Control device and control method of tall tree pruning mechanical arm

Abstract

The invention relates to a control device and control method of a tall tree pruning mechanical arm. The control device includes a video image acquisition unit and a control unit; the video image acquisition unit is used for shooting tall tree branch video images and transmitting the same to an industrial tablet computer; based on the control unit, an operator determines the relative positions of a pruning saw and tree branches according to the video images shot by the video image acquisition unit, so as to control the pruning saw to complete pruning; the video image acquisition unit comprises a digital wireless camera and a USB digital wireless receiver; the control unit comprises a touch screen type industrial panel computer module, a lifting platform control module, a turntable control module, a mechanical arm control module and a pruning saw control module. According to the control device and control method of the tall tree pruning mechanical arm of the invention, wireless video image system and industrial panel computer control is adopted, the control device and control method have high automation degree, reliability and safety; the operator controls the linkage of the mechanical arm, the turntable and a lifting platform according to the video images to realize front-back, right-left and up-down movement of the pruning saw at the tail end of a pruner so as to complete pruning work of tall trees.

Description

technical field [0001] The invention relates to a control device and a control method for a tall tree pruning mechanical arm, belonging to the field of forestry machinery. technical background [0002] Tree pruning is an important task in forestry production, and tall tree pruning occupies a very large proportion in forestry production management. There are two main ways of pruning tall trees: one is single branch selective pruning, which mainly prunes dead branches, pests and diseases, obstacles and wind-broken branches of trees; the other is plastic pruning, which mainly prunes all branches in the middle and lower parts of the trunk. Branches are pruned. At present, the planting area of ​​tall trees in my country is constantly expanding, but the pruning technology is backward, and the degree of mechanization and automation is low. [0003] At present, the commonly used pruning machines for tall trees have various forms such as hand-held and vehicle-mounted. Hand-held pr...

AI Technical Summary

Problems solved by technology

Hand-held pruning tools are mainly telescopic high-branch saws. On the basis of improving the common hand saws, a working rod with telescopic function is installed. It is easy to use and low in cost, but its pruning height is only about 2 to 4 meters. , broken saws and other issues, the degree of mechanization is not high

Vehicle-mounted pruning machines are mainly folding-arm or telescopic-arm aerial work vehicles, relying on the operation vehicle to lift the operator around the branches for manual pruning operations, which have problems such as poor safety, high labor intensity, and low degree of automation

[0004] Aiming at the problems of automation and low intelligence of tall tree pruning robotic arms, and the lack of large tree pruning machinery, it is urgent to invent a control device and control method for tall tree pruning robotic arms to complete the pruning of tall trees. Work

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