CN114342682A

CN114342682A - Pruning device with bidirectional automatic obstacle avoidance function, control method of pruning device and hedge pruning vehicle

Info

Publication number: CN114342682A
Application number: CN202111578242.5A
Authority: CN
Inventors: 肖耀武; 朱莹; 易尧; 瞿球雄; 张良军; 荣赞
Original assignee: Changsha Zoomlion Environmental Industry Co Ltd
Current assignee: Changsha Zoomlion Environmental Industry Co Ltd
Priority date: 2021-12-22
Filing date: 2021-12-22
Publication date: 2022-04-15
Anticipated expiration: 2041-12-22
Also published as: CN114342682B

Abstract

The application discloses a trimming device with a bidirectional automatic obstacle avoidance function, a control method of the trimming device and a hedge trimming vehicle, wherein the trimming device comprises an arm support system for adjusting trimming postures, a trimming cutter head rotationally arranged at the tail end of the arm support system through a rotary mechanism, an electric control system for controlling the combined action of all parts, and a translation mechanism, wherein the translation mechanism is arranged between the rotary mechanism and the trimming cutter head and drives the trimming cutter head to slide and avoid the obstacle according to a set track; and the anti-collision mechanism is arranged on the translation mechanism and used for detecting the obstacles and sending obstacle avoidance induction signals when the trimming cutter head is correspondingly used as an azimuth operation process, and the operation azimuth is positioned on the left side of the driver or on the right side of the driver. The green belt pruning device has the advantages that the avoidance space is enlarged, the defect that the existing pruning device is limited in avoidance space is overcome, the pruning range is enlarged, the safety and reliability of pruning operation are ensured, and the green belt pruning efficiency is effectively improved.

Description

Pruning device with bidirectional automatic obstacle avoidance function, control method of pruning device and hedge pruning vehicle

Technical Field

The application relates to the technical field of environmental sanitation equipment, in particular to a trimming device with bidirectional automatic obstacle avoidance, a control method of the trimming device and a hedge trimming vehicle.

Background

The hedge trimming device commonly used at present is installed on an automobile chassis of a hedge trimming vehicle, the arm support is driven to move through an arm support swing mechanism to enable a trimming cutter to reach a working position, a camera used for acquiring an image of a scene in front of the trimming cutter and a recognition device used for automatically recognizing whether an obstacle exists in front of the trimming cutter according to an image signal acquired by the camera are installed 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 to be recognized, the working state of the cutter swing mechanism is controlled according to information recognized by the recognition device, the trimming cutter is driven to rotate to one side without the obstacle, so that the trimming cutter avoids the obstacle, however, the hedge trimming device has the following defects in the working process:

1. the rotary central point of the trimming device is positioned at the central position of the trimming cutter head, and in the obstacle avoidance process, when the cutter head rotary mechanism rotates when meeting an obstacle, the position of the rotary central point of the cutter head rotary mechanism does not change, and the avoidance space is limited.

2. The existing obstacle avoidance operation point rotates in a reverse direction, and the direction of the existing obstacle avoidance operation point is opposite to the advancing direction, so that safety risk exists.

Disclosure of Invention

The embodiment of the application provides a trimming means with two-way automatic obstacle avoidance on the one hand to solve the technical problem that the current trimming means dodges the limited space and can not two-way obstacle avoidance.

The technical scheme adopted by the application is as follows:

the utility model provides a trimming means with two-way automatic obstacle-avoiding, includes the cantilever crane system that is used for adjusting the pruning gesture, rotates the pruning blade disc that sets up at the cantilever crane system end through the mechanism that circles round, is used for controlling the electrical system of each partial combined action, still includes:

the translation mechanism is arranged between the rotary mechanism and the trimming cutter head and drives the trimming cutter head to slide according to a set track to avoid the barrier;

the anti-collision mechanism is arranged on the translation mechanism and used for detecting an obstacle and sending an obstacle avoidance induction signal when the trimming cutter head is correspondingly used as an azimuth operation process, and the operation azimuth is positioned on the left side of a driver or on the right side of the driver;

the electric control system is also used for controlling the translation mechanism and the convolution mechanism to set directions to translate and rotate according to the obstacle avoidance induction signal of the anti-collision mechanism, and driving the trimming cutter head to slide and rotate to avoid the obstacle; and after obstacle avoidance is finished, the translation mechanism and the rotation mechanism are controlled to translate and rotate in a set direction, and the trimming cutterhead is driven to recover to an initial operation position for trimming operation.

Further, the translation mechanism includes:

the translation track is fixedly connected and arranged on the pruning cutter head;

the translation base is in sliding fit with the translation track and is fixedly connected with the rotary mechanism;

and the translation driving device is arranged between the translation track and the translation base and drives the translation base to reciprocate along the translation track.

Further, the translation drive device includes:

the rack mechanism is fixedly arranged on the translation track;

the translation motor is fixedly arranged on the translation base, and the output end of the translation motor is meshed with the rack mechanism through a gear;

or,

the translation drive device includes:

the screw mechanism is rotationally arranged on the translation track, and one end of the screw mechanism is in driving connection with the motor;

and the nut mechanism is fixedly arranged on the translation base and matched with the screw rod mechanism.

Further, a translation pulley block for reducing friction is further arranged between the translation rail and the translation base.

Further, the translation mechanism further comprises:

and the translation position sensor is in signal connection with the electric control system and is used for sensing the translation size and position of the translation mechanism.

Further, the translational position sensor includes:

the first translation position sensor and the third translation position sensor are in signal connection with the electric control system and used for determining the limit translation size and position when the translation base moves towards the two ends of the translation track;

and the second translation position sensor is in signal connection with the electric control system and is used for determining the translation size and position when the translation base moves to the middle part of the translation track.

Further, the anticollision mechanism includes:

the mounting seat is fixedly arranged at the front end of the translation mechanism;

the anti-collision rod is arranged on the mounting seat;

the anti-collision rod displacement sensor is in signal connection with the electric control system and sends out an obstacle avoidance induction signal when the anti-collision rod is elastically deformed under the action of an obstacle;

and the reset spring is connected between the mounting seat and the anti-collision rod, so that the anti-collision rod is restored to the original posture without external force.

Furthermore, the anti-collision rod displacement sensor comprises an angle encoder fixedly arranged on the mounting seat, the rear end of the anti-collision rod is fixed on a rotating shaft of the angle encoder, and when the anti-collision rod elastically deforms under the action of an obstacle, the rotating shaft of the angle encoder is driven to rotate to send an obstacle avoidance sensing signal;

or,

the anti-collision rod displacement sensor comprises a travel switch arranged on the mounting seat, and when the anti-collision rod is elastically deformed under the action of an obstacle, the travel switch is triggered to send an obstacle avoidance induction signal;

or,

the anti-collision rod displacement sensor comprises a proximity switch arranged on the mounting seat, and when the anti-collision rod is elastically deformed under the action of an obstacle, the proximity switch is triggered to send an obstacle avoidance induction signal.

Further, the anticollision mechanism still includes:

and the left and right semi-circle rotating devices are arranged on the mounting seat and connected with the anti-collision rod and are used for driving the anti-collision rod to rotate for a semi-circle to acquire an obstacle avoidance induction signal for the obstacle in a corresponding posture during operation in a corresponding operation direction.

Further, the left and right half-cycle gyroscope includes:

the anti-collision rod is rotatably arranged on the mounting seat through the rotary seat;

the push rod cylinder is fixedly arranged on the mounting seat;

one end of the swing arm is hinged to the mounting seat, and the other end of the swing arm is hinged to a piston rod of the push rod cylinder;

one end of the arc swing arm is hinged with the middle part of the swing arm, the other end of the arc swing arm is hinged with the rotary seat, and the rotary seat is driven to rotate around the rotating center under the action of the swing arm;

the reset spring is connected between the rotary seat and the anti-collision rod, so that the anti-collision rod is restored to the original posture without external force.

Furthermore, the anti-collision rod displacement sensor comprises an angle encoder fixedly arranged on the rotary seat, the rear end of the anti-collision rod is fixed on a rotating shaft of the angle encoder, and when the anti-collision rod elastically deforms under the action of an obstacle, the rotating shaft of the angle encoder is driven to rotate to send an obstacle avoidance sensing signal;

or,

the anti-collision rod displacement sensor comprises a travel switch arranged on the rotary seat, and when the anti-collision rod is elastically deformed under the action of an obstacle, the travel switch is triggered to send an obstacle avoidance induction signal;

or,

the anti-collision rod displacement sensor comprises a proximity switch arranged on the rotary seat, and when the anti-collision rod is elastically deformed under the action of an obstacle, the proximity switch is triggered to send an obstacle avoidance induction signal.

The application also provides a control method of the trimming device with the bidirectional automatic obstacle avoidance function, which comprises the following steps:

acquiring the current operation position of the boom system, and controlling a translation mechanism to drive a trimming cutter head to translate to an initial operation position according to the current operation position to perform trimming operation;

when the anti-collision mechanism detects an obstacle avoidance induction signal, the translation mechanism and the rotary mechanism are controlled to translate and rotate in a set direction, and the trimming cutter head is driven to avoid the obstacle;

after obstacle avoidance is finished, the translation mechanism and the rotation mechanism are controlled to translate and rotate in a set direction, and the trimming cutter head is driven to recover to an initial operation position for trimming operation.

Further, the method comprises the steps of obtaining the current operation position of the boom system, controlling a translation mechanism to drive a trimming cutter head to translate to an initial operation position according to the current operation position to perform trimming operation, and specifically comprises the following steps:

acquiring a current operation position of the boom system according to an angle reading of a rotary angle encoder of the boom system, wherein if the angle reading is greater than ninety degrees, the current operation position is positioned on the left of a driver, and if the angle reading is less than ninety degrees, the current operation position is positioned on the right of the driver;

if the current operation position is positioned on the left side of the driver, the translation mechanism is controlled to translate leftwards until the third translation position sensor sends out a sensing signal, so that the trimming cutterhead reaches the initial operation position on the left side of the driver to perform trimming operation;

and if the current operation direction is positioned on the right side of the driver, controlling the translation mechanism to translate rightwards until the first translation position sensor sends out a sensing signal, so that the trimming cutterhead reaches the initial operation position on the right side of the driver to perform trimming operation.

Further, if the current working position is located on the left side of the driver, the translation mechanism is controlled to translate leftwards until the third translation position sensor sends out a sensing signal, so that the trimming cutterhead reaches the initial working position on the left side of the driver to perform trimming operation, and the method further comprises the following steps:

controlling the left and right semi-circle rotary devices to act, and driving the anti-collision rod to rotate for a semi-circle, so that the orientation of the free end of the anti-collision rod is consistent with the translation direction of the translation mechanism;

if the current operation position is located on the right of the driver, the translation mechanism is controlled to translate rightwards until the first translation position sensor sends out a sensing signal, so that the trimming cutterhead reaches the initial operation position on the right of the driver to perform trimming operation, and the method further comprises the following steps:

and controlling the action of the left and right semi-circle rotary devices to drive the anti-collision rod to rotate in a reverse direction for a semi-circle, so that the orientation of the free end of the anti-collision rod is consistent with the translation direction of the translation mechanism.

Further, when anticollision institution detected and kept away barrier sensing signal, control translation mechanism and the mechanism of circling round translated and rotate according to setting for the direction, the drive is pruned the blade disc and is kept away the barrier, specifically includes the step:

when the anti-collision mechanism detects an obstacle avoidance induction signal and the current operation direction is positioned on the left side of a driver, the translation mechanism is controlled to translate rightwards until the second translation position sensor sends out an induction signal, and meanwhile, the convolution mechanism is controlled to rotate leftwards to drive the trimming cutter head to avoid the obstacle;

when the anti-collision mechanism detects an obstacle avoidance induction signal and the current operation direction is located on the right side of a driver, the translation mechanism is controlled to translate leftwards until the second translation position sensor sends out an induction signal, and meanwhile, the convolution mechanism is controlled to rotate rightwards to drive the trimming cutter head to avoid the obstacle.

Further, after the obstacle avoidance is finished, the translation mechanism and the rotation mechanism are controlled to translate and rotate reversely, the trimming cutter head is driven to recover to the initial operation position of the current operation position for trimming operation, and the method specifically comprises the following steps:

when obstacle avoidance is finished and the current operation direction is located on the left side of a driver, the translation mechanism is controlled to translate leftwards until the third translation position sensor sends out a sensing signal, and meanwhile, the convolution mechanism is controlled to rotate rightwards, and the trimming cutterhead is driven to return to the initial operation position for trimming operation;

when obstacle avoidance is finished and the current operation direction is located on the right side of a driver, the translation mechanism is controlled to translate rightwards until the first translation position sensor sends out a sensing signal, and meanwhile, the convolution mechanism is controlled to rotate leftwards to drive the trimming cutterhead to recover to the initial operation position for trimming operation.

The hedge trimming vehicle comprises a vehicle chassis, wherein the trimming device is arranged on the vehicle chassis.

Compared with the prior art, the method has the following beneficial effects:

the trimming device of the application includes the cantilever crane system that is used for adjusting the pruning gesture, rotates the trimming blade dish that sets up at cantilever crane system end through the mechanism that circles round, is used for controlling the electrical system of each part combination action, still includes: the translation mechanism is arranged between the rotary mechanism and the trimming cutter head and drives the trimming cutter head to slide according to a set track to avoid the barrier; the anti-collision mechanism is arranged on the translation mechanism and used for detecting an obstacle and sending an obstacle avoidance induction signal when the trimming cutter head is correspondingly used as an azimuth operation process, and the operation azimuth is positioned on the left side of a driver or on the right side of the driver; the electric control system is also used for controlling the translation mechanism and the convolution mechanism to set directions to translate and rotate according to the obstacle avoidance induction signal of the anti-collision mechanism, and driving the trimming cutter head to slide and rotate to avoid the obstacle; and after obstacle avoidance is finished, the translation mechanism and the rotation mechanism are controlled to translate and rotate in a set direction, and the trimming cutterhead is driven to recover to an initial operation position for trimming operation. According to the trimming device, on one hand, a translation mechanism with a sliding obstacle avoidance function and a rotation mechanism with a rotating obstacle avoidance function are adopted, and an electric control system and an arm support system are matched, when an arm support working position is close to a vehicle body, if an obstacle is encountered, a trimming cutter head is translated to the central position of the tail end of the arm support system and rotates for a certain angle, the obstacle is effectively avoided from contacting with the trimming cutter head, so that an avoidance space is enlarged, the defect that the avoidance space of the existing trimming device is limited is overcome, and the safety and reliability of trimming operation are ensured; on the other hand, the anticollision institution of this application can all can detect the barrier and send and keep away barrier induction signal in the operation process that the pruning blade disc is located driver left side or driver right, can carry out two-way pruning to left and right side hedgerow respectively and keep away the barrier, has overcome prior art and only can prune the defect of keeping away the barrier to the hedgerow of one side to increased the pruning scope, effectively improved the greenbelt and pruned efficiency.

In addition to the objects, features and advantages described above, other objects, features and advantages will be apparent from the present application. The present application will now be described in further detail with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:

fig. 1 is a schematic structural diagram of a trimming device with bidirectional automatic obstacle avoidance according to a preferred embodiment of the present application.

Fig. 2 is a schematic view of a trimmer cutter head in accordance with a preferred embodiment of the present application.

Fig. 3 is a schematic diagram of an electronic control system in accordance with a preferred embodiment of the present application.

FIG. 4 is a schematic diagram of the sensor location of the preferred embodiment of the present application.

Fig. 5 is a schematic structural view of a translation mechanism in a preferred embodiment of the present application.

Fig. 6 is a schematic structural diagram of a collision avoidance mechanism according to a preferred embodiment of the present application.

Fig. 7 is a schematic view of a half-cycle convolution of the crash mechanism in accordance with the preferred embodiment of the present application.

Fig. 8 is a schematic diagram of an obstacle avoidance process according to another preferred embodiment of the present application.

Fig. 9 is a flow chart of a control method according to another preferred embodiment of the present application.

Fig. 10 is a flow chart illustrating the sub-steps of step S1 in another preferred embodiment of the present application.

Fig. 11 is a flow chart illustrating the sub-steps of step S2 in another preferred embodiment of the present application.

Fig. 12 is a flow chart illustrating the sub-steps of step S3 in another preferred embodiment of the present application.

In the figure: 1. the arm support is supported in a rotating way; 2. a main arm luffing cylinder; 3. a main arm telescopic oil cylinder; 4. a broken branch collection system; 5. a main arm; 6. a telescopic arm; 7. a luffing cylinder of the auxiliary jib; 8. an auxiliary arm; 9. the cutter head overturns the oil cylinder; 10. a swiveling mechanism; 11. a translation mechanism; 12. an anti-collision mechanism; 13. trimming the cutter head; 14. an automotive chassis; 15. an anti-collision bar; 16. a mounting seat; 17. a push rod cylinder; 18. a return spring; 19. an angle encoder; 20. swinging arms; 21. an arc swing arm; 22. a rotary base; 23. translating the rail; 24. a cutter head rotating motor; 25. a rotary support; 26. a translation base; 27. a translational pulley block 27; 28. a translation motor; 29. a rack mechanism; 30. a translational position sensor; 31. (ii) a 32. A guide fork; 33. a rubber baffle; 34. a circular saw; 35. crushing the blade; 36. a bottom cover plate; 37. a disc saw motor; 38. a housing; 39. an air suction opening; 40. an anti-collision wheel; 41. a rotation angle encoder; 42. a base tilt angle sensor; 43. a telescopic oil cylinder displacement sensor; 44. a main arm inclination sensor 45 and an auxiliary arm inclination sensor; 46. a cutter head rotation coding sensor; 47. an obstacle; 48. a cutter horizontal inclination angle sensor; 49. a controller; 50. a first translational position sensor; 51. a second translational position sensor; 52. the third translation positions the sensor.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

Referring to fig. 1, a preferred embodiment of the present application provides a trimming device with bidirectional automatic obstacle avoidance, including a boom system for adjusting a trimming posture, a trimming cutter 13 rotatably disposed at a distal end of the boom system through a swivel mechanism 10, an electric control system for controlling combined actions of each part, a translation mechanism 11, and an anti-collision mechanism 12, wherein:

the translation mechanism 11 is arranged between the rotary mechanism 10 and the trimming cutter head 13 and drives the trimming cutter head 13 to slide and avoid the obstacle according to a set track;

the anti-collision mechanism is arranged on the translation mechanism 11 and used for detecting an obstacle 47 and sending an obstacle avoidance induction signal when the trimmer cutter 13 is correspondingly used as an azimuth operation process, and the operation azimuth is positioned on the left side of a driver or on the right side of the driver;

the electric control system is also used for controlling the translation mechanism 11 and the convolution mechanism 10 to set the direction to translate and rotate according to the obstacle avoidance induction signal of the anti-collision mechanism 12, and driving the trimming cutter head 13 to slide and rotate to avoid the obstacle 47; and after obstacle avoidance is finished, the translation mechanism 11 and the convolution mechanism 10 are controlled to translate and rotate according to a set direction, and the trimming cutter disc 13 is driven to return to an initial operation position for trimming operation.

In this embodiment, the trimmer cutter 13 is mounted at the end of the boom system, and the trimmer cutter 13 is driven to move to a hedge to be trimmed by the extension of the boom system. The arm support system is used for adjusting the pruning state and comprises an arm support rotary support 1, a main arm variable amplitude oil cylinder 2, a main arm telescopic oil cylinder 3, a broken branch collecting system 4, a main arm 5, a telescopic arm 6, an auxiliary arm variable amplitude oil cylinder 7, an auxiliary arm 8 and a cutter disc overturning oil cylinder 9.

As shown in fig. 2, the trimming cutterhead 13 includes a guide fork 32, a rubber baffle 33, a circular saw 34, a crushing blade 35, a bottom cover plate 36, a circular saw motor 37, a cover 38, an air suction port 39 and an anti-collision wheel 40, the trimming cutterhead 13 moves forward along the direction of the hedge after the operation is started, the guide fork 32 can guide the offset hedge into the middle of the trimming cutterhead 13 for trimming, three groups of circular saws 34 are driven by three groups of circular saw motors 37 for trimming during the operation, wherein the middle group of circular saws are provided with the crushing blade 35 to crush the trimmed branches and leaves, the negative pressure formed by the branch collecting system 4 during the operation is sucked through the air suction port 39, and the rubber baffle 33, the bottom cover plate 36 and the cover 38 together form a negative pressure cavity to collect the trimmed branches and leaves under negative pressure.

As shown in fig. 3, the electronic control system includes a rotation angle encoder 41, a base inclination sensor 42, a telescopic cylinder displacement sensor 43, a main arm inclination sensor 44, an auxiliary arm inclination sensor 45, a cutter head rotation encoding sensor 46, a cutter head horizontal inclination sensor 48, and a controller 49. The rotation angle encoder 41 is used for detecting the rotation angle of the arm support; the base tilt angle sensor 42 is used for each arm support reference angle; the telescopic oil cylinder displacement sensor 43 is used for detecting the telescopic length of the main arm; the main arm inclination angle sensor 44 is used for detecting the amplitude variation angle of the main arm; the auxiliary jib inclination angle sensor 45 is used for detecting the amplitude variation angle of the auxiliary jib; the cutter head rotation coding sensor 46 is used for detecting the cutter head rotation angle; the cutterhead horizontal tilt sensor 48 is used to detect the angle of rotation of the cutterhead (see fig. 4).

The arm support system for adjusting the trimming state can preset the display height of the trimming device according to the height of a hedge, and after the operation is started, the arm support system acts according to a set program, and the method comprises the following steps: lifting the auxiliary boom amplitude-variable oil cylinder 7 to enable the auxiliary boom 8 to be away from the top of the cab, rotating the boom slewing support 1 to a left side or right side working position, adjusting the main boom amplitude-variable oil cylinder 2 and the auxiliary boom amplitude-variable oil cylinder 7 to enable the main boom 4 and the auxiliary boom 8 to move in a linkage mode to send the trimming cutter head 13 to a hedgerow position, and adjusting the main boom telescopic oil cylinder 3 to enable the telescopic boom 6 to extend out to reach a required working position when the working range needs to be expanded according to the hedgerow height.

In the operation process, the operation point of trimming blade disc 13 is located and is close to automobile body one side, and the operation in-process passes through anticollision institution 12 response barrier 47, and anticollision institution 12 senses when barrier 47 sends and keeps away barrier sensing signal, and trimming means's electrical system basis keep away barrier sensing signal control translation mechanism 11 action, make trimming blade disc 13 slide to trimming blade disc 13's meso position, simultaneously electrical system keeps away barrier sensing signal drive rotation according to anticollision institution and keeps away the rotatory mechanism 10 that turns round of barrier and deflect certain angle (as ninety degrees) to keep away barrier 47, when anticollision institution 12 senses trimming blade disc 13 and walks around barrier 47, electrical system control translation mechanism 11 and the mechanism 10 that turns round reverse deflection certain angle (as ninety degrees) that turn round, drive trimming blade disc 13 and get back to initial trimming position, realize the automatic barrier operation of keeping away.

On one hand, the trimming device of the embodiment adopts a translation mechanism with a sliding obstacle avoidance function and a rotation mechanism with a rotating obstacle avoidance function, and is matched with an electric control system and an arm support system, when an arm support working position is close to a vehicle body position, if an obstacle 47 is encountered, the trimming cutter head 13 is translated to the central position of the tail end of the arm support system and rotates for a certain angle, and the obstacle 47 is effectively avoided to be in contact with the trimming cutter head 13, so that an avoidance space is enlarged, the defect that the avoidance space of the existing trimming device is limited is overcome, and the safety and the reliability of trimming operation are ensured; on the other hand, the anticollision institution 12 of this embodiment can detect the obstacle 47 and send and keep away barrier sensing signal when the operation process that the trimmer blade disc 13 is located the driver left side or the driver right, can carry out two-way pruning to left and right side hedgerow respectively and keep away the obstacle, has overcome among the prior art can only prune the defect of keeping away the obstacle to the hedgerow of one side to increased the pruning scope, effectively improved the greenbelt pruning efficiency.

As shown in fig. 5, in the preferred embodiment of the present application, the translation mechanism 11 includes:

the translation track 23 is fixedly connected and arranged on the trimming cutter head 13;

the translation base 26 is in sliding fit with the translation track 23 and is fixedly connected with the rotating mechanism 10;

and the translation driving device is arranged between the translation rail 23 and the translation base 26 and drives the translation base 26 to reciprocate along the translation rail 23.

In this embodiment, the translation mechanism 11 includes the translation track 23, the translation base 26 and the translation driving device, and the translation driving device can drive the translation base 26 to reciprocate along the translation track 23, so as to drive the trimming cutter 13 to slide and avoid the obstacle, so as to enlarge an avoiding space, solve the defect that the existing trimming device has a limited avoiding space, and ensure the safety and reliability of the trimming operation.

In a preferred embodiment of the present application, the translation drive means comprises:

the rack mechanism 29 is fixedly arranged on the translation track 23;

and the translation motor 28 is fixedly arranged on the translation base 26, and the output end of the translation motor is meshed with the rack mechanism 29 through a gear.

Preferably, the translation driving device in the embodiment comprises a rack mechanism 29, a translation motor 28 and a gear, in the process of avoiding the obstacle, the translation motor 28 drives the gear to rotate to match with the rack mechanism 29, and then the translation base 26 is driven to slide along the translation rail 23, so that the trimming cutter head 13 is driven to slide to avoid the obstacle, the avoidance space is enlarged, the defect that the existing trimming device is limited in avoidance space is overcome, and the safety and the reliability of trimming operation are ensured.

the screw mechanism is rotationally arranged on the translation track 23, and one end of the screw mechanism is in driving connection with the motor;

and the nut mechanism is fixedly arranged on the translation base 26 and is matched with the screw rod mechanism.

Preferably, the translation driving device in the embodiment comprises a screw mechanism, a nut mechanism and a motor, wherein in the process of avoiding the obstacle, the motor drives the screw mechanism to rotate and match with the nut mechanism, and then drives the translation base 26 to slide along the translation track 23, so as to drive the trimming cutter head 13 to slide and avoid the obstacle, so as to enlarge the avoiding space, solve the defect that the existing trimming device has limited avoiding space, ensure the safety and reliability of trimming operation, and in addition, the screw mechanism and the nut mechanism have good self-locking characteristics, so that the abnormal sliding phenomenon of the translation track 23 and the translation base 26 in the process of trimming operation can be avoided, and the positioning reliability and stability of the trimming cutter head 13 in the operation process can be ensured.

In the preferred embodiment of the present application, a set of translation pulleys 27 for reducing friction is also provided between the translation rail 23 and the translation base 26.

Preferably, in the embodiment, a translation pulley block 27 is further disposed between the translation rail 23 and the translation base 26, and sliding friction between the translation rail 23 and the translation base 26 is changed into rolling friction, so as to reduce friction between the translation rail 23 and the translation base 26, reduce resistance in the sliding process, reduce energy consumption, and prolong the service life of the translation rail 23 and the translation base 26.

In a preferred embodiment of the present application, said translation mechanism 11 further comprises:

and the translation position sensor 30 is in signal connection with the electronic control system and is used for sensing the translation size and position of the translation mechanism 11.

Preferably, the translation mechanism 11 of the present embodiment further includes a translation position sensor 30 in signal connection with the electronic control system, and the translation position sensor 30 senses the translation size and the translation position of the translation mechanism 11, so that the automatic control of the translation size and the translation position of the translation mechanism 11 is realized, the manual operation strength is reduced, and meanwhile, the positioning accuracy of the translation mechanism 11 is also improved.

In a preferred embodiment of the present application, the translational position sensor 30 includes:

the first translation position sensor 50 and the third translation position sensor 52 are in signal connection with the electronic control system and are used for determining the limit translation size and position when the translation base 26 moves towards the two ends of the translation track 23;

and the second translation position sensor 51 is in signal connection with the electronic control system and is used for determining the translation size and the translation position when the translation base 26 moves to the middle part of the translation track 23.

Preferably, the translational position sensor 30 of the present embodiment includes a first translational position sensor 50, a second translational position sensor 51 and a third translational position sensor 52, wherein the first translational position sensor 50 and the third translational position sensor 52 are used for determining the extreme translational size and position when the translational base 26 moves to both ends of the translational track 23, that is, determining the extreme translational size and position when the translational base 26 moves to the left side and the right side of the translational track 23, when the translational base 26 moves to the extreme position to the left side or the right side of the translational track 23, the first translational position sensor 50 or the third translational position sensor 52 obtains a sensing signal, the electronic control system controls the translational driving device to stop moving the translational base 26 according to the sensing signal, and at this time, the trimming cutter 13 is located at the trimming position, that is, the hedge can be trimmed; when an obstacle 47 needs to be avoided in the trimming process, the translation base 26 moves towards the middle of the translation track 23, when the translation base 26 moves to the middle of the translation track 23, the second translation position sensor 51 obtains a sensing signal, the electric control system controls the translation driving device to stop moving the translation base 26 according to the sensing signal, the trimming cutter disc 13 is located at the middle of the translation track 23, at the moment, the rotating mechanism 10 can be used for rotating to avoid the obstacle, in the embodiment, the first translation position sensor 50, the second translation position sensor 51 and the third translation position sensor 52 sense the translation size and the position of the translation mechanism 11, so that the automatic control of the translation size and the position of the translation mechanism 11 is realized, the manual operation intensity is reduced, and meanwhile, the positioning accuracy of the translation mechanism 11 is improved.

As shown in fig. 6, in the preferred embodiment of the present application, the collision avoidance mechanism 12 includes:

the mounting seat 16 is fixedly arranged at the front end of the translation mechanism 11;

the anti-collision rod 15 is arranged on the mounting seat 16;

the anti-collision rod displacement sensor is in signal connection with the electric control system and sends out an obstacle avoidance induction signal when the anti-collision rod 15 is elastically deformed under the action of an obstacle;

and the return spring 18 is connected between the mounting seat 16 and the anti-collision rod 15, so that the anti-collision rod 15 is restored to the original posture when no external force acts on the anti-collision rod.

Preferably, the anti-collision mechanism 12 of the embodiment includes a mounting seat 16, an anti-collision rod 15, an anti-collision rod displacement sensor, and a return spring 18, in the trimming process, when the anti-collision rod 15 is elastically deformed by an obstacle, the anti-collision rod displacement sensor will send an obstacle avoidance sensing signal to trigger the electronic control system to send an obstacle avoidance signal, and when the obstacle avoidance is finished and the anti-collision rod 15 is no longer acted by the obstacle, the return spring 18 makes the anti-collision rod 15 return to the original posture by using its own elasticity, so as to ensure that the obstacle avoidance is smoothly sensed to the obstacle 47 next time.

In the preferred embodiment of the present application, the crash bar displacement sensor includes an angle encoder 19 fixedly disposed on the mounting base 16, the rear end of the crash bar 15 is fixed on the rotating shaft of the angle encoder 19, and when the crash bar 15 is elastically deformed by the obstacle 47, the rotating shaft of the angle encoder 19 is driven to rotate to send an obstacle avoidance sensing signal.

Preferably, the displacement sensor of the crash bar of the present embodiment employs an angle encoder 19, the rear end of the crash bar 15 is fixed on a rotating shaft of the angle encoder 19, when the crash bar 15 is elastically deformed by the obstacle 47, the rotating shaft of the angle encoder 19 rotates to send an obstacle avoidance sensing signal, and the angle encoder 19 has the characteristics of high sensitivity, high precision, long service life, high reliability, and the like, and can improve the reliability and detection precision of the crash bar 12.

In the preferred embodiment of the present application, the crash bar displacement sensor includes a travel switch disposed on the mounting base 16, and when the crash bar 15 is elastically deformed by the obstacle 47, the travel switch is triggered to send an obstacle avoidance sensing signal.

Preferably, the displacement sensor of the crash bar in the embodiment adopts a travel switch, and when the crash bar 15 is elastically deformed by the obstacle 47, the travel switch is triggered to send an obstacle avoidance sensing signal, and the travel switch has the characteristics of simple structure, small size, low cost, high reliability and the like, so that the manufacturing cost can be reduced, and the reliability and stability of the crash-proof mechanism 12 can be improved.

In the preferred embodiment of the present application, the crash bar displacement sensor includes a proximity switch disposed on the mounting base 16, and when the crash bar 15 is elastically deformed by the obstacle 47, the proximity switch is triggered to send an obstacle avoidance sensing signal.

Preferably, the impact beam displacement sensor of the embodiment adopts a proximity switch, and when the impact beam 15 is elastically deformed by the obstacle 47, the proximity switch is triggered to send out an obstacle avoidance sensing signal. The proximity switch has the characteristics of simple structure, small volume, low cost, no contact and the like, can reduce the preparation cost and improve the durability and reliability of the anti-collision mechanism 12.

In a preferred embodiment of the present application, the collision avoidance mechanism 12 further comprises:

and the left and right semi-circle rotating devices are arranged on the mounting base 16 and connected with the anti-collision rod 15, and are used for driving the anti-collision rod 15 to rotate for a semi-circle to acquire an obstacle avoidance induction signal for the obstacle 47 in a corresponding posture during operation in a corresponding operation direction.

Preferably, the anti-collision mechanism 12 of the present embodiment further includes a left and right half-circle swiveling device, the device can drive the anti-collision bar 15 to rotate half-circle to obtain an obstacle avoidance sensing signal for the obstacle 47 in a corresponding posture, that is, when the working direction indicator is located on the left side of the driver, the left and right half-circle swiveling devices drive the anti-collision bar 15 to rotate half-circle to make the free end of the anti-collision bar 15 point to the left side of the driver, and when the working direction indicator is located on the right side of the driver, the left and right half-circle swiveling devices drive the anti-collision bar 15 to rotate in reverse half-circle to make the free end of the anti-collision bar 15 point to the right side of the driver, so as to improve the obstacle avoidance sensing accuracy and reliability of the anti-collision mechanism 12, and respectively perform bidirectional obstacle avoidance for the left and right hedgerow, thereby overcoming the defect that the prior art can only trim and avoid obstacles for one hedgerow, thereby increasing the trimming range and effectively improving the trimming efficiency of the green belt.

In a preferred embodiment of the present application, the left and right half-cycle gyroscope comprises:

the rotary seat 22 is rotatably arranged on the mounting seat 16, and the anti-collision rod 15 is rotatably arranged on the mounting seat 16 through the rotary seat 22;

the push rod air cylinder 17 is fixedly arranged on the mounting seat 16;

one end of the swing arm 20 is hinged to the mounting seat 16, and the other end of the swing arm 20 is hinged to a piston rod of the push rod cylinder 17;

one end of the arc swing arm 21 is hinged with the middle part of the swing arm 20, the other end of the arc swing arm 21 is hinged with the rotary seat 22, and the rotary seat 22 is driven to rotate around the rotation center under the action of the swing arm 20;

the return spring 18 is connected between the rotary seat 22 and the impact bar 15, so that the impact bar 15 is restored to the original posture without external force.

Preferably, the left and right half-cycle swiveling mechanism of the present embodiment includes a swiveling base 22, a push rod cylinder 17, a swing arm 20, and an arc swing arm 21, and a return spring 18 is connected and disposed between the swiveling base 22 and the impact bar 15, as shown in fig. 7, when the push rod cylinder 17 acts, the swing arm 20 and the arc swing arm 21 push the swiveling base 22 to rotate, so as to drive the impact bar 15 to rotate half cycle to acquire an obstacle avoidance sensing signal for the obstacle 47 in a corresponding posture.

In the preferred embodiment of the present application, the crash bar displacement sensor includes an angle encoder 19 fixedly disposed on the rotary base 22, the rear end of the crash bar 15 is fixed on the rotating shaft of the angle encoder 19, and when the crash bar 15 is elastically deformed by the obstacle 47, the rotating shaft of the angle encoder 19 is driven to rotate to send an obstacle avoidance sensing signal.

Preferably, the crash bar displacement sensor of the present embodiment includes an angle encoder 19 fixedly disposed on the rotary seat 22, the rotary seat 22 of the left and right semi-circle swiveling device can drive the crash bar 15 to rotate for a half circle to obtain a corresponding posture, that is, when the working direction finger is located at the left of the driver, the rotary seat 22 drives the crash bar 15 to rotate for a half circle to make the free end of the crash bar 15 point to the left of the driver, and when the working direction finger is located at the right of the driver, the rotary seat 22 drives the crash bar 15 to rotate reversely for a half circle to make the free end of the crash bar 15 point to the right of the driver, and then, the obstacle avoidance sensing signal for the obstacle 47 can be obtained through the angle encoder 19.

In the preferred embodiment of the present application, the crash bar displacement sensor includes a travel switch disposed on the rotary base 22, and when the crash bar 15 is elastically deformed by the obstacle 47, the travel switch is triggered to send an obstacle avoidance sensing signal.

Preferably, the crash bar displacement sensor of the present embodiment includes a travel switch fixedly disposed on the rotary seat 22, the rotary seat 22 of the left and right semi-circle swiveling device can drive the crash bar 15 to rotate for a half circle to obtain a corresponding posture, that is, when the working direction finger is located at the left of the driver, the rotary seat 22 drives the crash bar 15 to rotate for a half circle to make the free end of the crash bar 15 point to the left of the driver, and when the working direction finger is located at the right of the driver, the rotary seat 22 drives the crash bar 15 to rotate in the reverse direction for a half circle to make the free end of the crash bar 15 point to the right of the driver, and then, the obstacle avoidance sensing signal for the obstacle 47 can be obtained through the travel switch.

In the preferred embodiment of the present application, the crash bar displacement sensor comprises a proximity switch disposed on the rotary base 22, and when the crash bar 15 is elastically deformed by the obstacle 47, the proximity switch is triggered to send an obstacle avoidance sensing signal.

Preferably, the crash bar displacement sensor of the present embodiment includes a proximity switch fixedly disposed on the rotary seat 22, the rotary seat 22 of the left and right semi-circle swiveling device can drive the crash bar 15 to rotate for a half circle to obtain a corresponding posture, that is, when the working direction finger is located at the left of the driver, the rotary seat 22 drives the crash bar 15 to rotate for a half circle to make the free end of the crash bar 15 point to the left of the driver, and when the working direction finger is located at the right of the driver, the rotary seat 22 drives the crash bar 15 to rotate reversely for a half circle to make the free end of the crash bar 15 point to the right of the driver, and then, the proximity switch can obtain the obstacle avoidance sensing signal for the obstacle 47.

Taking the example that the working direction finger is located at the left side of the driver, the obstacle avoidance process of the above embodiment is shown in fig. 8. In the operation process, the obstacle 47 is sensed through the anti-collision mechanism 12, when the anti-collision mechanism 12 senses the obstacle 47, the translation mechanism 11 enables the translation base 26 to slide to the middle of the translation track 23, the trimming cutter head 13 slides to the middle position at the moment, and meanwhile, the rotating mechanism 10 is driven to rotate to avoid the obstacle according to the obstacle avoiding sensing signal of the anti-collision mechanism 12, so that the obstacle 47 is avoided.

As shown in fig. 9, another preferred embodiment of the present application further provides a control method of a trimming apparatus with bidirectional automatic obstacle avoidance, including the steps of:

s1, acquiring the current operation position of the boom system, and controlling the translation mechanism 11 to drive the trimming cutter head 13 to translate to the initial operation position according to the current operation position to perform trimming operation;

s2, when the anti-collision mechanism 12 detects an obstacle avoidance induction signal, the translation mechanism 11 and the rotation mechanism 10 are controlled to translate and rotate in a set direction, and the trimming cutter head 13 is driven to avoid an obstacle;

and S3, after obstacle avoidance is finished, controlling the translation mechanism 11 and the rotation mechanism 10 to translate and rotate according to the set direction, and driving the trimming cutter disc 13 to return to the initial operation position for trimming.

According to the control method, on one hand, a translation mechanism with a sliding obstacle avoidance function and a rotation mechanism with a rotating obstacle avoidance function are controlled according to the current operation direction of the boom system, and an electric control system and the boom system are matched, when the boom work position is close to a vehicle body position, if an obstacle 47 is encountered, the trimming cutter disc 13 is translated to the central position of the tail end of the boom system and rotates for a certain angle, the obstacle 47 is effectively avoided to be in contact with the trimming cutter disc 13, so that an avoidance space is enlarged, the defect that the avoidance space of the existing trimming device is limited is overcome, and the safety and reliability of trimming operation are ensured; on the other hand, in the present embodiment, the obstacle 47 can be detected and the obstacle avoidance sensing signal can be sent in the operation process that the trimming cutter head 13 is located on the left side of the driver or on the right side of the driver, so that the left and right hedgerows can be respectively trimmed in two directions to avoid the obstacle, and the defect that the hedgerows on one side can only be trimmed to avoid the obstacle in the prior art is overcome, thereby increasing the trimming range and effectively improving the trimming efficiency of the green belt.

As shown in fig. 10, in a preferred embodiment of the present application, a current working position of a boom system is obtained, and a translation mechanism 11 is controlled to drive a trimming cutter head 13 to translate to an initial working position according to the current working position to perform trimming operation, which specifically includes the steps of:

s11, acquiring the current operation position of the boom system according to the angle reading of the rotary angle encoder 41 of the boom system, wherein if the angle reading is greater than ninety degrees, the current operation position is positioned on the left side of the driver, and if the angle reading is less than ninety degrees, the current operation position is positioned on the right side of the driver;

s12, if the current working orientation is on the left of the driver, controlling the translation mechanism 11 to translate left until the third translation position sensor 52 sends out a sensing signal, so that the cutter head 13 reaches the initial working position on the left of the driver to carry out the trimming operation;

and S13, if the current working direction is located at the right side of the driver, controlling the translation mechanism 11 to translate rightward until the first translation position sensor 50 sends out a sensing signal, so that the trimming cutter head 13 reaches the initial working position at the right side of the driver to perform trimming work.

Preferably, in the embodiment, the current working position of the boom system is obtained according to the angle reading of the rotary angle encoder 41 of the boom system, and after the current working position is obtained, the trimming cutter 13 can reach the initial working position of the current working position to perform trimming operation by automatically controlling the moving direction and the target position of the translation mechanism 11, so as to perform bidirectional trimming and obstacle avoidance on the left and right hedgerows, respectively, thereby overcoming the defect that only one hedgerow can be trimmed and obstacle avoidance in the prior art, so that the trimming range is enlarged, and the green belt trimming efficiency is effectively improved.

In a preferred embodiment of the present application, the step S12 further includes the steps of:

and controlling the left and right semi-circle rotary devices to act, driving the anti-collision rod 15 to rotate for a semi-circle, and enabling the orientation of the free end of the anti-collision rod 15 to be consistent with the translation direction of the translation mechanism 11.

The step S13 further includes the steps of:

and controlling the action of the left and right semi-circle rotary devices, and driving the anti-collision rod 15 to rotate in a reverse direction for a semi-circle, so that the orientation of the free end of the anti-collision rod 15 is consistent with the translation direction of the translation mechanism.

Preferably, in the embodiment, after the current working direction is obtained, when the trimming cutter head 13 reaches the initial working position of the current working direction for trimming by automatically controlling the moving direction and the target position of the translation mechanism 11, the action of the left and right half circle swiveling devices is controlled, the anti-collision rod 15 is driven to rotate for half a circle, so that the orientation of the free end of the anti-collision rod 15 is consistent with the translation direction of the translation mechanism, namely when the working direction indicator is positioned at the left side of the driver, the anti-collision rod 15 is driven to rotate for half a circle, so that the free end of the anti-collision rod 15 points to the left side of the driver, and when the working direction indicator is positioned at the right side of the driver, the anti-collision rod 15 is driven to rotate for half a circle in the reverse direction, so that the free end of the anti-collision rod 15 points to the right side of the driver, the obstacle avoidance induction accuracy and reliability of the anti-collision mechanism 12 are improved, so as to perform two-way trimming and obstacle avoidance on the left and right side hedges respectively, thereby overcoming the defect that the prior art can only trim and avoid obstacles on one side of hedges, thereby increasing the pruning range and effectively improving the pruning efficiency of the green belt.

As shown in fig. 11, in the preferred embodiment of the present application, when the collision avoidance sensing signal is detected by the collision avoidance mechanism 12, the translation mechanism 11 and the revolving mechanism 10 are controlled to translate and rotate in a set direction, and the trimming cutter head 13 is driven to avoid an obstacle, which specifically includes the steps of:

s21, when the collision avoidance mechanism 12 detects an obstacle avoidance induction signal and the current operation direction is located on the left side of the driver, controlling the translation mechanism 11 to translate rightward until the second translation position inductor 51 sends out an induction signal, and simultaneously controlling the convolution mechanism 10 to rotate leftward to drive the trimming cutter head 13 to avoid the obstacle;

and S22, when the collision avoidance mechanism 12 detects an obstacle avoidance induction signal and the current operation direction is located on the right of the driver, controlling the translation mechanism 11 to translate leftwards until the second translation position inductor 51 sends out an induction signal, and simultaneously controlling the convolution mechanism 10 to rotate rightwards to drive the trimming cutter head 13 to avoid the obstacle.

As a preferred mode, the present embodiment discloses in detail that when the collision avoidance mechanism 12 detects an obstacle avoidance sensing signal, the translation mechanism 11 and the rotation mechanism 10 are controlled to translate and rotate in a set direction, and the trimming cutter 13 is driven to avoid an obstacle, that is, no matter the current working position is located on the left or right of the driver, when the collision avoidance mechanism 12 detects an obstacle avoidance sensing signal, the translation mechanism 11 and the rotation mechanism 10 are controlled to move in a corresponding direction, movement distance, and rotation angle in combination with the current working position, so as to drive the trimming cutter 13 to avoid an obstacle, and perform bidirectional obstacle avoidance on the left and right hedges.

As shown in fig. 12, in the preferred embodiment of the present application, after the obstacle avoidance is finished, the translation mechanism 11 and the rotation mechanism 10 are controlled to translate and rotate in opposite directions, and the trimming cutter disc 13 is driven to return to the initial working position of the current working orientation for trimming, which specifically includes the steps of:

s31, when obstacle avoidance is finished and the current operation direction is located on the left side of the driver, controlling the translation mechanism 11 to translate leftwards until the third translation position sensor 52 sends out a sensing signal, and simultaneously controlling the convolution mechanism 10 to rotate rightwards to drive the trimming cutter head 13 to return to the initial operation position for trimming;

and S32, when obstacle avoidance is finished and the current operation direction is located on the right side of the driver, controlling the translation mechanism 11 to translate rightward until the first translation position sensor 50 sends out a sensing signal, and simultaneously controlling the convolution mechanism 10 to rotate leftward to drive the trimming cutter head 13 to return to the initial operation position for trimming operation.

Preferably, after obstacle avoidance is finished, the embodiment discloses in detail that the translation mechanism 11 and the revolving mechanism 10 are controlled to translate and rotate in opposite directions, and the trimming cutter 13 is driven to return to the initial operation position of the current operation position to perform the detailed trimming operation, that is, after obstacle avoidance is finished, no matter the current operation position is located on the left or right of a driver, the translation mechanism 11 and the revolving mechanism 10 are controlled to move according to the corresponding direction, moving distance and rotating angle in combination with the current operation position, and the trimming cutter 13 is driven to return to the initial operation position to perform the trimming operation, so as to perform bidirectional trimming on the left and right hedgerows.

Another preferred embodiment of the present application further provides a hedge trimmer, which comprises a chassis 14, wherein the trimming device is installed on the chassis 14.

In summary, the present application drives the trimming cutter 13 to move to the hedge part to be trimmed by extending the arm support; the operating point of the trimming cutter 13 is located on one side close to the vehicle body, the obstacle is sensed through the anti-collision mechanism 12 in the operating process, when the anti-collision mechanism 12 senses the obstacle 47, the translation mechanism 11 of the trimming device enables the trimming cutter 13 to slide to the middle position of the trimming cutter 13, meanwhile, the revolving mechanism is driven to rotate to avoid the obstacle according to the obstacle avoiding sensing signal of the anti-collision mechanism 12, therefore, the obstacle 47 is avoided, when the sensing device of the anti-collision mechanism 12 bypasses the obstacle, the trimming cutter 13 returns to the initial trimming operating position, and automatic obstacle avoiding operation is achieved. When the trimming device is positioned at the other side of the vehicle, the anti-collision mechanism 12 realizes the automatic obstacle avoidance operation at the reverse side through the half-circle rotary device.

The above description is only for the purpose of illustrating the preferred embodiments of the present application and is not to be construed as limiting the present application, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present application should be included in the scope of the present application.

Claims

1. The utility model provides a trimming means with two-way automatic obstacle-avoiding, includes the cantilever crane system that is used for adjusting the pruning gesture, rotates through mechanism (10) of circling round and sets up at terminal pruning blade disc (13) of cantilever crane system, is used for controlling the electrical system of each partial combined action, its characterized in that still includes:

the translation mechanism (11) is arranged between the rotary mechanism (10) and the trimming cutter head (13) and drives the trimming cutter head (13) to slide according to a set track to avoid an obstacle;

the anti-collision mechanism is arranged on the translation mechanism (11) and used for detecting an obstacle (47) and sending an obstacle avoidance induction signal in the corresponding operation process as an azimuth, and the operation azimuth is positioned on the left side of a driver or on the right side of the driver;

the electric control system is also used for controlling the translation mechanism (11) and the convolution mechanism (10) to set the direction to translate and rotate according to the obstacle avoidance sensing signal of the anti-collision mechanism, and driving the trimming cutter head (13) to slide and rotate to avoid the obstacle (47); and after obstacle avoidance is finished, the translation mechanism (11) and the convolution mechanism (10) are controlled to translate and rotate according to a set direction, and the trimming cutter head (13) is driven to return to an initial operation position for trimming operation.

2. The clipping apparatus with bidirectional automatic obstacle avoidance according to claim 1, wherein the translation mechanism (11) comprises:

the translation track (23) is fixedly connected and arranged on the trimming cutter head (13);

the translation base (26) is in sliding fit with the translation track (23) and is fixedly connected with the rotary mechanism (10);

and the translation driving device is arranged between the translation rail (23) and the translation base (26) and drives the translation base (26) to reciprocate along the translation rail (23).

3. The pruning device with bidirectional automatic obstacle avoidance according to claim 2, wherein the translation driving device comprises:

the rack mechanism (29) is fixedly arranged on the translation track (23);

the translation motor (28) is fixedly arranged on the translation base (26), and the output end of the translation motor is meshed with the rack mechanism (29) through a gear;

or,

the translation drive device includes:

the screw mechanism is rotationally arranged on the translation track (23) and one end of the screw mechanism is in driving connection with the motor;

and the nut mechanism is fixedly arranged on the translation base (26) and is matched with the screw rod mechanism.

4. The pruning device with bidirectional automatic obstacle avoidance according to claim 2, wherein a translation pulley block (27) for reducing friction is further arranged between the translation rail (23) and the translation base (26).

5. The clipping device with bi-directional automatic obstacle avoidance according to any of the claims 2 to 4, wherein the translation mechanism (11) further comprises:

and the translation position sensor (30) is in signal connection with the electric control system and is used for sensing the translation size and position of the translation mechanism (11).

6. The clipping apparatus with bi-directional automatic obstacle avoidance according to claim 5, wherein the translational position sensor (30) comprises:

the first translation position sensor (50) and the third translation position sensor (52) are in signal connection with the electric control system and are used for determining the limit translation size and position when the translation base (26) moves towards the two ends of the translation track (23);

and the second translation position sensor (51) is in signal connection with the electric control system and is used for determining the translation size and position when the translation base (26) moves to the middle part of the translation track (23).

7. The clipping apparatus with bi-directional automatic obstacle avoidance according to claim 1, wherein the collision avoidance mechanism (12) comprises:

the mounting seat (16) is fixedly arranged at the front end of the translation mechanism (11);

the anti-collision rod (15) is arranged on the mounting seat (16);

the anti-collision rod displacement sensor is in signal connection with the electric control system and sends out an obstacle avoidance induction signal when the anti-collision rod (15) is elastically deformed under the action of an obstacle;

and the return spring (18) is connected between the mounting seat (16) and the anti-collision rod (15), so that the anti-collision rod (15) is restored to the original posture without external force.

8. The pruning device with bidirectional automatic obstacle avoidance according to claim 7,

the anti-collision rod displacement sensor comprises an angle encoder (19) fixedly arranged on the mounting seat (16), the rear end of the anti-collision rod (15) is fixed on a rotating shaft of the angle encoder (19), and when the anti-collision rod (15) is elastically deformed under the action of an obstacle (47), the rotating shaft of the angle encoder (19) is driven to rotate to send an obstacle avoidance sensing signal;

or,

the anti-collision rod displacement sensor comprises a travel switch arranged on the mounting seat (16), and when the anti-collision rod (15) is elastically deformed under the action of an obstacle (47), the travel switch is triggered to send an obstacle avoidance induction signal;

or,

the anti-collision rod displacement sensor comprises a proximity switch arranged on the mounting seat (16), and when the anti-collision rod (15) is elastically deformed under the action of an obstacle (47), the proximity switch is triggered to send an obstacle avoidance induction signal.

9. The clipping apparatus with bi-directional automatic obstacle avoidance according to claim 7, wherein the collision avoidance mechanism (12) further comprises:

and the left and right semi-circle rotating devices are arranged on the mounting base (16), are connected with the anti-collision rod (15) and are used for driving the anti-collision rod (15) to rotate for a semi-circle to acquire an obstacle avoidance induction signal to the obstacle (47) in a corresponding posture during operation in a corresponding operation direction.

10. The pruning device with bidirectional automatic obstacle avoidance according to claim 9, wherein the left and right semi-circle swiveling means comprises:

the rotary seat (22) is rotatably arranged on the mounting seat (16), and the anti-collision rod (15) is rotatably arranged on the mounting seat (16) through the rotary seat (22);

the push rod air cylinder (17), the said push rod air cylinder (17) is fixedly set up on the said mount pad (16);

one end of the swing arm (20) is hinged to the mounting seat (16), and the other end of the swing arm (20) is hinged to a piston rod of the push rod cylinder (17);

one end of the arc swing arm (21) is hinged with the middle part of the swing arm (20), the other end of the arc swing arm (21) is hinged with the rotary seat (22), and the rotary seat (22) is driven to rotate around the rotating center under the action of the swing arm (20);

the return spring (18) is connected between the rotary seat (22) and the anti-collision rod (15), so that the anti-collision rod (15) is restored to the original posture without external force.

11. The pruning device with bidirectional automatic obstacle avoidance according to claim 10,

the anti-collision rod displacement sensor comprises an angle encoder (19) fixedly arranged on the rotary seat (22), the rear end of the anti-collision rod (15) is fixed on a rotating shaft of the angle encoder (19), and when the anti-collision rod (15) is elastically deformed under the action of an obstacle (47), the rotating shaft of the angle encoder (19) is driven to rotate to send an obstacle avoidance sensing signal;

or,

the anti-collision rod displacement sensor comprises a travel switch arranged on the rotary seat (22), and when the anti-collision rod (15) is elastically deformed under the action of an obstacle (47), the travel switch is triggered to send an obstacle avoidance induction signal;

or,

the anti-collision rod displacement sensor comprises a proximity switch arranged on the rotary seat (22), and when the anti-collision rod (15) is elastically deformed under the action of an obstacle (47), the proximity switch is triggered to send an obstacle avoidance induction signal.

12. A method of controlling a pruning device with bidirectional automatic obstacle avoidance according to any of claims 1 to 11, comprising the steps of:

the method comprises the steps of obtaining the current operation position of a boom system, and controlling a translation mechanism (11) to drive a trimming cutter head (13) to translate to an initial operation position according to the current operation position to perform trimming operation;

when the anti-collision mechanism (12) detects an obstacle avoidance induction signal, the translation mechanism (11) and the convolution mechanism (10) are controlled to translate and rotate in a set direction, and the trimming cutter head (13) is driven to avoid an obstacle;

after obstacle avoidance is finished, the translation mechanism (11) and the rotation mechanism (10) are controlled to translate and rotate in a set direction, and the trimming cutter head (13) is driven to return to an initial operation position for trimming.

13. The control method according to claim 12, wherein a current working orientation of the boom system is obtained, and the translation mechanism (11) is controlled to drive the trimmer head (13) to translate to an initial working position according to the current working orientation for trimming, and specifically comprises the steps of:

acquiring a current operation position of the boom system according to an angle reading of a rotary angle encoder (41) of the boom system, wherein if the angle reading is greater than ninety degrees, the current operation position is positioned on the left side of a driver, and if the angle reading is less than ninety degrees, the current operation position is positioned on the right side of the driver;

if the current operation direction is positioned on the left side of the driver, the translation mechanism (11) is controlled to translate leftwards until the third translation position sensor (52) sends out a sensing signal, so that the trimming cutter head (13) reaches the initial operation position on the left side of the driver to perform trimming operation;

if the current operation direction is positioned at the right side of the driver, the translation mechanism (11) is controlled to translate rightwards until the first translation position sensor (50) sends out a sensing signal, so that the trimming cutterhead (13) reaches the initial operation position at the right side of the driver to perform trimming operation.

14. The control method of claim 13, wherein if the current working orientation is at the left of the driver, the translating mechanism (11) is controlled to translate to the left until the third translation position sensor (52) sends a sensing signal to cause the trimmer cutter head (13) to reach the initial working position at the left of the driver for trimming, further comprising the steps of:

controlling the left and right semi-circle rotary devices to act, driving the anti-collision rod (15) to rotate for a semi-circle, and enabling the orientation of the free end of the anti-collision rod (15) to be consistent with the translation direction of the translation mechanism (11);

if the current operation position is located on the right side of the driver, the translation mechanism (11) is controlled to translate rightwards until the first translation position sensor (50) sends out a sensing signal, so that the trimming cutter head (13) reaches the initial operation position on the right side of the driver to perform trimming operation, and the method further comprises the following steps:

the action of the left and right semi-circle rotary devices is controlled to drive the anti-collision rod (15) to rotate in a reverse direction for a semi-circle, so that the orientation of the free end of the anti-collision rod (15) is consistent with the translation direction of the translation mechanism.

15. The control method according to claim 12,

when anticollision institution (12) detected and keep away barrier sensing signal, control translation mechanism (11) and the mechanism of circling round (10) according to setting for the direction translation and rotate, drive trimmer blade dish (13) and keep away the barrier, specifically include the step:

when the anti-collision mechanism (12) detects an obstacle avoidance induction signal and the current operation direction is positioned on the left side of a driver, the translation mechanism (11) is controlled to translate rightwards until the second translation position inductor (51) sends out an induction signal, and meanwhile, the convolution mechanism (10) is controlled to rotate leftwards to drive the trimming cutter head (13) to avoid the obstacle;

when the anti-collision mechanism (12) detects an obstacle avoidance induction signal and the current operation direction is located on the right side of a driver, the translation mechanism (11) is controlled to translate leftwards until the second translation position inductor (51) sends out an induction signal, and meanwhile, the convolution mechanism (10) is controlled to rotate rightwards to drive the trimming cutter head (13) to avoid the obstacle.

16. The control method according to claim 12, wherein after the obstacle avoidance is finished, the translation mechanism (11) and the rotation mechanism (10) are controlled to translate and rotate in opposite directions, and the trimming cutter (13) is driven to return to an initial working position of a current working position for trimming, and the method specifically comprises the following steps:

when obstacle avoidance is finished and the current operation direction is positioned on the left side of a driver, the translation mechanism (11) is controlled to translate leftwards until the third translation position sensor (52) sends out a sensing signal, and meanwhile, the convolution mechanism (10) is controlled to rotate rightwards, and the trimming cutter head (13) is driven to recover to the initial operation position for trimming;

when obstacle avoidance is finished and the current operation direction is located on the right side of a driver, the translation mechanism (11) is controlled to translate rightwards until the first translation position sensor (50) sends out a sensing signal, and meanwhile, the convolution mechanism (10) is controlled to rotate leftwards to drive the trimming cutter head (13) to recover to the initial operation position for trimming operation.

17. A hedge trimmer comprising a chassis (14), characterized in that the chassis (14) is provided with a trimming device according to any one of claims 1 to 11.