Intelligent modeling, greening and trimming vehicle

Abstract

The invention discloses an intelligent modeling greening trimming vehicle, a vehicle body is provided with a mechanical arm, the tail end of the mechanical arm is provided with at least two trimming mechanisms, the trimming mechanisms can meet the trimming requirements of different appearances and models, and one of the at least two trimming mechanisms is selected and detachably installed at the tail end of the mechanical arm. The intelligent modeling greening trimmer provided by the invention is provided with at least two trimming mechanisms suitable for trimming requirements of different appearance modeling, a user can select a corresponding trimming mechanism from the at least two trimming mechanisms according to the trimming requirements of the appearance modeling required by current green plants, and the trimming mechanism is detachably mounted at the tail end of the mechanical arm, so that the green plants can be trimmed more conveniently. The intelligent modeling greening trimmer can adapt to the required trimming requirement, and green plants are trimmed into corresponding appearance modeling.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic green plant pruning, and in particular to an intelligent greening pruning vehicle. Background Art

[0002] In order to beautify the garden environment, it is usually necessary to trim the green plants in the garden to form a unique and aesthetic appearance. Traditional green plant shaping pruning relies on manual operation, and the effect mainly depends on the experience and aesthetic ability of the pruner. In addition, the pruning process is time-consuming and labor-intensive, inefficient, and prone to uneven pruning. Some people in the industry have proposed some greening pruning machines that can automatically prune green plants, such as the hedge pruning device disclosed in Chinese patent document CN114158371B, which specifically includes an omnidirectional trolley; a mechanical arm is installed on the omnidirectional trolley, and a three-dimensional pruning device is installed at the end of the mechanical arm; the three-dimensional pruning device includes a tool holder, the middle part of the top surface of the tool holder is connected to the above-mentioned mechanical arm, and two mounting arms are vertically arranged downward at both ends of the bottom surface of the tool holder, and a number of blade disc assemblies are arranged at intervals on each mounting arm. The tool holder as a whole can rotate around its central axis, so that the blade disc assemblies on the two mounting arms rotate to cut the green plants. The shape of the mounting arm of the three-dimensional pruning device is determined according to the required pruning shape. If the hedge pruning device is used to prune cylindrical green plants, the shape of the mounting arm is set to be a straight strip, so that the various blade disc components on the mounting arm are arranged along a straight line, and the blade holder as a whole rotates around its central axis, and the blade disc components arranged in a straight line on the mounting arm cut the green plants into a cylindrical shape; if it is used to prune spherical green plants, the shape of the mounting arm is set to be an arc, so that the various blade disc components on the mounting arm are arranged along an arc, and the blade holder as a whole rotates around its central axis, and the blade disc components arranged in an arc on the mounting arm cut the green plants into a spherical shape. In the hedge pruning device, the structure of the three-dimensional pruning device is fixed, and only one pruning action can be performed. If another pruning action is required, a hedge pruning device with a three-dimensional pruning device having a corresponding structure needs to be redesigned according to the other pruning action. Therefore, in order to realize different pruning actions on green plants, that is, to prune different appearance shapes, it is necessary to design a hedge pruning device with a three-dimensional pruning device having a corresponding structure for each appearance pruning requirement, which is costly. Summary of the invention

[0003] The technical problem to be solved by the present invention is how to adapt to different appearance trimming requirements at a relatively low cost.

[0004] In order to solve the above problems, the present invention provides an intelligent greening trimming vehicle, a vehicle body is provided with a mechanical arm, a trimming mechanism is installed at the end of the mechanical arm, and there are at least two trimming mechanisms to meet different appearance trimming requirements. One of the at least two trimming mechanisms can be detachably installed at the end of the mechanical arm.

[0005] Furthermore, the trimming mechanism includes a slide rail and a cutting blade head slidably mounted on the slide rail. The trimming mechanism is specifically detachably mounted on the end of the mechanical arm through the slide rail, and the shapes of the slide rails of each trimming mechanism are different.

[0006] Furthermore, the slide rail is detachably mounted on the end of the mechanical arm via a connecting piece, and the connecting piece is hinged to the end of the mechanical arm and can rotate around the hinge point to drive the slide rail to rotate to adapt to different trimming angles.

[0007] Furthermore, the cutting head includes a rotating cutting blade and a baffle arranged on the back side of the rotating cutting blade.

[0008] Further: it includes a controller, the controller controls the connection between the mechanical arm and the cutting head; the slide rail is vertically arranged, and pressure sensors are provided on the front side and the lower side of the baffle, and the pressure sensors are electrically connected to the controller; the controller receives the pressure detection value of the pressure sensor, and if the pressure detection value of the front side pressure sensor exceeds a preset threshold, it is determined that an obstacle has been encountered, and the mechanical arm (20) is controlled to retract the cutting head, and after the vehicle body moves forward a preset distance, the cutting head is extended again to continue trimming the green plants; if the pressure detection value of the lower side pressure sensor exceeds a preset threshold, it is determined that an obstacle has been encountered, and the cutting head is controlled to continue trimming the green plants in the opposite direction of the slide rail.

[0009] Furthermore, an environment detection sensor electrically connected to the controller is provided in front of the vehicle body, and the controller controls the movement of the vehicle body according to a detection signal of the environment detection sensor.

[0010] Furthermore, the environment detection sensor includes a laser radar, a camera, an ultrasonic sensor and / or an adaptive cruise probe.

[0011] Furthermore, an infrared distance measuring sensor for measuring the distance between the vehicle body and the green plants is provided on one side of the vehicle body close to the trimming mechanism, and the infrared distance measuring sensor is electrically connected to the controller.

[0012] Furthermore, a dust suction mechanism for cleaning up fallen branches and leaves is provided on the vehicle body.

[0013] Furthermore, the dust suction mechanism comprises a dust suction main unit, a dust suction throat and a dust suction hood. The dust suction main unit is connected to the dust suction hood via the dust suction throat, and the dust suction port of the dust suction hood faces the ground.

[0014] The intelligent shaping greening trimmer provided by the present invention has at least two trimming mechanisms that can adapt to different appearance trimming requirements. The user can select a corresponding trimming mechanism from the at least two trimming mechanisms according to the appearance trimming requirements of the current green plants, and detachably install it at the end of the robotic arm, so that the intelligent shaping greening trimmer can adapt to the required trimming requirements and trim the green plants into corresponding appearance shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural diagram of the intelligent modeling greening trimmer.

[0016] Figure 2 It is a structural schematic diagram of the connection between the slide rail and the cutting head of the intelligent shaping greening trimmer.

[0017] Figure 3 It is a schematic diagram of the structure of the cutting head of the intelligent modeling greening trimmer.

[0018] Figure 4 It is a structural schematic diagram of a semicircular pruning mechanism of an intelligent modeling greening pruning machine.

[0019] Figure 5 It is a structural schematic diagram of a semi-rectangular pruning mechanism of an intelligent modeling greening pruning machine. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below in conjunction with specific implementation methods.

[0021] Intelligent greening trimming vehicle Figure 1 As shown, a mechanical arm 20 is provided on the vehicle body 10, and a trimming mechanism installation position is provided at the end of the mechanical arm 20 for detachable installation of the trimming mechanism 30. In this embodiment, there are multiple trimming mechanisms 30 to be installed, which are respectively adapted to various appearance trimming requirements. One of the multiple trimming mechanisms 30 is selected and detachably installed at the end of the mechanical arm. A controller (not shown) is provided in the body of the intelligent greening trimming vehicle. An environmental detection sensor 11 electrically connected to the controller is provided in front of the vehicle body 10, and the controller controls the movement of the vehicle body 10 according to the detection signal of the environmental detection sensor 11. In this embodiment, the environmental detection sensor 11 is a camera; in other embodiments, the environmental detection sensor 11 can be changed to a laser radar, an ultrasonic sensor or an adaptive cruise probe, or can be changed to include two or more of the laser radar, camera, ultrasonic sensor and adaptive cruise probe. An infrared ranging sensor (not shown) for measuring the distance between the vehicle body 10 and the green plants is provided on one side of the vehicle body 10 close to the trimming mechanism 30, and the infrared ranging sensor is electrically connected to the controller. The controller of the smart greening trimming vehicle plans the route of the vehicle 10 according to the environmental image captured by the camera (i.e., the environmental detection sensor 11), and controls the vehicle to move to the location of the green plants to be trimmed; then the infrared distance sensor detects whether the distance between the vehicle 10 and the green plants reaches the preset distance. If it is greater than the preset distance or less than the preset distance, the vehicle 10 is controlled to move closer to or away from the green plants until the distance between the vehicle 10 and the green plants reaches the preset distance. At this time, the smart greening trimming vehicle can start trimming the green plants. The specific process is as follows:

[0022] like Figure 1As shown, the mechanical arm 20 includes a base 21, a first movable arm 22, a second movable arm 23 and a connecting member 40. The base 21 is fixed on the top of the vehicle body 10, the first movable arm 22 is vertically fixed on the base 21, the second movable arm 23 is hinged to the end of the first movable arm 22 at a position close to the starting end, and the connecting member 40 is hinged to the end of the second movable arm 23 at a position close to the lower end. The mechanical arm 20 includes a first digital hydraulic cylinder 24 and a second digital hydraulic cylinder 25. The root of the cylinder body of the first digital hydraulic cylinder 24 is hinged to the base 21, and the telescopic rod is hinged to the starting end of the second movable arm 23. The root of the cylinder body of the second digital hydraulic cylinder 25 is hinged to the starting end of the second movable arm 23, and the telescopic rod is hinged to the lower end of the connecting member 40. The controller electrically connects the first digital hydraulic cylinder 24 and the second digital hydraulic cylinder 25 to realize the control connection of the mechanical arm 20. In the initial state, the first and second movable arms 22 and 23 are folded and stacked together. After the intelligent greening trimming vehicle moves to the trimming starting position of the green plants to be trimmed, the controller controls the telescopic rod of the first digital hydraulic cylinder 24 to retract, pulls the starting end of the second movable arm 23 to rotate downward, and makes the end of the second movable arm 23 rotate upward around the hinge point with the first movable arm 22 and extend to the right; the controller then controls the telescopic rod of the second digital hydraulic cylinder 25 to retract, pulls the lower end of the connecting member 40 to rotate upward to the left, and makes the upper end of the connecting member 40 rotate downward to the right, driving the trimming mechanism 30 to extend to the right close to the green plants to be trimmed.

[0023] Now it is necessary to trim the four edges of the green plants on a square plot into an arc shape. The intelligent greening trimming vehicle is now located at the end point of one of the edges of the green plants on the square plot. Figure 1 As shown, in this embodiment, the trimming mechanism 30 installed by the user includes a vertical arc-shaped slide rail 31 and a cutting blade 32 slidably mounted on the arc-shaped slide rail 31. The slide rail 31 of the trimming mechanism 30 installed in this embodiment is arc-shaped, which meets the requirements of trimming the arc-shaped appearance of green plants. The trimming mechanism 30 is specifically detachably mounted on the connecting piece 40 at the end of the mechanical arm 20 through the arc-shaped slide rail 31. Figure 3As shown, the cutting head 32 includes three rotating cutting blades 321 facing the right side in parallel, and includes a cutting motor 322 for driving the rotating cutting blades 321 to rotate. A transmission shaft 324 extends from the back of each rotating cutting blade 321, and the transmission shafts 324 of the three rotating cutting blades 321 are connected by a toothed chain drive belt 323. The ends of each transmission shaft 324 are provided with teeth on the periphery, and the teeth are meshed with the toothed chain drive belt 323. The output shaft of the cutting motor 322 is connected to the transmission shaft 324 of the central rotating cutting blade 321. A rack 311 is provided on the arc-shaped slide rail 31, and a gear 33 is provided on the back of the cutting head 32. The gear 33 on the cutting head 32 is meshed with the rack 311 on the arc-shaped slide rail 31. A rotating motor 34 for driving the link gear 33 is provided on the back of the cutting head 32. The controller is electrically connected to the cutting motor 322 and the rotating motor 34, so as to realize the control connection trimming mechanism 30. The arc-shaped slide rail 31 is close to the green plants, and the rotating cutting blade 31 is located at the lower end of the arc-shaped slide rail 31. The controller of the intelligent greening trimming vehicle controls the cutting motor 322 to drive each rotating cutting blade 321 to rotate to cut the green plants; at the same time, the controller controls the rotating motor 34 to drive the gear 33 to rotate, driving the cutting head 32 to move upward along the rack 311 of the arc-shaped slide rail 31. Each rotating cutting blade 321 trims the surface of the green plants at the current trimming position into an arc shape along the arc-shaped slide rail 31. During the process of the rotating cutting blade 321 rotating to cut the green plants, the trimmed branches and leaves may bounce off. For this reason, this embodiment is designed as follows Figure 3 As shown, the cutting head 32 includes a baffle 325 arranged on the back (i.e., the left side) of the rotating cutting blade 321. A certain distance is left between the baffle 325 and the rotating cutting blade 321 to avoid affecting the contact between the rotating cutting blade 321 and the green plants and ensure the cutting effect. During the pruning process, the pruned branches and leaves will fall to the ground. The intelligent greening pruning vehicle of this embodiment is as follows Figure 1As shown, a dust suction mechanism 50 is designed for cleaning fallen branches and leaves. The dust suction mechanism 50 includes a dust suction main unit 51, a dust suction throat 52 and a dust suction hood 53. The dust suction main unit 51 is connected to the dust suction hood 53 via the dust suction throat 52, and the dust suction port of the dust suction hood 53 faces the ground. The controller controls the connection of the dust suction main unit 51, and while driving each rotary cutting blade 321 to rotate and cut the green plants, controls the dust suction main unit 51 to start the dust suction work, and sucks the branches and leaves fallen on the ground into the garbage collection box (not shown) in the dust suction main unit 51 through the dust suction hood 53 close to the ground. Since the trimming degree achieved by a one-way movement along the arc slide rail 31 may not yet meet the green plant trimming requirements, after the rotary cutting blade 321 moves to the upper end of the arc slide rail 31, the controller of the intelligent greening trimming vehicle controls the rotary motor 34 to drive the gear 33 to rotate in the opposite direction, driving the cutting head 32 to move downward in an arc along the rack 311 of the arc slide rail 31, so that each rotary cutting blade 321 trims the green plant surface at the current trimming position into an arc shape again along the arc slide rail 31. The controller of the intelligent greening trimming vehicle controls each rotating cutting blade 321 to reciprocate along the arc-shaped slide rail 31 according to the above process until the trimming degree of the current trimming position reaches the green plant trimming requirement, and then controls the cutting motor 322 and the rotating motor 34 to stop, and then controls the vehicle body 10 to move along the edge of the current trimming of the green plants in the square plot to the next trimming position, and then controls the cutting motor 322 to drive each rotating cutting blade 321 to rotate to cut the green plants, and controls the rotating motor 34 to drive the gear 33 to rotate forward / reverse, driving the cutting head 32 to make a reciprocating arc motion along the rack 311 of the arc-shaped slide rail 31, so that each rotating cutting blade 321 trims the surface of the green plants at the current trimming position into an arc shape along the arc-shaped slide rail 31, thereby meeting the green plant trimming requirements. Then the controller of the intelligent greening trimming vehicle controls the cutting motor 322 and the rotating motor 34 to stop, controls the vehicle body 10 to move to the next trimming position along the edge of the current trimming of the green plants in the square plot, controls the cutting motor 322 to drive each rotating cutting blade 321 to rotate to cut the green plants, and controls the rotating motor 34 to drive the gear 33 to rotate forward / reverse, driving the cutting head 32 to make reciprocating arc motion along the rack 311 of the arc-shaped slide rail 31, so that each rotating cutting blade 321 trims the surface of the green plants at the current trimming position into an arc shape along the arc-shaped slide rail 31, and meets the green plant trimming requirements. And so on, until the four edges of the green plants in the square plot are trimmed.

[0024] There may be obstacles such as stones on the ground at the position where the green plants are trimmed. If the rotary cutting blade 321 contacts such obstacles, the rotary cutting blade 321 may be damaged. For this reason, the intelligent greening trimming vehicle is provided with pressure sensors (not shown) electrically connected to the controller on the front side and lower side of the baffle 325. In the process of trimming the green plants, the controller detects whether the baffle 325 hits an obstacle while the intelligent greening trimming vehicle moves forward through the pressure sensor on the front side of the baffle 325, and detects whether the baffle 325 hits an obstacle while moving downward along the slide rail 31 through the pressure sensor on the lower side of the baffle 325. If it does, the rotary cutting blade 321 is retracted. The size of the baffle 325 is slightly larger than the rotary cutting blade 321. When the baffle 325 just hits an obstacle, the rotary cutting blade 321 does not touch the obstacle, so the rotary cutting blade 321 can be protected. The specific detection process is as follows: the controller receives the pressure detection values ​​of the front side pressure sensor and the lower side pressure sensor. If the pressure detection value of the front side pressure sensor exceeds a preset threshold value (the threshold value is determined according to the normal hardness of the green plants), it is determined that an obstacle is encountered, and the robotic arm 20 is controlled to move back (i.e. to the left) to retract the cutting head 32. After the vehicle body 10 moves a preset distance, for example, 5 cm, the cutting head 32 is extended to the right again to continue trimming the green plants; if the pressure detection value of the lower side pressure sensor exceeds a preset threshold value (the threshold value is determined according to the normal hardness of the green plants), it is determined that an obstacle is encountered, and the rotating motor 34 is controlled to change the rotation direction, so that the cutting head 32 no longer moves downward along the arc-shaped slide rail 31, but instead moves upward along the arc-shaped slide rail 31 to avoid the obstacle.

[0025] Some green plants are relatively tall, and the vertical trimming range to be trimmed is relatively large. The height of the slide rail 31 is not enough to cover the vertical trimming range, for example, it needs to be divided into two upper and lower trimming areas. Therefore, the controller of the intelligent greening trimming vehicle controls the first digital hydraulic cylinder 24 to drive the second movable arm 23 to extend to the height position of the lower trimming area, and then controls the second digital hydraulic cylinder 25 to drive the connecting member 40 to rotate and adjust the trimming angle of the arc-shaped slide rail 31 of the trimming mechanism 30, so that the curvature of the arc-shaped slide rail 31 matches the curvature of the lower trimming area, and the trimming angle is maintained during the trimming of the lower trimming area of ​​the green plants. After trimming the lower trimming area, the controller of the intelligent greening trimming vehicle controls the first digital hydraulic cylinder 24 to drive the second movable arm 23 to extend to the height position of the upper trimming area, and then controls the second digital hydraulic cylinder 25 to drive the connecting member 40 to rotate and adjust the trimming angle of the arc-shaped slide rail 31 of the trimming mechanism 30, so that the curvature of the arc-shaped slide rail 31 matches the curvature of the upper trimming area, and the trimming angle is maintained during the trimming of the upper trimming area of ​​the green plants.

[0026] Different trimming mechanisms 30 have different shapes of slide rails 31, such as Figure 5The shape of the slide rail 31 of the trimming mechanism 30 shown is semi-rectangular, which meets the requirements of trimming the rectangular appearance of green plants; Figure 4 The shape of the slide rail 31 of the trimming mechanism 30 is semicircular, which meets the needs of trimming green plants into a spherical shape. The user selects the corresponding trimming mechanism 30 to be installed on the connecting piece 40 at the end of the robot arm 20 according to the trimming needs of the green plant appearance. In the above embodiment, the trimming mechanism 30 with the arc-shaped slide rail 31 is selected to be installed at the end of the robot arm 20. In other embodiments, if the green plant needs to be trimmed into a spherical shape, the user can disassemble the trimming mechanism 30 with the arc-shaped slide rail 31 and then install it. Figure 4 The trimming mechanism 30 shown has a semicircular slide rail mounted on a connecting piece 40 at the end of the robot arm 20 .

[0027] The above is only an implementation method of the invention, and does not limit the scope of patent protection. Those skilled in the art can make non-substantial changes or substitutions based on the invention, which still fall within the scope of patent protection.

Claims

1. An intelligent greening trimming vehicle, wherein a mechanical arm (20) is provided on the vehicle body, and a trimming mechanism (30) is installed at the end of the mechanical arm, wherein: The trimming mechanisms (30) have at least two trimming mechanisms adapted to trimming requirements of different appearances, and one of the at least two trimming mechanisms is detachably mounted at the end of the mechanical arm.

2. The intelligent greening trimming vehicle according to claim 1, characterized in that: The trimming mechanism (30) comprises a slide rail (31) and a cutting blade head (32) slidably mounted on the slide rail (31). The trimming mechanism (30) is specifically detachably mounted on the end of the mechanical arm via the slide rail (31). The shapes of the slide rails (31) of each trimming mechanism (30) are different.

3. The intelligent greening trimming vehicle as claimed in claim 2, characterized in that: The slide rail (31) is detachably mounted on the end of the mechanical arm via a connecting piece (40). The connecting piece (40) is hinged to the end of the mechanical arm and can rotate around the hinge point to drive the slide rail (31) to rotate to adapt to different trimming angles.

4. The intelligent greening trimming vehicle as claimed in claim 2, characterized in that: The cutting blade head (32) comprises a rotating cutting blade (321) and a baffle (325) arranged on the back of the rotating cutting blade (321).

5. The intelligent greening trimming vehicle according to claim 4, characterized in that: It includes a controller, and the controller controls the connection between the robot arm and the cutting head; The slide rail (31) is arranged vertically, and pressure sensors are provided on the front side and the lower side of the baffle, and the pressure sensors are electrically connected to the controller; the controller receives the pressure detection value of the pressure sensor, and if the pressure detection value of the pressure sensor on the front side exceeds a preset threshold value, it is determined that an obstacle has been encountered, and the mechanical arm (20) is controlled to retract the cutting head (32), and after the vehicle body (10) moves forward a preset distance, the cutting head (32) is re-extended to continue trimming the green plants; if the pressure detection value of the pressure sensor on the lower side exceeds a preset threshold value, it is determined that an obstacle has been encountered, and the cutting head (32) is controlled to continue trimming the green plants in the opposite direction along the slide rail (31).

6. The intelligent greening trimming vehicle as claimed in claim 5, characterized in that: An environment detection sensor (11) electrically connected to a controller is provided in front of the vehicle body (10), and the controller controls the movement of the vehicle body (10) according to a detection signal from the environment detection sensor (11).

7. The intelligent greening trimming vehicle as claimed in claim 6, characterized in that: The environment detection sensor (11) includes a laser radar, a camera, an ultrasonic sensor and / or an adaptive cruise probe.

8. The intelligent greening trimming vehicle as claimed in claim 5, characterized in that: An infrared distance measuring sensor for measuring the distance between the vehicle body and the green plants is provided on one side of the vehicle body close to the trimming mechanism, and the infrared distance measuring sensor is electrically connected to the controller.

9. The intelligent greening trimming vehicle according to claim 1, characterized in that: The vehicle body (10) is provided with a dust suction mechanism (50) for cleaning the fallen branches and leaves.

10. The intelligent greening trimming vehicle according to claim 9, characterized in that: The dust collection mechanism (50) comprises a dust collection main unit (51), a dust collection throat (52) and a dust collection hood (53); the dust collection main unit (51) is connected to the dust collection hood (53) via the dust collection throat (52); and the dust collection port of the dust collection hood (53) faces the ground.

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