A hedge intelligent monitoring and pruning system and method

Abstract

The present application belongs to the technical field of hedge pruning, and discloses a kind of hedge intelligent monitoring pruning system and method, including a plurality of monitoring parts being arranged at the edge of curved hedge and flat hedge, for pruning curved hedge and flat hedge pruning part;Monitoring part includes monitoring box, monitoring mechanism being arranged in monitoring box interior.The present application can solve the problem that there is blank in the field of existing technology hedge exit monitoring, artificial inspection monitoring mode is time-consuming and labor-consuming and inefficient, and there are few stereoscopic hedge pruning robots, through the real-time monitoring of the exit situation of flat hedge and curved hedge by monitoring part, through the call of monitoring part to pruning part to realize the fine pruning, rough pruning and curved surface pruning of hedge under different conditions, so that the whole monitoring and pruning system has great flexibility, and can well cope with the hedge exit monitoring and pruning under various conditions, while the debris of pruning is collected in real time, the artificial inspection cost is saved, and the efficiency and pruning quality are improved.

Description

Technical Field

[0001] This invention relates to the technical field of hedge trimming, specifically to an intelligent hedge monitoring and trimming system, and also to an intelligent hedge monitoring and trimming method. Background Technology

[0002] The current practice of pruning hedges in cities and parks is usually carried out by manual inspection and pruning. Workers regularly inspect the hedges and use handheld devices such as electric hedge trimmers and lawnmowers to prune them. Workers usually judge whether the hedges have "gone out of bounds" based on their experience, and then determine whether they need to be pruned. This method has problems such as over-reliance on manpower, poor quality consistency, and the operation window being greatly affected by the flow of people and the weather.

[0003] There is a gap in the field of monitoring hedge growth in the current technology. Manual inspection and monitoring is time-consuming, labor-intensive and inefficient. For hedge trimming, there are many and mature lawn mowing robots, but there are few trimming robots for vertical hedges. Summary of the Invention

[0004] Based on the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide an intelligent monitoring and pruning system for hedges, which addresses the gaps in the field of hedge exit monitoring, the time-consuming and inefficient nature of manual inspection and monitoring, and the scarcity of pruning robots for vertical hedges. The system monitors the exit status of flat and curved hedges in real time through the monitoring unit, and then calls the pruning unit to perform fine pruning, rough pruning, and curved pruning under different conditions. This makes the entire monitoring and pruning system highly flexible and can effectively handle hedge exit monitoring and pruning under various conditions. At the same time, it collects pruning debris in real time, greatly saving manual inspection costs and improving efficiency and pruning quality.

[0005] Another objective of this invention is to provide an intelligent monitoring and pruning method for hedges, which can be directly applied to existing hedge overgrowth monitoring and pruning. The method involves using a laser ranging sensor matrix of the monitoring mechanism to sequentially scan the vertical side and horizontal top surface of the hedge to construct a three-dimensional model. When the hedge does not require pruning, a normal model of the hedge is constructed. Then, a real-time model of the hedge is formed through periodic scanning. Once the ratio between the overgrowth hedge and the real-time model and the normal model reaches a set value, it is determined that the overgrowth model deviates from the normal three-dimensional model. The PLC control system within the monitoring box sends the overgrowth model and the normal three-dimensional model information to the pruning unit to assist in pruning. Simultaneously, it sends pruning and positioning signals to call the pruning unit to the hedge near the monitoring box for pruning operations, achieving real-time response between monitoring and pruning.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: The intelligent monitoring and pruning system for hedges of the present invention includes several monitoring parts installed on the edges of curved hedges and flat hedges, and a pruning part for pruning curved hedges and flat hedges; each monitoring part includes a monitoring box and a monitoring mechanism installed inside the monitoring box; the monitoring mechanism includes a first monitoring electric push rod installed vertically upward inside the monitoring box, a multi-stage telescopic tube mounting seat installed at the end of the output shaft of the first monitoring electric push rod, a multi-stage telescopic tube installed vertically downward on the multi-stage telescopic tube mounting seat, a button-type spring locking pin installed on the top of the multi-stage telescopic tube mounting seat and connected to the inside of the multi-stage telescopic tube, a first monitoring servo motor mounting seat installed at the telescopic end of the multi-stage telescopic tube, a first monitoring servo motor installed on the top of the first monitoring servo motor mounting seat, a second monitoring servo motor mounting seat installed at the end of the output shaft of the first monitoring servo motor, and a horizontally inward-facing... The system includes a second monitoring servo located on the outside of the vertical plate of the second monitoring servo mounting base, a third monitoring servo connected to the rotating shaft on the inside of the vertical plate of the second monitoring servo mounting base via a connecting rod, a laser rangefinder sensor mounting plate installed at the end of the output shaft of the third monitoring servo, and a laser rangefinder sensor matrix installed on the laser rangefinder sensor mounting plate. The trimming section includes a main body, rollers installed at the bottom of the main body, a debris storage unit installed at the bottom of the main body, debris collection units installed on both sides of the middle of the main body, and trimming equipment installed in the middle of the main body. A vertically upward trimming electric push rod is provided at the bottom of the middle of the main body. The output shaft of the trimming electric push rod passes through the main body and is connected to a rotary motor. The output shaft of the rotary motor is connected to a trimming turntable. The trimming turntable has a fine trimming unit, a rough trimming unit, and a curved surface trimming unit on three sides.

[0007] Preferably, the trimming turntable is provided with a triangular trimming equipment mounting base, which is provided with three trimming equipment support frames. Each trimming equipment support frame faces one side of the triangle. The top of the trimming equipment support frame is provided with a circular plug near the support frame connecting seat. The plug and the circular plug on the support frame connecting seat cooperate with each other to realize the support and storage of the trimming equipment by the trimming equipment support frame.

[0008] Furthermore, the main body on both sides of the trimming turntable is provided with a debris chute, which is a sloping structure. The debris that falls onto the main body after trimming slides down through the sloping structure into the debris storage unit below. The main body on both the front and rear sides of the trimming turntable is provided with a debris collection unit mounting base. The main body below the debris chute is provided with an opening in which the electric trimming push rod is installed. Rectangular debris storage unit chute is provided on both sides of the opening.

[0009] Furthermore, the finishing unit includes a first servo mounting base installed on the trimming equipment mounting base. The first servo mounting base consists of a bottom horizontal plate and two vertical plates installed at the left and right ends of the horizontal plate. An inward-facing first servo is provided on the outer side of the vertical plate. The output shaft of the first servo passes through the vertical plate and is connected to the other vertical plate via a bearing. A primary support plate mounting base is provided on the output shaft. Primary support plates are provided on both sides of the primary support plate mounting base. An upward-facing electric push rod for the lower half of the primary support plate is provided on the inner side, and a support plate groove is provided on the inner side of the upper half of the primary support plate. The left and right electric push rods for the primary support plate are fixedly connected by a support frame connecting seat. The support frame connecting seat has a circular opening in the middle; the output shaft of the electric push rod of the support plate is connected to the drive motor of the lead screw slide table; the lead screw slide table has a back slider near the electric push rod of the support plate on the side near the slide groove of the support plate. The back slider is inserted into the slide groove of the support plate. The electric push rod of the support plate pushes the drive motor to lift and lower, thereby driving the lead screw slide table to lift and lower on the track with the slide groove of the support plate as the track; the lead screw slide table is composed of a lead screw, a slide table, a drive motor, and a slide rail. The drive motor drives the lead screw to control the slide table to lift and lower on the slide rail, realizing the secondary lifting and lowering of the end finishing mechanism. The first lifting and lowering is driven by the electric push rod of the support plate; the finishing mechanism is provided on the slide table.

[0010] Preferably, the coarse trimming unit has the same basic connection mechanism as the fine trimming unit. This basic connection mechanism includes a first servo motor mounting base, a first servo motor, a first-stage support plate mounting base, a first-stage support plate, a support plate slide groove, a support plate electric push rod, a support frame connecting base, a drive motor, a lead screw slide, and a slide, with only the end mechanism configured on the slide differing. Each of the two slides of the coarse trimming unit is equipped with an inward-facing second servo motor. The output shaft of the second servo motor is connected to the trimming mechanism mounting base. Both ends of the trimming mechanism mounting base are equipped with coarse trimming electric push rods facing outwards from the main body. The output shaft ends of the coarse trimming electric push rods are connected to the electric hedge trimming disc. The coarse trimming electric push rods are used to control the extension distance of the electric hedge trimming disc, and the second servo motors are used to control the trimming angle of the electric hedge trimming disc.

[0011] Furthermore, the curved surface trimming unit has the same basic connection mechanism as the fine trimming unit, and it also has a secondary mounting platform for the rough trimming unit. This secondary mounting platform includes a second servo motor and a trimming mechanism mounting base. The curved surface trimming unit has the same first servo motor mounting base, first servo motor, first-stage support plate mounting base, first-stage support plate, support plate slide groove, support plate electric push rod, support frame connecting base, drive motor, lead screw slide, slide, second servo motor, and trimming mechanism mounting base as the rough trimming unit. Its trimming mechanism mounting base is equipped with a curved surface trimming mechanism matrix, which includes several spaced-apart components. The curved surface trimming mechanism consists of a curved surface trimming electric push rod, a curved surface trimming servo motor, and a miniature electric hedge trimmer, all mounted on a trimming mechanism mounting base facing outwards from the main body. When performing curved surface trimming, the curved surface trimming electric push rods of different curved surface trimming mechanisms in the control matrix extend to different distances, causing the miniature electric hedge trimmers at the end of the mechanism to arrange themselves into a curve for trimming. At the same time, the curved surface trimming servo motor controls the rotation of the miniature electric hedge trimmers at the end of the mechanism. During the trimming process, the angle of the entire curved surface trimming mechanism matrix is ​​controlled in real time by a second servo motor, thereby achieving three-dimensional trimming.

[0012] Preferably, the debris collection unit is composed of two sets of collection mechanisms. The collection mechanisms on the same side of the main body constitute a set. The collection mechanism includes a first electric push rod for collecting debris that is horizontally facing the outside of the main body and mounted on the mounting base of the debris collection unit; a second electric push rod for collecting debris that is vertically facing downward and mounted at the end of the output shaft of the first electric push rod for collecting debris; a third electric push rod for collecting debris that is horizontally facing the middle of the main body and mounted at the end of the output shaft of the second electric push rod for collecting debris; and a collection bucket that is mounted at the end of the output shaft of the third electric push rod for collecting debris.

[0013] Furthermore, the debris storage unit consists of two storage mechanisms symmetrically installed in the opening below the main body. Each storage mechanism includes a storage electric push rod horizontally facing the outside of the main body and installed on the bottom center of the main body; an L-shaped storage box mounting base installed at the end of the output shaft of the storage electric push rod; a storage box installed at the end of the storage box mounting base; an insert plate inserted into the outermost part of the storage box; and storage box sliders installed at the bottom sides of the storage box. The storage box has a sloping bottom plate with a slot at its lowest point. The insert plate is inserted into this slot to block debris inside the storage box. The insert plate has a handle for easy cleaning of debris from the storage box by construction personnel. The storage box slider is inserted into the debris storage unit's sliding groove. When debris storage is required, the storage electric push rod pushes out the storage box mounting base, causing the storage box slider to slide outwards in the debris storage unit's sliding groove, thus moving the storage box to the outside of the main body for collection of the trimmed debris.

[0014] Accordingly, the present invention also provides a method for intelligent monitoring and pruning of hedges, which employs the above-mentioned intelligent monitoring and pruning system for hedges, and the steps are as follows: S1. Monitoring equipment installation: First, the hedges that need to be monitored and pruned are divided into two types: regular and irregular, namely curved hedges and flat hedges. When dealing with flat hedges, the monitoring box can be directly installed at the four corners using expansion bolts. This monitoring part can then scan three sides of the flat hedge to achieve three-dimensional scanning, construct a hedge model, and monitor changes in the hedge model in real time. When dealing with curved hedges, in addition to installing monitoring boxes at the four corners using expansion bolts, several monitoring boxes should be installed in the middle of the curved hedge or at points with multiple turns, so that the monitoring part can scan each curved surface and corner of the curved hedge to build a complete hedge model and ensure that the three-dimensional shape of the curved hedge before and after pruning meets the requirements. S2. Hedge Expansion Monitoring: After the monitoring unit is installed, routine monitoring of the hedges is conducted. The monitoring unit is periodically activated to perform 3D scanning of the hedges to monitor their expansion status. When scanning is not in progress, the gear motor drives the gears to rotate on the rack and pinion track, and the top plate slides on the top plate groove to cover the entire opening area of ​​the monitoring box, preventing foreign objects from entering and contaminating the monitoring equipment. The solar panel collects solar energy and stores the electricity in the battery. When scanning is required, the gear motor drives the gears to rotate on the rack and pinion track, and the top plate slides on the top plate groove until there is sufficient space above the monitoring mechanism to expand. During the installation of the monitoring box, the extension distance of the multi-stage telescopic tube is pre-set using a button-type spring locking pin, allowing the monitoring mechanism to accommodate hedges of different heights. At this time, the first electric push rod extends, raising the first servo motor mounting base until the laser ranging sensor matrix is ​​completely removed from the monitoring box. The first servo motor adjusts the horizontal orientation of the hedge scan, and the second servo motor adjusts the direction of the hedge scan. The vertical orientation of the hedge scanning is adjusted by monitoring the third servo motor to adjust the scanning shape of the laser rangefinder matrix at the end. The scanning angle of the laser rangefinder matrix is ​​controlled by rotating the corner of the rectangular laser rangefinder mounting plate. It first scans the vertical side of the hedge, and then scans the horizontal top surface of the hedge after the laser rangefinder matrix rises to the top of the hedge to build a three-dimensional model of the hedge. When the hedge does not need to be pruned, it scans to build a normal model of the hedge. Then, it scans at regular intervals to form a real-time model of the hedge. Once the hedge exceeds a certain extent, which is manually set, it is determined that the exceeded model deviates from the normal three-dimensional model. The PLC control system in the monitoring box sends the exceeded model and normal three-dimensional model information to the pruning part to assist in pruning. At the same time, it sends pruning signals and positioning signals to call the pruning part to the hedge near the monitoring box for pruning operations. During the pruning process, synchronous scanning is performed to ensure accurate pruning. S3. Standard Pruning: Upon receiving the pruning and positioning signals, the pruning unit moves to the vicinity of the hedge to be pruned. Depending on the hedge's condition, it selects between a fine pruning unit and a coarse pruning unit. If the hedge has few branches, small size, and is scattered, a fine pruning unit is used; if the hedge has many branches, large size, and is concentrated, a coarse pruning unit is used. During fine pruning, the main control unit moves to the vicinity of the area to be pruned. The rotation motor controls the angle of the pruning turntable, aligning the fine pruning unit on the pruning equipment mounting base towards the hedge. The electric pruning push rod controls the raising and lowering of the pruning turntable, thus controlling the height of the fine pruning unit. The electric push rod on the support plate pushes the drive motor to raise and lower, thereby driving the lead screw slide to move along the support plate. The slide moves up and down along the track, while the first servo motor controls the rotation angle of the support plate, allowing the fine trimming mechanism to approach the hedge trimming area. The first and second fine trimming servos control the dual-axis rotation of the small electric hedge trimmer, and the fine trimming electric push rod controls the trimming distance of the small electric hedge trimmer. Finally, the small electric hedge trimmer is activated to achieve precise trimming of the hedge. During rough trimming, the mechanisms on the main body are controlled in the same way to bring the end mechanism on the slide close to the hedge trimming area. The second servo motor controls the trimming angle of the electric hedge trimming disc, and the rough trimming electric push rod controls the extension distance of the electric hedge trimming disc. Finally, the electric hedge trimming disc is activated to perform large-area rough trimming. S4. Curved Surface Trimming: After receiving the trimming signal and the positioning signal, the trimming part moves to the vicinity of the curved hedge that needs to be trimmed. Using the same method as in step S3, the end mechanism on the slide of the curved surface trimming mechanism is controlled to move to the trimming point. The curved surface trimming electric push rods of different curved surface trimming mechanisms in the curved surface trimming mechanism matrix are controlled to extend by different distances, so that the miniature electric hedge trimmers at the end of the mechanism are arranged in a curve for trimming. At the same time, the miniature electric hedge trimmers at the end of the mechanism are controlled to rotate by the curved surface trimming servo motor. During the trimming process, the angle of the entire curved surface trimming mechanism matrix is ​​controlled in real time by the second servo motor, thereby realizing three-dimensional trimming. S5. Debris Collection: Debris collection can be performed during and after trimming. When the trimmed hedge is high, exceeding the height of the debris storage unit's storage box, the debris is stored in real-time using the debris storage unit. A storage box mounting base is pushed out by an electric push rod, causing the storage box slider to slide outwards in the debris storage unit's groove. This moves the storage box to the outside of the main unit, collecting the trimmed debris above it. Once sufficient debris has been collected, the main unit carries the remaining debris to the dumping point. Lift the insert plate with the handle, and the debris falls from the storage box to the designated location. When the trimmed hedge is low, i.e., below the height of the storage box of the debris storage unit, the debris collection unit collects the trimming debris in real time. By controlling the first, second, and third electric push rods of the same collection mechanism, the collection buckets are pushed out in three dimensions. The two collection buckets are joined together to scoop up the debris and push it out of the storage box in the same way as above. When the two collection buckets are separated, the debris is poured into the storage box. This cycle continues until all the debris on the bottom surface is collected.

[0015] Based on the above, the beneficial effects of the intelligent monitoring and pruning system and method for hedges of the present invention are as follows: 1. The monitoring component of this invention can be directly installed near existing hedges, and it can simultaneously handle both regular and irregular hedges, such as flat hedges and curved hedges. This effectively fills the gap in the field of hedge overgrazing monitoring in the prior art, making hedge trimming more intelligent, reducing manual inspections, saving costs and improving efficiency.

[0016] 2. The monitoring section of this invention is powered by a solar panel. It is normally powered by solar energy. The solar panel moves on top of the monitoring box to seal the inside of the box, making the entire monitoring box more aesthetically pleasing and preventing the inside of the box from being contaminated. At night, the internal battery powers the auxiliary lighting, thus providing auxiliary lighting and ensuring that pedestrians will not kick the monitoring box, thus ensuring the safety of pedestrians and vehicles at night.

[0017] 3. The monitoring part of this invention uses a button-type spring locking pin in conjunction with a multi-stage telescopic tube, allowing the monitoring mechanism to match hedges of different heights. The laser ranging sensor matrix of the monitoring mechanism can first scan the vertical side and horizontal top surface of the hedge sequentially to construct a three-dimensional model of the hedge. When the hedge does not need to be pruned, it scans to construct a normal model of the hedge. Then, it scans at regular intervals to form a real-time model of the hedge. Once the ratio of the hedge extending beyond the fence to the real-time model and the normal model reaches a set value, it is determined that the extended model deviates from the normal three-dimensional model. The PLC control system in the monitoring box sends the extended model and the normal three-dimensional model information to the pruning part to assist in pruning. At the same time, it sends pruning signals and positioning signals to call the pruning part to the hedge near the monitoring box for pruning operations. During the pruning process, synchronous scanning is performed to ensure accurate pruning, and it has good collaborative construction capabilities.

[0018] 4. The trimming section of this invention has three trimming methods and two debris collection methods, namely, fine trimming of hedges, rough trimming of hedges, trimming of curved hedges, and active collection by the bucket and passive collection by the storage box. The entire trimming section has great flexibility and can well cope with hedge trimming under various conditions, while collecting trimming debris in real time.

[0019] 5. The three trimming units of this invention are similar in function, with different end trimming mechanisms designed under the same basic moving mechanism. The small electric hedge trimmer realizes fine trimming when the hedge has few branches, small size, and is scattered. The electric hedge trimming disc realizes coarse trimming when the hedge has many branches, large size, and is concentrated. The curved surface trimming mechanism matrix realizes three-dimensional trimming of curved hedges, which has good application prospects. Attached Figure Description

[0020] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0021] Figure 1 This is a schematic diagram of the intelligent monitoring and pruning system for hedges according to the present invention; Figure 2 This is a schematic diagram of the monitoring section of the present invention; Figure 3 This is a schematic diagram of the internal structure of the monitoring section of the present invention; Figure 4 This is a schematic diagram of the monitoring mechanism of the present invention; Figure 5 This is a schematic diagram of the structure of the trimming part of the present invention; Figure 6 This is a schematic diagram of the main body of the present invention; Figure 7 This is a schematic diagram of the structure of the debris collection unit and the debris storage unit of the present invention; Figure 8 This is a schematic diagram of the pruning device of the present invention; Figure 9 This is a schematic diagram of the structure of the finishing unit of the present invention; Figure 10 This is a schematic diagram of the finishing mechanism of the present invention.

[0022] Explanation of reference numerals in the attached figures: 0001 - Curved hedge; 0002 - Flat hedge; 1000-Monitoring Section: 1001-Monitoring box; 1001a-Top plate slide rail; 1001b-Rack and pinion track opening; 1002-Auxiliary lighting; 1003-Top plate; 1003a-Solar panel; 1003b-Rack and pinion track; 1004-Monitoring first electric push rod; 1005-Multi-stage telescopic tube mounting base; 1006-Multi-stage telescopic tube; 1006a-Button-type spring locking pin; 1006b-Monitoring first servo motor mounting base; 1007-Battery; 1008-Monitoring first servo motor; 1009-Monitoring second servo motor mounting base; 1010-Monitoring second servo motor; 1011-Monitoring third servo motor; 1012-Laser rangefinder sensor matrix; 2000-Pruning Section: 2001-Main body; 2001a-Debris collection unit mounting base; 2001b-Debris chute; 2001c-Trimping turntable; 2001d-Trimping electric push rod; 2001e-Debris storage unit chute; 2002-Roller; 2003-Trimping equipment mounting base; 2004-Trimping equipment support frame; 2100 - Debris collection unit; 2101 - First electric push rod for collection; 2102 - Second electric push rod for collection; 2103 - Third electric push rod for collection; 2104 - Bucket collection; 2200 - Debris storage unit; 2201 - Storage electric actuator; 2202 - Storage box mounting base; 2203 - Storage box; 2204 - Insert plate; 2205 - Storage box slider; 2300 - Fine-tuning unit; 2301 - First servo motor mounting base; 2302 - First servo motor; 2303 - First-stage support plate mounting base; 2304 - First-stage support plate; 2304a - Support plate slide groove; 2305 - Support plate electric push rod; 2306 - Support frame connecting seat; 2307 - Drive motor; 2308 - Screw slide table; 2309 - Slide table; 2310 - Fine-tuning mechanism; 2310a - Fine-tuning first servo motor; 2310b - Fine-tuning second servo motor; 2310c - Fine-tuning electric push rod; 2310d - Small electric hedge trimmer; 2400 - Coarse trimming unit; 2401 - Second servo motor; 2402 - Trimming mechanism mounting base; 2403 - Coarse trimming electric push rod; 2404 - Electric hedge trimming disc; 2500 - Curved surface trimming unit; 2501 - Curved surface trimming electric actuator; 2502 - Curved surface trimming servo motor; 2503 - Miniature electric hedge trimmer. Detailed Implementation

[0023] To facilitate understanding and implementation of the present invention by those skilled in the art, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0024] Below, in conjunction with Figures 1 to 10 This invention provides a detailed description of an intelligent monitoring and pruning system and method for hedges.

[0025] Depend on Figure 1 As shown, the intelligent monitoring and pruning system for hedges of the present invention includes a curved hedge 0001, a flat hedge 0002, several monitoring parts 1000 installed on the edges of the curved hedge 0001 and the flat hedge 0002, and a pruning part 2000 for pruning the curved hedge 0001 and the flat hedge 0002. Here, the hedges are divided into two types: curved hedge 0001 and flat hedge 0002. The flat hedge 0002 is a common regular hedge, and its pruning method is simpler than that of the curved hedge 0001. The curved hedge 0001 is a special irregular hedge, which requires targeted pruning using the curved pruning unit 2500 in the pruning part 2000.

[0026] Depend on Figure 2-4 As shown, the monitoring unit 1000 includes a monitoring box 1001 mounted on the ground by expansion bolts, an auxiliary lighting lamp 1002 mounted on the outer surface of the monitoring box 1001, a top plate 1003 mounted on a top plate groove 1001a on the top of the monitoring box 1001, a solar panel 1003a mounted on the top plate 1003, a battery 1007 mounted inside the monitoring box 1001, and a monitoring mechanism; the top of the outer baffle of the monitoring box 1001 is provided with a top plate groove 1001a, and a pulley is provided on the lower surface of the top plate 1003 at a corresponding position to the top plate groove 1001a, the pulley being inserted into the top plate groove 1001a. In 001a, the top plate 1003 is slid on the top plate slide groove 1001a. Near the top of one side of the monitoring box 1001, there is a rack and pinion track opening 1001b. At the bottom of the top plate 1003 at the corresponding position, there is a rack and pinion track 1003b. A gear motor is provided on the inner wall of the monitoring box 1001 near the inside of the rack and pinion track opening 1001b. The output shaft of the gear motor is fixedly connected to a gear. The gear meshes with the rack and pinion track 1003b. The gear motor drives the gear to rotate on the rack and pinion track 1003b, which drives the top plate 1003 to slide on the top plate slide groove 1001a.

[0027] The monitoring mechanism includes a first electric push rod 1004 vertically mounted inside the monitoring box 1001, a multi-stage telescopic tube mounting base 1005 mounted at the end of the output shaft of the first electric push rod 1004, a multi-stage telescopic tube 1006 vertically mounted on the multi-stage telescopic tube mounting base 1005, a push-button spring locking pin 1006a mounted on the top of the multi-stage telescopic tube mounting base 1005 and connected to the interior of the multi-stage telescopic tube 1006, a first servo motor mounting base 1006b mounted at the telescopic end of the multi-stage telescopic tube 1006, and a first servo motor mounting base mounted on the first servo motor. The top of 1006b includes a first monitoring servo 1008, a second monitoring servo mounting base 1009 mounted at the end of the output shaft of the first monitoring servo 1008, a second monitoring servo 1010 mounted horizontally inward on the outside of the vertical plate of the second monitoring servo mounting base 1009, a third monitoring servo 1011 connected to the rotating shaft inside the vertical plate of the second monitoring servo mounting base 1009 via a connecting rod, a laser rangefinder sensor mounting plate mounted at the end of the output shaft of the third monitoring servo 1011, and a laser rangefinder sensor matrix 1012 mounted on the laser rangefinder sensor mounting plate.

[0028] The multi-stage telescopic tube 1006 and the push-button spring lock pin 1006a resemble the structure of a suitcase handle. Pressing the push-button spring lock pin 1006a unlocks the telescopic tube 1006, allowing it to extend or retract. Releasing the push-button spring lock pin 1006a locks it, enabling the monitoring unit 1000 to monitor hedges at different heights. The first electric push rod 1004, push-button spring lock pin 1006a, and multi-stage telescopic tube 1006 are used to adjust the height of the hedge monitoring. The first servo motor 1008 is used to adjust the horizontal orientation of the hedge monitoring. The second servo motor 1010 is used for... The vertical orientation of the hedge monitoring is adjusted. The third servo motor 1011 is used to adjust the scanning shape of the laser rangefinder matrix 1012 at the end. The scanning angle of the laser rangefinder matrix 1012 is controlled by rotating the corner of the rectangular laser rangefinder mounting plate. The monitoring box 1001 is also equipped with a PLC control system on the battery 1007. It receives the scanning information of the laser rangefinder matrix 1012 and sends it to the pruning section 2000 through the network. When the hedge has grown to a certain extent, it will initiate a pruning signal and position it to the pruning section 2000. The next step is for the pruning section 2000 to go to the hedge near the monitoring box 1001 to carry out pruning operations.

[0029] It should be noted that the first electric actuator 1004 and other electric actuators are common components, as are the first servo motor 1008, the second servo motor 1010, etc. The prefixes are only used to distinguish their relative positions and functions. The auxiliary lighting 1002, solar panel 1003a, and battery 1007 are all common components. Solar panel 1003a provides power to battery 1007 for storage. When monitoring is not needed, the gear motor drives the gear to rotate on rack and pinion track 1003b, thereby controlling the top plate 1003 to slide on top plate slide groove 1001a to cover the opening area of ​​the entire monitoring box 1001, preventing foreign objects from entering the box and contaminating the monitoring equipment. Battery 1007 supplies power to the various devices inside the monitoring box 1001. At the same time, when auxiliary lighting is needed at night along the hedge, the battery 1007 can supply power to the auxiliary lighting 1002. Electricity provides auxiliary lighting to ensure pedestrians do not kick the monitoring box 1001, ensuring pedestrian and vehicle safety at night. The laser rangefinder sensor matrix 1012 is a general-purpose component. Its function is to measure distance using lasers and then use matrix-type laser rangefinders to achieve a three-dimensional scanning effect, thereby monitoring the hedge overgrowth in real time. A three-dimensional model of the hedge is established through scanning. A normal three-dimensional model of the hedge is preset as needed. Once the hedge overgrows to a certain extent, which can be manually set as needed, if the ratio of the overgrowth model to the normal model reaches a set value, it is determined that the overgrowth model deviates from the normal three-dimensional model. The PLC control system in the monitoring box 1001 sends the overgrowth model and normal three-dimensional model information to the pruning unit 2000, and at the same time sends pruning signals and positioning signals to call the pruning unit 2000 to come to the hedge near the monitoring box 1001 for pruning operations.

[0030] Depend on Figure 5-10As shown, the trimming section 2000 includes a main body 2001, rollers 2002 mounted on the bottom of the main body 2001, a debris storage unit 2200 mounted on the bottom of the main body 2001, debris collection units 2100 mounted on both sides of the middle of the main body 2001, and trimming equipment mounted in the middle of the main body 2001; a vertically upward trimming electric push rod 2001d is provided at the bottom middle of the main body 2001, the output shaft of the trimming electric push rod 2001d passes through the main body 2001 and is connected to a rotary motor, the output shaft of the rotary motor being connected to... The trimming turntable 2001c is connected, and a triangular trimming equipment mounting base 2003 is installed on the trimming turntable 2001c. The trimming equipment mounting base 2003 is provided with three trimming equipment support frames 2004. Each trimming equipment support frame 2004 faces one side of the triangle, that is, the side on which the trimming equipment is installed. The top of the trimming equipment support frame 2004 is provided with a circular plug near the support frame connecting seat 2306. The plug and the circular plug on the support frame connecting seat 2306 cooperate with each other to support and store the trimming equipment.

[0031] The trimming turntable 2001c has three sides equipped with a fine trimming unit 2300, a rough trimming unit 2400, and a curved surface trimming unit 2500, respectively. The main body 2001 on the left and right sides of the trimming turntable 2001c has a debris chute 2001b, which is a sloping structure. Debris falling onto the main body 2001 after trimming slides down through this sloping structure into the debris storage unit 2200 below. The main body 2001 on the front and rear sides of the trimming turntable 2001c has a debris collection unit mounting base 2001a, which is oriented in all directions. Figure 6 The orientation of the main body 2001 is taken as a reference; the main body 2001 below the debris chute 2001b has a large opening, in which the electric trimming push rod 2001d is installed. On both sides of the opening are rectangular debris storage unit chutes 2001e. The purpose of this structure is that the electric trimming push rod 2001d controls the lifting and lowering of the trimming turntable 2001c, and the rotary motor controls the rotation angle of the trimming turntable 2001c, thereby controlling the orientation of the trimming equipment on it, so that the trimming part 2000 can quickly switch between three trimming modes.

[0032] The debris collection unit 2100 consists of two sets of collection mechanisms. The collection mechanisms on the same side of the main body 2001 form a set. The collection mechanism includes a first electric push rod 2101 mounted on the debris collection unit mounting base 2001a, which is horizontally facing the outside of the main body 2001; a second electric push rod 2102 mounted vertically downward at the end of the output shaft of the first electric push rod 2101; a third electric push rod 2103 mounted horizontally towards the middle of the main body 2001 at the end of the output shaft of the second electric push rod 2102; and a collection bucket 2104 mounted at the end of the output shaft of the third electric push rod 2103. The purpose of this structure is that when the hedge trimming height is too low or there is a lot of debris on the ground, the collection bucket 2104 is pushed out by controlling the same set of collection mechanisms to scoop up the debris and finally actively pour it into the storage box 2203.

[0033] The debris storage unit 2200 consists of two storage mechanisms symmetrically arranged in the opening below the main body 2001. Each storage mechanism includes a storage electric push rod 2201 horizontally facing the outside of the main body 2001 and mounted on the bottom surface of the middle section of the main body; an L-shaped storage box mounting base 2202 mounted at the end of the output shaft of the storage electric push rod 2201; a storage box 2203 mounted at the end of the storage box mounting base 2202; an outermost insert plate 2204 inserted into the storage box 2203; and storage box sliders 2205 mounted on the bottom sides of the storage box 2203. The storage box 2203 has a sloping bottom plate inside. The lowest point of the sloping base plate is provided with a slot, into which the insert plate 2204 is inserted to block the debris inside the storage box 2203. The insert plate 2204 is provided with a handle to facilitate the cleaning of debris inside the storage box 2203 by construction personnel. The storage box slider 2205 is inserted into the debris storage unit slide groove 2001e. When debris storage is required, the storage box mounting base 2202 is pushed out by the storage electric push rod 2201, which drives the storage box slider 2205 to slide outward in the debris storage unit slide groove 2001e, thereby moving the storage box 2203 to the outside of the main body 2001, so as to collect the trimmed debris.

[0034] The finishing unit 2300 includes a first servo motor mounting base 2301 mounted on the trimming equipment mounting base 2003. The first servo motor mounting base 2301 consists of a horizontal plate at the bottom and two vertical plates mounted at the left and right ends of the horizontal plate. An inward-facing first servo motor 2302 is located on the outer side of the vertical plates. The output shaft of the first servo motor 2302 passes through the vertical plate and is connected to the other vertical plate via a bearing. A primary support plate mounting base 2303 is mounted on the output shaft. Primary support plates 2304 are located on both sides of the primary support plate mounting base 2303. An upward-facing electric push rod 2305 is located on the inner side of the lower half of the primary support plate 2304, and an upward-facing electric push rod 2305 is located on the inner side of the upper half of the primary support plate 2304. The support plate slide groove 2304a is fixedly connected to the left and right support plate electric push rods 2305 via a support frame connecting seat 2306. The support frame connecting seat 2306 has a circular opening in the middle. The output shaft end of the support plate electric push rod 2305 is connected to the drive motor 2307 of the lead screw slide table 2308. The lead screw slide table 2308 has a back slider near the support plate slide groove 2304a and near the support plate electric push rod 2305. The back slider is inserted into the support plate slide groove 2304a. The support plate electric push rod 2305 pushes the drive motor 2307 to rise and fall, thereby driving the lead screw slide table 2308 to rise and fall on the track with the support plate slide groove 2304a as the track. The lead screw slide 2308 is a general-purpose component, consisting of a lead screw, slide 2309, drive motor 2307, and slide rail. The drive motor 2307 drives the lead screw to control the slide 2309's lifting and lowering on the slide rail, ultimately achieving the secondary lifting and lowering of the end-effector precision repair mechanism 2310. The first lifting and lowering is driven by the support plate electric push rod 2305. The precision repair mechanism 2310 is mounted on the slide 2309. Figure 10 The XYZ axes are set based on the first precision servo 2310a. It includes the first precision servo 2310a mounted on the slide table 2309 with the X-axis, the second precision servo 2310b mounted at the end of the output shaft of the first precision servo 2310a with the Y-axis, the electric precision push rod 2310c mounted at the end of the output shaft of the second precision servo 2310b with the Z-axis, and a small electric hedge trimmer 2310d mounted at the end of the output shaft of the electric precision push rod 2310c with the Z-axis. The small electric hedge trimmer 2310d and the micro electric hedge trimmer 2503 are a common component. They achieve trimming by driving the blade back and forth with a motor. The terms "small" and "micro" are used to describe the size of the equipment. The small electric hedge trimmer 2310d in this invention is used to simulate manual precision trimming, and the micro electric hedge trimmer 2503 is used to combine to form a trimming matrix to perform targeted shaping trimming of curved surfaces that is difficult to perform manually.

[0035] The roughing unit 2400 has the same basic connection mechanism as the fine-tightening unit 2300. This basic connection mechanism includes a first servo mount 2301, a first servo 2302, a first-stage support plate mount 2303, a first-stage support plate 2304, a support plate slide 2304a, a support plate electric push rod 2305, a support frame connecting seat 2306, a drive motor 2307, a lead screw slide 2308, and a slide 2309. The only difference is the end effector configured on the slide 2309. Both slides 2309 of the roughing unit 2400 are equipped with inward-facing second servos 2401. The output shaft of the second servo 2401 is connected to the trimming mechanism. The mounting base 2402 is connected, and both ends of the mounting base 2402 are provided with coarse trimming electric push rods 2403 facing the outside of the main body 2001. The output shaft end of the coarse trimming electric push rod 2403 is connected to the electric hedge trimming disc 2404. The electric hedge trimming disc 2404 is a general-purpose part with a large area. It drives the internal blades to perform circular motion by a motor to achieve rapid trimming of large areas of hedges. Here, it is used for rapid trimming of large areas of regular hedges. The coarse trimming electric push rod 2403 is used to control the extension distance of the electric hedge trimming disc 2404, and the second servo motor 2401 is used to control the trimming angle of the electric hedge trimming disc 2404.

[0036] The curved surface trimming unit 2500 has the same basic connection mechanism as the fine trimming unit 2300, and it also has a secondary mounting platform for the rough trimming unit 2400. This secondary mounting platform includes the second servo motor 2401 and the trimming mechanism mounting seat 2402. Therefore, the curved surface trimming unit 2500 has the same first servo motor mounting seat 2301, first servo motor 2302, first-stage support plate mounting seat 2303, first-stage support plate 2304, support plate slide groove 2304a, support plate electric push rod 2305, support frame connecting seat 2306, drive motor 2307, lead screw slide 2308, slide 2309, second servo motor 2401, and trimming mechanism mounting seat 2402 as the rough trimming unit 2400. The trimming mechanism mounting seat 2402 is equipped with a curved surface trimming mechanism matrix. The curved surface trimming mechanism matrix includes several curved surface trimming mechanisms arranged at intervals. Each curved surface trimming mechanism is composed of a curved surface trimming electric push rod 2501, a curved surface trimming servo motor 2502, and a miniature electric hedge trimmer 2503 mounted on the trimming mechanism mounting base 2402 facing the outside of the main body 2001. When performing curved surface trimming, the curved surface trimming electric push rods 2501 of different curved surface trimming mechanisms in the control matrix extend to different distances, so that the miniature electric hedge trimmers 2503 at the end of the mechanism are arranged in a curve for trimming. At the same time, the curved surface trimming servo motor 2502 controls the rotation of the miniature electric hedge trimmers 2503 at the end of the mechanism. During the trimming process, the angle of the entire curved surface trimming mechanism matrix is ​​controlled in real time by the second servo motor 2401, thereby realizing three-dimensional trimming.

[0037] Based on the above-mentioned intelligent hedge detection and pruning system, the intelligent hedge monitoring and pruning method of the present invention comprises the following steps: S1. Monitoring equipment installation: First, the hedges that need to be monitored and pruned are divided into two types: regular and irregular, namely curved hedges 0001 and flat hedges 0002. When dealing with the flat hedge 0002, the monitoring box 1001 is directly installed at its four corners using expansion bolts. The monitoring part 1000 can then scan three sides of the flat hedge 0002 to achieve three-dimensional scanning, construct a hedge model, and monitor the changes in the hedge model in real time. When dealing with curved hedge 0001, in addition to installing monitoring box 1001 at its four corners with expansion bolts, it is also necessary to install several monitoring boxes 0001 in the middle of the curved hedge 0001 or at points with multiple turns. The purpose is to allow the monitoring part 1000 to scan all the curved surfaces and corners of the curved hedge 0001 to the greatest extent, construct a complete hedge model, and ensure that the three-dimensional shape of the curved hedge 0001 before and after pruning meets the requirements. S2. Hedge Expansion Monitoring: After the monitoring unit 1000 is installed, routine monitoring of the hedges is conducted. The monitoring unit 1000 is periodically activated to perform a three-dimensional scan of the hedges to monitor their expansion status. When scanning is not in progress, the gear motor drives the gear to rotate on the rack and pinion track 1003b, and the top plate 1003 slides on the top plate slide groove 1001a to cover the entire opening area of ​​the monitoring box 1001, preventing foreign objects from entering the box and contaminating the monitoring equipment. The solar panel 1003a collects solar energy and stores the electricity in the battery 1007. The battery 1007 supplies power to the various devices inside the monitoring box 1001. Additionally, when auxiliary lighting is needed along the hedges at night, the stored electricity can be used for supplementary lighting. Pool 1007 supplies power to auxiliary lighting 1002, providing auxiliary lighting to ensure pedestrians will not kick the monitoring box 1001, thus ensuring pedestrian and vehicle safety at night. When scanning is required, the gear motor drives the gear to rotate on the rack and pinion track 1003b, and the top plate 1003 slides on the top plate slide groove 1001a until it has enough space to unfold above the monitoring mechanism. When installing the monitoring box 1001, the extension distance of the multi-stage telescopic tube 1006 is pre-set via the button-type spring locking pin 1006a, allowing the monitoring mechanism to accommodate hedges of different heights. At this time, the first electric push rod 1004 extends, causing the first servo motor mounting base 1006b to rise. Once the laser rangefinder sensor matrix 1012 has completely left the monitoring box 1001, the first servo motor 1008 adjusts the horizontal orientation of the hedge scan, the second servo motor 1010 adjusts the vertical orientation, and the third servo motor 1011 adjusts the scanning pattern of the laser rangefinder sensor matrix 1012 at the end. The scanning angle of the laser rangefinder sensor matrix 1012 is controlled by rotating the rectangular laser rangefinder sensor mounting plate. It first scans the vertical sides of the hedge, and then, after the laser rangefinder sensor matrix 1012 rises to the top of the hedge, it scans the horizontal top surface of the hedge, constructing a three-dimensional model of the hedge. When the hedge does not need to be pruned, a normal model of the hedge is constructed by scanning. Then, a real-time model of the hedge is formed by scanning at regular intervals. Once the hedge has grown beyond a certain extent, which can be manually set as needed, if the ratio of the real-time model of the overgrown hedge to the normal model reaches a set value, it is determined that the overgrown model deviates from the normal three-dimensional model. The PLC control system in the monitoring box 1001 sends the overgrown model and normal three-dimensional model information to the pruning unit 2000 to assist in pruning. At the same time, it sends pruning signals and positioning signals to call the pruning unit 2000 to come to the hedge near the monitoring box 1001 to carry out pruning operations. During the pruning process, synchronous scanning is performed to ensure accurate pruning.

[0038] S3. Normal Pruning: After receiving the pruning signal and positioning signal, the pruning unit 2000 moves to the vicinity of the flat hedge 0002 that needs pruning. Depending on the hedge's condition, it selects between the fine pruning unit 2300 and the coarse pruning unit 2400. If the hedge has few branches, small size, and is scattered, the fine pruning unit 2300 is used; if the hedge has many branches, large size, and is concentrated, the coarse pruning unit 2400 is used. During fine pruning, the main control unit 2001 moves to the vicinity of the area to be pruned. The rotation motor controls the angle of the pruning turntable 2001c, aligning one side of the fine pruning unit 2300 on the pruning equipment mounting base 2003 with the hedge. The electric pruning push rod 2001d controls the raising and lowering of the pruning turntable 2001c, thereby controlling the height of the fine pruning unit 2300. The electric push rod 2305 on the support plate pushes the drive motor 2307 to rise and fall, which in turn drives the lead screw slide 2308 to slide along the support plate groove 23. 04a refers to the lifting and lowering of the track, while the first servo motor 2302 controls the rotation angle of the support plate 2304, allowing the fine trimming mechanism 2310 to approach the hedge trimming area. The fine trimming first servo motor 2310a and the fine trimming second servo motor 2310b control the dual-axis rotation of the small electric hedge trimmer 2310d, and the fine trimming electric push rod 2310c controls the trimming distance of the small electric hedge trimmer 2310d. Finally, the small electric hedge trimmer 2310d is started to achieve precise trimming of the hedge. During rough trimming, the mechanisms on the main body 2001 are controlled in the same way as above to bring the end mechanism on the slide 2309 close to the hedge trimming area. The second servo motor 2401 controls the trimming angle of the electric hedge trimming disc 2404, and the rough trimming electric push rod 2403 controls the extension distance of the electric hedge trimming disc 2404. Finally, the electric hedge trimming disc 2404 is started to perform large-area rough trimming.

[0039] S4. Curved Surface Trimming: After receiving the trimming signal and the positioning signal, the trimming part 2000 moves to the vicinity of the curved hedge 0001 that needs to be trimmed. Using the same method as in step S3, the end mechanism on the slide 2309 of the curved surface trimming mechanism 2500 is controlled to move to the trimming point. The curved surface trimming electric push rods 2501 of different curved surface trimming mechanisms in the curved surface trimming mechanism matrix are controlled to extend by different distances, so that the miniature electric hedge trimmers 2503 at the end of the mechanism are arranged in a curve for trimming. At the same time, the miniature electric hedge trimmers 2503 at the end of the mechanism are controlled to rotate by the curved surface trimming servo motor 2502. During the trimming process, the angle of the entire curved surface trimming mechanism matrix is ​​controlled in real time by the second servo motor 2401, thereby realizing three-dimensional trimming.

[0040] S5. Debris Collection: Debris collection can be performed during and after trimming. When the trimmed hedge is high, i.e., higher than the storage box 2203 of the debris storage unit 2200, the debris is stored in real time using the debris storage unit 2200. The storage box mounting base 2202 is pushed out by the storage electric push rod 2201, which drives the storage box slider 2205 to slide outward in the debris storage unit slide groove 2001e, thereby moving the storage box 2203 to the outside of the main body 2001, and collecting the trimmed debris above the storage box 2203. After collecting enough debris, the main body 2001 carries the sufficient debris to the dumping point, and is lifted by the handle. The cutting plate 2204 is lifted, and the debris falls from the storage box 2203 to the designated location. When the trimmed hedge is low, that is, lower than the height of the storage box 2203 of the debris storage unit 2200, the debris collection unit 2100 is used to collect the trimming debris in real time. By controlling the first electric push rod 2101, the second electric push rod 2102, and the third electric push rod 2103 of the same group of collection mechanisms, the collection bucket 2104 is pushed out in three dimensions. The two collection buckets 2104 are joined together to scoop up the debris and push it out of the storage box 2203 in the same way as above. The two collection buckets 2104 are then separated, and the debris is poured into the storage box 2203. This cycle continues until all the debris on the bottom surface is collected.

[0041] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any transformations or substitutions that can be understood by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of the present invention.

Claims

1. A smart monitoring and pruning system for hedges, characterized in that, Includes several monitoring sections (1000) installed at the edges of curved hedges (0001) and flat hedges (0002), and trimming sections (2000) for trimming curved hedges (0001) and flat hedges (0002). The monitoring unit (1000) includes a monitoring box (1001) and a monitoring mechanism installed inside the monitoring box (1001). The monitoring mechanism includes a first electric push rod (1004) installed vertically upward inside the monitoring box (1001), a multi-stage telescopic tube mounting seat (1005) installed at the end of the output shaft of the first electric push rod (1004), a multi-stage telescopic tube (1006) installed vertically downward on the multi-stage telescopic tube mounting seat (1005), a button-type spring locking pin (1006a) installed on the top of the multi-stage telescopic tube mounting seat (1005) and connected to the interior of the multi-stage telescopic tube (1006), and a first monitoring rudder installed at the telescopic end of the multi-stage telescopic tube (1006). The monitoring system includes a servo mount (1006b), a first servo mount (1008) mounted on top of the first servo mount (1006b), a second servo mount (1009) mounted at the end of the output shaft of the first servo mount (1008), a second servo mount (1010) mounted horizontally inward on the outside of the vertical plate of the second servo mount (1009), a third servo mount (1011) connected to the rotating shaft inside the vertical plate of the second servo mount (1009) via a connecting rod, a laser rangefinder sensor mounting plate mounted at the end of the output shaft of the third servo mount (1011), and a laser rangefinder sensor matrix (1012) mounted on the laser rangefinder sensor mounting plate. The trimming section (2000) includes a main body (2001), rollers (2002) installed at the bottom of the main body (2001), a debris storage unit (2200) installed at the bottom of the main body (2001), debris collection units (2100) installed on both sides of the middle part of the main body (2001), and a trimming device installed in the middle part of the main body (2001). A vertically upward trimming electric push rod (2001d) is provided at the bottom of the middle part of the main body (2001). The output shaft of the trimming electric push rod (2001d) passes through the main body (2001) and is connected to a rotary motor. The output shaft of the rotary motor is connected to a trimming turntable (2001c). The three sides of the trimming turntable (2001c) are respectively provided with a fine trimming unit (2300), a rough trimming unit (2400), and a curved surface trimming unit (2500). The debris collection unit (2100) is composed of two sets of collection mechanisms. The collection mechanisms on the same side of the main body (2001) form a set. The collection mechanism includes a first electric push rod (2101) for collecting debris, which is horizontally facing the outside of the main body (2001) and installed on the debris collection unit mounting base (2001a); a second electric push rod (2102) for collecting debris, which is vertically facing downward and installed at the end of the output shaft of the first electric push rod (2101); a third electric push rod (2103) for collecting debris, which is horizontally facing the middle of the main body (2001) and installed at the end of the output shaft of the second electric push rod (2102); and a collection bucket (2104) for collecting debris, which is installed at the end of the output shaft of the third electric push rod (2103). The curved surface trimming unit (2500) has the same basic connection mechanism as the fine trimming unit (2300), and it also has a secondary mounting platform for the rough trimming unit (2400). This secondary mounting platform is the second servo motor (2401) and the trimming mechanism mounting seat (2402). The curved surface trimming unit (2500) has the same first servo motor mounting seat (2301), first servo motor (2302), first-level support plate mounting seat (2303), first-level support plate (2304), support plate slide groove (2304a), support plate electric push rod (2305), support frame connecting seat (2306), drive motor (2307), lead screw slide (2308), slide (2309), second servo motor (2401), and trimming mechanism mounting seat (2402) as the rough trimming unit (2402). The trimming mechanism mounting seat (2402) is equipped with There is a curved surface trimming mechanism matrix, which includes several curved surface trimming mechanisms arranged at intervals. Each curved surface trimming mechanism is composed of a curved surface trimming electric push rod (2501), a curved surface trimming servo motor (2502), and a miniature electric hedge trimmer (2503) mounted on a trimming mechanism mounting base (2402) facing the outside of the main body (2001). When performing curved surface trimming, the curved surface trimming electric push rod (2501) of different curved surface trimming mechanisms in the control matrix extends to different distances, so that the miniature electric hedge trimmer (2503) at the end of the mechanism is arranged in a curve for trimming. At the same time, the curved surface trimming servo motor (2502) controls the rotation of the miniature electric hedge trimmer (2503) at the end of the mechanism. During the trimming process, the angle of the entire curved surface trimming mechanism matrix is ​​controlled in real time by the second servo motor (2401), thereby realizing three-dimensional trimming. The monitoring unit (1000) includes a monitoring box (1001) mounted on the ground by expansion bolts, an auxiliary lighting lamp (1002) mounted on the outer surface of the monitoring box (1001), a top plate (1003) mounted on a top plate groove (1001a) on the top of the monitoring box (1001), a solar panel (1003a) mounted on the top plate (1003), a battery (1007) mounted inside the monitoring box (1001), and a monitoring mechanism; the top of the outer baffle of the monitoring box (1001) is provided with a top plate groove (1001a), and a pulley is provided on the lower surface of the top plate (1003) at the corresponding position of the top plate groove (1001a), and the pulley is inserted into the top plate groove. (1001a) drives the top plate (1003) to slide on the top plate groove (1001a). A rack and pinion track opening (1001b) is provided near the top of one side of the monitoring box (1001), and a rack and pinion track (1003b) is provided at the bottom of the corresponding top plate (1003). A gear motor is provided on the inner wall of the monitoring box (1001) near the inside of the rack and pinion track opening (1001b). The output shaft of the gear motor is fixedly connected to a gear, which meshes with the rack and pinion track (1003b). The gear motor drives the gear to rotate on the rack and pinion track (1003b), which drives the top plate (1003) to slide on the top plate groove (1001a).

2. The intelligent monitoring and pruning system for hedges according to claim 1, characterized in that, The trimming turntable (2001c) is equipped with a triangular trimming equipment mounting base (2003). The trimming equipment mounting base (2003) is equipped with three trimming equipment support frames (2004). Each trimming equipment support frame (2004) faces one side of the triangle. The top of the trimming equipment support frame (2004) is provided with a circular insert near the support frame connecting seat (2306). The insert cooperates with the circular hole on the support frame connecting seat (2306) to support and store the trimming equipment.

3. The intelligent monitoring and pruning system for hedges according to claim 2, characterized in that, The trimming turntable (2001c) has a chip chute (2001b) on the main body (2001) on both the left and right sides. The chip chute is sloping and the chips that fall onto the main body (2001) after trimming slide down into the chip storage unit (2200) below through the sloping structure. The trimming turntable (2001c) has a chip collection unit mounting base (2001a) on the main body (2001) on both the front and rear sides. The main body (2001) below the chip chute (2001b) has an opening in which the electric trimming push rod (2001d) is installed. The opening has rectangular chip storage unit chute (2001e) on both sides.

4. The intelligent monitoring and pruning system for hedges according to claim 3, characterized in that, The finishing unit (2300) includes a first servo mount (2301) mounted on a trimming equipment mounting base (2003). The first servo mount (2301) consists of a bottom horizontal plate and two vertical plates mounted on the left and right ends of the horizontal plate. A first servo (2302) facing inward is provided on the outer side of the vertical plate. The output shaft of the first servo (2302) passes through the vertical plate and is connected to the other vertical plate by a bearing. A first-stage support plate mounting base (2303) is provided on the output shaft. The first-level support plate mounting base (2303) is provided with a first-level support plate (2304) on both sides. The lower half of the first-level support plate (2304) is provided with an upward-facing electric push rod (2305) on the inner side. The upper half of the first-level support plate (2304) is provided with a support plate groove (2304a) on the inner side. The two electric push rods (2305) on the left and right sides are fixedly connected by a support frame connecting seat (2306). The support frame connecting seat (2306) is provided with a circular opening in the middle. The output shaft end of the electric push rod (2305) of the support plate is connected to the drive motor (2307) of the lead screw slide (2308). The lead screw slide (2308) is provided with a back slider near the electric push rod (2305) on the side near the support plate groove (2304a). The back slider is inserted into the support plate groove (2304a). The electric push rod (2305) of the support plate pushes the drive motor (2307) to rise and fall, thereby driving the lead screw slide (2308) to rise and fall on the track with the support plate groove (2304a) as the track. The lead screw slide (2308) consists of a lead screw, a slide (2309), a drive motor (2307), and a slide rail. The drive motor (2307) drives the lead screw to control the slide (2309) to rise and fall on the slide rail, realizing the secondary lifting and lowering of the end finishing mechanism (2310). The first lifting and lowering is driven by the electric push rod (2305) of the support plate. The slide (2309) is equipped with the finishing mechanism (2310). The finishing mechanism (2310) includes a section oriented along the X-axis. The first precision servo motor (2310a) is mounted on the slide table (2309), the second precision servo motor (2310b) is mounted at the end of the output shaft of the first precision servo motor (2310a) with the Y-axis facing the end of the output shaft of the first precision servo motor (2310a), the electric precision push rod (2310c) is mounted at the end of the output shaft of the second precision servo motor (2310b) with the Z-axis facing the end of the output shaft of the electric precision push rod (2310c) with the Z-axis facing the end of the output shaft of the electric precision push rod (2310c) 5. The intelligent monitoring and pruning system for hedges according to claim 4, characterized in that, The roughing unit (2400) has the same basic connection mechanism as the fine repair unit (2300). The basic connection mechanism includes a first servo mount (2301), a first servo (2302), a first-stage support plate mount (2303), a first-stage support plate (2304), a support plate slide (2304a), a support plate electric push rod (2305), a support frame connecting seat (2306), a drive motor (2307), a lead screw slide (2308), and a slide (2309). Only the end mechanism configured on the slide (2309) is different. The two slides (2309) of the coarse trimming unit (2400) are each equipped with an inward-facing second servo motor (2401). The output shaft of the second servo motor (2401) is connected to the trimming mechanism mounting base (2402). Both ends of the trimming mechanism mounting base (2402) are equipped with coarse trimming electric push rods (2403) facing outward from the main body (2001). The end of the output shaft of the coarse trimming electric push rod (2403) is connected to the electric hedge trimming disc (2404). The coarse trimming electric push rod (2403) is used to control the extension distance of the electric hedge trimming disc (2404), and the second servo motor (2401) is used to control the trimming angle of the electric hedge trimming disc (2404).

6. The intelligent monitoring and pruning system for hedges according to claim 5, characterized in that, The debris storage unit (2200) consists of two storage mechanisms symmetrically arranged in the opening below the main body (2001). The storage mechanism includes a storage electric push rod (2201) horizontally facing the outside of the main body (2001) and installed on the bottom surface of the middle part of the main body; an L-shaped storage box mounting base (2202) installed at the end of the output shaft of the storage electric push rod (2201); a storage box (2203) installed at the end of the storage box mounting base (2202); an insert plate (2204) inserted into the outermost part of the storage box (2203); and storage box sliders (2205) installed at the bottom of both sides of the storage box (2203). The storage box (2203) has a sloping bottom. The plate has a slot at the lowest point of the sloping base plate. The insert plate (2204) is inserted into the slot to block the debris inside the storage box (2203). The insert plate (2204) has a handle to facilitate the cleaning of debris inside the storage box (2203) by construction personnel. The storage box slider (2205) is inserted into the debris storage unit slide groove (2001e). When debris storage is required, the storage box mounting base (2202) is pushed out by the storage electric push rod (2201), which drives the storage box slider (2205) to slide outward in the debris storage unit slide groove (2001e), thereby moving the storage box (2203) to the outside of the main body (2001) to collect the trimmed debris.

7. A method for intelligent monitoring and pruning of hedges using the system described in claim 6, characterized in that, The steps are as follows: S1. Monitoring equipment installation: First, the hedges that need to be monitored and pruned are divided into two types: regular and irregular, namely curved hedges (0001) and flat hedges (0002). When dealing with flat hedges (0002), the monitoring box (1001) is directly installed at its four corners with expansion bolts. The monitoring part (1000) can then scan the three sides of the flat hedges (0002) to achieve three-dimensional scanning, construct a hedge model, and monitor the changes of the hedge model in real time. When dealing with curved hedges (0001), in addition to installing monitoring boxes (1001) at the four corners of the hedges using expansion bolts, several monitoring boxes (1001) are installed in the middle of the curved hedges (0001) or at points with multiple turns, so that the monitoring part (1000) can scan the various curved surfaces and corners of the curved hedges (0001) to build a complete hedge model and ensure that the three-dimensional shape of the curved hedges (0001) before and after pruning meets the requirements. S2. Hedge Exit Monitoring: After the monitoring unit (1000) is installed, routine monitoring of the hedges is carried out. The monitoring unit (1000) is activated periodically to perform three-dimensional scanning of the hedges to monitor their exit status. When scanning is not performed, the gear motor drives the gear to rotate on the rack track (1003b), and the top plate (1003) slides on the top plate slide groove (1001a) to cover the opening area of ​​the entire monitoring box (1001). The solar panel (1003a) collects solar energy and stores the electricity in the battery (1007). When scanning is required, the gear motor drives the gear on the rack track. (1003b) rotates, and the top plate (1003) slides on the top plate groove (1001a) until it has enough space to unfold above the monitoring mechanism. When installing the monitoring box (1001), the extension distance of the multi-stage telescopic tube (1006) is preset by the button spring locking pin (1006a), so that the monitoring mechanism can match hedges of different heights. At this time, the first electric push rod (1004) is pushed out, so that the first servo motor mounting base (1006b) is raised until the laser ranging sensor matrix (1012) is completely separated from the monitoring box (1001). The first servo motor (1008) is monitored. The horizontal orientation of the hedge scan is adjusted by monitoring the second servo motor (1010) to adjust the vertical orientation of the hedge scan, and the scanning shape of the laser rangefinder matrix (1012) at the end is adjusted by monitoring the third servo motor (1011). The scanning angle of the laser rangefinder matrix (1012) is controlled by rotating the corner of the rectangular laser rangefinder mounting plate. It first scans the vertical side of the hedge, and then scans the horizontal top surface of the hedge after the laser rangefinder matrix (1012) rises to the top of the hedge to construct a three-dimensional model of the hedge. When pruning, a normal model of the hedge is constructed by scanning, and then a real-time model of the hedge is formed by scanning at regular intervals. Once the hedge exceeds a certain extent, which is determined by human intervention, the excess model is judged to deviate from the normal three-dimensional model. The PLC control system in the monitoring box (1001) sends the excess model and normal three-dimensional model information to the pruning part (2000) to assist in its pruning. At the same time, it sends pruning signals and positioning signals to call the pruning part (2000) to come to the hedge near the monitoring box (1001) to carry out pruning operations. During the pruning process, synchronous scanning is performed to ensure accurate pruning. S3, Normal Pruning: After receiving the pruning signal and positioning signal, the pruning part (2000) arrives near the flat hedge (0002) that needs to be pruned. Depending on the condition of the hedge, it selects to use the fine pruning unit (2300) or the coarse pruning unit (2400). If the hedge has few branches, small size, and is scattered, the fine pruning unit (2300) is used. If the hedge has many branches, large size, and is concentrated, the coarse pruning unit (2400) is used. During fine pruning, the main control unit (2001) arrives at the hedge that needs to be pruned. In the vicinity of the area, the rotation angle of the pruning turntable (2001c) is controlled by a rotary motor, so that one side of the trimming unit (2300) on the pruning equipment mounting base (2003) faces the hedge. The height of the trimming unit (2300) is controlled by the pruning electric push rod (2001d) to raise and lower the pruning turntable (2001c). The height of the trimming unit (2300) is controlled by the support plate electric push rod (2305) to push the drive motor (2307) to raise and lower, thereby driving the lead screw slide (2308) to slide along the support plate groove (230). 4a) The mechanism moves up and down along the track, while the first servo motor (2302) controls the rotation of the first-stage support plate (2304), allowing the trimming mechanism (2310) to approach the hedge trimming area. The first trimming servo motor (2310a) and the second trimming servo motor (2310b) control the dual-axis rotation of the small electric hedge trimmer (2310d), and the trimming distance of the small electric hedge trimmer (2310d) is controlled by the trimming electric push rod (2310c). Finally, the small electric... The hedge trimmer (2310d) achieves precise trimming of hedges; during rough trimming, the mechanisms on the main body (2001) are controlled in the same way as above so that the end mechanism on the slide (2309) is close to the hedge trimming area. The trimming angle of the electric hedge trimming disc (2404) is controlled by the second servo motor (2401), and the extension distance of the electric hedge trimming disc (2404) is controlled by the rough trimming electric push rod (2403). Finally, the electric hedge trimming disc (2404) is started to perform large-area rough trimming. S4. Curved surface trimming: After receiving the trimming signal and the positioning signal, the trimming part (2000) comes to the vicinity of the curved hedge (0001) that needs to be trimmed. Using the same method as step S3, the end mechanism on the slide (2309) of the curved surface trimming unit (2500) is controlled to come to the trimming location. The curved surface trimming electric push rod (2501) of different curved surface trimming mechanisms in the curved surface trimming mechanism matrix is ​​controlled to extend by different distances, so that the miniature electric hedge trimmer (2503) at the end of the mechanism is arranged in a curve for trimming. At the same time, the miniature electric hedge trimmer (2503) at the end of the mechanism is controlled to rotate by the curved surface trimming servo motor (2502). During the trimming process, the angle of the entire curved surface trimming mechanism matrix is ​​controlled in real time by the second servo motor (2401), thereby realizing three-dimensional trimming. S5. Debris Collection: Debris is collected during and after trimming. When the trimmed hedge is high, i.e., higher than the storage box (2203) of the debris storage unit (2200), the debris is stored in real time using the debris storage unit (2200). The storage box mounting base (2202) is pushed out by the storage electric push rod (2201), which drives the storage box slider (2205) to slide outward in the debris storage unit slide groove (2001e), thereby moving the storage box (2203) to the outside of the main body (2001) to collect the trimmed debris above the storage box (2203). After enough debris is collected, the main body (2001) carries the sufficient debris to the dumping point, and the plug is lifted by the handle. (2204) The debris falls from the storage box (2203) to the designated location. When the trimmed hedge is low, that is, lower than the height of the storage box (2203) of the debris storage unit (2200), the debris collection unit (2100) is used to collect the trimming debris in real time. By controlling the first electric push rod (2101), the second electric push rod (2102), and the third electric push rod (2103) of the same group of collection mechanisms to push out the collection bucket (2104) in three dimensions, the two collection buckets (2104) are joined together to scoop up the debris and push out the storage box (2203) in the same way as above. The two collection buckets (2104) are separated and the debris is poured into the storage box (2203). This cycle continues until all the debris on the bottom surface is collected.

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