Front double-arm type single-shot greening comprehensive maintenance truck

Abstract

The invention relates to the technical field of maintenance vehicles, in particular to a front double-arm type single-shot greening comprehensive maintenance vehicle which comprises an automobile chassis. The front working arm group system is arranged at the front end of the automobile chassis; the dynamic cooperation assembly is arranged on one side of the long arm working assembly, and the dynamic cooperation assembly is used for driving the suction pipe to conduct lifting adjustment along with the long arm working assembly; and the control system comprises a forearm control module and a dynamic obstacle avoidance module. Compared with the prior art, the front working arm set system is arranged to be matched with the small arm control module, the dynamic obstacle avoidance module and the force feedback control module, the requirement for manual intervention is reduced, the dynamic obstacle avoidance module monitors the surrounding environment in real time and carries out path planning, it is ensured that the mechanical arm can avoid obstacles in the complex environment, and the mechanical arm can avoid the obstacles in the complex environment. And it is ensured that the contact force between the mechanical arm and the workpiece is always kept within the set safety range.

Description

Technical Field

[0001] The present invention relates to the technical field of maintenance vehicles, and in particular to a front-mounted double-arm single-engine comprehensive greening maintenance vehicle. Background Art

[0002] Greening maintenance vehicle is a vehicle specially used for urban greening maintenance and garden maintenance work, usually equipped with a variety of professional equipment and functions, aiming to improve the efficiency and quality of maintenance work. It is mainly used for maintenance operations in road green belts, parks, scenic spots and other places.

[0003] In the actual working process of the greening maintenance vehicle, the original single-arm (the big arm has a 5-meter arm and a 7-meter arm) recycling vehicle, when trimming the middle strip with the big arm centrifugal shear, needs to trim twice in each direction, once for trimming the top and once for trimming the inside. In order to increase the working efficiency, the small arm and the small arm centrifugal shear are added, so that the big arm centrifugal shear is used to trim the top and the small arm centrifugal shear is used to trim the inside, and only one trimming is required in each direction.

[0004] In the prior art, a Chinese patent document with announcement number CN108466282B proposes a multi-purpose greening maintenance mechanical device equipped with working accessory heads with different functions. The working accessory heads with corresponding functions can be flexibly replaced according to the requirements of different work projects. By replacing the working accessory heads with modular design, the problem of needing to quickly replace different pruning tools in complex work projects can be solved. The functions of hedge shaping pruning, lawn pruning, pesticide spraying, billboard cleaning, guardrail cleaning, ground cleaning, and branch pruning can be realized, achieving multiple uses of one machine, effectively reducing the cost of use and improving work efficiency. However, consistent with the traditional method, the front mechanical arm of the traditional maintenance vehicle usually lacks real-time environmental monitoring and path planning functions, resulting in the mechanical arm's movement being easily restricted or colliding in complex or obstacle-dense environments, increasing the risk of equipment damage and operation interruption during the operation. Risk, and the contact force between the robot arm and the workpiece is often difficult to control accurately during operation, which can easily lead to excessive force and damage to the workpiece or equipment, and the suction pipe on the maintenance vehicle is usually suspended under the robot arm or tied to the robot arm. When the arm end that often moves is working, it will swing with the movement of the robot arm, especially in high-frequency or large-scale operations, the stability of the suction pipe is difficult to ensure, and when the robot arm is extended or retracted, the fixed suction pipe may be over-stretched or compressed, resulting in uneven pressure in the pipe, and even causing the pipe to break or be damaged. In addition, the movement of the suction pipe and the robot arm does not match, which can easily lead to uneven force on the suction pipe and poor garbage collection effect. Therefore, the present application discloses a front-mounted double-arm single-engine greening comprehensive maintenance vehicle to meet the obstacle avoidance, force control optimization and movement matching of the suction pipe and the robot arm on the maintenance vehicle. Summary of the invention

[0005] In view of this, the purpose of the present invention is to propose a front-mounted double-arm single-engine greening comprehensive maintenance vehicle to solve the problems of lack of real-time environmental monitoring and path planning functions on the front mechanical arm and mismatch between the movement of the suction tube and the mechanical arm.

[0006] Based on the above purpose, the present invention provides a front-mounted double-arm single-engine greening comprehensive maintenance vehicle, comprising: a vehicle chassis, a cab is arranged on the top of one side of the vehicle chassis, a walking system is arranged on the bottom side of the vehicle chassis, a power take-off system is arranged on the side of the top of the vehicle chassis close to the cab, a collection compartment is arranged on the side of the vehicle chassis away from the cab, a low-pressure air control system is arranged below one side of the vehicle chassis, and an electronic control system and a cruise control system are also arranged on the vehicle chassis; A front-mounted working arm group system, the front-mounted working arm group system is arranged at the front end of the automobile chassis, the front-mounted working arm group system includes a long arm working component and a short arm working component, one end of the long arm working component and the short arm working component are both provided with multifunctional tools, the front-mounted working arm group system is used for maintenance work, one side of the two multifunctional tools are both provided with suction pipes connected to the collection compartment, the collection compartment and the suction pipe are used to collect garbage generated during the maintenance work of the multifunctional tools; A hydraulic system, wherein the hydraulic system is located between the front-mounted working arm group system and the vehicle chassis, and the electronic control system controls the front-mounted working arm group system to move through the hydraulic system; A dynamic coordination component, which is arranged on one side of the long arm working component and is used to drive the suction tube to follow the long arm working component for lifting and lowering adjustment; A control system, the control system includes a forearm control module and a dynamic obstacle avoidance module, the forearm control module is used to control the forearm to intelligently switch between retraction and working state, and the dynamic obstacle avoidance module is used to control the front-mounted working arm group system to perform real-time obstacle avoidance and path planning.

[0007] Preferably, a long arm boom is rotatably mounted above the long arm working component, a long arm forearm is rotatably mounted on the other side of the long arm boom, a rotating shaft is provided at the connection between the long arm boom and the long arm forearm, a short arm movable arm is rotatably mounted above the short arm working component, and the two multifunctional machines are respectively arranged at the other end of the long arm forearm and the short arm movable arm.

[0008] Preferably, the dynamic cooperative component includes an extension block fixedly installed at one end of the long arm, a rotating shaft is rotatably installed on one side of the extension block, an adjustment plate is sleeved on one side of the rotating shaft, a positioning groove is opened on the other side of the adjustment plate, a fine-tuning rod is slidably installed inside the positioning groove, a limiting plate is fixedly installed on one side of the fine-tuning rod, a lifting roller is provided on one side of the limiting plate, the lifting roller is used to lift the suction tube, and two limit blocks are provided on the inner wall of one side of the positioning groove opening to limit the fine-tuning rod.

[0009] Preferably, an adjusting wheel is fixedly connected to one side of the rotating shaft between the long arm upper arm and the long arm lower arm, a driving groove is opened on one side of the adjusting plate, a driving rod is provided on one side of the adjusting wheel, the driving rod is slidably installed inside the driving groove, and the lifting roller is made of rubber.

[0010] Preferably, the dynamic control module is based on a dynamic path planning algorithm and combines environmental perception data to achieve path optimization and real-time obstacle avoidance of the front-mounted working arm group system to ensure operating efficiency and equipment safety, specifically including: Use LiDAR to collect point cloud data of the robot's surroundings, generate a dynamic grid map, and use the environment perception module to detect the location and movement status of obstacles in real time; The dynamic path planning algorithm includes input variables and output variables: The input variables include the target position, the current position of the front-mounted working arm group system, and the dynamic position of the obstacle; The output variables include the motion path point sequence and adjustment amount of the front-mounted working arm group system; The calculation steps of the dynamic path planning algorithm are as follows: Data collection and input: The laser radar converts environmental data into a raster map and compares it with the target position data and the current position data of the front-mounted working arm group system to identify obstacles and calculate their relative positions; Model reasoning: Based on the A* path planning algorithm, the optimal path from the starting point to the target point is searched in the environment model, and the path is updated in real time based on the dynamic position of obstacles; Output control: The calculated path point sequence is transmitted to the electronic control system to dynamically adjust the motion trajectory of the front-mounted working arm group system to ensure a smooth operation process and avoid obstacles.

[0011] Preferably, the control system further includes a force feedback control module, which is used to detect the contact force between the front-mounted working arm group system and the maintenance component through a force sensor, and adjust the action force of the front-mounted working arm group system through a force / position hybrid control strategy to ensure operation accuracy and equipment safety, specifically including: The force sensor collects the contact force data between the front-mounted working arm system and the maintenance parts in real time, compares it with the preset target force, and calculates the error; Use PID control algorithm to adjust the movement strength of the robot arm: , dynamically adjust the movement speed and strength of the front-mounted working arm group system according to the force error to avoid overload and prevent the maintenance parts from being inadequately maintained.

[0012] Preferably, the automobile chassis includes a full-power power take-off interface, an original gearbox output interface and a drive axle interface, the travel system includes a first transmission shaft, a high-low gearbox and a second transmission shaft, one end of the first transmission shaft is connected to the original gearbox output interface, the other end of the first transmission shaft is connected to the input port of the high-low gearbox, and the output port of the high-low gearbox is connected to the drive axle interface through the second transmission shaft, the power take-off system includes a third transmission shaft and a clutch, one end of the third transmission shaft is connected to the full-power power take-off interface, and the other end of the third transmission shaft is connected to the input port of the clutch, the hydraulic system includes a hydraulic pump, a hydraulic valve group, a hydraulic cylinder, a hydraulic motor, a hydraulic pipeline, a hydraulic oil tank and a radiator, the hydraulic pump is respectively connected to the hydraulic valve group, the hydraulic cylinder, the hydraulic motor, the hydraulic oil tank, and the radiator through hydraulic pipelines, the hydraulic pump is connected to the output port of the clutch, the hydraulic cylinder is connected to the front-mounted working arm group system through a pin shaft, and the hydraulic motor is connected to the multifunctional machine through a coupling.

[0013] Preferably, the low-pressure air control system includes an air storage tank, an air pipe, an air control valve group, a switching switch, a cylinder I and a cylinder II, wherein the cylinder I is built in the clutch, and the cylinder II is built in the high and low gearbox, the inlet of the air control valve group is connected to the air storage tank through the air pipe, and the outlet of the air control valve group is respectively connected to the cylinder I and the cylinder II through the air pipe, and the switching switch is used to control the push-out and retraction of the cylinder I and the cylinder II.

[0014] Preferably, the electronic control system includes an operating handle, a controller I, a solenoid valve, a wiring harness I and a display, wherein the display is connected to the operating handle, the operating handle is connected to the controller I through the wiring harness I, the controller I is electrically connected to the solenoid valve, and the solenoid valve is connected to the hydraulic valve group.

[0015] Preferably, the cruise control system includes a remote throttle, an electronic throttle, a controller II, a wiring harness II and a speed sensor for feeding back the engine speed value, wherein the electronic throttle is controlled by the remote throttle, and the controller II is respectively connected to the electronic throttle and the speed sensor via the wiring harness II.

[0016] Beneficial effects of the present invention: 1. This front-mounted double-arm single-engine greening comprehensive maintenance vehicle is equipped with a front-mounted working arm group system, a small arm control module, a dynamic obstacle avoidance module and a force feedback control module. The front-mounted working arm group system provides efficient working power and flexible working range, and can realize multiple working functions such as pruning and cleaning. The small arm control module enables the robot arm to intelligently switch between the retraction and working state, optimize the operation process, improve the working efficiency, and reduce the need for manual intervention. The dynamic obstacle avoidance module monitors the surrounding environment in real time and performs path planning to ensure that the robot arm can avoid obstacles in complex environments, avoid collision risks, and enhance the safety and stability of the operation. At the same time, the force feedback control module monitors the contact force between the robot arm and the workpiece in real time, and adjusts the output using the PID control algorithm to ensure that the contact force between the robot arm and the workpiece is always kept within the set safety range, avoiding equipment damage or workpiece damage caused by excessive force. Overall, this integrated setting not only enables the robot arm to perform multiple operating tasks efficiently and safely, but also improves the operating accuracy, extends the service life of the equipment, reduces energy consumption, has good energy-saving and environmental protection effects, and greatly improves the cleanliness and work quality of the working environment.

[0017] 2. This front-mounted double-arm single-engine greening comprehensive maintenance vehicle is equipped with a dynamic coordination component. The setting of the dynamic coordination component greatly improves the synchronization and stability between the suction pipe and the mechanical arm, and further enhances the operating efficiency and safety of the front-mounted working arm group system. By making the suction pipe and the long-arm working component rise and fall synchronously, the dynamic coordination component ensures that the suction pipe always remains in the best working position, avoiding the inconvenience caused by the fixation of the suction pipe in the traditional design, reducing manual intervention and operation complexity. As the long arm and forearm rise and fall, the height of the suction pipe can be automatically adjusted, avoiding the deviation, shaking or slipping of the suction pipe, and improving the accuracy and stability of the operation, especially in high-altitude operations or complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the side structure of the present invention; Figure 3 It is a schematic diagram of the front structure of the present invention; Figure 4 This is a schematic diagram of the front-mounted working arm group system mode of the present invention; Figure 5 This is a schematic diagram of the structure of the front-mounted working arm group system of the present invention; Figure 6 It is a schematic diagram of the structure of the long arm working component and the dynamic coordination component of the present invention; Figure 7 For the present invention Figure 6 The enlarged structural diagram at A in the middle; Figure 8 This is a schematic diagram of the structure of the dynamic collaborative component of the present invention; Fig. 9 This is a schematic diagram of the operation structure of the dynamic collaborative component of the present invention; Fig.10 It is a schematic diagram of the structure of the low-pressure gas control system of the present invention; Fig.11 It is a schematic diagram of the structure of the electric control system of the present invention; Fig.12 It is a schematic diagram of the structure of the cruise control system of the present invention.

[0020] The markings in the figure are: 1. Automobile chassis; 2. Front-mounted working arm system; 3. Multifunctional machine; 4. Travel system; 5. Power take-off system; 6. Hydraulic system; 7. Low-pressure air control system; 701. Air tank; 702. Air pipe; 703. Air control valve group; 704. Switch; 705. Cylinder I; 706. Cylinder II; 8. Electronic control system; 801. Operating handle; 802. Controller I; 803. Solenoid valve; 804. Wiring harness I; 805. Display; 9. Cruise control system; 901. Remote throttle; 902, electronic throttle; 903, controller II; 904, speed sensor; 905, wiring harness II; 10, collecting compartment; 11, long arm working assembly; 12, short arm working assembly; 13, suction pipe; 14, long arm boom; 15, long arm forearm; 16, short arm movable arm; 17, extension block; 18, adjustment plate; 19, rotating shaft; 20, adjustment wheel; 21, driving slot; 22, driving rod; 23, positioning slot; 24, limit plate; 25, fine-tuning rod; 26, lifting roller. DETAILED DESCRIPTION

[0021] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0022] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0023] like Figures 1 to 12 As shown, a front-mounted double-arm single-engine greening comprehensive maintenance vehicle comprises a vehicle chassis 1, a cab is arranged on the top of one side of the vehicle chassis 1, a walking system 4 is arranged on the bottom side of the vehicle chassis 1, a power take-off system 5 is arranged on the side of the top of the vehicle chassis 1 close to the cab, a collecting compartment 10 is arranged on the side of the vehicle chassis 1 away from the cab, a low-pressure air control system 7 is arranged at the lower side of one side of the vehicle chassis 1, and an electric control system 8 and a cruise control system 9 are also arranged on the vehicle chassis 1; a front-mounted working arm group system 2, the front-mounted working arm group system 2 is arranged at the front end of the vehicle chassis 1, the front-mounted working arm group system 2 comprises a long arm working component 11 and a short arm working component 12, one end of the long arm working component 11 and the short arm working component 12 are both provided with a multifunctional machine 3, the front-mounted working arm group system 2 is used for maintenance work, two A suction pipe 13 is provided on one side of the multifunctional tool 3 and is connected to the collection compartment 10. The collection compartment 10 and the suction pipe 13 are used to collect garbage generated during the maintenance work of the multifunctional tool 3; a hydraulic system 6, the hydraulic system 6 is located between the front-mounted working arm group system 2 and the automobile chassis 1, and the electronic control system 8 controls the front-mounted working arm group system 2 to move through the hydraulic system 6; a dynamic coordination component, the dynamic coordination component is arranged on one side of the long arm working component 11, and the dynamic coordination component is used to drive the suction pipe 13 to follow the long arm working component 11 for lifting and lowering adjustment; a control system, the control system includes a forearm control module and a dynamic obstacle avoidance module, the forearm control module is used to control the forearm to intelligently switch between the retraction and working states, and the dynamic obstacle avoidance module is used to control the front-mounted working arm group system 2 to perform real-time obstacle avoidance and path planning; Before the operation, the driver starts the greening comprehensive maintenance vehicle and selects the working mode or retraction mode of the forearm through the intelligent switching of the control system. When the working mode is selected, the forearm control module will drive the forearm to extend and enter the working state. The front-mounted working arm group system 2 is controlled by the hydraulic system 6 to complete the lifting, extension, rotation and other actions of the working arm. The long arm working component 11 cooperates with the short arm working component 12 to operate the multi-functional machine 3 to perform pruning, cleaning or other maintenance tasks. At the same time, the dynamic coordination component will synchronously adjust the lifting and lowering of the suction pipe 13 to ensure that the suction pipe 13 maintains the best working position with the working area. During the operation of the multifunctional machine 3, the garbage generated is collected by the suction pipe 13 and transported to the carriage through the suction pipe 13. The dynamic obstacle avoidance module of the system will automatically adjust the path of the working arm according to the real-time environmental data to avoid collision with obstacles and optimize the operation path in real time. During the operation, the cruise control system 9 automatically adjusts the engine speed according to the load conditions to ensure that the engine runs in the lowest fuel consumption area, thereby improving the operation efficiency and energy saving effect. After completing the operation, the forearm control module will automatically retract the forearm and return to the standby state, waiting for the next operation.

[0024] like Figures 3 to 9 As shown, a long arm boom 14 is rotatably mounted on the upper part of the long arm working component 11, a long arm small arm 15 is rotatably mounted on the other side of the long arm boom 14, a rotating shaft is provided at the connection between the long arm boom 14 and the long arm small arm 15, a short arm movable arm 16 is rotatably mounted on the upper part of the short arm working component 12, two multifunctional machines 3 are respectively provided at the other ends of the long arm small arm 15 and the short arm movable arm 16, and the dynamic coordination component includes an extension block 17 fixedly mounted on one end of the long arm boom 14, a rotating shaft 19 is rotatably mounted on one side of the extension block 17, an adjusting plate 18 is sleeved on one side of the rotating shaft 19, and a A positioning groove 23, a fine-tuning rod 25 is slidably installed inside the positioning groove 23, a limit plate 24 is fixedly installed on one side of the fine-tuning rod 25, a lifting roller 26 is arranged on one side of the limit plate 24, and the lifting roller 26 is used to lift the suction tube 13, and two limit blocks are arranged on the inner wall of one side of the opening of the positioning groove 23, which are used to limit the fine-tuning rod 25, and an adjusting wheel 20 is also fixedly connected to one side of the rotating shaft between the long arm big arm 14 and the long arm small arm 15, a driving groove 21 is opened on one side of the adjusting plate 18, and a driving rod 22 is arranged on one side of the adjusting wheel 20, and the driving rod 22 is slidably installed inside the driving groove 21, and the lifting roller 26 is made of rubber; When the long arm working assembly 11 starts to adjust the height, the connection between the long arm main arm 14 and the long arm small arm 15 rotates through the rotating shaft, and the rotation of the rotating shaft drives the adjusting wheel 20 to rotate synchronously, and the driving rod 22 on the adjusting wheel 20 slides along the driving groove 21 in the adjusting plate 18, pushing the adjusting plate 18 to rotate and rise as a whole, and the rise of the adjusting plate 18 directly drives the lifting roller 26 installed thereon to move upward, thereby providing support for the suction tube 13 to keep it stable during the lifting process. During this process, the fine-tuning rod 25 moves upward synchronously through the positioning groove 23, and the limit plate 24 and the limit block constrain the movement of the fine-tuning rod 25 to ensure that it is fine-tuned in the positioning groove 23 to avoid shaking. The stable upward movement of the lifting roller 26 ensures that the suction tube 13 can be adjusted synchronously with the height change of the long arm small arm 15 (such as Fig. 9 As the arm continues to rise, the coordinated action of the adjusting wheel 20, the driving rod 22 and the adjusting plate 18 keeps the lifting roller 26 in a stable upward state, and the height of the suction tube 13 is always kept in an appropriate position. When the arm begins to descend, the lifting roller 26 moves downward accordingly (such as Fig. 9 The suction pipe 13 is moved synchronously with the robot arm, and it will not be stretched too long or twisted when the robot arm is extended, thus avoiding excessive stretching or friction caused by the binding design, thereby reducing the risk of pipe breakage or damage. In addition, the automatic lifting of the suction pipe 13 can flexibly switch between high and low places according to work needs without manual intervention. For example, when pruning branches, the suction pipe 13 automatically rises; when cleaning the ground, the suction pipe 13 automatically lowers. This flexibility enables the robot arm to efficiently cope with a variety of work tasks.

[0025] The dynamic control module is based on a dynamic path planning algorithm and combines environmental perception data to achieve path optimization and real-time obstacle avoidance of the front-mounted working arm group system 2 to ensure operating efficiency and equipment safety, including: Use LiDAR to collect point cloud data of the robot's surroundings, generate a dynamic grid map, and use the environment perception module to detect the location and movement status of obstacles in real time; The dynamic path planning algorithm includes input variables and output variables: The input variables include the target position, the current position of the front-mounted working arm group system 2, and the dynamic position of the obstacle; The output variables include the motion path point sequence and adjustment amount of the front-mounted working arm group system 2; The calculation steps of the dynamic path planning algorithm are as follows: Data collection and input: The laser radar converts the environmental data into a grid map and compares it with the target position data and the current position data of the front-mounted working arm group system 2 to identify obstacles and calculate their relative positions; Model reasoning: Based on the A* path planning algorithm, the optimal path from the starting point to the target point is searched in the environment model, and the path is updated in real time based on the dynamic position of obstacles; Output control: The calculated path point sequence is transmitted to the electronic control system 8, and the motion trajectory of the front-mounted working arm group system 2 is dynamically adjusted to ensure a smooth operation process and avoid obstacles; The purpose of the dynamic path planning algorithm is to find the optimal working path for the robot arm in a complex environment and avoid obstacles in real time to ensure work efficiency and safety. The algorithm combines environmental data collected by sensors such as lidar, calculates the path based on the A* path planning algorithm, and updates the path in real time during the operation of the robot arm to avoid collisions with obstacles. The specific steps are as follows: 1. Data collection and input: The laser radar generates point cloud data of the environment by scanning the environment around the front-mounted working arm group system 2; Convert point cloud data into a grid map (grid map), where each grid can be marked as "obstacle" or "free", and build an environment model based on this information; At the same time, the current position and target position of the front-mounted working arm group system 2 are obtained and marked on the map.

[0026] 2. Path search and optimization: Based on the A* algorithm, the system calculates the optimal path from the starting point to the target point, taking into account the dynamic changes of obstacles; The cost function calculation formula of the A* path planning algorithm is:

[0027] During the path planning process, the appearance of dynamic obstacles will trigger path replanning to ensure that the robot arm avoids all obstacles and finds the best path.

[0028] 3. Output control: During the path planning process, the generated path points are transmitted to the electronic control system 8 to adjust the motion trajectory of the robot arm to ensure smooth execution of the task and avoid obstacles; During the operation, obstacles may change (for example, new obstacles appear or existing obstacles move); the algorithm dynamically adjusts the path by monitoring the dynamic position of obstacles in real time.

[0029] If a change in the obstacle is detected, the algorithm will automatically replan the path to ensure that the robotic arm can bypass the new obstacle and continue to move along the optimal path.

[0030] The control system also includes a force feedback control module, which is used to detect the contact force between the front-mounted working arm group system 2 and the maintenance parts through a force sensor, and adjust the action force of the front-mounted working arm group system 2 through a force / position hybrid control strategy to ensure operation accuracy and equipment safety, specifically including: The force sensor collects the contact force data between the front-mounted working arm group system 2 and the maintenance part in real time, compares it with the preset target force, and calculates the error; Use PID control algorithm to adjust the movement strength of the robot arm:

[0031] Dynamically adjust the movement speed and strength of the front-mounted working arm group system 2 according to the force error to avoid overloading and prevent the maintenance parts from being inadequately maintained; The force feedback control algorithm is used to ensure that the robot arm can avoid excessive pressure by adjusting the force when it contacts the workpiece. The contact force is monitored in real time, and the movement force of the robot arm is adjusted by PID control to ensure precise control during the operation. The specific steps are as follows:

[0032] Force error The PID control algorithm will be used to make corrections to ensure that the action output by the robot matches the target force. The control formula is:

[0033] According to the magnitude of the force error, the action force and speed of the end of the robot arm are adjusted in real time to ensure the accuracy and safety of the operation; If the contact force exceeds the set range, the system will dynamically adjust the speed and torque of the robot arm to prevent equipment damage caused by excessive contact force.

[0034] like Figure 1 , Figure 2 , Fig.10 , Fig.11As shown, the automobile chassis 1 includes a full-power power take-off interface, an original gearbox output interface and a drive axle interface, the travel system 4 includes a first transmission shaft, a high-low gearbox and a second transmission shaft, one end of the first transmission shaft is connected to the original gearbox output interface, the other end of the first transmission shaft is connected to the input port of the high-low gearbox, and the output port of the high-low gearbox is connected to the drive axle interface through the second transmission shaft, the power take-off system 5 includes a third transmission shaft and a clutch, one end of the third transmission shaft is connected to the full-power power take-off interface, and the other end of the third transmission shaft is connected to the input port of the clutch, the hydraulic system 6 includes a hydraulic pump, a hydraulic valve group, a hydraulic cylinder, a hydraulic motor, a hydraulic pipeline, a hydraulic oil tank and a radiator, the hydraulic pump is respectively connected to the hydraulic valve group, the hydraulic cylinder, the hydraulic motor, the hydraulic oil tank, and the radiator through hydraulic pipelines, the hydraulic pump is connected to the output port of the clutch, the hydraulic cylinder is connected to the front-mounted working arm group system through a pin shaft, and the hydraulic motor is connected to the multifunctional machine 3 through a coupling; During the working process, the engine provides power to the hydraulic pump through the full-power power take-off interface. The hydraulic pump transmits power to the hydraulic valve group, hydraulic cylinder and hydraulic motor through the hydraulic pipeline. The hydraulic cylinder is connected to the front-mounted working arm group system 2 through the pin shaft to realize the lifting, rotation and other actions of the working arm. The hydraulic motor drives the multi-functional machine 3 through the coupling. The power take-off system 5 transmits power to the hydraulic system 6 through the third transmission shaft and the clutch to ensure that the mechanical arm obtains sufficient power during the operation. Through the cooperation of the high and low gearbox and the first transmission shaft, the driving speed can be adjusted to adapt to different operation requirements, thereby realizing efficient and energy-saving operation; The low-pressure air control system 7 includes an air storage tank 701, an air pipe 702, an air control valve group 703, a switching switch 704, a cylinder I 705 and a cylinder II 706. The cylinder I 705 is built in the clutch, and the cylinder II 706 is built in the high and low gearbox. The inlet of the air control valve group 703 is connected to the air storage tank 701 through the air pipe 702, and the outlet of the air control valve group 703 is connected to the cylinder I 705 and the cylinder II 706 through the air pipe 702. The switching switch 704 is used to control the push-out and retraction of the cylinder I 705 and the cylinder II 706; The low-pressure air control system 7 provides an air source for the air control valve group 703 through the air storage tank 701. The air control valve group 703 controls the push-out and retraction of the cylinder I 705 and the cylinder II 706, which act on the clutch and the high and low gearboxes respectively. The switching switch 704 allows the actions of the cylinder I 705 and the cylinder II 706 to be adjusted as needed to control the transmission of the engine power and the gear shifting of the gearbox. The air control system ensures that the system always remains accurate and stable during the working process through real-time monitoring and control; The electric control system 8 includes an operating handle 801, a controller I 802, a solenoid valve 803, a wiring harness I 804 and a display 805. The display 805 is connected to the operating handle 801. The operating handle 801 is connected to the controller I 802 through the wiring harness I 804. The controller I 802 is electrically connected to the solenoid valve 803. The solenoid valve 803 is connected to the hydraulic valve group. The operating handle 801 is connected to the controller through a wiring harness. The controller transmits the signal to the solenoid valve 803, which in turn controls the action of the hydraulic valve group. The display 805 is connected to the operating handle 801 to display the working parameters of the robotic arm in real time. The operating handle 801 controls the working mode by switching buttons. The solenoid valve 803 adjusts the pressure and flow of the hydraulic system 6 according to the control signal, controls the action of the front working arm group system 2, and realizes tasks such as lifting, rotating, and horizontal movement. Through intelligent control, the system can quickly respond to different operating requirements and ensure operating efficiency.

[0035] like Fig.12 As shown, the cruise control system 9 includes a remote throttle 901, an electronic throttle 902, a controller II 903, a wiring harness II 905, and a speed sensor 904 for feeding back the engine speed value. The electronic throttle 902 is controlled by the remote throttle 901, and the controller II 903 is connected to the electronic throttle 902 and the speed sensor 904 through the wiring harness II 905; The cruise control system 9 controls the electronic throttle 902 through the remote throttle 901 to adjust the engine speed. The speed sensor 904 feeds back the engine speed information to the controller in real time. The controller adjusts the engine speed according to the load change to ensure that the engine is always in the optimal speed range. By automatically adjusting the speed, the system can continuously maintain the optimal speed during operation to ensure stable and efficient power output. When the load increases, the system automatically increases the speed; when the load decreases, the system reduces the speed to reduce energy consumption. The system improves the driver's operating experience through optimized control, while achieving energy-saving and environmental protection effects.

[0036] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0037] The present invention is intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A front-mounted double-arm single-engine greening comprehensive maintenance vehicle, characterized in that: include: A vehicle chassis (1), wherein a cab is arranged at the top of one side of the vehicle chassis (1), a travel system (4) is arranged at the bottom of one side of the vehicle chassis (1), a power take-off system (5) is arranged at the top of the vehicle chassis (1) on the side close to the cab, a collection compartment (10) is arranged at the side of the vehicle chassis (1) away from the cab, a low-pressure air control system (7) is arranged at the bottom of one side of the vehicle chassis (1), and an electric control system (8) and a cruise control system (9) are also arranged on the vehicle chassis (1); A front-mounted working arm group system (2), the front-mounted working arm group system (2) being arranged at the front end of the automobile chassis (1), the front-mounted working arm group system (2) comprising a long arm working component (11) and a short arm working component (12), one end of each of the long arm working component (11) and the short arm working component (12) being provided with a multifunctional tool (3), the front-mounted working arm group system (2) being used for maintenance work, one side of each of the two multifunctional tools (3) being provided with a suction pipe (13) connected to the collection compartment (10), the collection compartment (10) and the suction pipe (13) being used for collecting garbage generated during maintenance work of the multifunctional tool (3); A hydraulic system (6), the hydraulic system (6) being located between the front-mounted working arm group system (2) and the automobile chassis (1), the electronic control system (8) controlling the front-mounted working arm group system (2) to move via the hydraulic system (6); A dynamic coordination component, the dynamic coordination component being arranged on one side of the long arm working component (11), the dynamic coordination component being used to drive the suction pipe (13) to follow the long arm working component (11) to be raised and lowered; A control system, the control system comprising a forearm control module and a dynamic obstacle avoidance module, the forearm control module being used to control the forearm to intelligently switch between retraction and working states, the dynamic obstacle avoidance module being used to control the front-mounted working arm group system (2) to perform real-time obstacle avoidance and path planning.

2. The front-mounted double-arm single-engine greening comprehensive maintenance vehicle according to claim 1 is characterized in that: A long arm boom (14) is rotatably mounted above the long arm working component (11), a long arm fork arm (15) is rotatably mounted on the other end of the long arm boom (14), a rotating shaft is provided at the connection between the long arm boom (14) and the long arm fork arm (15), a short arm movable arm (16) is rotatably mounted above the short arm working component (12), and the two multifunctional machines (3) are respectively arranged at the other ends of the long arm fork arm (15) and the short arm movable arm (16).

3. The front-mounted double-arm single-engine greening comprehensive maintenance vehicle according to claim 2 is characterized in that: The dynamic coordination component comprises an extension block (17) fixedly mounted on one end of the long arm (14); a rotating shaft (19) is rotatably mounted on one side of the extension block (17); an adjusting plate (18) is sleeved on one side of the rotating shaft (19); a positioning groove (23) is provided on the other side of the adjusting plate (18); a fine-tuning rod (25) is slidably mounted inside the positioning groove (23); a limiting plate (24) is fixedly mounted on one side of the fine-tuning rod (25); a lifting roller (26) is provided on one side of the limiting plate (24); the lifting roller (26) is used to lift the suction tube (13); and two limiting blocks are provided on the inner wall of one side of the opening of the positioning groove (23) for limiting the fine-tuning rod (25).

4. The front-mounted double-arm single-engine greening comprehensive maintenance vehicle according to claim 3 is characterized in that: An adjusting wheel (20) is fixedly connected to one side of the rotating shaft between the long arm upper arm (14) and the long arm lower arm (15); a driving groove (21) is provided on one side of the adjusting plate (18); a driving rod (22) is provided on one side of the adjusting wheel (20); the driving rod (22) is slidably mounted inside the driving groove (21); and the lifting roller (26) is made of rubber.

5. The front-mounted double-arm single-engine greening comprehensive maintenance vehicle according to claim 1 is characterized in that: The dynamic control module is based on a dynamic path planning algorithm and combines environmental perception data to achieve path optimization and real-time obstacle avoidance of the front-mounted working arm group system (2) to ensure operating efficiency and equipment safety, specifically including: Use LiDAR to collect point cloud data of the robot's surroundings, generate a dynamic grid map, and use the environment perception module to detect the location and movement status of obstacles in real time; The dynamic path planning algorithm includes input variables and output variables: The input variables include the target position, the current position of the front-mounted working arm group system (2), and the dynamic position of the obstacle; The output variables include the motion path point sequence and adjustment amount of the front-mounted working arm group system (2); The calculation steps of the dynamic path planning algorithm are as follows: Data collection and input: The laser radar converts the environmental data into a grid map and compares it with the target position data and the current position data of the front-mounted working arm group system (2) to identify obstacles and calculate their relative positions; Model reasoning: Based on the A* path planning algorithm, the optimal path from the starting point to the target point is searched in the environment model, and the path is updated in real time based on the dynamic position of obstacles; Output control: The calculated path point sequence is transmitted to the electronic control system (8), and the motion trajectory of the front-mounted working arm group system (2) is dynamically adjusted to ensure a smooth operation process and avoid obstacles.

6. The front-mounted double-arm single-engine greening comprehensive maintenance vehicle according to claim 5 is characterized in that: The control system further comprises a force feedback control module, which is used to detect the contact force between the front-mounted working arm group system (2) and the maintenance component through a force sensor, and adjust the action force of the front-mounted working arm group system (2) through a force / position hybrid control strategy to ensure operation accuracy and equipment safety, specifically including: The force sensor collects contact force data between the front-mounted working arm group system (2) and the maintenance component in real time, compares the data with the preset target force, and calculates the error; Use PID control algorithm to adjust the movement strength of the robot arm: , dynamically adjust the movement speed and strength of the front-mounted working arm group system (2) according to the force error to avoid overloading and prevent the maintenance parts from being inadequately maintained.

7. The front-mounted double-arm single-engine greening comprehensive maintenance vehicle according to claim 1 is characterized in that: The automobile chassis (1) comprises a full-power power take-off interface, an original gearbox output interface and a drive axle interface; the travel system (4) comprises a first transmission shaft, a high-low gearbox and a second transmission shaft; one end of the first transmission shaft is connected to the original gearbox output interface, the other end of the first transmission shaft is connected to the high-low gearbox input port, and the high-low gearbox output port is connected to the drive axle interface via the second transmission shaft; the power take-off system (5) comprises a third transmission shaft and a clutch; one end of the third transmission shaft is connected to the full-power power take-off interface, and the other end of the third transmission shaft is connected to the clutch input port; the hydraulic system (6) comprises a hydraulic pump, a hydraulic valve group, a hydraulic cylinder, a hydraulic motor, a hydraulic pipeline, a hydraulic oil tank and a radiator; the hydraulic pump is respectively connected to the hydraulic valve group, the hydraulic cylinder, the hydraulic motor, the hydraulic oil tank and the radiator via hydraulic pipelines; the hydraulic pump is connected to the clutch output port; the hydraulic cylinder is connected to the front-mounted working arm group system via a pin shaft; and the hydraulic motor is connected to the multifunctional machine (3) via a coupling.

8. The front-mounted double-arm single-engine greening comprehensive maintenance vehicle according to claim 7 is characterized in that: The low-pressure air control system (7) comprises an air storage tank (701), an air pipe (702), an air control valve group (703), a switching switch (704), a cylinder I (705) and a cylinder II (706), wherein the cylinder I (705) is built in a clutch, and the cylinder II (706) is built in a high-low transmission case. The inlet of the air control valve group (703) is connected to the air storage tank (701) through the air pipe (702), and the outlet of the air control valve group (703) is connected to the cylinder I (705) and the cylinder II (706) through the air pipe (702), respectively. The switching switch (704) is used to control the push-out and retraction of the cylinder I (705) and the cylinder II (706).

9. The front-mounted double-arm single-engine comprehensive greening maintenance vehicle according to claim 8 is characterized in that: The electric control system (8) comprises an operating handle (801), a controller I (802), a solenoid valve (803), a wiring harness I (804) and a display (805), wherein the display (805) is connected to the operating handle (801), the operating handle (801) is connected to the controller I (802) via the wiring harness I (804), the controller I (802) is electrically connected to the solenoid valve (803), and the solenoid valve (803) is connected to the hydraulic valve group.

10. The front-mounted double-arm single-engine greening comprehensive maintenance vehicle according to claim 9, characterized in that: The cruise control system (9) comprises a remote throttle (901), an electronic throttle (902), a controller II (903), a wiring harness II (905) and a speed sensor (904) for feeding back an engine speed value, wherein the electronic throttle (902) is controlled by the remote throttle (901), and the controller II (903) is connected to the electronic throttle (902) and the speed sensor (904) respectively via the wiring harness II (905).

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