Automatic logging vehicle with automatic switching function of attachments

Abstract

The present invention provides an automatic logging vehicle with an automatic switching function of accessories, comprising a vehicle frame, a rotating frame, a telescopic frame and other structures; wherein a memory, an operation panel and a controller store control interfaces corresponding to a plurality of accessories and corresponding control methods thereof: the telescopic frame is also provided with a first hydraulic joint, in which an RFID reader is provided; each accessory is provided with a second hydraulic joint connected to the first hydraulic joint, and each second hydraulic joint is provided with a corresponding identification tag; when the accessory is connected to the first hydraulic joint on the telescopic frame through the second hydraulic joint, the RFID reader reads the type of the corresponding identification tag and sends a control signal to the controller; the controller calls the control interface of the corresponding accessory in the memory, and simultaneously sends the control signal to the operation panel; the operation panel simultaneously calls the control interface of the corresponding accessory, thereby realizing automatic or manual control of the corresponding accessory by operating the operation panel.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic logging vehicles, and in particular to an automatic logging vehicle with an automatic attachment switching function. Background Art

[0002] In modern forestry management, the importance of automatic logging vehicles as key production tools is becoming increasingly prominent. Faced with vast forest resources and growing demand for wood, traditional manual felling methods can no longer meet the requirements of efficient, safe and environmentally friendly operations. The introduction of automatic logging vehicles is an effective response to this challenge.

[0003] The following are some common automatic logging vehicle attachments:

[0004] Digging tools: used to loosen the soil.

[0005] Saw clamp attachment: It can realize a series of felling actions such as rapid felling, delimbing, planing and cutting, and is suitable for large-scale forest logging operations.

[0006] Wood grab accessories: used for grabbing, loading and unloading wood in forestry and agriculture.

[0007] Drilling tools: used for tree pit drilling in forests or farms, similar to a simple rotary drilling rig, usually installed on small and medium-sized excavators or skid loaders.

[0008] In the prior art, an automatic logging truck includes a frame, a rotating frame rotatably arranged on the frame, a telescopic frame arranged on the rotating frame, and accessories arranged on the telescopic frame. Different accessories are then switched according to different usage scenarios. Since the accessories need to perform logging actions, it is necessary to connect the first hydraulic connector of the telescopic frame with the second hydraulic connector of the accessories as a power source. However, the actual operating conditions of the automatic logging truck are relatively complicated. There is a situation where the first hydraulic connector and the second hydraulic connector are loose and not discovered in time. In addition, the prior art requires the type of accessories to be identified by human eyes, which relies on the operator's understanding of the accessories. Summary of the invention

[0009] In view of the deficiencies in the prior art, the purpose of the present invention is to provide an automatic logging vehicle with an automatic switching function for attachments to solve the problems mentioned in the above background technology section.

[0010] The present invention is achieved through the following technical solutions:

[0011] An automatic logging vehicle with an automatic switching function of attachments comprises a vehicle frame, a rotating frame rotatably arranged on the vehicle frame, a telescopic frame arranged on the rotating frame, a plurality of attachments detachably arranged on the telescopic frame, an image acquisition unit arranged around the vehicle frame, a controller, a memory and an operation panel; the controller is respectively connected to the memory, the rotating frame, the telescopic frame and the image acquisition unit; the memory stores control interfaces corresponding to a plurality of attachments and corresponding control methods thereof; the operation panel is connected to the controller via wireless or wired signals, and the operation panel also stores control interfaces corresponding to the plurality of attachments and corresponding control methods thereof;

[0012] The telescopic frame is also provided with a first hydraulic joint, in which an RFID reader is provided; each of the accessories is provided with a second hydraulic joint connected to the first hydraulic joint, and each second hydraulic joint is provided with a corresponding identification tag; when the accessory is connected to the first hydraulic joint on the telescopic frame through the second hydraulic joint, the RFID reader reads the type of the corresponding identification tag and sends a control signal to the controller; the controller calls the control interface of the corresponding accessory in the memory, and simultaneously sends the control signal to the operation panel; the operation panel simultaneously calls the control interface of the corresponding accessory, thereby realizing automatic or manual control of the corresponding accessory by operating the operation panel.

[0013] The beneficial effects of the present invention are as follows: when the first hydraulic connector and the second hydraulic connector are loose, the RFID reader and the identification tag are in a disconnected identification state, and the operation panel will display that the first hydraulic connector and the second hydraulic connector are in an abnormal state, reminding the driver to check the oil circuit; and the RFID reader and the identification tag cooperate to realize automatic identification of accessories and match the corresponding control interface, thereby realizing automatic or manual control of the corresponding accessories by operating the operation panel. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional diagram of the automatic logging vehicle of the present invention.

[0015] Figure 2 The present invention is a three-dimensional diagram of an automatic logging vehicle without a vehicle frame.

[0016] Figure 3 This is a schematic diagram of the path planning for automated felling using the saw clamp of the present invention.

[0017] Figure 4 Another schematic diagram of path planning for automated felling using the saw clamp of the present invention.

[0018] Figure 5 It is a schematic diagram of the path planning of the automatic hole digging by the hole digging attachment of the present invention.

[0019] Figure 6 It is a cross-sectional view of the connection between the RFID reader and the identification tag of the present invention.

[0020] Figure 7 for Figure 6 Exploded diagram.

[0021] The above drawings include the following reference numerals:

[0022] 01. Frame; 02. Rotating frame; 03. Telescopic frame; 31. First hydraulic joint; 311. Connecting seat; 3111. Supporting part; 312. Adapter seat; 3121. Mounting chamber; 3122. Extension part; 313. Bottom plate; 314. Spring; 315. Floating ball; 316. RFID reader; 317. Second epoxy resin layer; 04. Accessories; 41. Second hydraulic joint; 411. Connecting head; 4111. Clamping part; 412. Identification tag; 413. First epoxy resin layer; 05. Cab. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in each embodiment of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0024] Reference Figures 1 to 7As shown, an automatic logging vehicle with an automatic switching function of an attachment 04 includes a frame 01, a rotating frame 02 rotatably arranged on the frame 01, a telescopic frame 03 arranged on the rotating frame 02, a plurality of attachments 04 detachably arranged on the telescopic frame 03, an image acquisition unit arranged around the frame 01, a controller, a memory and an operation panel; the controller is respectively connected to the memory, the rotating frame 02, the telescopic frame 03 and the image acquisition unit; the memory stores control interfaces corresponding to a plurality of attachments 04 and corresponding control methods thereof; the operation panel is connected to the controller via wireless or wired signals, and it also stores control interfaces corresponding to the plurality of attachments 04 and corresponding control methods thereof; the telescopic frame 03 is also provided with a first hydraulic joint 31 , an RFID reader 316 is provided in the first hydraulic connector 31; each of the attachments 04 is provided with a second hydraulic connector 41 connected to the first hydraulic connector 31, and each second hydraulic connector 41 is provided with a corresponding identification tag 412; when the attachment 04 is connected to the first hydraulic connector 31 on the telescopic frame 03 through the second hydraulic connector 41, the RFID reader 316 reads the type of the corresponding identification tag 412 and sends a control signal to the controller; the controller calls the control interface of the corresponding attachment 04 in the memory, and simultaneously sends the control signal to the operation panel; the operation panel simultaneously calls the control interface of the corresponding attachment 04, thereby realizing automatic or manual control of the corresponding attachment 04 by operating the operation panel.

[0025] When the first hydraulic connector 31 and the second hydraulic connector 41 are loose, the RFID reader 316 and the identification tag 412 are in a disconnected identification state, and the operation panel will display that the first hydraulic connector 31 and the second hydraulic connector 41 are in an abnormal state, reminding the driver to check the oil circuit; and the RFID reader 316 and the identification tag 412 cooperate to realize automatic identification of the accessory 04 and match the corresponding control interface, thereby realizing automatic or manual control of the corresponding accessory 04 by operating the operation panel.

[0026] The attachment 04 includes a hole digging attachment, a saw clamp, a wood grabber, a drill, etc. The memory stores control interfaces and control methods corresponding to the hole digging attachment, the saw clamp, the wood grabber, and the drill, thereby realizing automatic control of the attachment 04.

[0027] Specifically, the automatic control method of the saw clamp includes:

[0028] SA-1. Taking the rotation axis of the automatic logging vehicle as the origin O, establish a plane coordinate system XY;

[0029] SA-2, obtaining the positions of all trees within a range of radius R with the origin as the center through the image acquisition unit, wherein the radius R is the length of the telescopic frame 03;

[0030] SA-3, then carry out automated felling in a predetermined order.

[0031] Reference Figure 3 As shown, in step SA-3, the control method of automatic logging includes the following steps:

[0032] SA-31. Calculate the diameter of all trees and define trees with diameters smaller than the set threshold as non-cut trees T m , trees with a diameter greater than or equal to the set threshold are defined as felled trees P n ;

[0033] SA-32, remove the non-cut trees T within the radius R m and felling of trees n The coordinates of are mapped into the coordinate system;

[0034] SA-33, select any tree to be cut down P n As the initial felling object P1, the tree closest to the initial felling object P1 is obtained in clockwise or counterclockwise order and defined as the next felling object P2, and a triangular area is defined by the initial felling object P1, the next felling object P2 and the origin O;

[0035] SA-34. Determine whether there are non-cut trees in the triangular area. m If yes, go to step SA-37, otherwise go to step SA-35;

[0036] SA-35, define the route of the attachment 04 as a broken line P1->T i ->P2 detoured to the next felling object P2 and entered SA-37;

[0037] SA-36, define the route of the attachment 04 as moving straight along the straight line P1->P2 to the next felling object P2, and proceed to SA-37;

[0038] SA-37, Go through all the non-cut trees T m and felling of trees n , complete the initial felling route planning, and finally cut down trees according to the initial planned route.

[0039] Through the above steps, it is possible to plan the shortest felling route while avoiding trees on small paths, reduce dependence on manual operations, and greatly improve the efficiency of logging operations.

[0040] The video monitoring of the area around the logging truck is performed by an image acquisition unit. As a specific embodiment, the image acquisition unit can be a camera or an image sensor, etc. The image acquisition unit is provided with an infrared sensor. When a warm-blooded animal passes in front of the infrared sensor, an alarm signal is issued or the logging truck is controlled to stop working.

[0041] Infrared sensors use thermal imaging technology to effectively detect the presence of warm-blooded animals (such as wild animals, stray workers, or other potential threats). Once the infrared sensor detects a warm-blooded animal passing through its monitoring range, the system will immediately trigger a preset safety response mechanism, for example, a high-decibel alarm signal is sent through the alarm system on the logging truck to warn the approaching animals or people to avoid it in time. For example, the infrared sensor can also automatically send instructions to the control system of the logging truck to stop working immediately until the surrounding area is confirmed to be safe before resuming operations. The above settings greatly enhance the safety of the logging truck operation process, effectively avoid accidental injuries caused by accidental intrusion of animals or people, and provide a strong guarantee for the sustainable development and protection of forest resources.

[0042] Reference Figure 4 As shown, in the step SA-37, in the process of felling according to the initial planned route, it further includes:

[0043] SA-371, in the case of felling of trees P i After felling, the image acquisition unit is further used to determine whether the felled tree P i After that, whether there are trees with a diameter greater than or equal to the set threshold that are blocked; if so, enter SA-372, otherwise, cut down trees according to the initial felling route sequence;

[0044] SA-372. The trees to be cut down that are blocked in the felling route are defined as P i+1 and the felled trees P i+1 The number of felled trees P inserted into the initial planned route i Afterwards, an updated felling route is formed and executed.

[0045] When trees grow densely, if trees are cut down, i and the obscured felled trees P i+1 Growing at the projection position captured by the image acquisition unit, the tree P i+1 Since it is blocked and cannot be photographed, it cannot be established in the two-dimensional coordinate system. Therefore, by cutting down the tree P i After felling, the image acquisition unit determines whether there is an obstructed felled tree P i+1 .

[0046] Reference Figure 4 As shown, in step SA-372, the route of the attachment 04 is defined as a straight line P i ->P i+1 Go straight to the next felling target P i+1 .

[0047] Furthermore, it also includes a distance sensor disposed on the attachment 04, which is connected to the controller; and in the SA-371, when the tree P is cut down i The process of felling further includes:

[0048] SA-3711, while controlling the attachment 04 to approach the felled tree P i In the process, the distance sensor is used to calibrate the distance between the attachment 04 and the felled tree P i The distance between the attachment 04 and the felled tree P i When the distance is set to a preset fixed distance, the attachment 04 is controlled to stop moving and cut down trees, so as to prevent the attachment 04 from colliding with the tree being cut down. i .

[0049] Reference Figure 5 As shown, the control interface corresponding to the hole digging attachment and the corresponding control method thereof include an automatic control interface of the hole digging attachment and an automatic control method of the hole digging attachment, and the automatic control method of the hole digging attachment includes:

[0050] SB-1. Taking the rotation axis of the automatic logging vehicle as the origin O, establish a plane coordinate system XY;

[0051] SB-2, obtaining a construction range with a radius of R with the origin as the center through the image acquisition unit, and then automatically laying out the acupuncture points in the construction range according to the input acupuncture point size and spacing information, wherein the radius R is the length of the telescopic frame 03;

[0052] SB-3, then automatically dig holes according to the predetermined order.

[0053] Reference Figure 5 As shown, in step SB-3, the automatic burrowing control method comprises the following steps:

[0054] SB-31, set the first acupuncture point Q in the first row according to the radius R a1 , and dig the second acupoint Q in the first row along the X coordinate direction and the acupoint spacing information in step SB-2 a2 , and so on to dig all the points Q in the first row an ;

[0055] SB-32, mining the first acupuncture point Q in the second row along the Y coordinate direction and the acupuncture point spacing information in step SB-2 b1 ;

[0056] SB-33, mining the second acupoint Q in the second row along the X coordinate direction and the acupoint spacing information in step SB-2 b2 , and so on to dig all the points Q in the second row bn ;

[0057] SB-34, determine all the acupuncture points in the second row Q bn The distance from the frame 02 is less than the distance between the acupoints in step SB-2, and the frame moves along the Y coordinate direction. If the distance is greater than the distance between the acupoints in step SB-2, all acupoints Q in the second row are excavated. cn .

[0058] Reference Figure 6 and Figure 7 As shown, further, the second hydraulic connector 41 is provided with an installation chamber 3121, the first hydraulic connector 31 is provided with a connector 411 embedded in the installation chamber 3121, the identification tag 412 is pre-embedded in the connector 411, the RFID reader 316 is arranged in the installation chamber 3121, and the inner wall of the installation chamber 3121 is provided with a signal shielding coating, so that the signal emission direction of the RFID reader 316 only extends toward the identification tag 412.

[0059] During the switching process of the attachment 04, the first hydraulic connector 31 and the second hydraulic connector 41 need to be connected, wherein the sealing connection structure of the first hydraulic connector 31 and the second hydraulic connector 41 belongs to the prior art and will not be described here. When the first hydraulic connector 31 and the second hydraulic connector 41 need to be connected, first insert the connector 411 into the installation chamber 3121, and then continuously read the identification tag 412 through the RFID reader 316. When the first hydraulic connector 31 and the second hydraulic connector 41 are loose, the RFID reader 316 and the identification tag 412 are in a disconnected identification state, and the controller displays an alarm signal through the operation panel to remind the driver to check the oil circuit. In order to avoid the influence of various external signals, the installation chamber 3121 is provided with a signal shielding coating that shields external signals to ensure the stability of the signal that the RFID reader 316 continuously reads from the identification tag 412.

[0060] The reading range of the RFID reader 316 is 3cm-6cm. When the identification tag 412 is out of the reading range, the controller sends an alarm signal. By adjusting the power driving the RFID reader 316, the reading range can be 3cm-6cm. When the identification tag 412 is out of the reading range, it indicates that the first hydraulic joint 31 and the second hydraulic joint 41 are loose or detached. Since the reading range of the RFID reader 316 is 3cm-6cm, the power driving the RFID reader 316 is small, which makes it easy to be interfered by external signals. Therefore, the design of the signal shielding coating ensures that the reading signal of the RFID reader 316 is not interfered by the outside world.

[0061] Among them, the signal shielding coating can be a conductive paint, which contains composite particles such as copper and silver as conductive particles. It is sprayed on the surface of the installation chamber 3121 and forms a conductive paint film after drying. It can effectively absorb, conduct and attenuate electromagnetic waves, thereby shielding electromagnetic wave interference.

[0062] As an embodiment of a stable connection between the connecting head 411 and the installation chamber 3121, specifically, the first hydraulic joint 31 includes a connecting seat 311, an adapter seat 312 and a bottom plate 313, the connecting seat 311 is provided with a first hydraulic oil channel, the adapter seat 312 is embedded in the connecting seat 311, the bottom plate 313 blocks an opening at one end of the connecting seat 311, the internal space of the adapter seat 312 constitutes the installation chamber 3121, and the adapter seat 312 is provided with an extension portion 312 abutting against the inner wall of the connecting seat 311 22. The connecting seat 311 is provided with a supporting portion 3111 that abuts against the outer wall of the adapter seat 312. A spring 314 is provided between the extension portion 3122 and the bottom plate 313. The adapter seat 312 is provided with a plurality of floating balls 315 in a circumferential array. When the connecting head 411 is inserted into the installation chamber 3121, the supporting portion 3111 keeps the floating balls 315 protruding from the inner wall of the adapter seat 312. The clamping portion 4111 of the connecting head 411 is clamped between the floating balls 315 and the stopper of the adapter seat 312.

[0063] The spring 314 is provided so that the adapter seat 312 can be connected to the connection seat 311 in a telescopic floating manner. When the first hydraulic connector 31 and the second hydraulic connector 41 are not assembled, the adapter seat 312 partially extends out of the connection seat 311, so as to facilitate observation and enable the connector 411 to accurately connect the adapter seat 312. When the first hydraulic connector 31 and the second hydraulic connector 41 are connected, the side end surfaces of the first hydraulic connector 31 and the second hydraulic connector 41 abut against each other, and the adapter seat 312 is embedded in the connection seat 311, so that the supporting portion 3111 supports the floating ball 315, and the floating ball 315 remains protruding from the inner wall of the adapter seat 312, and then the cooperation between the floating ball 315 and the stopper of the adapter seat 312 prevents the connector 411 from being separated from the adapter seat 312.

[0064] The connector 411 is provided with an installation groove for embedding the identification tag 412, and the installation groove is filled with a first epoxy resin layer 413; the RFID reader 316 is arranged in the installation cavity 3121, and the installation cavity 3121 is filled with a second epoxy resin layer 317. The identification tag 412 and the RFID reader 316 are protected by the first epoxy resin layer 413 and the second epoxy resin layer 317 respectively.

[0065] A cab 05 is provided on the rotating frame 02, and an operation panel is provided in the cab 05. The controller is used to transmit connection status information of the attachment 04 to the operation panel. When the first hydraulic connector 31 and the second hydraulic connector 41 are loose, it is displayed through the operation panel.

[0066] The controller can also be used to calculate and count the usage time of attachment 04 and display it through the operation panel. The controller displays the actual usage time of attachment 04 to the user in real time through the operation panel. When the usage time counted by the controller gradually approaches the preset theoretical maximum usage time of attachment 04, the system will issue a warning signal to prompt the operator to replace attachment 04 in time to avoid performance degradation or safety hazards caused by excessive use. In addition, in order to ensure the continuous and efficient operation of attachment 04, the system also has a built-in maintenance cycle management function. By comparing the usage time recorded by the controller with the preset maintenance cycle, when it is found that the usage time is about to reach or exceed the maintenance cycle, the system will notify the operator in advance to perform necessary maintenance work on attachment 04, such as replacing worn parts, lubricating key parts, checking the electrical system, etc., thereby effectively extending the service life of attachment 04 and improving its overall performance and stability.

[0067] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0068] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0069] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic logging vehicle with automatic switching of attachments, characterized in that: The invention comprises a vehicle frame, a rotating frame rotatably arranged on the vehicle frame, a telescopic frame arranged on the rotating frame, a plurality of accessories detachably arranged on the telescopic frame, an image acquisition unit arranged around the vehicle frame, a controller, a memory and an operation panel; the controller is respectively connected to the memory, the rotating frame, the telescopic frame and the image acquisition unit; the memory stores control interfaces corresponding to a plurality of accessories and corresponding control methods thereof; the operation panel is connected to the controller via wireless or wired signals, and the operation panel also stores control interfaces corresponding to the plurality of accessories and corresponding control methods thereof; The telescopic frame is also provided with a first hydraulic joint, in which an RFID reader is provided; each of the attachments is provided with a second hydraulic joint connected to the first hydraulic joint, and each second hydraulic joint is provided with a corresponding identification tag; when the attachment is connected to the first hydraulic joint on the telescopic frame through the second hydraulic joint, the RFID reader reads the type of the corresponding identification tag and sends a control signal to the controller; the controller calls the control interface of the corresponding attachment in the memory, and simultaneously sends the control signal to the operation panel; The operation panel simultaneously calls the control interface of the corresponding attachment, thereby realizing automatic or manual control of the corresponding attachment by operating the operation panel; The attachment includes a saw clamp; The memory stores a control interface corresponding to the saw clamp and a corresponding control method thereof; The automatic control method for the saw clamp comprises: SA-1. Taking the rotation axis of the automatic logging vehicle as the origin O, establish a plane coordinate system XY; SA-2. Obtaining the positions of all trees within a range of radius R with the origin as the center through the image acquisition unit, wherein the radius R is the length of the telescopic frame; SA-3, then carry out automated felling in a predetermined order; Wherein, in step SA-3, the control method of automatic logging comprises the following steps: SA-31. Calculate the diameter of all trees and define trees with diameters smaller than the set threshold as non-cut trees T m , trees with a diameter greater than or equal to the set threshold are defined as felled trees P n ; SA-32, remove the non-cut trees T within the radius R m and felling of trees n The coordinates of are mapped into the coordinate system; SA-33, select any tree to be cut down P n As the initial felling object P1, the tree closest to the initial felling object P1 is obtained in clockwise or counterclockwise order to be defined as the next felling object P2, and a triangular area is defined by the initial felling object P1, the next felling object P2 and the origin O; SA-34. Determine whether there are non-cut trees in the triangular area. m If yes, go to step SA-37, otherwise go to step SA-35; SA-35. Define the route of the attachment as a broken line P1->T i ->P2 detoured to the next felling object P2 and entered SA-37; SA-36, define the route of the attachment as going straight from straight line P1->P2 to the next felling object P2, and proceed to SA-37; SA-37, Go through all the non-cut trees T m and felling of trees n , complete the initial felling route planning, and finally cut down trees according to the initial planned route.

2. The automatic logging vehicle with automatic switching of attachment functions according to claim 1, characterized in that: The control interface corresponding to the hole digging attachment and the corresponding control method thereof include an automatic control interface for the hole digging attachment and an automatic control method for the hole digging attachment, and the automatic control method for the hole digging attachment includes: SB-1. Taking the rotation axis of the automatic logging vehicle as the origin O, establish a plane coordinate system XY; SB-2, obtaining a construction range with a radius of R with the origin as the center through the image acquisition unit, and then automatically laying out the acupuncture points in the construction range according to the input size and spacing information, wherein the radius R is the length of the telescopic frame; SB-3, then automatically dig holes according to the predetermined order.

3. The automatic logging vehicle with automatic switching of attachment functions according to claim 1, characterized in that: The second hydraulic joint is provided with an installation chamber, the first hydraulic joint is provided with a connector embedded in the installation chamber, the identification tag is pre-embedded in the connector, the RFID reader is arranged in the installation chamber, and the inner wall of the installation chamber is provided with a signal shielding coating, so that the signal emission direction of the RFID reader only extends toward the identification tag.

4. The automatic logging vehicle with automatic attachment switching function according to claim 3, characterized in that: The reading range of the RFID reader is 3cm-6cm. When the identification tag leaves the reading range, the controller sends out an alarm signal.

5. The automatic logging vehicle with automatic switching of attachment functions according to claim 4, characterized in that: The first hydraulic joint includes a connecting seat, an adapter seat and a base plate, the connecting seat is provided with a first hydraulic oil channel, the adapter seat is embedded in the connecting seat, the base plate blocks an opening at one end of the connecting seat, the internal space of the adapter seat constitutes the installation chamber, the adapter seat is provided with an extension portion abutting against the inner wall of the connecting seat, the connecting seat is provided with a supporting portion abutting against the outer wall of the adapter seat, a spring is provided between the extension portion and the base plate, a plurality of floating balls are provided in a circular array on the adapter seat, when the connecting head is inserted into the installation chamber, the supporting portion keeps the floating ball protruding from the inner wall of the adapter seat, and the clamping portion of the connecting head is clamped between the floating ball and the stopper of the adapter seat.

6. The automatic logging vehicle with automatic attachment switching function according to claim 5, characterized in that: The connector is provided with an installation groove for embedding the identification tag, and the installation groove is filled with a first epoxy resin layer; the RFID reader is arranged in the installation cavity, and the installation cavity is filled with a second epoxy resin layer.

7. The automatic logging vehicle with automatic attachment switching function according to claim 1, characterized in that: The operation panel also displays the usage time of the attachment and the connection status of the attachment.

Images