Hedge trimming and recycling integrated vehicle

Abstract

A vehicle body comprises a vehicle chassis, a cab, a trimming system, a recycling system, an automatic driving system, a mechanical arm posture maintaining system and an obstacle avoiding system, and a movement bearing body and a supporting foundation of all parts of the intelligent hedge trimming and recycling integrated vehicle are formed. The cab is positioned in front of the vehicle; the trimming system is composed of a recoverable trimming cutter head, an arm frame system and a sliding rail. The recovery system comprises an upper recovery system and a lower recovery system; the automatic driving system uses a plurality of hardware sensors installed around a vehicle body as a sensing basis, an operation decision is made through an algorithm, and finally steering, acceleration and deceleration of the vehicle are achieved through a drive-by-wire system. The mechanical arm posture maintaining system comprises a support laser range finder and an automatic adjusting system. Automatic driving, pruning, automatic branch and leaf recovery, deviation correction and obstacle avoidance are achieved, full-process automation of greening pruning operation is achieved, and the intelligent pruning machine has the advantages of being high in intelligence and automation degree, high in operation efficiency and high in safety.

Description

Technical Field

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

[0002] Green belts are an important component of highways, serving functions such as visual guidance, signage, glare reduction, and shading. They also provide greenery, enhance soil and water conservation, and absorb exhaust fumes and noise. To maintain the aesthetic appeal and proper form of green belts and prevent excessive growth that could encroach on the driving lanes and affect traffic safety, the plants in the green belts need to be pruned regularly or irregularly.

[0003] Currently, the main maintenance method for highway green belts involves engineering vehicles using onboard robotic arms to prune the green belts, followed by manual sweeping and collection of fallen branches and leaves. This pruning method is noisy, inefficient, and requires multiple workers for cleaning and collection, posing significant safety risks. With over 120,000 kilometers of highways in China, the vast highway maintenance market demands higher standards for maintenance equipment, urgently requiring high-standard, more intelligent machinery to complete highway green belt pruning. Therefore, we propose an integrated green belt pruning and collection vehicle. Summary of the Invention

[0004] In order to overcome the shortcomings of the existing technology, the purpose of this invention is to provide a green hedge trimming and recycling integrated vehicle that can achieve automatic driving, automatic trimming, automatic branch and leaf recycling, automatic deviation correction and obstacle avoidance. It can realize the full-process automation of greening trimming operations and has the characteristics of high intelligence and automation, high operation efficiency and high safety.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0006] A hedge trimming and recycling integrated vehicle includes a vehicle body, a drive-by-wire chassis, a driver's cab, a trimming system, a recycling system, an autonomous driving system, a robotic arm posture maintenance system, and an obstacle avoidance system. The drive-by-wire chassis has a robust foundation for integrating autonomous driving technology. The driver's cab is located at the front. The trimming system comprises a recyclable trimmer head, a boom system, and a slide rail. The recycling system includes a recycling box, a negative pressure fan, a negative pressure duct, a recycling suction cup, and a suction cup duct. The recyclable trimmer head is connected to the boom system, which is slidably connected to the slide rail and can move along the rail. The slide rail is located at the front of the vehicle and between it and the vehicle chassis. The system is fixedly connected to maintain stability. The recycling system is divided into an upper recycling system and a lower recycling system, both connected to the branch and leaf recycling bin via pipes. The autonomous driving system includes multiple (15-25) hardware sensors fixed around the vehicle and an autonomous driving software system. The robotic arm attitude maintenance system includes a laser rangefinder and an automatic adjustment system. The obstacle avoidance system includes obstacle avoidance rods, springs, pressure sensors, and an obstacle avoidance controller. The recycling bin is located at the top of the drive-by-wire vehicle chassis, with a recycling suction cup at its bottom. A suction cup duct connects the suction cup to the recycling bin. The negative pressure fan and negative pressure duct are located outside the recycling bin, with the negative pressure duct connected to the negative pressure fan. The autonomous driving system uses hardware sensors to collect data signals and transmits them to the software system. Algorithms are used for operational decisions, and finally, the drive-by-wire system controls the vehicle's steering and acceleration / deceleration, enabling the autonomous driving and automatic vehicle body adjustment functions of this integrated hedge trimming and recycling vehicle.

[0007] The robotic arm attitude maintenance system includes a support laser rangefinder and an automatic adjustment system;

[0008] The obstacle avoidance system consists of several parts, including an obstacle avoidance contact rod, a spring, a pressure sensor, and an obstacle avoidance controller.

[0009] As a preferred technical solution of the present invention, the recyclable trimmer head consists of a pre-collection box, toothed blades, a swivel-type blade module, a rubber curtain, and a branch and leaf collection port.

[0010] As a preferred technical solution of the present invention, the boom system includes a support, a first robotic arm, a second robotic arm, a connecting structure, and a hydraulic telescopic arm for controlling the movement of the robotic arms. The second robotic arm is connected to a retrievable trimmer head through the connecting structure, which can enable the trimmer head to meet the needs of trimming hedges of different heights and widths. The trimmer head can rotate 360° in the plane.

[0011] As a preferred technical solution of the present invention, the branch and leaf recycling system includes two parts: an upper recycling system and a lower recycling system. The upper recycling system is mainly responsible for recycling the pruned branches and leaves inside the recyclable pruning shear head, while the lower recycling system is mainly responsible for recycling branches and leaves on the ground. By working together, the risks and physical labor of manual branch and leaf recycling are eliminated, thereby improving work efficiency and safety.

[0012] As a preferred technical solution of the present invention, the air volume distribution of the upper and lower recovery systems is controlled by the opening and closing of two interface controllers, thereby realizing the dynamic adjustment of the upper and lower recovery systems under different needs.

[0013] As a preferred technical solution of the present invention, the negative pressure duct consists of two parts: a transparent plastic flexible tube and a rigid plastic tube. The plastic flexible tube is moderately flexible, which is conducive to bending the flexible tube, while avoiding the accumulation of branches and leaves due to insufficient rigidity. The transparency of the duct can reduce the impact on the field of vision and is also conducive to observing the situation inside the duct. The rigid plastic tube can be divided into horizontal tubes and inclined tubes, which is conducive to improving the recycling efficiency.

[0014] As a preferred embodiment of the present invention, the retrieval suction cup includes a vertical connecting rod fixed to the vehicle body, an inclined connecting rod connected to the vertical connecting rod and the suction cup body, and a telescopic rod controlling the outward angle of the suction cup to achieve horizontal movement of the suction cup. The vertical telescopic connecting rod is connected to the vehicle body and the suction cup body to control the vertical movement of the suction cup. The suction cup includes a suction cup vent for retrieval, casters for movement, a suction cup opening for picking up branches and leaves, a roller, and a rubber baffle.

[0015] As a preferred technical solution of the present invention, the autonomous driving system includes two parts: hardware sensors and software system. The hardware system includes lidar, millimeter-wave radar, ultrasonic radar, mid-range camera, short-range camera and wide-angle camera, as well as an autonomous driving controller for calculation. The components work together to realize the function of autonomous driving.

[0016] As a preferred embodiment of the present invention, the robotic arm posture maintenance system includes a support laser rangefinder and an automatic adjustment system. The support laser rangefinder measures the distance to the roadside guardrail, and the automatic adjustment system automatically adjusts the robotic arm when the distance changes.

[0017] As a preferred embodiment of the present invention, the obstacle avoidance system comprises an obstacle avoidance contact rod, a spring, a pressure sensor, and an obstacle avoidance controller. When the obstacle avoidance contact rod contacts an obstacle, the spring transmits the pressure to the pressure sensor. Upon sensing the pressure, the pressure sensor controls the movement of the boom system via the obstacle avoidance controller, thereby achieving the obstacle avoidance function.

[0018] As a preferred technical solution of the present invention, the remaining space between the cab of the intelligent hedge trimming and recycling vehicle and the branch and leaf recycling bin can be used to install equipment or modules such as branch shredders and high branch trimming devices to enhance the vehicle's use value and enrich its functions.

[0019] In the aforementioned technical measures, the key components are the robotic arm posture maintenance system, the obstacle avoidance system, and the lower recovery system. The coordinated operation of these key components solves the problems of low efficiency, unsafe operation, and inadequate safety measures in existing hedge trimming vehicles. While existing greenbelt trimming machinery has a blade tip and leaf recovery function, the current technology's leaf recovery effect is poor. After the hedge trimming vehicle operation, personnel still need to clean up the fallen branches and leaves, posing a high safety risk to workers. The coordinated operation of the upper and lower recovery systems provided by this invention allows the upper recovery system to pick up most of the fallen branches and leaves, while the lower recovery system cleans up the remaining branches and leaves on the ground, thereby avoiding the need for secondary manual recovery work and reducing personnel safety risks. Existing hedge trimming vehicles require manual operation for obstacle avoidance and robotic arm posture control (manual adjustment of the robotic arm posture and obstacle avoidance are achieved from the driver's cab). This results in problems such as low positioning accuracy and difficulty for personnel to maintain concentration for extended periods. The posture maintenance system of this invention utilizes sensors to achieve precise positioning between the robotic arm and the guardrail, and employs an obstacle avoidance system through sensors and controllers to achieve automatic obstacle avoidance. This reduces the intensity and duration of human attention required, freeing up manpower. Using the integrated hedge trimming and recycling vehicle with autonomous driving capabilities provided by this invention, workers can focus their attention on driving itself, avoiding excessive distraction from robotic arm control and obstacle avoidance. This reduces the need for additional personnel, improves operational safety and efficiency, and lowers personnel safety risks, offering the advantages of increased work efficiency and reduced workload.

[0020] Compared with the prior art, the beneficial effects that this invention can achieve are:

[0021] By incorporating a pruning system, a recycling system, an automatic driving system, a robotic arm posture maintenance system, and an obstacle avoidance system, combined with mechanical and electronic sensing devices, the green belt pruning operation can achieve automatic correction, assisted positioning, and automatic obstacle avoidance, making the entire green pruning operation process automated. It features high intelligence and automation, high work efficiency, and high safety. Attached Figure Description

[0022] Figure 1 A schematic diagram of the overall structure of a hedge trimming and recycling integrated vehicle;

[0023] Figure 2 A schematic diagram of a recyclable trimmer head and boom system for an integrated hedge trimming and recycling vehicle;

[0024] Figure 3 This is a schematic diagram of a combined hedge trimming and recycling vehicle system.

[0025] Figure 4 This is a schematic diagram of the upper and lower recycling system control of an integrated hedge trimming and recycling vehicle;

[0026] Figure 5 A schematic diagram showing the installation of the recycling suction cup in a hedge trimming and recycling integrated vehicle;

[0027] Figure 6 A detailed schematic diagram of the recycling suction cup of a hedge trimming and recycling vehicle;

[0028] Figure 7 A schematic diagram of an autonomous driving system for a hedge trimming and recycling vehicle;

[0029] Figure 8 A schematic diagram of the robotic arm posture maintenance system for a hedge trimming and recycling integrated vehicle;

[0030] Figure 9 This is a schematic diagram of the obstacle avoidance system of a vehicle that integrates hedge trimming and recycling.

[0031] The components include: 1. Drive-by-wire vehicle chassis; 2. Cab; 3. Trimming system; 31. Recyclable trimmer head; 311. Pre-collection box; 312. Toothed blade; 313. Spinning blade module; 314. Rubber curtain; 315. Branch and leaf collection port; 32. Boom system; 321. Support; 3211. Sleeve base; 3212. Rotary handle; 3213. Support hydraulic telescopic boom; 3214. First hydraulic telescopic boom; 322. First robotic arm; 3221. Second hydraulic telescopic boom; 323. Second robotic arm; 3231. Blade head controlled hydraulic telescopic boom; 3232. Connection structure; 33. Slide rail; 4. Recycling system; 41. Recycling box; 42. Negative pressure fan (ordinary); 43. Negative pressure duct; 431. Transparent plastic flexible hose; 432. Rigid plastic tube; 4321. Horizontal tube; 4322. Inclined tube; 433. Metal ring; 44. Recycling suction cup; 441. Vertical connecting rod; 442. Inclined connecting rod; 443. Suction cup body; 4431. Suction cup opening; 4432. Roller; 4433. Rubber baffle; 444. Horizontal telescopic rod; 445. Vertical telescopic connecting rod; 446. Suction cup air outlet; 447. Casters; 448. Universal joint 45. Wheel connecting plate; 46. Suction cup duct; 47. Upper recycling connection port; 48. Lower recycling connection port; 481. Upper interface controller (any model, such as model JKKZ-001); 482. Lower interface controller (any model, such as model JKKZ-001); 483. Motor (ordinary); 484. Cover plate; 485. Rubber pad; 49. Duct bracket; 50. Automatic driving system (any model, select "Automatic Driving Athena 5.0" or other automatic driving systems on the market); 51. LiDAR (ordinary); 52. Millimeter wave... 53. Radar (standard); 54. Ultrasonic radar (standard); 55. Medium-range camera; 56. Short-range camera (standard); 6. Wide-angle camera (standard); 7. Robotic arm attitude maintenance system (model ZTWC-001); 8. Laser rangefinder (Xinrui XR5000); 9. Automatic adjustment system (model ZDTZA1); 10. Obstacle avoidance system (model JXBZ-001); 11. Obstacle avoidance contact rod; 12. Spring; 13. Pressure sensor (Xingyi CYYZ11A pressure sensor); 14. Obstacle avoidance controller (Finland EPEC controller). Detailed Implementation

[0032] To make the technical means, creative features, and achieved objectives and effects of this invention easier to understand, the invention is further described below with reference to specific embodiments. However, the following embodiments are merely preferred embodiments of this invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments described herein without creative effort are all within the protection scope of this invention. Unless otherwise specified, the experimental methods in the following embodiments are conventional methods, and the materials and reagents used in the following embodiments are commercially available unless otherwise specified.

[0033] Example 1:

[0034] like Figures 1-9As shown, a hedge trimming and recycling integrated vehicle structure includes a drive-by-wire vehicle chassis 1, a driver's cab 2, a trimming system 3, a recycling system 4, an automatic driving system 5, a robotic arm posture maintenance system 6, an obstacle avoidance system 7, and a vehicle control system 8. The drive-by-wire vehicle chassis 1 carries the weight of the superstructure and enables movement, supporting the drive-by-wire system for automatic vehicle operation. The driver's cab 2 is located at the front of the vehicle structure, primarily for driving safety and facilitating real-time observation of the operation process. The trimming system 3 includes a retrievable trimmer head 31, a boom system 32 connecting the retrievable trimmer head 31 to the drive-by-wire vehicle chassis 1, and a slide rail 33 fixed to the chassis. The retrievable trimmer head 31 is connected to the boom system 32, and the boom system 32 is slidably connected to the slide rail 33, allowing movement along the slide rail. The slide rail 33 is located at... The vehicle is fixedly connected to the front of the vehicle and to the vehicle chassis 1 to maintain its stability. The recycling system 4 is divided into two parts: an upper recycling system and a lower recycling system. Both are connected to the branch and leaf recycling box 41 through pipes. The recycling system 4 includes the branch and leaf recycling box 41 located above the vehicle chassis 1 and behind the cab 2; a negative pressure fan 42 located between the cab 2 and the branch and leaf recycling box 41 and sealed to the branch and leaf recycling box 41; a negative pressure air duct 43 connected to the branch and leaf recycling box 41 and the recyclable trimmer head 31; a recycling suction cup 44 connected to the branch and leaf recycling box 41 and located in the lower space of the vehicle chassis; and a connection between the recycling suction cup 44 and the branch and leaf recycling box 41. The suction cup duct 45 of the box 41; the recycling system 4 is divided into an upper recycling system and a lower recycling system, both of which are connected to the branch and leaf recycling box 41 through pipes; the autonomous driving system 5 includes multiple (15-25) hardware sensors and an autonomous driving software system; the hardware sensors are fixed around the entire vehicle, and the signals collected by the hardware sensors are transmitted to the software system through an internal wiring system; after processing by the software system algorithm, the decision is converted into an electrical signal, which then controls the movement of the drive-by-wire chassis; the autonomous driving technology solution of vision + distance detection is adopted to improve the accuracy and reliability of autonomous driving; the robotic arm posture maintenance system 6 includes a support actuator. The system includes a laser rangefinder 61 and an automatic adjustment system 62. The laser rangefinder 61 is fixed on the support 321 and is used to measure the distance between the support and the roadside guardrail. The automatic adjustment system 62 is integrated into the vehicle control system 8. The obstacle avoidance system 7 consists of an obstacle avoidance contact rod 71, a spring 72, a pressure sensor 73, and an obstacle avoidance controller 74. The obstacle avoidance contact rod 71 is installed in front of and to the left of the retrievable trimmer head 31 via the spring 72 and the pressure sensor 73. The obstacle avoidance controller 74 is also integrated into the vehicle control system 8. The attitude maintenance system 6 and the obstacle avoidance system 7 can improve the automation level of the system and reduce the workload of personnel.

[0035] In other embodiments, this embodiment discloses a recyclable trimmer head 31 structure, such as... Figure 1As shown, the device includes a pre-collection box 311 with a cuboid front end and a trapezoidal column rear end, multiple toothed blades 312 with a smaller front end and a larger rear end fixed to the pre-collection box, a swivel-type blade module 313 including three rotary saws, a rubber curtain 314, and a branch and leaf collection port 315.

[0036] In other embodiments, this embodiment discloses the working mode of the recyclable trimmer head, such as... Figures 1-2 As shown, the recyclable pruning shear head 31 includes a pre-collection box 311 for pre-collecting fallen branches and leaves and improving the collection efficiency of the recycling system; multiple toothed blades 312 fixed to the lower end of the pre-collection box for pre-tidying up hedge branches and leaves to improve pruning efficiency and reduce fallen leaves; a swivel-type blade module 313 fixed inside the pre-collection box for pruning branches and leaves; a rubber curtain 314 fixed to the front end of the pre-collection box to prevent hedge branches and leaves from splashing everywhere; and a circular branch and leaf collection port 315 located at the end of the pre-collection box and connected to the negative pressure air duct 43. The part between the tail of the pre-collection box 311 and the branch and leaf collection port 315 is a trapezoidal transition section to improve recycling efficiency. The negative pressure air duct 43 connected to the branch and leaf collection port 315 is fixed to the boom system 32 by a metal ring 433 and connected to the branch and leaf recycling box 41. In particular, the metal ring 431 should be arranged in a suitable position to meet the requirement that the negative pressure air duct moves with the boom system 32 when it moves. During the actual operation, the vehicle and robotic arm are adjusted to a suitable angle, the cutting head is adjusted to be flush with the top surface of the green belt and the cutting head is adjusted to a suitable angle, the power system of the integrated hedge trimming and recycling vehicle is started and it moves forward. The branches and leaves of the green belt that need to be trimmed enter the pre-collection box 311 through the gap in front of the toothed blade 312 at the bottom of the recycling box and are pre-sorted by the toothed blade. The swivel blade module 313 cuts and trims the branches and leaves that have entered the collection box. The rubber curtain 314, the pre-collection box 311 and the toothed blade 312 work together to keep as many branches and leaves as possible in the pre-collection box. Then, the suction of the negative pressure fan 42 sucks the pre-collected branches and leaves into the recycling box 41 through the branch and leaf collection port 315 and the negative pressure air pipe 43.

[0037] In other embodiments, this embodiment discloses the operating modes of the boom system 32, such as... Figure 2As shown, the boom system 32 between the recyclable trimmer head 31 and the vehicle chassis 1 includes a support 321, a first robotic arm 322, and a second robotic arm 323. The first robotic arm 322 is hinged to the support 321, and the support 321 is connected to the slide rail 33 by a snap-fit ​​connection. The support 321 can move on the slide rail 33 via a hydraulic system. The support 321 includes a sleeve seat 3211 and a handle 3212. The lower end of the handle 3212 is connected to the sleeve seat 3211 via a hydraulic telescopic arm 3213 of the support, thereby enabling the rotation of the handle and thus driving the rotation of the robotic arm. The first hydraulic telescopic arm 3214 is hinged at both ends to the pre-reserved interface of the handle 3212 and the first mechanical arm 322. The second hydraulic telescopic arm 3221 is hinged at both ends to the pre-reserved interface of the first mechanical arm 322 and the pre-reserved interface of the second mechanical arm 323. The front end of the second mechanical arm 323 is also provided with a cutter head control hydraulic telescopic arm 3231 and a connecting structure 3232. The hydraulic telescopic arm 3231 is hinged at both ends to the pre-reserved interface of the second mechanical arm 323 and the top pre-reserved interface of the retractable trimming head 31. The trimming angle of the retractable trimming head 31 is controlled by the extension and retraction of the hydraulic telescopic arm 3231, thereby adapting to different angles of top and side trimming of the green belt. The connecting structure 3232 is used to connect the second mechanical arm 323 and the retractable trimming head 31 and can realize the relative rotation of the two. The preferred rotation angle is 180° in both directions, which can realize 360° rotation in the plane. The handle 3212, the first robotic arm 322, and the second robotic arm 323 are sequentially connected and hinged, allowing them to rotate and move relative to each other on the same plane, thereby controlling the height and horizontal position of the end-connected trimmer head 31. The retractable trimmer head 31, the arm system 32, and the slide rail 33 work together to meet the needs of hedge trimming work at different heights, widths, and angles.

[0038] In other embodiments, this embodiment discloses the specific components of the recycling system, such as... Figure 3 As shown, the recycling system 4 includes an upper recycling system and a lower recycling system. The upper recycling system includes a negative pressure duct 43. The lower recycling system mainly includes a recycling suction cup 44 and a suction cup duct 45. Both the negative pressure duct 43 and the suction cup duct 45 are sealed to the recycling box 41. The negative pressure fan 42 and the recycling box 41 are common parts of the upper and lower recycling systems. A filter screen is provided at the connection between the negative pressure fan 42 and the recycling box 41 to prevent branches and leaves from entering the negative pressure fan 42 and causing damage to the fan.

[0039] Specifically, when the vehicle starts operating, the negative pressure fan is turned on, creating a negative pressure state inside the collection box 41. Under the action of negative pressure, the hedge branches and leaves trimmed by the recyclable pruning shear head 31 enter the collection box 41 through the branch and leaf collection port 315 and the negative pressure air duct 43, thus realizing the recycling of the upper recycling system. As for the lower recycling system, it is mainly responsible for the recycling of branches and leaves that have been trimmed and fallen to the ground. After the hedge branches and leaves are trimmed by the recyclable pruning shear head 31, some branches and leaves may fall to the ground. For these fallen leaves, the control system lowers the recycling suction cup 44 to a suitable height in contact with the ground and applies a certain pressure to facilitate recycling. Similarly, under the action of negative pressure, the branches and leaves that have fallen to the ground are recycled into the collection box 41 through the suction cup air duct 45. Thus, the integrated trimming and recycling of hedge branches and leaves is achieved through the combined action of the upper and lower recycling systems.

[0040] In other embodiments, this embodiment discloses specific details of the recycling system, such as Figure 4 As shown, the upper recovery connection port 46 connecting the negative pressure air duct 43 to the recovery box 41 and the lower recovery connection port 47 connecting the suction cup air duct 45 to the recovery box 41 are two relatively independent interfaces. The upper recovery connection port 46 and the lower recovery connection port 47 are controlled and adjusted by the upper interface controller 481 and the lower interface controller 482, respectively. The interface controllers 481 and 482 are connected to the control system in the main cab through current control, and can be controlled in the main cab, so as to realize the proportional distribution and adaptive adjustment of the air volume of the upper and lower recovery systems according to different working conditions.

[0041] To facilitate the recovery of branches and leaves and prevent clogging of the recovery connection port, the suction cup duct 45 extends through the lower recovery connection port 47 to a slightly higher position inside the recovery box and is fixed to the duct support 49. The duct support 49 is located near the recovery suction cup 44 and maintains a certain distance from the front wall of the recovery box 41 to prevent the branches and leaves collected by the upper and lower recovery systems from accumulating in the same position, thus reducing space utilization. The lower recovery connection port 47 can move within a certain range on the support 49 to facilitate the recovery of branches and leaves. The upper interface controller 481 is installed on the front wall of the recovery box, and the lower interface controller 482 is installed on the support 49. Both controllers are equipped with a motor 483, a cover plate 484, and a rubber pad 485.

[0042] The specific operation is as follows: When the lower recycling system is not required (e.g., when cleaning the lawn and there are no fallen leaves to be recycled), a command is issued through the control system in the main driver's cab, and the upper interface controller 481 is fully opened while the lower interface controller 482 is closed. At this time, the lower recycling connection port 47 is blocked while the upper recycling connection port 46 is open, so the negative pressure only acts on the upper recycling system. When the upper recycling system is not required (e.g., when sweeping the road and there is no need to trim hedge branches and leaves), the upper interface controller 481 is fully closed while the lower interface controller 482 is fully opened, so the negative pressure only acts on the lower recycling system. When the upper and lower recycling systems need to be opened simultaneously (e.g., when trimming and recycling hedges), the upper and lower interface controllers 481 and 482 can be adjusted simultaneously to open the upper and lower recycling systems at the same time, so that the negative pressure acts on the upper and lower recycling systems at the same time. The upper interface controller 481 and the lower interface controller 482 can be adjusted according to the different air volume requirements of the upper and lower recycling systems, so as to realize the real-time adjustment of air volume and the distribution of upper and lower parts.

[0043] In other embodiments, this embodiment discloses some details and design concepts of the upper recovery system, such as... Figure 1 As shown, the negative pressure duct 43 consists of two parts: a transparent plastic flexible tube 431 and a rigid plastic tube 432. The plastic flexible tube 431 has moderate softness and hardness, which allows it to bend appropriately according to the situation of the front-mounted robotic arm without causing local accumulation of branches and leaves due to insufficient hardness. The transparent plastic flexible tube reduces the impact on the driver's vision and also makes it easier for personnel to observe the accumulation of branches and leaves inside the plastic flexible tube and make appropriate adjustments to the duct. The rigid plastic tube 432 is located on the upper left side of the vehicle body and is fixedly connected to the vehicle body to reduce duct bending and keep the inner wall as smooth as possible, which helps to reduce the frictional resistance between the recovered branches and leaves and the duct wall, thereby improving the recovery efficiency. The rigid plastic tube 432 can be divided into a horizontal tube 4321 and an inclined tube 4322. The specific connection method from the cutter head to the recovery box is: branch and leaf collection port 315 on the recyclable trimmer head — plastic flexible tube 431 — horizontal tube 4321 — inclined tube 4322 — upper recovery connection port 46 on the recovery box. The advantage of fixing it to the upper left side of the vehicle is that during actual trimming operations, the main working area of ​​the robotic arm and cutter head is located on the left side of the vehicle. Placing the rigid plastic tube on the left side of the vehicle body can better coordinate with the movement of the plastic hose 431 and the movement of the robotic arm, while also reducing the length of the plastic hose 431, thereby reducing wind resistance loss. The advantage of dividing the rigid plastic tube into horizontal and inclined tubes is that the horizontal tube is conducive to coordinating with the movement of the robotic arm and the movement of the plastic hose and conforms to the vehicle body to avoid excessive extension, while the inclined tube is conducive to the movement of branches and leaves from the horizontal tube position to the recycling box 41 under the action of gravity, improving the efficiency and speed of branch and leaf recycling.

[0044] In other embodiments, this embodiment discloses specific details of the installation of the retrieval suction cup, such as... Figure 5 As shown, the retrieval suction cup 44 in the lower retrieval system includes two vertical connecting rods 441 fixed to the vehicle body, and an inclined connecting rod 442 hinged to the vertical connecting rods. The inclined connecting rod 442 is hinged to the suction cup body 443. The two inclined connecting rods are parallel to each other to facilitate the outward expansion and movement of the body 443. A horizontal telescopic rod 444 connected to the vehicle body is also provided on one of the inclined connecting rods. The extension and shortening of the horizontal telescopic rod causes the inclined connecting rod 442 to rotate around the vertical connecting rod 441, thereby causing the suction cup body 443 to move outward to the outside of the vehicle to realize the retrieval of branches and leaves beyond the outside of the vehicle body. The vertical telescopic connecting rod 445 is hinged to the suction cup body to realize the up and down movement of the suction cup structure.

[0045] In other embodiments, this embodiment discloses specific details of the retrieval suction cup, such as... Figure 6 As shown, the upper part of the suction cup also includes a suction cup vent 446 that is sealed to the suction cup duct, a caster wheel 447 that contacts the ground for movement, and a caster wheel connecting plate 448 that reduces the distance between the bottom of the suction cup and the ground. Specifically, the suction cup body 443 can be subdivided into several parts: a suction cup opening 4431, rollers 4432, and rubber baffles 4433. The suction cup opening 4431 is located below the suction cup body 443 and serves as the channel for collecting branches and leaves into the collection box 41. Multiple rollers 4432 are located in front of 4431 and have different diameters. The rubber baffles 4433 are located on the rear and left and right sides of the suction cup body 443. The rollers 4432 contact the ground and effectively flatten the branches and leaves, helping to roll them up and send them into the collection box 41 under the action of negative pressure airflow. The rubber baffles 4433 contact the ground to achieve as much sealing as possible under the suction cup.

[0046] In other embodiments, this embodiment discloses the specific components of the autonomous driving system, such as... Figure 7As shown, the vehicle autonomous driving system 5 includes two parts: hardware sensors and software system. The hardware system includes a lidar 51, a millimeter-wave radar 52, an ultrasonic radar 53, a mid-range camera 54, a short-range camera 55, and a wide-angle camera 56, as well as an autonomous driving controller 57 for calculation. One LiDAR 51 is required, installed above the top of the driver's cab 2; one millimeter-wave radar 52 is required, installed above the center of the windshield; twelve ultrasonic radars 53 are required, four on the front bumper and one on each side of the rear bumper; one mid-range camera 54 is required, installed near the bottom center of the windshield, within 10cm to the left and right of the vehicle's centerline, ensuring it is not obstructed by the windshield wipers; two short-range cameras 55 are required, positioned at a suitable height and centered at the front and rear of the vehicle; four wide-angle cameras 56 are required, installed centered on the front, rear, left, and right sides of the vehicle. This vision + distance detection autonomous driving technology solution improves the accuracy and reliability of autonomous driving.

[0047] In other embodiments, this embodiment discloses details of the robotic arm posture maintenance system, such as... Figure 8 As shown, the robotic arm posture maintenance system 6 includes a support laser rangefinder 61 and an automatic adjustment system 62. The support laser rangefinder 61 measures the distance between the support and the roadside guardrail within the range of the upper and lower edges of the guardrail. The automatic adjustment system is integrated into the operation control system. The specific implementation is as follows: After the system is powered on, the user selects whether to enable or disable the automatic maintenance system mode. After selection, the robotic arm angle and height are adjusted. When the robotic arm is adjusted to a suitable posture, the rotating cutter head module is activated. At this time, the automatic adjustment system records the distance measured by the support laser rangefinder 61 and saves the record as the basis for subsequent robotic arm adjustments. When this distance changes, the system automatically adjusts the distance between the robotic arm and the guardrail to the recorded value, thereby achieving automatic maintenance of the robotic arm posture.

[0048] In other embodiments, this embodiment discloses specific details of the obstacle avoidance system, such as... Figure 9As shown, the obstacle avoidance system 7 consists of several parts, including an obstacle avoidance contact rod 71, a spring 72, a pressure sensor 73, and an obstacle avoidance controller 74. The obstacle avoidance contact rod 71 is L-shaped and is fixed above the recyclable trimmer head 31 by the spring 72 and the pressure sensor 73. The obstacle avoidance contact rod 71 is larger than the trimmer head 31 to achieve the obstacle avoidance effect. When the vehicle encounters an obstacle during operation, the obstacle contacts the obstacle avoidance contact rod 71 in front of the cutter head. As the vehicle continues to move forward, the obstacle generates pressure, which is transmitted to the pressure sensor 73. At the same time, the spring 72 provides a buffer space for the cutter head. When a signal is received from the pressure sensor 73, the robotic arm posture maintenance system 6 is turned off, and the obstacle avoidance controller 74 controls the boom system 32 to move away from the green belt on the slide rail 33. As the boom system moves and the vehicle continues to move forward, the front of the cutter head 31 no longer contacts the pressure, but the side of the cutter head contacts the pressure and triggers the pressure sensor signal. At this time, the obstacle avoidance controller 74 controls the boom system 32 to continue moving on the slide rail 33. When the obstacle avoidance contact rod 71 no longer receives the pressure signal, the obstacle avoidance system 74 automatically turns off, and the robotic arm posture maintenance system 6 turns on, and the boom system 32 returns to its initial setting state.

[0049] In other embodiments, this embodiment discloses some optional technologies of the present invention. The remaining space between the cab 2 and the branch and leaf recycling bin 41 can be used to install equipment or modules such as branch shredders and high-branch pruning devices to enhance the use value of the vehicle and enrich its functions.

[0050] The trimming system 3 includes a recyclable trimmer head 31, a boom system 32 connecting the recyclable trimmer head 31 to the drive-by-wire vehicle chassis 1, and a slide rail 33 fixed to the vehicle chassis. The slide rail 33 is fixedly connected to the vehicle chassis, and the boom system 32 is slidably connected to the slide rail 33, enabling movement along the axial direction of the slide rail 33. The recyclable trimmer head 31 is connected to the front end of the boom system through a connecting structure 3232.

[0051] The aforementioned swivel blade module 313 is a mature technology and can be selected as the 9GX-1.0A swivel blade from Shandong Jiesheng Heavy Industry Machinery Co., Ltd.

[0052] The recycling system 4 is described in the previous embodiment. Both the upper and lower parts of the recycling system 4 are connected to the branch and leaf recycling box 41 via pipes.

[0053] The aforementioned autonomous driving system 5 is described in the previous embodiment. Alternatively, an existing mature autonomous driving system and hardware configuration can be selected.

[0054] The automatic adjustment system 62 is embedded in the controller. Its main function is to control the posture and movement of the robotic arm by calculating and outputting electrical signals based on the electrical signals fed back by the laser rangefinder. It can be a Finnish EPEC controller.

[0055] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A hedge trimming and recycling integrated vehicle, comprising a vehicle body and a drive-by-wire vehicle chassis (1), a driver's cab (2), a trimming system (3), a recycling system (4), an automatic driving system (5), a robotic arm posture maintenance system (6), an obstacle avoidance system (7), and a vehicle control system (8), characterized in that: The drive-by-wire vehicle chassis (1) is a drive-by-wire vehicle chassis. The drive-by-wire vehicle chassis (1) has a hard foundation for the integration of automatic driving technology. The driver's cab (2) is located at the front. The trimming system (3) includes a recyclable trimmer head (31), a boom system (32), and a slide rail (33). The recycling system (4) includes a recycling box (41), a negative pressure fan (42), a negative pressure duct (43), a recycling suction cup (44), and a suction cup duct (45). The recyclable trimmer head (31) is connected to the boom system (32). The boom system (32) is slidably connected to the slide rail (33). The slide rail (33) is fixedly connected to the vehicle chassis (1). The recycling system (4) is divided into an upper recycling system and a lower recycling system. Both are connected to the branch and leaf recycling box (41) through pipes. The automatic driving system (5) includes 15-25 fixed The hardware sensors and autonomous driving software system are located around the entire vehicle. The robotic arm posture maintenance system (6) includes a laser rangefinder (61) and an automatic adjustment system (62). The laser rangefinder (61) is fixed on the support (321). The automatic adjustment system (62) is integrated into the vehicle's main control system (8). The obstacle avoidance system (7) includes an obstacle avoidance contact rod (71), a spring (72), a pressure sensor (73), and an obstacle avoidance controller (74). The recovery box (41) is located at the top of the drive-by-wire vehicle chassis (1). The bottom of the recovery box (41) is equipped with a recovery suction cup (44). The suction cup air duct (45) connects the recovery suction cup (44) and the recovery box (41). The negative pressure fan (42) and the negative pressure air duct (43) are both located outside the recovery box (41). The negative pressure air duct (43) and the negative pressure fan (42) are connected.

2. The integrated hedge trimming and recycling vehicle according to claim 1, characterized in that: The negative pressure duct (43) includes a transparent plastic flexible tube (431) and a rigid plastic tube (432). The rigid plastic tube (432) is connected to the transparent plastic flexible tube (431). The rigid plastic tube (432) is further divided into a horizontal tube (4321) and an inclined tube (4322).

3. The integrated hedge trimming and recycling vehicle according to claim 1, characterized in that: The retrieval suction cup (44) includes a vertical connecting rod (441), an inclined connecting rod (442), a suction cup body (443), a horizontal telescopic rod (444), a vertical telescopic connecting rod (445), a suction cup vent (446), a caster wheel (447), and a caster wheel connecting plate (448). The vertical connecting rod (441) is connected to the vehicle body. The inclined connecting rod (442) connects the vertical connecting rod (441) and the suction cup body (443). The horizontal telescopic rod (444)... The suction cup body (443) is connected to the drive-by-wire vehicle chassis (1). The vertical telescopic link (445) is connected to the vehicle body and the suction cup body (443). The suction cup body (443) includes a suction cup opening (4431), a roller (4432), and a rubber baffle (4433). The universal wheel (447) is located on one side of the suction cup body (443). The universal wheel (447) is connected to the suction cup body (443) by a universal wheel connecting plate (448).

4. The integrated hedge trimming and recycling vehicle according to claim 1, characterized in that: The recyclable trimmer head (31) includes a pre-collection box (311), a toothed blade (312), a swivel blade module (313), a rubber curtain (314), and a branch and leaf collection port (315). The transparent plastic hose (431) is connected to the trimming system (3), and a metal ring (433) is provided at the connection between the transparent plastic hose (431) and the trimming system (3).

5. The integrated hedge trimming and recycling vehicle according to claim 1, characterized in that: The boom system (32) includes a support (321), a first robotic arm (322), a second robotic arm (323), a connecting structure (3232), a cutter head control hydraulic telescopic arm (3231), a first hydraulic telescopic arm (3214), and a second hydraulic telescopic arm (3221). The connecting structure (3232) is located on the second robotic arm (323) and connected to the retrievable cutter head (31). The support (321) is located on the outside of the cab (2), and the slide rail (33) is connected to the support (321). The support (321) includes a sleeve seat (3211), a handle (3212), and a support hydraulic telescopic arm (3213).

6. The integrated hedge trimming and recycling vehicle according to claim 1, characterized in that: The recycling bin (41) is provided with a duct support (49) on its inner side. The duct support (49) is provided with a lower recycling connection port (47) on its outer side. The suction cup duct (45) is connected to the lower recycling connection port (47). The recycling bin (41) is provided with an upper recycling connection port (46) on the side near the negative pressure fan (42). One end of the rigid plastic tube (432) is connected to the upper recycling connection port (46). The recycling bin (41) and the duct support (49) are respectively provided with an upper interface controller (481) and a lower interface controller (482). The upper interface controller (481) and the lower interface controller (482) control the opening and closing of the upper recycling connection port (46) and the lower recycling connection port (47) respectively. The duct support (49) is provided with a motor (483), a cover plate (484) and a rubber pad (485) on its outer side.

7. The integrated hedge trimming and recycling vehicle according to claim 1, characterized in that: The autonomous driving system (5) includes two parts: hardware sensors and software system. The hardware system includes a lidar (51), a millimeter-wave radar (52), an ultrasonic radar (53), a mid-range camera (54), a short-range camera (55), a wide-angle camera (56), and an autonomous driving controller (57) for calculation. The lidar (51) is installed on the top of the cab (2). The millimeter-wave radar (52) is installed above the center of the windshield. Four ultrasonic radars (53) are installed on the front bumper and the rear bumper, and one is installed on each side of the front bumper and the rear bumper. The mid-range camera (54) is installed below the center of the windshield, close to the bottom. The short-range cameras (55) are located in the center of the front and rear of the vehicle. The wide-angle cameras (56) are installed in the center of the front, rear, left, and right sides of the vehicle.

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