A hedge trimming unmanned vehicle

Abstract

The application belongs to the technical field of hedge trimming, and discloses a hedge trimming unmanned vehicle, which comprises an intelligent trolley, a mechanical arm assembly and a trimming mechanism. The intelligent trolley comprises a movable chassis, a power module, a driving module, a visual navigation module, a control module, a quality feedback module and a remote monitoring and emergency processing module. The mechanical arm assembly comprises a rotating table and a three-axis mechanical arm. The trimming mechanism comprises a mounting seat and two groups of vertically arranged trimming cutters. The trimming cutter comprises a mounting plate, a fixed shaft is arranged on the mounting plate, two main connecting arms are rotatably arranged on the fixed shaft, a secondary connecting arm is rotatably arranged at one end of the main connecting arm, the two secondary connecting arms are connected through a hinge shaft, a quadrilateral linkage mechanism is formed, a driving assembly is further arranged on the mounting plate, and a first reciprocating cutter assembly and a second reciprocating cutter assembly are respectively arranged on the main connecting arm and the secondary connecting arm. The length adjustment of the trimming mechanism is realized through the quadrilateral linkage mechanism, sufficient avoiding space is provided for the cutter, and the risk of collision with obstacles is reduced.

Description

Technical Field

[0001] This invention relates to the field of hedge trimming technology, and in particular to an unmanned vehicle for hedge trimming. Background Technology

[0002] Hedge trimming is an important routine task in landscaping maintenance. With the acceleration of urbanization in my country and the continuous expansion of green spaces such as highways, urban roads, parks, and residential areas, the demand for regular hedge trimming and maintenance has exploded. Traditional manual trimming methods are labor-intensive, inefficient, and pose safety hazards. Furthermore, the quality of trimming depends on the experience of workers, making it difficult to meet the ever-increasing maintenance needs.

[0003] In recent years, mechanized pruning methods have been widely adopted, primarily using vehicle-mounted or towed equipment equipped with multi-degree-of-freedom robotic arms and pruning blades. This has improved pruning efficiency and reduced the labor intensity of workers to some extent. However, existing green belts often contain fixed obstacles such as utility poles, lampposts, and trees, requiring the pruning blades to avoid them during hedge trimming. Most existing mechanized pruning equipment adjusts the position of the pruning blades through the movement of the robotic arm's joints to achieve active obstacle avoidance during the pruning process. This process requires frequent coordinated operation of the robotic arm's multi-axis motors, resulting in high energy consumption. In continuous, long-distance hedge trimming scenarios, the frequent extension and retraction of the robotic arm not only reduces pruning efficiency but also increases the probability of system failure, leading to insufficient overall equipment reliability.

[0004] Some devices have abandoned the independent robotic arm approach, instead mounting the trimmer blades directly on a retractable actuator, relying on the linear extension and retraction of the blades relative to the vehicle body to avoid obstacles. However, the retraction and retraction of the trimmer blades is greatly affected by the real-time changes in the distance between the vehicle body and the hedges. When encountering obstacles such as protruding branches, lampposts, or traffic signs, the blades often cannot retract a sufficient distance in time, leading to a collision risk.

[0005] Therefore, there is an urgent need to provide a hedge trimming device that is highly reliable, has a low risk of collision, and can be adapted to continuous long-distance hedge trimming operations. Summary of the Invention

[0006] To address the aforementioned problems, this invention provides an unmanned vehicle for hedge trimming.

[0007] The above-mentioned technical objective of the present invention is achieved through the following technical solution: an unmanned hedge trimming vehicle, comprising an intelligent vehicle, a robotic arm assembly, and a trimming mechanism. The intelligent vehicle includes a movable chassis, on which a power module, a drive module, a visual navigation module, a control module, a quality feedback module, and a remote monitoring and emergency response module are installed. The robotic arm assembly includes a rotary table mounted on a movable chassis and a three-axis robotic arm mounted on the rotating part of the rotary table. The trimming mechanism includes a mounting base at the end of a three-axis robotic arm. Two sets of vertically arranged trimming blades are mounted on the mounting base. Each trimming blade includes a mounting plate on the mounting base, with a fixed shaft on the mounting plate. Two main connecting arms are rotatably mounted on the fixed shaft. A secondary connecting arm is rotatably mounted on the end of each main connecting arm away from the mounting plate via a rotating shaft. The ends of the two secondary connecting arms away from the main connecting arms are rotatably connected via a hinge shaft. The two main connecting arms and the two secondary connecting arms form a quadrilateral linkage mechanism. The mounting plate also includes a drive assembly for driving the two secondary connecting arms to close or open around the hinge shaft. A first reciprocating blade assembly and a second reciprocating blade assembly are respectively mounted on the main connecting arms and the secondary connecting arms.

[0008] Furthermore, the drive assembly includes drive rods and a cross linkage group. Two drive rods are symmetrically arranged, one end of which is rotatably mounted on the mounting plate, and the other end has a drive groove aligned with its length direction. A connecting shaft perpendicular to its plane is provided in the middle of the inner side of the secondary connecting arm. The cross linkage group includes two connecting rods hinged in the middle. The ends of the two connecting rods near one end of the secondary connecting arm are rotatably connected to the connecting shaft on the corresponding side, and the other end is provided with a sliding shaft consistent with the core of the connecting shaft. The sliding shaft is located in the drive groove on the corresponding side and forms a sliding guide engagement with it. The mounting plate is also provided with a drive motor that drives the two drive rods to rotate synchronously in opposite directions.

[0009] Furthermore, the mounting plate is a sector-shaped plate with a sector-shaped groove on one side of its arc surface. Two symmetrical drive shafts are rotatably arranged in the sector-shaped groove. Drive gears are provided on the drive shafts and the drive gears on the two drive shafts are meshed. The end of the drive rod near the mounting plate is located in the sector-shaped groove and is fixedly connected to the corresponding drive shaft. The output shaft of the drive motor is connected to one of the drive shafts through a coupling.

[0010] The first reciprocating cutter assembly includes a first fixed cutter holder disposed on the side of the main connecting arm near the hedge and aligned with its length direction. A first sliding groove is formed on the first fixed cutter holder along its length direction, and a first sliding cutter holder is slidably disposed within the first sliding groove. A first fixed blade is disposed on the outer side of the first fixed cutter holder, and a first movable blade is disposed on the outer side of the first sliding cutter holder. The first movable blade reciprocates with the first sliding cutter holder and forms a shearing engagement with the first fixed blade. The second reciprocating cutter assembly includes a second fixed cutter holder disposed on the side of the secondary connecting arm near the hedge and aligned with its length direction. A second sliding groove is formed on the second fixed cutter holder along its length direction, and a second sliding cutter holder is slidably disposed within the second sliding groove. A second fixed blade is disposed on the outer side of the second fixed cutter holder, and a second movable blade is disposed on the outer side of the second sliding cutter holder. The second movable blade reciprocates with the second sliding cutter holder and forms a shearing engagement with the second fixed blade. A reciprocating assembly for driving the first sliding cutter holder to reciprocate is disposed at the end of the main connecting arm near the mounting plate, and a linkage assembly for driving the second sliding cutter holder to reciprocate is disposed at the end of the first sliding cutter holder away from the mounting plate.

[0011] Furthermore, the main connecting arm is provided with a mounting groove near one end of the mounting plate. One side of the mounting groove is connected to the first sliding groove. Two mounting brackets are arranged at intervals in the mounting groove. The reciprocating assembly includes a power shaft rotatably disposed between the two mounting brackets. The shaft core direction of the power shaft is consistent with the length direction of the first sliding groove. An inclined wheel is provided on the power shaft. Two reciprocating shafts are arranged at intervals near one end of the first sliding tool holder near the mounting plate. The wheel surface of the inclined wheel is located between the two reciprocating shafts and forms a meshing engagement. A reciprocating motor is provided in the mounting groove. The output shaft of the reciprocating motor is connected to the power shaft.

[0012] Furthermore, the first fixed tool holder has a guide rail on its inner side that is aligned with its length direction. The linkage assembly includes a connecting seat on the inner side of the first sliding tool holder. The connecting seat is slidably mounted on the guide rail via a guide block. A linkage plate protrudes from the connecting seat in the direction of the rotation axis. A linkage guide groove is formed on the linkage plate. A connecting plate protrudes from the end of the second sliding tool holder away from the hinge axis. A linkage shaft is provided on the connecting plate. The linkage shaft is located in the linkage guide groove and forms a sliding guide engagement with it.

[0013] Furthermore, the first fixed tool holder and the first moving blade extend from the mounting plate to the outside of the rotating shaft, and the trimming area of ​​the first reciprocating tool assembly near the rotating shaft covers the trimming area of ​​the second reciprocating tool assembly near the rotating shaft.

[0014] Furthermore, a first L-shaped frame is provided on the side of the main connecting arm away from the hedge, and a first anti-collision strip is provided on the first L-shaped frame, which is arranged along the length direction of the main connecting arm and protrudes from the cutting edge of the first moving blade. A second L-shaped frame is provided on the side of the secondary connecting arm away from the hedge, and a second anti-collision strip is provided on the second L-shaped frame, which is arranged along the length direction of the secondary connecting arm and protrudes from the cutting edge of the second moving blade. An arc-shaped anti-collision strip protruding from the first fixed blade is also provided at the end of the first anti-collision strip away from the mounting plate.

[0015] Furthermore, the power module includes a rechargeable battery pack and a power management module. The rechargeable battery pack provides power to all electrical components, and the power management module monitors power consumption and provides power protection. The drive module controls the movement and steering of the movable chassis. The visual navigation module includes a lidar, a high-definition camera, a depth sensor, and an image processing unit. The lidar is used to perceive obstacles in the surrounding environment and acquire the position and outline information of the hedge. The high-definition camera is used to collect real-time image information of the hedge. The depth sensor is used to detect the distance between the hedge and the pruning blade. The image processing unit analyzes and processes the collected images and depth data, and outputs the three-dimensional outline of the hedge, its growth status, and the position information of obstacles. The control module receives the hedge images and environmental information transmitted by the visual navigation module, plans the walking path and pruning path, and controls the actions of the drive components of the drive module, the robotic arm assembly, and the pruning mechanism. The quality feedback module collects dynamic data of the hedge surface after trimming in real time, compares it with preset target parameters, and feeds it back to the control module for adjustment of trimming parameters; the remote monitoring and emergency handling module is used to transmit the working status, location information, operation screen and hedge trimming data of the unmanned vehicle to the remote monitoring platform in real time and accept remote control.

[0016] In summary, the present invention has the following beneficial effects: 1. In this application, a quadrilateral linkage mechanism is formed by two main connecting arms and two auxiliary connecting arms. The two auxiliary connecting arms are driven by a drive assembly to close or open around the hinge axis, thereby adjusting the included angle between the main connecting arms and the auxiliary connecting arms. This changes the distance between the fixed axis and the hinge axis, thus achieving length adjustment of the trimming mechanism. On the one hand, it can adapt to hedges of different widths; on the other hand, it can avoid obstacles by retracting the main and auxiliary connecting arms, without relying on the frequent multi-axis movement adjustment of the robotic arm, reducing overall energy consumption and system wear caused by frequent robotic arm movements, and improving the reliability of the equipment for long-term continuous operation. At the same time, the retraction process is achieved only by the deformation of the quadrilateral linkage mechanism, making the stroke adjustment more flexible and providing sufficient avoidance space for the cutter, reducing the risk of collision with obstacles.

[0017] 2. In this application, the first sliding cutter holder and the first moving blade are driven to reciprocate through the reciprocating component to achieve shearing. Then, the power is transmitted to the second sliding cutter holder through the linkage component, which drives the second moving blade to reciprocate and shear synchronously. Only one power source is needed to drive two sets of reciprocating cutters to work at the same time, which effectively simplifies the drive structure and reduces the overall weight and energy consumption of the equipment.

[0018] 3. In this application, the ends of the first fixed blade and the first moving blade furthest from the mounting plate protrude to the outside of the rotating shaft. This allows the trimming area of ​​the first reciprocating blade assembly near the rotating shaft to cover the corresponding trimming area of ​​the second reciprocating blade assembly, thereby eliminating the trimming blind spot around the rotating shaft and ensuring the continuity and integrity of hedge trimming operations. Furthermore, by setting the first anti-collision strip, the second anti-collision strip, and the arc-shaped anti-collision strip, obstacles can be avoided and buffered in advance during operation, further reducing the probability of direct collision between the blades and obstacles and effectively improving operational safety. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention in its non-working state according to an embodiment; Figure 2 This is a schematic diagram of the overall structure in the working state of an embodiment of the present invention; Figure 3 This is a schematic diagram of the pruning mechanism according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a single set of trimming tools in the retracted state according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the planar structure of a single set of trimming tools in the retracted state according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a single set of trimming blades in the extended state according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the planar structure of a single set of trimming blades in the extended state according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the installation plate and drive assembly in an embodiment of the present invention; Figure 9 This is a schematic diagram of the main connecting arm in an embodiment of the present invention; Figure 10 yes Figure 9 A magnified structural diagram of part A; Figure 11 This is a structural schematic diagram of the main connecting arm from another angle according to an embodiment of the present invention; Figure 12 This is a schematic diagram of the structure of the secondary connecting arm according to an embodiment of the present invention; Figure 13 yes Figure 12 A schematic diagram of the enlarged structure of part B; Figure 14 This is a structural schematic diagram of an embodiment of the present invention used to highlight the linkage component.

[0020] In the diagram: 1. Intelligent vehicle; 2. Robotic arm assembly; 3. Trimming mechanism; 4. Movable chassis; 5. Rotary table; 6. Three-axis robotic arm; 7. Mounting base; 8. Trimming blade; 10. Mounting plate; 11. Fixed shaft; 12. Sector-shaped slot; 20. Main connecting arm; 21. Rotating shaft; 22. Mounting slot; 23. Mounting bracket; 24. First L-shaped frame; 25. First anti-collision strip; 26. Arc-shaped anti-collision strip; 30. Secondary connecting arm; 31. Hinge shaft; 32. Connecting shaft; 33. Second L-shaped frame; 34. Second anti-collision strip; 40. Drive assembly; 41. Drive rod; 42. Cross linkage group; 43. Drive slot; 44. Sliding shaft; 45. Drive motor; 46. ​​Drive shaft; 47. Drive gear; 50. First reciprocating tool assembly; 51. First fixed tool holder; 52. First slide groove; 53. First sliding tool holder; 54. First fixed insert; 55. First moving insert; 56. Guide rail; 60. Second reciprocating tool assembly; 61. Second fixed tool holder; 62. Second slide groove; 63. Second sliding tool holder; 64. Second fixed insert; 65. Second moving insert; 70. Reciprocating assembly; 71. Power shaft; 72. Inclined wheel; 73. Reciprocating shaft; 74. Reciprocating motor; 80. Linkage assembly; 81. Connecting seat; 82. Guide block; 83. Linkage plate; 84. Linkage guide groove; 85. Connecting plate; 86. Linkage shaft. Detailed Implementation

[0021] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0022] like Figure 1-14 As shown in the figure, this application discloses an unmanned hedge trimming vehicle, including an intelligent vehicle 1, a robotic arm assembly 2 and a trimming mechanism 3, which can realize autonomous walking, intelligent recognition, adaptive obstacle avoidance and fully automatic multi-faceted hedge trimming operations.

[0023] The intelligent vehicle 1 includes a mobile chassis 4, which is an integrated load-bearing chassis that supports all functional components. Wheels are installed at the bottom for movement. Specifically, the mobile chassis 4 houses a power module, a drive module, a vision navigation module, a control module, a quality feedback module, and a remote monitoring and emergency response module. The power module includes a rechargeable battery pack and a power management module. The rechargeable battery pack uses a high-capacity lithium battery to provide continuous and stable power support for the vehicle's drive, robotic arm movement, cutting tools, vision acquisition, and other electrical components. The power management module integrates functions such as power detection, overcharge and over-discharge protection, short-circuit protection, and voltage regulation. It collects battery parameters in real time and sends a warning signal to the control module and triggers a protection mechanism when the power level falls below a threshold or a power supply abnormality occurs, thus achieving power monitoring and protection and ensuring power supply stability. The drive module integrates a walking motor, a steering servo, and a controller to control the movement and steering of the mobile chassis 4, including forward, backward, steering, start / stop, and walking speed adjustment functions, ensuring stability and safety during operation.

[0024] The visual navigation module includes a LiDAR, a high-definition camera, a depth sensor, and an image processing unit. One LiDAR and one high-definition camera are installed on each of the intelligent vehicle 1 and the pruning mechanism 3. The LiDAR is used to perceive obstacles in the surrounding environment and acquire the position and outline information of the hedge. The high-definition camera is used to collect real-time image information of the hedge, covering details such as its appearance and outline. The depth sensor uses a laser depth sensor to detect the distance between the hedge and the pruning blade 8. The image processing unit has a built-in image recognition algorithm to analyze and process the acquired images and depth data, outputting the 3D outline of the hedge, its growth status, and obstacle location information, and transmitting all environmental data to the control module in real time. The control module uses a ROS2-based main controller, integrating SLAM (Simultaneous Localization and Mapping) algorithm, A* (Aspect-to-Aspect) global path planning algorithm, and DWA (Dynamic Window) local obstacle avoidance algorithm. It receives the hedge images and environmental information transmitted by the visual navigation module, combines them with preset pruning standards, and plans the walking and pruning paths based on the hedge outline, growth status, and obstacle locations. It also controls the coordinated actions of the drive module, the robotic arm assembly 2, and the various drive components of the pruning mechanism 3. The system comprises several key components: a high-precision map of the work area is constructed based on the SLAM algorithm; the A* algorithm is used to calculate the optimal global path from the starting point to the end point; and the DWA algorithm is combined to process local obstacle information in real time, dynamically adjusting the driving and trimming paths. The quality feedback module, based on the LiDAR and high-definition camera of the visual navigation submodule, collects dynamic data of the trimmed hedge surface in real time, compares it with preset target parameters, and feeds it back to the control module for adjusting trimming parameters. If the actual trimming effect deviates beyond a threshold, a correction process is automatically triggered. The remote monitoring and emergency handling module includes a remote photography transmission and positioning device, an emergency stop execution unit, and a cloud communication module. These are used to transmit the unmanned vehicle's working status, location information, work images, and hedge trimming data to a remote monitoring platform in real time, and to accept remote control. When an emergency or abnormality that cannot be handled autonomously is detected, an emergency stop command is executed first, cutting off power to all moving parts; simultaneously, real-time images and location information are sent to staff, who then take over control via a remote terminal to handle the abnormal situation.

[0025] The robotic arm assembly 2 includes a rotary table 5 and a three-axis robotic arm 6. The rotary table 5 is fixedly mounted on a movable chassis 4 and uses an electrically operated rotating base, enabling 360° horizontal rotation adjustment. The three-axis robotic arm 6 is mounted on the rotating part of the rotary table 5 and achieves its own horizontal turning synchronously with the horizontal rotation of the rotary table 5. Each axis of the three-axis robotic arm 6 is driven by an AC servo motor, resulting in strong stability and fast response speed during operation. Relying on the three-axis linkage adjustment, the spatial position and working angle of the end-effector pruning mechanism 3 can be flexibly adjusted to adapt to the pruning needs of hedges of different heights and arrangements, greatly improving operational adaptability and adjustment flexibility. During operation, the rotary table 5 first drives the three-axis robotic arm 6 to rotate, causing the pruning mechanism 3 to move to the side of the intelligent vehicle 1. Then, the three-axis robotic arm 6 adjusts the height and position of the pruning mechanism 3 relative to the hedge. After the operation is completed, the rotary table 5 drives the three-axis robotic arm 6 to rotate, causing the pruning mechanism 3 to move to the rear of the intelligent vehicle 1. Then, the three-axis robotic arm 6 adjusts and drives the pruning mechanism 3 to retract for storage, avoiding the pruning mechanism 3 from protruding and affecting the normal passage of the unmanned vehicle, and also reducing the risk of scratching and colliding with external objects during the transfer and transportation process.

[0026] The pruning mechanism 3 includes a mounting base 7 and pruning blades 8. The mounting base 7 is located at the end of the three-axis robotic arm 6. There are two sets of pruning blades 8, which are arranged vertically on the mounting base 7. The two sets of pruning blades 8 correspond to the side and top surfaces of the hedge, respectively, and can complete multi-faceted pruning operations simultaneously.

[0027] The trimming tool 8 includes a mounting plate 10 mounted on a mounting base 7. The mounting plate 10 is generally fan-shaped, with a fan-shaped groove 12 formed inward on one side of its arc surface. A fixed shaft 11 is mounted on the mounting plate 10, and two main connecting arms 20 are rotatably mounted on the fixed shaft 11. A secondary connecting arm 30 is rotatably mounted on the end of the main connecting arm 20 away from the mounting plate 10 via a rotating shaft 21. The ends of the two secondary connecting arms 30 away from the main connecting arms 20 are rotatably connected via a hinge shaft 31. The two main connecting arms 20 and the two secondary connecting arms 30 form a closed quadrilateral linkage mechanism. The fixed shaft 11, the two rotating shafts 21, and the hinge shaft 31 are respectively arranged at the four vertices of the quadrilateral linkage mechanism. By rotating the main connecting arms 20 and the secondary connecting arms 30 relative to the four vertices, the quadrilateral can be extended and retracted, thereby changing the overall extension length of the quadrilateral and realizing flexible adjustment of the overall length of the trimming tool 8.

[0028] The mounting plate 10 is also provided with a drive assembly 40, which is used to drive the two auxiliary connecting arms 30 to close or open around the hinge shaft 31. Specifically, the drive assembly 40 includes a drive rod 41 and a cross linkage group 42. There are two symmetrically arranged drive rods 41, and the cross linkage group 42 includes two connecting rods hinged in the middle. One end of the drive rod 41 is rotatably mounted on the mounting plate 10, and the other end has a drive groove 43 that is consistent with its length direction. During installation, two symmetrical drive shafts 46 are rotatably arranged in the sector groove 12. Each drive shaft 46 is provided with a drive gear 47, and the two are in a meshing state. The end of the drive rod 41 near the mounting plate 10 is placed in the sector groove 12 and fixedly connected to the corresponding drive shaft 46, and can rotate synchronously with the drive shaft 46. The mounting plate 10 is also equipped with a drive motor 45. The output shaft of the drive motor 45 is connected to one of the drive shafts 46 through a coupling. Under the meshing of the two drive gears 47, the drive motor 45 drives the two drive shafts 46 to rotate synchronously in opposite directions, thereby driving the two drive rods 41 to rotate synchronously in opposite directions.

[0029] A connecting shaft 32 perpendicular to its plane is provided in the middle of the inner side of the secondary connecting arm 30. The two ends of the two connecting rods of the cross linkage 42 near one end of the secondary connecting arm 30 are rotatably connected to the connecting shaft 32 on the corresponding side. The other end is provided with a sliding shaft 44 that is consistent with the shaft core of the connecting shaft 32. The sliding shaft 44 is located in the drive groove 43 on the corresponding side and forms a sliding guide engagement with it. During operation, the drive motor 45 drives one of the drive shafts 46 to rotate. With the help of two meshing drive gears 47, the two drive shafts 46 are driven to rotate synchronously in opposite directions, thereby driving the two drive rods 41 to rotate in opposite directions. Then, through the guide engagement between the drive groove 43 and the sliding shaft 44, the cross linkage 42 is driven to rotate, and finally the two secondary connecting arms 30 are pushed to synchronously close or open around the end hinge shaft 31 to complete the length adjustment of the trimming tool 8.

[0030] The main connecting arm 20 and the auxiliary connecting arm 30 are respectively equipped with a first reciprocating cutter assembly 50 and a second reciprocating cutter assembly 60. The trimming surfaces of the first reciprocating cutter assembly 50 and the second reciprocating cutter assembly 60 are arranged coplanarly to ensure a neat surface for the trimmed hedge. The first reciprocating cutter assembly 50 and the second reciprocating cutter assembly 60 can rotate synchronously with their respective connecting arms. The sum of their projected lengths in a plane perpendicular to the direction of travel of the unmanned vehicle constitutes the effective trimming length of the trimming cutter 8.

[0031] The first reciprocating cutter assembly 50 includes a first fixed cutter seat 51 disposed on the side of the main connecting arm 20 near the hedge and aligned with its length direction. A first sliding groove 52 is formed on the first fixed cutter seat 51 along its length direction. A first sliding cutter seat 53 is slidably disposed in the first sliding groove 52. A first fixed blade 54 is disposed on the outside of the first fixed cutter seat 51. A first moving blade 55 is disposed on the outside of the first sliding cutter seat 53. The first moving blade 55 slides back and forth with the first sliding cutter seat 53 and forms a shearing engagement with the first fixed blade 54 to realize the trimming operation of the hedge.

[0032] The structure of the second reciprocating cutter assembly 60 is the same as that of the first reciprocating cutter assembly 50. It includes a second fixed cutter holder 61 located on the side of the secondary connecting arm 30 near the hedge and aligned with the length of the secondary connecting arm 30. A second sliding groove 62 is formed on the second fixed cutter holder 61 along its length. A second sliding cutter holder 63 is slidably disposed within the second sliding groove 62. A second fixed blade 64 is disposed on the outer side of the second fixed cutter holder 61, and a second moving blade 65 is disposed on the outer side of the second sliding blade holder 63. The second moving blade 65 slides back and forth with the second sliding blade holder 63, forming a shearing engagement with the second fixed blade 64. The reciprocating motion of the moving blade relative to the fixed blade constitutes a shearing action for pruning the hedge. Compared to rotary cutting, this method provides greater shearing force, produces cleaner cuts, reduces tearing damage to the hedge section, promotes wound healing, and improves the aesthetics and survival rate of the pruned hedge.

[0033] A mounting groove 22 is provided at one end of the main connecting arm 20 near the mounting plate 10. A reciprocating assembly 70 for driving the first sliding tool holder 53 to slide back and forth is provided in the mounting groove 22. One side of the mounting groove 22 is connected to the first sliding groove 52. Two mounting brackets 23 are arranged at intervals in the mounting groove 22. The reciprocating assembly 70 includes a power shaft 71 rotatably disposed between the two mounting brackets 23. The axis of the power shaft 71 is aligned with the length direction of the first sliding groove 52. An inclined wheel 72 is provided on the power shaft 71. Two reciprocating shafts 73 are arranged at intervals at one end of the first sliding tool holder 53 near the mounting plate 10. The two reciprocating shafts 73 protrude into the mounting groove 22. The wheel surface of the inclined wheel 72 is located between the two reciprocating shafts 73 and forms a meshing engagement. A reciprocating motor 74 is also provided in the mounting groove 22. The output shaft of the reciprocating motor 74 is connected to the power shaft 71. During operation, the reciprocating motor 74 drives the power shaft 71 and the inclined wheel 72 to rotate at a constant speed. During the rotation of the inclined wheel 72, the wheel surface of the inclined wheel 72 alternately applies thrust to the two reciprocating shafts 73, causing the first sliding blade holder 53 to slide back and forth at high speed along the first slide groove 52, thereby causing the first moving blade 55 to reciprocate relative to the first fixed blade 54 to complete the shearing operation.

[0034] A linkage component 80 is provided at the end of the first sliding tool holder 53 away from the mounting plate 10. The linkage component 80 is used to drive the second sliding tool holder 63 to slide back and forth when the first sliding tool holder 53 reciprocates, so as to realize the linkage between the first reciprocating tool assembly 50 and the second reciprocating tool assembly 60. In this way, only one power is needed to drive the two sets of reciprocating tools to work at the same time, which effectively simplifies the drive structure and reduces the overall weight and energy consumption of the equipment.

[0035] The linkage assembly 80 includes a connecting seat 81 disposed inside the first sliding cutter holder 53. A linkage plate 83 protrudes from the connecting seat 81 toward the rotation shaft 21, and a linkage guide groove 84 is formed on the linkage plate 83. A connecting plate 85 protrudes from the end of the second sliding cutter holder 63 away from the hinge shaft 31. A linkage shaft 86 is disposed on the connecting plate 85, and the linkage shaft 86 is located in the linkage guide groove 84 and forms a sliding guide engagement with it. During the reciprocating sliding of the first sliding cutter holder 53, the linkage plate 83 is driven to move synchronously. Through the sliding guide engagement between the linkage guide groove 84 and the linkage shaft 86, the second sliding cutter holder 63 is pulled to reciprocate synchronously along the second sliding groove 62, thereby realizing the synchronous shearing operation of the second moving blade 65 and the second fixed blade 64. In this way, two sets of cutters can be driven to work synchronously by a set of reciprocating motors 74, with a simple structure and extremely high linkage synchronization.

[0036] To ensure smooth movement during the linkage process, a guide rail 56 aligned with the length direction is provided inside the first fixed tool holder 51, and the connecting seat 81 is slidably mounted on the guide rail 56 via the guide block 82. The guide rail 56 provides stable guidance for the sliding of the connecting seat 81, effectively preventing the connecting seat 81 from shifting or jamming when sliding with the first sliding tool holder 53, ensuring that the linkage action is always smooth and stable.

[0037] To avoid dead corners in trimming near the rotating shaft 21 when the first reciprocating cutter assembly 50 and the second reciprocating cutter assembly 60 rotate synchronously with the corresponding connecting arm, the ends of the first fixed cutter holder 51 and the first moving blade 55 away from the mounting plate 10 are extended to the outside of the rotating shaft 21. The trimming area of ​​the first reciprocating cutter assembly 50 near the rotating shaft 21 covers the trimming area of ​​the second reciprocating cutter assembly 60 near the rotating shaft 21, ensuring that there is no omission in trimming at the connection position between the first reciprocating cutter assembly 50 and the second reciprocating cutter assembly 60.

[0038] To further enhance the equipment's protective performance, a first L-shaped frame 24 is installed on the side of the main connecting arm 20 away from the hedge. A first anti-collision strip 25, extending along the length of the main connecting arm 20 and protruding from the cutting edge of the first moving blade 55, is mounted on the first L-shaped frame 24. An arc-shaped anti-collision strip 26, protruding from the first fixed blade 54, is also provided at the end of the first anti-collision strip 25 away from the mounting plate 10. A second L-shaped frame 33 is installed on the side of the auxiliary connecting arm 30 away from the hedge. A second anti-collision strip 34, extending along the length of the auxiliary connecting arm 30 and protruding from the cutting edge of the second moving blade 65, is mounted on the second L-shaped frame 33. The anti-collision strips are made of flexible, wear-resistant material. When encountering obstacles during operation, the anti-collision strips can make contact with the obstacles first, effectively protecting the blade structure and preventing damage due to collision, further improving the safety and stability of the equipment operation. Pressure sensors are also installed on the anti-collision strips. When the pressure sensor detects that the collision pressure exceeds the preset threshold, it will immediately transmit a signal to the control module. The control module will combine the obstacle position and other information from the visual navigation module to make a judgment and control the quadrilateral linkage structure to retract to avoid the obstacle.

[0039] The operating principle of the unmanned hedge trimming vehicle in this embodiment is as follows: The intelligent vehicle 1 collects hedge and environmental data through the visual navigation module. After processing and analysis by the control module, it automatically plans the optimal trimming path. Then, the control module outputs commands to control the rotary table 5 and the three-axis robotic arm 6 to adjust the position and angle of the trimming mechanism 3 so that the trimming mechanism 3 faces the side and top of the hedge. Afterwards, the drive component 40 adjusts the opening angle of the two auxiliary connecting arms 30 according to the current width of the hedge, and adjusts the overall extension length of the quadrilateral linkage mechanism so that the first reciprocating cutter assembly 50 and the second reciprocating cutter... The total effective trimming length of component 60 is adapted to the current hedge width. Then, the reciprocating motor 74 starts, driving the first sliding blade holder 53 to slide back and forth at high speed along the first slide groove 52 via the inclined wheel 72. At the same time, the linkage component 80 drives the second sliding blade holder 63 to slide back and forth synchronously, driving the first moving blade 55 and the second moving blade 65 to cooperate with the first fixed blade 54 and the second fixed blade 64 to perform cutting actions. The two sets of trimming blades 8 work synchronously. The drive module drives the intelligent trolley 1 to walk along the hedge and start the hedge trimming operation. The top and sides of the hedge can be trimmed at the same time. When an obstacle is encountered, the anti-collision strip first contacts the obstacle and triggers a pressure change. After receiving the signal, the control module analyzes and processes it, and controls the drive motor 45 to start. Through the drive rod 41 and the cross linkage group 42, the two auxiliary connecting arms 30 are driven to move inward to make the quadrilateral shrink. After the hinge shaft 31 moves between the obstacle and the intelligent trolley 1, the obstacle can be avoided. After the obstacle is avoided, the blades are extended again to resume the trimming operation. During the operation, the quality feedback module collects dynamic data of the hedge surface after trimming in real time and compares it with the preset target parameters. If the actual trimming effect deviates from the threshold, the control system adjusts the parameters, drives the intelligent trolley 1 to move backward, and uses the reciprocating blades arranged on the rear main connecting arm 20 and the secondary connecting arm 30 to trim.

[0040] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A driverless vehicle for hedge trimming, characterized by: Includes a smart car (1), a robotic arm assembly (2), and a trimming mechanism (3). The intelligent vehicle (1) includes a movable chassis (4), on which a power module, a drive module, a visual navigation module, a control module, a quality feedback module, and a remote monitoring and emergency handling module are provided; The robotic arm assembly (2) includes a rotary table (5) mounted on a movable chassis (4) and a three-axis robotic arm (6) mounted on the rotating part of the rotary table (5); The trimming mechanism (3) includes a mounting base (7) at the end of a three-axis robotic arm (6). Two sets of vertically arranged trimming blades (8) are mounted on the mounting base (7). Each trimming blade (8) includes a mounting plate (10) on the mounting base (7). A fixed shaft (11) is mounted on the mounting plate (10). Two main connecting arms (20) are rotatably mounted on the fixed shaft (11). A secondary connecting arm (20) is rotatably mounted on the end of each main connecting arm (20) away from the mounting plate (10) via a rotating shaft (21). The two auxiliary connecting arms (30) are rotatably connected at the ends away from the main connecting arm (20) via a hinge shaft (31). The two main connecting arms (20) and the two auxiliary connecting arms (30) form a quadrilateral linkage mechanism. The mounting plate (10) is also provided with a drive assembly (40) for driving the two auxiliary connecting arms (30) to close or open around the hinge shaft (31). The main connecting arm (20) and the auxiliary connecting arm (30) are respectively provided with a first reciprocating tool assembly (50) and a second reciprocating tool assembly (60).

2. The unmanned hedge trimming vehicle according to claim 1, characterized in that: The drive assembly (40) includes a drive rod (41) and a cross linkage group (42). There are two drive rods (41) arranged symmetrically. One end of each rod is rotatably mounted on the mounting plate (10), and the other end is provided with a drive groove (43) that is consistent with its length direction. The inner middle of the auxiliary connecting arm (30) is provided with a connecting shaft (32) that is perpendicular to its plane. The cross linkage group (42) includes two connecting rods that are hinged in the middle. The ends of the two connecting rods near one end of the auxiliary connecting arm (30) are rotatably connected to the connecting shaft (32) on the corresponding side. The other end is provided with a sliding shaft (44) that is consistent with the shaft core of the connecting shaft (32). The sliding shaft (44) is located in the drive groove (43) on the corresponding side and forms a sliding guide engagement with it. The mounting plate (10) is also provided with a drive motor (45) that drives the two drive rods (41) to rotate synchronously in opposite directions.

3. The unmanned hedge trimming vehicle according to claim 2, characterized in that: The mounting plate (10) is a fan-shaped plate with a fan-shaped groove (12) on one side of its arc surface. Two symmetrical drive shafts (46) are rotatably arranged in the fan-shaped groove (12). A drive gear (47) is provided on the drive shaft (46) and the drive gears (47) on the two drive shafts (46) are meshed. The end of the drive rod (41) near the mounting plate (10) is located in the fan-shaped groove (12) and is fixedly connected to the corresponding drive shaft (46). The output shaft of the drive motor (45) is connected to one of the drive shafts (46) through a coupling.

4. The unmanned hedge trimming vehicle according to claim 1, characterized in that: The first reciprocating cutter assembly (50) includes a first fixed cutter holder (51) disposed on the side of the main connecting arm (20) near the hedge and aligned with its length direction. A first sliding groove (52) is formed on the first fixed cutter holder (51) along its length direction. A first sliding cutter holder (53) is slidably disposed in the first sliding groove (52). A first fixed blade (54) is disposed on the outside of the first fixed cutter holder (51). A first moving blade (55) is disposed on the outside of the first sliding blade holder (53). The first moving blade (55) slides back and forth with the first sliding blade holder (53) and forms a shearing engagement with the first fixed blade (54). The second reciprocating cutter assembly (60) includes a second fixed cutter holder (6) disposed on the side of the auxiliary connecting arm (30) near the hedge and aligned with its length direction. 1) A second sliding groove (62) is provided on the second fixed blade holder (61) along its length direction. A second sliding blade holder (63) is slidably arranged in the second sliding groove (62). A second fixed blade (64) is arranged on the outside of the second fixed blade holder (61). A second moving blade (65) is arranged on the outside of the second sliding blade holder (63). The second moving blade (65) slides back and forth with the second sliding blade holder (63) and forms a shearing engagement with the second fixed blade (64). A reciprocating assembly (70) for driving the first sliding blade holder (53) to slide back and forth is provided at the end of the main connecting arm (20) near the mounting plate (10). A linkage assembly (80) for driving the second sliding blade holder (63) to slide back and forth is provided at the end of the first sliding blade holder (53) away from the mounting plate (10).

5. The unmanned hedge trimming vehicle according to claim 4, characterized in that: The main connecting arm (20) is provided with a mounting groove (22) near the mounting plate (10). One side of the mounting groove (22) is connected to the first slide groove (52). Two mounting brackets (23) are arranged at intervals in the mounting groove (22). The reciprocating assembly (70) includes a power shaft (71) rotatably disposed between the two mounting brackets (23). The shaft direction of the power shaft (71) is consistent with the length direction of the first slide groove (52). An inclined wheel (72) is provided on the power shaft (71). Two reciprocating shafts (73) are arranged at intervals near the mounting plate (10) of the first sliding tool holder (53). The wheel surface of the inclined wheel (72) is located between the two reciprocating shafts (73) and forms a meshing fit. A reciprocating motor (74) is provided in the mounting groove (22). The output shaft of the reciprocating motor (74) is connected to the power shaft (71).

6. The unmanned hedge trimming vehicle according to claim 4, characterized in that: The first fixed tool holder (51) is provided with a guide rail (56) that is consistent with its length direction. The linkage component (80) includes a connecting seat (81) provided inside the first sliding tool holder (53). The connecting seat (81) is slidably disposed on the guide rail (56) through a guide block (82). A linkage plate (83) is provided on the connecting seat (81) in the direction of the rotation axis (21). A linkage guide groove (84) is provided on the linkage plate (83). A connecting plate (85) is provided on the end of the second sliding tool holder (63) away from the hinge axis (31). A linkage shaft (86) is provided on the connecting plate (85). The linkage shaft (86) is located in the linkage guide groove (84) and forms a sliding guide engagement with it.

7. The unmanned hedge trimming vehicle according to claim 4, characterized in that: The first fixed blade holder (51) and the first moving blade (55) extend from the mounting plate (10) to the outside of the rotating shaft (21), and the first reciprocating tool assembly (50) covers the trimming area of ​​the second reciprocating tool assembly (60) at the end near the rotating shaft (21) in the trimming area near the rotating shaft (21).

8. The unmanned hedge trimming vehicle according to claim 7, characterized in that: The main connecting arm (20) is provided with a first L-shaped frame (24) on the side away from the hedge. The first L-shaped frame (24) is provided with a first anti-collision strip (25) that is arranged along the length of the main connecting arm (20) and protrudes from the cutting edge of the first moving blade (55). The secondary connecting arm (30) is provided with a second L-shaped frame (33) on the side away from the hedge. The second L-shaped frame (33) is provided with a second anti-collision strip (34) that is arranged along the length of the secondary connecting arm (30) and protrudes from the cutting edge of the second moving blade (65). The end of the first anti-collision strip (25) away from the mounting plate (10) is also provided with an arc-shaped anti-collision strip (26) that protrudes from the first fixed blade (54).

9. The unmanned hedge trimming vehicle according to claim 1, characterized in that: The power module includes a rechargeable battery pack and a power management module. The rechargeable battery pack provides stable power support for each electrical component, and the power management module is responsible for real-time power monitoring and power supply safety protection. The drive module controls the movement and steering of the movable chassis (4). The visual navigation module includes a lidar, a high-definition camera, a depth sensor, and an image processing unit. The lidar is used to perceive obstacles in the surrounding environment and obtain the position and outline information of the hedge. The high-definition camera is used to collect real-time image information of the hedge. The depth sensor is used to detect the distance between the hedge and the pruning blade (8). The image processing unit analyzes and processes the collected images and depth data and outputs the three-dimensional outline of the hedge, its growth status, and the position information of obstacles. The control module receives the hedge images and environmental information transmitted by the visual navigation module, plans the walking path and pruning path, and controls the actions of each drive component of the drive module, the robotic arm assembly (2), and the pruning mechanism (3). The quality feedback module collects dynamic data of the hedge surface after trimming in real time, compares it with preset target parameters, and feeds it back to the control module for adjustment of trimming parameters; the remote monitoring and emergency handling module is used to transmit the working status, location information, operation screen and hedge trimming data of the unmanned vehicle to the remote monitoring platform in real time, and can receive remote control commands issued by the remote monitoring platform.

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