invention;
fig. 8 is a schematic structural view of a storage device according to a preferred embodiment of the present invention.
Illustration of the drawings:
1. an automotive chassis; 2. a water spraying device; 21. pre-wetting the nozzle; 22. cleaning the nozzle; 23. spraying water cannons; 3. a trimming device; 31. a boom; 311. a main arm; 312. an auxiliary arm; 32. trimming the cutter head; 321. a frame; 322. a mounting seat; 323. a trimming cutter assembly; 324. enclosing plates; 325. a rubber plate; 33. a boom drive device; 331. a cantilever crane slewing mechanism; 332. a main arm cylinder; 333. an auxiliary arm oil cylinder; 34. a cutter head driving device; 341. a cutter disc slewing mechanism; 342. the cutter head turnover mechanism; 35. a camera; 4. a collection device; 41. a fan; 42. a straw; 5. a storage device; 51. a front cavity; 511. a filling pipeline; 512. a filling valve; 513. an external interface; 514. an overflow line; 52. a rear cavity; 521. an air outlet; 522. an air inlet; 523. a rear door.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the accompanying drawings, but the invention can be embodied in many different forms, which are defined and covered by the following description.
FIG. 1 is a schematic structural view of a multi-purpose hedge trimmer of the preferred embodiment of the present invention; FIG. 2 is a schematic view of the construction of the clipping apparatus of the preferred embodiment of the present invention; FIG. 3 is a view showing a state of use of the clipping apparatus according to the preferred embodiment of the present invention; FIG. 4 is a schematic illustration of the trimmer cutter head of the preferred embodiment of the present invention; FIG. 5 is a schematic diagram of the attitude of the boom according to the preferred embodiment of the invention; FIG. 6 is a schematic view of the adjustment of the boom according to the preferred embodiment of the present invention;
FIG. 7 is a schematic structural view of a storage unit according to a preferred embodiment of the present invention; fig. 8 is a schematic structural view of a storage device according to a preferred embodiment of the present invention.
As shown in fig. 1, the multi-functional hedge trimmer of this embodiment includes a chassis 1, a water spraying device 2 for pre-wetting and irrigating the hedge and washing the road surface, a trimming device 3 for trimming the hedge, a collecting device 4 for collecting the trimmed branches and leaves, and a storing device 5 for storing the leaves collected by the collecting device 4 and the water required by the water spraying device 2 are installed on the chassis 1, the multi-functional hedge trimmer further includes a control system for controlling the working states of the chassis 1, the water spraying device 2, the trimming device 3, the collecting device 4 and the storing device 5, the control system controls the trimming device 3 to suspend to the position of the hedge to be trimmed, and controls the water spraying device 2 to spray water to wet the hedge and the trimming device 3 to trim the target hedge, and the collecting device 4 synchronously collects the trimmed branches and leaves, the output end of the collecting device 4 is communicated to the storage device 5 to convey the collected branches and leaves into the storage device 5 for storage. According to the multifunctional hedge trimming vehicle, after the hedges are pre-wetted by the water spraying device 2, the hedges are trimmed by the trimming device 3, so that the raised dust generated during hedge trimming is effectively reduced; when the hedge is pruned, the pruned branches and leaves are immediately collected into the storage device 5 through the collection device 4, manual collection is not needed, the labor cost is saved, and the hedge pruning efficiency is improved; washing the road surface to be clean by the water spraying device 2 for the branches and leaves remained on the road surface; the water needed by the water spraying device 2 and the leaves collected by the collecting device 4 are stored in the storing device 5, a plurality of storing devices 5 are not needed to be arranged for storing the water needed by the water spraying device 2 and the leaves collected by the collecting device 4, and the occupied space of the storing devices 5 is reduced; when the hedge is not required to be trimmed, the hedge is irrigated through the water spraying device 2, and the hedge is maintained. In the present embodiment, a compartment is provided on the vehicle chassis 1, and the collecting device 4 and the storage device 5 are installed in the compartment to protect the collecting device 4 and the storage device 5. The hedge trimming unit 3 is mounted on the chassis 1 of the vehicle in the area between the head and the cabin. When the hedge trimming vehicle needs to normally run without trimming operation, the control system controls the hedge trimming device 3 to be in an initial state, the control arm support swing mechanism 331 and the arm support turnover mechanism control the arm support 31 to be folded in the region between the vehicle head and the carriage, and the trimming cutter head 32 is positioned above the vehicle head, so that the hedge trimming device 3 is prevented from influencing the normal running of the hedge trimming vehicle, and potential safety hazards are reduced; when the hedge trimming vehicle needs to perform trimming operation, the hedge trimming device 3 is controlled to be in a trimming state by the control system, and the arm support is controlled to be unfolded by controlling the arm support rotating mechanism 331 and the arm support overturning mechanism.
As shown in fig. 1 and fig. 2, the hedge trimming apparatus 3 of the present embodiment is mounted on a chassis of a hedge trimming vehicle, the hedge trimming apparatus 3 includes a trimming cutterhead 32 for trimming hedges, an arm support 31 for adjusting the position of the trimming cutterhead 32, an arm support driving device 33 for driving the arm support to move, and a cutterhead driving device 34 for driving the trimming cutterhead 32 to swing in a rotating manner, the cutterhead driving device 34 includes a cutterhead turning mechanism 342 mounted on a movable end of the arm support 31 for adjusting the trimming angle of the trimming cutterhead 32, and a cutterhead rotating mechanism 341 mounted on a movable end of the cutterhead turning mechanism 342 for driving the trimming cutterhead 32 to rotate to avoid obstacles encountered in front of the trimming cutterhead, the boom driving device 33 comprises a boom slewing mechanism 331 of which the fixed end is mounted on the automobile chassis and used for driving the boom 31 to slew, and a boom overturning mechanism mounted on the boom 31 and the boom slewing mechanism 331 and used for driving the boom to overturn; the control system of the hedge trimmer controls the working states of the arm support turning mechanism, the arm support rotating mechanism 331, the trimming cutterhead 32, the cutterhead turning mechanism 342 and the cutterhead rotating mechanism 341, the arm support 31 is driven to move through the arm support turning mechanism and the arm support rotating mechanism 331, so that the trimming cutterhead 32 is driven to move to a hedge on one side of a vehicle body, the trimming cutterhead 32 is driven to turn through the cutterhead turning mechanism 342, so that the trimming angle of the trimming cutterhead 32 is matched with the surface to be trimmed of the hedge, and the trimming cutterhead 32 is driven to rotate to one side without obstacles when the trimming cutterhead 32 meets the obstacles through the cutterhead rotating mechanism 341, so that the trimming cutte. The hedge trimming device 3 of the invention controls the working states of the arm frame turning mechanism, the arm frame rotating mechanism 331, the trimming cutterhead 32, the cutterhead turning mechanism 342 and the cutterhead rotating mechanism 341 through the control system of the hedge trimming vehicle, drives the arm frame 31 to move through the arm frame turning mechanism and the arm frame rotating mechanism 331 so as to drive the trimming cutterhead 32 to move to the hedge on one side of the vehicle body, further drives the trimming cutterhead 32 to turn through the cutterhead turning mechanism 342 so as to enable the trimming angle of the trimming cutterhead 32 to be matched with the surface to be trimmed of the hedge, ensures that the trimming cutterhead 32 fully trims the surface to be trimmed of the hedge, improves the working efficiency of the hedge trimming device 3, improves the working effect of the hedge trimming device 3, and drives the trimming cutterhead 32 to rotate to one side without obstacles through the cutterhead rotating mechanism 341 when the trimming cutterhead 32 meets obstacles, thereby enabling, since the obstacle is avoided by the trimmer head 32 only by controlling the head turning mechanism 341, the obstacle is avoided quickly and timely, and the damage of the trimmer head 32 due to the collision of the obstacle is avoided.
As shown in fig. 3, the trimmer head 32 is provided with a camera 35 for acquiring an image of a scene in front of the trimmer head 32 and a recognition device for automatically recognizing whether an obstacle exists in front of the trimmer head 32 according to an image signal acquired by the camera 35, both the camera 35 and the recognition device are connected to a control system of the hedge trimmer, the image signal acquired by the camera 35 is transmitted to the recognition device by the control system for recognition, and the working state of the cutter head rotating mechanism 341 is controlled according to information recognized by the recognition device. In this embodiment, the viewing angle of the camera 35 is greater than 60 degrees, thereby capturing images within a range of 1-2 meters in front of the trimmer head 32. If the recognition device analyzes and judges that an obstacle exists in front of the trimmer cutter 32 according to the image signal acquired by the camera 35, the control system controls the cutter rotating mechanism 341 to rotate towards the left side or the right side according to the result recognized by the recognition device, so as to drive the trimmer cutter 32 to rotate to the area without the obstacle. Optionally, the trimmer disc 32 is provided with a first camera for capturing a scene in front of the trimmer disc 32, a second camera for capturing a scene on the left side of the trimmer disc 32, and a third camera for capturing a scene on the right side of the trimmer disc 32. When trimming a hedge, the first camera, the second camera and the third camera respectively acquire the scenes in front of, on the left side of and on the right side of the trimming cutter head 32 and transmit image signals to the control system, the control system transmits the image signals acquired by the first camera, the second camera and the third camera to the recognition device for recognition, if the front of the trimming cutter head 32 is judged to have an obstacle and the left side has no obstacle, the trimming cutter head 32 is controlled to rotate to the left side without the obstacle, and then, acquiring a scene in front of the original trimming cutterhead 32, namely a scene in the trimming direction, through the third camera and transmitting an image signal to the control system, transmitting the image signal acquired by the third camera to the identification device by the control system, and controlling the trimming cutterhead 32 to turn to the right side to the trimming direction to continue trimming if the identification device identifies and judges that no obstacle exists in the trimming direction. In this embodiment, the recognition device obtains the outline according to the image signal and compares the outline with the image in the database, thereby determining whether the obstacle is present.
As shown in fig. 2, the arm support 31 includes a main arm 311 mounted on the movable end of the arm support swing mechanism 331 and an auxiliary arm 312 hinged to the main arm 311, the fixed end of the cutterhead overturning mechanism 342 is mounted on the auxiliary arm 312, the arm support overturning mechanism includes a main arm cylinder 332 for driving the main arm 311 to overturn and an auxiliary arm cylinder 333 for driving the auxiliary arm 312 to overturn, the fixed end of the main arm cylinder 332 is hinged to the movable end of the arm support swing mechanism 331, the movable end of the main arm cylinder 332 is hinged to the main arm 311, the fixed end of the auxiliary arm cylinder 333 is hinged to the main arm 311, and the movable end of the auxiliary arm cylinder 333 is hinged to the auxiliary. The tilting angles of the main arm 311 and the sub arm 312 are controlled by controlling the extension and contraction of the main arm cylinder 332 and the sub arm cylinder 333.
As shown in fig. 2, the boom turning mechanism further includes a main arm angle sensor for detecting a turning angle of the main arm 311, an auxiliary arm 312 angle sensor for detecting a turning angle of the auxiliary arm 312, and a boom slewing encoder for detecting a slewing angle of the boom 31, and the control system obtains information of a posture and a position of the boom 31 according to detection signals of the main arm angle sensor, the auxiliary arm 312 angle sensor, and the boom slewing encoder, and then controls working states of the boom turning mechanism and the boom slewing mechanism 331 according to the information of the posture and the position of the boom 31.
As shown in fig. 2, the boom slewing mechanism 331 is provided with a boom support seat, the fixed end of the main arm 311 is hinged to the boom support seat, the boom overturning mechanism includes a main arm cylinder 332 with a fixed end hinged to the boom support seat and a movable end hinged to the main arm 311, and an auxiliary arm cylinder 333 with a fixed end hinged to the main arm 311 and a movable end hinged to the auxiliary arm 312, and the tilting angles of the main arm 311 and the auxiliary arm 312 are controlled by controlling the extension and retraction of the main arm cylinder 332 and the auxiliary arm cylinder 333.
As shown in fig. 2, the cutter head turning mechanism 342 includes a connecting base for connecting the movable end of the arm support 31 with the movable end of the cutter head turning mechanism 341, an arc-shaped turning plate with two ends respectively hinged to the movable end of the arm support 31 and the connecting base, and a cutter head turning cylinder with a fixed end hinged to the arm support 31 and a movable end hinged to the arc-shaped turning plate. A first end of the connecting base is fixed to the trimmer disc 32 and a second end of the connecting base is hinged to the arm support 31.
As shown in fig. 2, the cutter head turning mechanism 342 includes a cutter head angle sensor for detecting a trimming angle of the trimming cutter head 32, the cutter head turning mechanism 341 includes a cutter head rotary encoder for detecting a rotary angle of the trimming cutter head 32, and the control system acquires information of the posture and position of the trimming cutter head 32 according to detection signals of the cutter head angle sensor and the cutter head rotary encoder, and then controls the operating states of the cutter head turning mechanism 342 and the cutter head turning mechanism 341 according to the information of the posture and position of the trimming cutter head 32. In this embodiment, the boom 31 is adjusted from the initial position to the working position by the boom driving device 33, and when the working position is reached, the boom 31 is fixed. Because the main arm cylinder 332, the auxiliary arm cylinder 333 and the cutter head overturning cylinder are all designed with bidirectional balance valves, the arm support 31 and the trimming cutter head 32 can not overturn after reaching the operation position. In addition, the boom rotating mechanism 331 and the cutter rotating mechanism 341 are mechanisms composed of worm gears and worms, and have a self-locking function, so that the trimmer cutter 32 and the boom 31 cannot rotate freely after reaching the working position, and therefore, the positions and postures of the boom 31 and the trimmer cutter 32 cannot be changed without executing a motion signal. When the trimming cutter 32 moves from the initial position to the working position, firstly the boom slewing mechanism 331 rotates 90 degrees to the left or right side of the vehicle (the angle is detected by the boom slewing encoder), then the cutter is rotated 90 degrees by the cutter slewing mechanism 341 (the angle is detected by the cutter slewing encoder), and then the main arm cylinder 332, the sub arm cylinder 333 and the cutter overturning cylinder (detected by the main arm angle sensor, the sub arm angle sensor and the cutter angle sensor) are cooperatively adjusted according to the working position requirement, so that the trimming cutter 32 is adjusted to the working position. When the trimming cutterhead 32 returns to the initial position from the working position, the adjusting action is opposite to the process, the main arm cylinder 332, the auxiliary arm cylinder 333 and the cutterhead overturning cylinder cooperate to adjust the overturning angles of the main arm 311, the auxiliary arm 312 and the trimming cutterhead 32, and then the arm support slewing mechanism 331 and the cutterhead slewing mechanism 341 realize the slewing reset action of the trimming cutterhead 32 and the arm support 31, so that the interference of the trimming device with other structures such as a vehicle head, a carriage and the like is avoided.
As shown in fig. 4, the trimmer head 32 includes a frame 321, a mounting seat 322 for mounting on the movable end of the arm support 31, a trimmer cutter assembly 323 for trimming hedges, and an enclosure 324 for enclosing the trimmer cutter assembly 323 are mounted on the frame 321, and the trimmer cutter assembly 323 is located in a semi-closed cavity through the enclosure 324 mounted on the frame 321, so as to prevent the trimmed branches and leaves from splashing and causing safety hazard to surrounding personnel.
The trimming cutterhead 32 further comprises a displacement sensor for detecting the distance between the trimming surface of the trimming cutterhead 32 and the trimming part of the hedge, the control system acquires the position information of the trimming surface of the trimming cutterhead 32 according to the detection signal of the displacement sensor, and then controls the working states of the arm support turnover mechanism, the arm support rotation mechanism 331, the cutterhead turnover mechanism 342 and the cutterhead rotation mechanism 341 according to the position information of the trimming surface of the trimming cutterhead 32 so as to move the trimming surface of the trimming cutterhead 32 to the surface to be trimmed of the hedge.
As shown in fig. 4, a flow channel communicated with the cavity is provided in the frame 321, an output end of the flow channel is connected to a suction pipe 42 of the collecting device 4 on the hedge trimmer, the trimming cutter assembly 323 includes a trimming and crushing cutter located in the middle of the cavity and two sets of trimming cutters located on two sides of the trimming and crushing cutter respectively, and the two sets of trimming cutters are closer to an opening of the enclosure 324 relative to the middle trimming and crushing cutter, so as to primarily trim branches and leaves of the hedge through the two trimming cutters, and further crush the branches and leaves trimmed by the trimming and crushing cutter, so that the collecting device 4 sucks the crushed branches and leaves into the storage device 5 on the hedge trimmer. A plurality of groups of rubber plates 325 are arranged at the opening of the enclosing plate 324. A guide plate for guiding branches and leaves cut off by the pruning cutters to the pruning and crushing cutters for further pruning is arranged between the two groups of pruning cutters and the pruning and crushing cutters. When trimming the hedge, the hedge is stretched into the cavity from between the rubber plates 325, the branches and leaves are trimmed from the hedge by the two groups of trimming cutters, and the trimmed branches and leaves are further crushed by the trimming crushing cutters, so that the crushed branches and leaves are collected into the storage device 5 by the collecting device 4. The pruning cutter comprises a bearing seat arranged on the frame 321, a rotary motor fixed on the bearing seat and a rotary shaft in transmission connection with an output shaft of the rotary motor, wherein the rotary shaft is arranged in the bearing seat through a bearing, and a plurality of groups of blades are arranged on the rotary shaft, so that the blades are driven to rotate through the rotary shaft to prune branches and leaves.
The control method of the hedge trimming device 3 of the present embodiment includes the steps of: controlling the arm support rotating mechanism 331 according to the relative position of the hedge to be trimmed and the hedge trimming vehicle, so as to drive the arm support 31 to rotate to the position near the hedge to be trimmed on one side of the vehicle body; determining the posture and position information of the arm support 31 and the trimming cutterhead 32 according to the length of the arm support 31, the vertical distance between the trimming surface of the trimming cutterhead 32 and the fixed end of the arm support 31, the horizontal distance between the fixed end of the arm support 31 and the trimming surface of the trimming cutterhead 32 and the included angle between the trimming surface of the trimming cutterhead 32 and the horizontal plane; determining the position and angle information of the face to be trimmed of the hedge according to the deviation between the trimming face of the trimming cutter head 32 and the face to be trimmed of the hedge, the length of the arm support 31, the vertical distance between the face to be trimmed of the hedge and the fixed end of the arm support 31, the horizontal distance between the fixed end of the arm support 31 and the face to be trimmed of the hedge and the inclination angle between the face to be trimmed of the hedge and the horizontal plane; determining the angle of the arm support 31 and the trimming cutter head 32 to be turned according to the information of the posture and the position of the arm support 31 and the trimming cutter head and the information of the position and the angle of the surface to be trimmed of the hedge; controlling an arm support turnover mechanism and a cutter turnover mechanism 342 according to the angle of the arm support 31 and the trimming cutter 32 to be turned over, so as to drive the arm support 31 and the cutter to be turned over, and enabling the trimming surface of the trimming cutter 32 to be matched with the surface to be trimmed of the hedge; starting the pruning cutterhead 32 to prune the hedges to be pruned; monitoring the deviation between the trimming surface of the trimming cutter head 32 and the surface to be trimmed of the hedge in real time, and controlling the arm support turnover mechanism and the cutter head turnover mechanism 342 according to the deviation between the trimming surface of the trimming cutter head 32 and the surface to be trimmed of the hedge to ensure that the trimming surface of the trimming cutter head 32 is matched with the surface to be trimmed of the hedge; acquiring an image in front of the trimmer cutter head 32 through the camera 35 on the trimmer cutter head 32, and analyzing the image through a recognition device, so as to judge whether an obstacle exists in front of the trimmer cutter head 32; if the front of the trimming cutter head 32 is judged to have no obstacles, the hedge is continuously trimmed in the manner described above; if it is determined that an obstacle exists in front of the trimmer cutter 32, the cutter turning mechanism 341 is controlled to turn the trimmer cutter 32 to the side without the obstacle.
After the arm support 31 is driven to rotate to the position near the hedge to be trimmed on one side of the vehicle body, the trimming cutter head 32 is driven to turn over through the cutter head turning mechanism 342 according to the angle of the surface to be trimmed of the hedge, so that the trimming surface of the trimming cutter head 32 is parallel to the surface to be trimmed of the hedge, and the angle deviation between the trimming surface of the trimming cutter head 32 and the surface to be trimmed of the hedge is eliminated; the angle of the arm support 31 and the trimming cutter head 32 to be turned is determined according to the distance deviation between the trimming surface of the trimming cutter head 32 and the surface to be trimmed of the hedge, the length of the arm support 31, the vertical distance between the trimming surface of the trimming cutter head 32 and the fixed end of the arm support 31, the horizontal distance between the fixed end of the arm support 31 and the trimming surface of the trimming cutter head 32, and the included angle between the trimming surface of the trimming cutter head 32 and the horizontal plane.
In this embodiment, the main arm 311, the sub arm 312 and the trimming cutter 32 can realize a coordinated motion, and the control system controls the arm support turning mechanism, the arm support turning mechanism 331, the cutter turning mechanism 342 and the cutter turning mechanism 341, so as to control the coordinated motion of the main arm 311, the sub arm 312 and the trimming cutter 32, and realize a combined motion of the trimming cutter 32, such as horizontal and vertical motions. During operation, an operator only needs to input parameters such as the operation height of the trimming cutterhead 32, the horizontal distance between the trimming cutterhead 32 and a vehicle body, the operation inclination angle of the trimming cutterhead 32, the operation direction of the trimming cutterhead 32 and the like into a cab control display screen, the control system can automatically calculate the motion amount of the main arm 311, the auxiliary arm 312 and the trimming cutterhead 32, namely the posture positions of the arm support 31 and the trimming cutterhead 32, and control all structural components to cooperatively move to corresponding positions. Firstly, the cutter head turning mechanism 342 is controlled according to the angle of the surface to be trimmed of the hedge, and the operation inclination angle of the trimming cutter head 32 is adjusted to be equal to the angle of the surface to be trimmed of the hedge, so that the angle deviation between the trimming surface of the trimming cutter head 32 and the surface to be trimmed of the hedge is eliminated. The attitude position calculation method comprises the following steps: as shown in fig. 5, the origin O is a hinge point of the main arm 311 and the support seat of the arm support 31, i.e. a fixed end of the main arm 311, a is a hinge point of the main arm 311 and the sub arm 312, B is a hinge point of the sub arm 312 and the cutter head rotation mechanism 341, i.e. a movable end of the sub arm 312, C is a center of the trimming surface, l1Is the distance between point O and point A, l2Is the distance between point A and point B, l3Determining the position coordinate of the point C according to the working height of the trimmer cutter head 32 and the horizontal distance between the trimmer cutter head 32 and the vehicle body as the distance between the point B and the point C, wherein the point C isxThe horizontal distance L, C between the center of the trimming surface and the vehicle bodyyTheta is the operating elevation, theta is the operating inclination of the trimmer cutter head 32, Cx、CyAnd theta are all input parameters during working:
Figure BDA0002287465860000081
Figure BDA0002287465860000082
Figure BDA0002287465860000083
Figure BDA0002287465860000084
the abscissa C of the point C can be obtainedx：Cx＝l1cosα-l2cos(α+β)+l3cos(α+β+γ)；
C point ordinate Cy：Cy＝l1sinα-l2sin(α+β)+l3sin(α+β+γ)；
Thereby obtaining:
Figure BDA0002287465860000085
the process is as follows:
Figure BDA0002287465860000086
the three formulas are combined to calculate alpha, beta and gamma.
In this embodiment, the trimming cutter head 32 is provided with a displacement sensor, and adaptive adjustment is performed according to a distance deviation between the trimming surface of the trimming cutter head 32 and the surface to be trimmed of the hedge, so that the trimming surface of the trimming cutter head 32 is matched with the surface to be trimmed of the hedge, and the surface to be trimmed of the hedge is trimmed. In the process of pruning, when the road surface is uneven, the pruning cutter head 32 fluctuates up and down along with the vehicle, so that distance deviation exists between the pruning surface of the pruning cutter head 32 and the surface to be pruned of the hedge. The displacement sensors on the trimmer cutter head 32 transmit data to the control system while monitoring changes in real time. The control system calculates the turning angle of the main arm 311, the auxiliary arm 312 and the trimming cutter head 32 according to the attitude parameters transmitted by the main arm 311 angle sensor, the auxiliary arm 312 angle sensor, the arm support rotary encoder, the cutter head angle sensor and the cutter head rotary encoder, so that the coordinated movement of all structural components is controlled and timely adjustment is performed. The method of calculating the required turning angle of the main arm 311, the sub-arm 312 and the trimmer head 32 is as follows: as shown in fig. 6, the origin O is a hinge point of the main arm 311 and the arm support seat, a is a hinge point of the main arm 311 and the sub arm 312, B is a hinge point of the sub arm 312 and the cutter head rotation mechanism 341, and C is a center of the trimming surface. When a distance deviation occurs between the trimming surface of the trimming cutter head 32 and the surface to be trimmed of the hedge, the main arm 311, the sub-arm 312 and the trimming cutter head 32 need to be adjusted to the dotted line positions in fig. 5 in time, that is, A, B, C points move to a ', B ' and C ', so that:
Figure BDA0002287465860000091
Figure BDA0002287465860000092
the C' coordinate should then also satisfy the formula:
Figure BDA0002287465860000093
the angular relationship also satisfies the formula:
Figure BDA0002287465860000094
the above equations are combined to obtain:
Figure BDA0002287465860000095
solving the equations can obtain α ', β ', γ '. The turning angles of the main arm 311, the sub arm 312 and the trimmer head 32 are respectively: Δ α ═ α - α'; Δ β ═ β - β'; Δ γ ═ γ - γ'.
In this embodiment, the cooperative motion of the main arm 311, the sub arm 312 and the trimming cutter 32 can be controlled to move the trimming cutter 32 in the surface to be trimmed of the hedge, that is, when the surface to be trimmed is wider than the trimming surface of the trimming cutter 32, the trimming cutter 32 performs a directional movement parallel to the trimming surface to trim the hedge wider than the trimming cutter 32. When the surface to be trimmed of the hedge is wider than the trimming surface W of the trimming cutter head 32, an operator sends an instruction of directional movement W of the trimming cutter head 32, the angle sensor of the main arm 311, the angle sensor of the auxiliary arm 312, the rotary encoder of the arm support 31, the cutter head angle sensor and the cutter head rotary encoder transmit attitude position information to the control system, and the control system calculates the variation amount and variation speed of the main arm 311, the auxiliary arm 312 and the trimming cutter head 32, so that the movement of the main arm 311, the auxiliary arm 312 and the trimming cutter head 32 is cooperatively controlled, and the trimming cutter head 32 moves from the solid line position to the dotted line position in the figure, so that the hedge wider than the trimming cutter head 32 is trimmed.
As shown in fig. 1, a flow passage is provided in the cutter head 32, the collecting device 4 includes a blower 41 communicating with the storage device 5 for generating negative pressure in the storage device 5 and a suction pipe 42 mounted on the cutter head 32 for communicating the flow passage with the storage device 5, and negative pressure is generated in the storage device 5 by the blower 41, so that the branches and leaves cut by the cutter head 32 are sucked from the flow passage and the suction pipe 42 and settled in the storage device 5.
As shown in fig. 1, the water spray device 2 includes pre-wetting nozzles 21 mounted on the trimmer head 32 for pre-wetting the hedge before trimming, cleaning nozzles 22 mounted on both sides of the vehicle body for washing the road surface around the trimmed hedge, spray nozzles mounted on the suction pipe 42 for spraying water toward the branches and leaves inside the suction pipe 42, and spray water cannons 23 mounted on the front of the vehicle body for spraying and irrigating the hedge during the non-trimming period; pre-wetting the hedge before trimming by the pre-wetting nozzle 21 to prevent dust emission when the hedge is trimmed by the trimmer head 32; the branches and leaves in the suction pipe 42 are sprayed through the spray nozzles so that the branches and leaves discharged from the suction pipe 42 quickly sink into the storage device 5.
As shown in fig. 7 and 8, the storage device 5 includes a front cavity 51 for storing water required by the water spraying device 2 and a rear cavity 52 for storing water required by the water spraying device 2 and storing branches and leaves collected by the collection device 4, a filling pipe 511 for filling water into the front cavity 51 is provided at the bottom of the front cavity 51, a filling valve 512 for controlling the filling pipe 511 to communicate with the water supply pipe and an external port 513 for communicating with the water spraying device 2 to deliver water in the storage device 5 into the water spraying device 2 are provided on the filling pipe 511, an overflow pipe 514 communicating with the rear cavity 52 is provided at the top of the front cavity 51, an air outlet 521 for communicating with the fan 41 and an air inlet 522 for communicating with the suction pipe 42 are provided at the top of the rear cavity 52. Water is filled into the front cavity 51 by opening the filling valve 512, the water enters the rear cavity 52 from the overflow pipeline 514 after filling the front cavity 51, and the water overflows from the overflow pipeline 514 when the liquid level of the rear cavity 52 reaches the overflow pipeline 514, so that the filling is stopped. The end cover is arranged on the external interface 513, the external interface 513 is communicated with the conveying equipment by opening the end cover, water in the front cavity 51 and the rear cavity 52 is conveyed to the water spraying device 2 through the conveying equipment for use, and meanwhile, after the fan 41 is connected with the air outlet 521 of the rear cavity 52, a negative pressure environment is formed in the rear cavity 52, so that branches and leaves trimmed by the trimming cutter head 32 are sucked into the rear cavity 52. The rear cavity 52 is further provided with a rear door 523, and branches and leaves stored in the rear cavity 52 are taken out by opening the rear door 523.
The operation method of the multifunctional hedge trimmer of the invention is used for operating the multifunctional hedge trimmer and comprises the following steps: hedgerow trimming and collecting operation mode: starting a hedge trimming and collecting operation mode to trim the hedges: the arm support 31 is driven by the arm support driving device 33 to extend towards one side of the vehicle body, so that the trimming cutter head 32 is driven to move to the hedge, and the trimming cutter head 32 is driven by the cutter head driving device 34 to move to the part of the hedge to be trimmed; before trimming the hedge, wetting the hedge by water mist sprayed by a pre-wetting nozzle 21 arranged on a trimming cutter head 32, starting the trimming cutter head 32 to trim the hedge, collecting the trimmed branches and leaves into a storage device 5 by a collecting device 4, and washing the residual branches and leaves on the road surface around the hedge to the outer side of the road surface by water columns sprayed by cleaning nozzles 22 on the two sides of the vehicle body; the hedgerow is pruned and is converted into the afforestation after finishing and spray the watering mode: when the hedge does not need to be trimmed, the arm support driving device 33 drives the arm support 31 to retract, so that the trimming cutter head 32 is driven to move to the upper portion of the vehicle body, and the sprinkling water cannon 23 is used for sprinkling and irrigating the hedge.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. A multifunctional hedge trimming vehicle comprises a vehicle chassis (1) and is characterized in that,
a water spraying device (2) for pre-wetting and irrigating the hedgerow and washing the road surface, a trimming device (3) for trimming the hedgerow, a collecting device (4) for collecting the trimmed branches and leaves, and a storing device (5) for storing the leaves collected by the collecting device (4) and the required water of the water spraying device (2) are arranged on the automobile chassis (1),
the multifunctional hedge trimming vehicle further comprises a control system for controlling the working states of the automobile chassis (1), the water spraying device (2), the trimming device (3), the collecting device (4) and the storing device (5), the trimming device (3) is controlled to hover to the position of a hedge to be trimmed through the control system, the water spraying device (2) is sequentially controlled to spray water to wet the hedge, the trimming device (3) trims a target hedge, the collecting device (4) synchronously collects trimmed branches and leaves, and the output end of the collecting device (4) is communicated to the storing device (5) to convey the collected branches and leaves to the storing device (5) for storage;
the trimming device (3) comprises an arm support (31) arranged on the automobile chassis (1), a trimming cutter head (32) arranged at the movable end of the arm support (31), an arm support driving device (33) used for driving the arm support (31) to move and a cutter head driving device (34) used for driving the trimming cutter head (32) to rotate and swing;
a flow passage is arranged in the trimming cutter head (32),
the collecting device (4) comprises a fan (41) which is communicated with the storage device (5) and is used for forming negative pressure in the storage device (5) and a suction pipe (42) which is arranged on the trimming cutter head (32) and is used for communicating the flow channel with the storage device (5),
negative pressure is formed in the storage device (5) through the fan (41), so that branches and leaves cut by the cutter head (32) are sucked from the flow channel and the suction pipe (42) and are settled in the storage device (5).
2. A multi-purpose hedge trimmer according to claim 1,
the trimmer cutter head (32) is provided with a camera (35) for acquiring an image of a scene in front of the trimmer cutter head (32) and a recognition device for automatically recognizing whether an obstacle exists in front of the trimmer cutter head (32) according to an image signal acquired by the camera (35),
the camera (35) and the recognition device are both connected with a control system of the hedge trimming vehicle, an image signal acquired by the camera (35) is transmitted to the recognition device through the control system for recognition, and the working state of the cutter head rotating mechanism (341) is controlled according to the information recognized by the recognition device.
3. A multi-purpose hedge trimmer according to claim 2,
the arm support driving device (33) comprises an arm support rotating mechanism (331) with a fixed end arranged on the automobile chassis (1) and used for driving the arm support (31) to rotate and an arm support overturning mechanism arranged on a movable end of the arm support rotating mechanism (331) and used for driving the arm support (31) to overturn, the arm support (31) is arranged on the movable end of the arm support rotating mechanism (331),
the cutter head driving device (34) comprises a cutter head turning mechanism (342) for driving the trimming cutter head (32) to turn and a cutter head turning mechanism (341) for driving the trimming cutter head (32) to turn,
the control system of the hedge trimming vehicle controls the working states of the arm support turnover mechanism, the arm support rotation mechanism (331), the trimming cutterhead (32), the cutterhead turnover mechanism (342) and the cutterhead rotation mechanism (341), the arm support (31) is driven to move through the arm support turnover mechanism and the arm support rotation mechanism (331), the trimming cutterhead (32) is driven to move to a hedge position on one side of a vehicle body, the trimming cutterhead (32) is driven to turn through the cutterhead turnover mechanism (342), so that the trimming angle of the trimming cutterhead (32) is matched with a surface to be trimmed of the hedge, the trimming cutterhead (32) is driven to rotate to one side without obstacles when the trimming cutterhead (32) meets the obstacles through the cutterhead rotation mechanism (341), and the trimming cutterhead (32) avoids the obstacles.
4. A multi-purpose hedge trimmer according to claim 3,
the arm support (31) comprises a main arm (311) arranged on the movable end of the arm support swing mechanism (331) and an auxiliary arm (312) hinged on the main arm (311), the fixed end of the cutter head turnover mechanism (342) is arranged on the auxiliary arm (312),
the arm support turnover mechanism comprises a main arm oil cylinder (332) used for driving a main arm (311) to turn and an auxiliary arm oil cylinder (333) used for driving an auxiliary arm (312) to turn, wherein the fixed end of the main arm oil cylinder is hinged to the movable end of the arm support swing mechanism (331), the movable end of the main arm oil cylinder is hinged to the main arm (311), the fixed end of the auxiliary arm oil cylinder (333) is hinged to the main arm (311), and the movable end of the auxiliary arm oil cylinder (333) is hinged to the auxiliary arm (312);
the arm support driving device (33) comprises a main arm angle sensor for detecting the turning angle of the main arm (311), an auxiliary arm angle sensor for detecting the turning angle of the auxiliary arm (312) and an arm support rotary encoder for detecting the rotary angle of the arm support (31),
the control system acquires the information of the posture and the position of the arm support (31) according to the detection signals of the main arm angle sensor, the auxiliary arm angle sensor and the arm support rotary encoder, and then controls the working states of the arm support turnover mechanism and the arm support rotary mechanism (331) according to the information of the posture and the position of the arm support (31).
5. A multi-purpose hedge trimmer according to claim 2,
the cutterhead driving device (34) comprises a cutterhead angle sensor for detecting the trimming angle of the trimming cutterhead (32) and a cutterhead rotary encoder for detecting the rotary angle of the trimming cutterhead (32),
the control system acquires the information of the posture and the position of the trimming cutterhead (32) according to the detection signals of the cutterhead angle sensor and the cutterhead rotary encoder, and further controls the working states of the cutterhead turnover mechanism (342) and the cutterhead rotary mechanism (341) according to the information of the posture and the position of the trimming cutterhead (32).
6. A multi-purpose hedge trimmer according to claim 1,
the water spraying device (2) comprises pre-wetting nozzles (21) which are arranged on a trimming cutter head (32) and are used for pre-wetting the hedge before trimming, cleaning nozzles (22) which are arranged on two sides of the vehicle body and are used for washing the road surface around the trimmed hedge, spraying nozzles which are arranged at a suction pipe (42) and are used for spraying branches and leaves in the suction pipe (42), and a spraying water cannon (23) which is arranged in front of the vehicle body and is used for spraying and irrigating the hedge in the non-trimming period;
pre-wetting the hedge before trimming by a pre-wetting nozzle (21) to prevent dust emission when the hedge is trimmed by a trimming cutter (32);
the branches and leaves in the suction pipe (42) are sprayed through the spraying nozzle, so that the branches and leaves discharged from the suction pipe (42) quickly sink into the storage device (5).
7. A multi-purpose hedge trimmer according to claim 6,
the storage device (5) comprises a front cavity (51) for storing the water required by the water spraying device (2) and a rear cavity (52) for storing the water required by the water spraying device (2) and storing branches and leaves collected by the collecting device (4),
a filling pipeline (511) used for filling water into the front cavity (51) is arranged at the bottom of the front cavity (51), a filling valve (512) used for controlling the communication between the filling pipeline (511) and a water supply pipeline and an external port (513) used for communicating with the water spraying device (2) so as to convey the water in the storage device (5) into the water spraying device (2) are arranged on the filling pipeline (511),
the top of the front cavity (51) is provided with an overflow pipeline (514) communicated with the rear cavity (52),
the top of the rear cavity (52) is provided with an air outlet (521) communicated with the fan (41) and an air inlet (522) communicated with the suction pipe (42).
8. A method of operating a multi-purpose hedge trimmer according to any one of claims 1 to 7, comprising the steps of:
starting a hedge trimming and collecting operation mode to trim the hedges: the arm support (31) is driven to extend towards one side of the vehicle body through the arm support driving device (33), so that the trimming cutter head (32) is driven to move to the hedge, and the trimming cutter head (32) is driven to move to the part of the hedge to be trimmed through the cutter head driving device (34); before trimming the hedge, wetting the hedge by water mist sprayed by a pre-wetting nozzle (21) arranged on a trimming cutter head (32), starting the trimming cutter head (32) to trim the hedge, collecting the trimmed branches and leaves into a storage device (5) by a collecting device (4), and spraying water columns by cleaning nozzles (22) on two sides of a vehicle body to flush the branches and leaves remained on the road surface around the hedge to the outer side of the road surface;
the hedgerow is pruned and is converted into the afforestation after finishing and spray the watering mode: when the hedge is not required to be trimmed, the arm support (31) is driven to retract through the arm support driving device (33), so that the trimming cutter head (32) is driven to move to the upper portion of the vehicle body, and the hedge is sprayed and irrigated through the water spraying cannon (23).
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CN111466218B (en) * 2020-05-22 2024-08-20 江苏赛欧智能科技有限公司 Centrifugal shears for hedge machine for greening comprehensive maintenance vehicle
CN114223416A (en) * 2021-12-17 2022-03-25 福建龙马环卫装备股份有限公司 Automatic counterweight hedgerow trimming vehicle and automatic configuration method thereof
CN114342682B (en) * 2021-12-22 2023-04-11 长沙中联重科环境产业有限公司 Pruning device with bidirectional automatic obstacle avoidance function, control method thereof and hedge pruning vehicle
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