Trajectory-controllable pruning method based on tree climbing of robot

Abstract

The invention discloses a trajectory-controllable pruning method based on tree climbing of a robot. The trajectory-controllable pruning method includes mounting the tree climbing robot on a trunk of ato-be-pruned tree; adjusting the angle between a driving wheel of the tree climbing robot and the axis of the trunk, and selecting an angle position; controlling the tree climbing robot to climb upwardly around the surface of the trunk at a certain lead angle, and controlling an electronic chain saw to prune branches; during pruning, adjusting the angle between the driving wheel of the tree climbing robot and the axis of the trunk according to actual position conditions of the to-be-pruned branches, and changing the lead angle; after pruning by the tree climbing robot, controlling the electric chain saw to stop, and taking down the tree climbing robot. The trajectory-controllable pruning method has the advantages that the angle between the driving wheel of the tree climbing robot and theaxis of the trunk is adjusted to control the tree climbing trajectory, so that the practicability is high, pruning efficiency for fast-growing woods can be improved, and labor intensity of forestry workers can be reduced.

Description

technical field [0001] The invention belongs to the field of forestry machinery, and relates to a method for climbing trees and pruning branches of a robot with a controllable trajectory. Background technique [0002] Fast-growing forest is an artificial forest with a short rotation period. It is in great demand in the field of industrial papermaking. Due to its fast-growing advantages, good material, and high survival rate of afforestation, it has good economic value. Reasonable pruning of fast-growing forests can promote the growth of trees, improve the straightness, roundness, bending strength and toughness of trees, improve the growth environment and fire prevention conditions of trees, and enhance the photosynthesis of upper parts. [0003] The planting area of ​​fast-growing forests in my country continues to expand, but the pruning methods of fast-growing forests are backward. In many areas, manual hand-held tools are still used for pruning. The labor load is large, t...

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Problems solved by technology

[0003] The planting area of ​​fast-growing forests in my country continues to expand, but the pruning methods of fast-growing forests are backward. In many areas, manual hand-held tools are still used for pruning. The labor load is large, the pruning efficiency is low, and it is dangerous to prune high trees; Tree-climbing robots perform pruning, but in the process of using existing methods for climbing and pruning trees, the climbing spiral angle of the tree-climbing robot is uncontrollable, and the tree-climbing trajectory is uncontrollable. It is necessary to consider the relationship between the diameter of the trunk and the length of the chain saw. relationship, the trajectory of pruning cannot be controlled according to the trunk of the tree to be pruned, which in turn causes problems such as low pruning efficiency and high labor intensity of pruning by forestry workers, which has a negative impact on the economic benefits of large-scale planting of fast-growing forests

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