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CN-122009356-A - Wheeled tree climbing pruning robot and control method thereof

CN122009356ACN 122009356 ACN122009356 ACN 122009356ACN-122009356-A

Abstract

The invention relates to the technical field of robots and discloses a wheeled tree climbing pruning robot and a control method thereof, wherein the robot comprises a robot body, and a driving wheel assembly and a supporting wheel assembly are arranged on the outer wall of the robot body; the device comprises a robot body, a hydraulic driving module, a pressure feedback module, a control unit, a laser radar module, a three-dimensional modeling module, a pruning executing device and an energy module, wherein the hydraulic driving module is arranged on one side of the robot body, the pressure feedback module is arranged on the outer wall of the pressure feedback module and is used for installing the supporting wheel assembly, the control unit is arranged on the outer wall of the control unit and is arranged in the robot body, the lower surface of the laser radar module is arranged on the upper surface of the supporting wheel assembly, and the three-dimensional modeling module is arranged on the outer wall of the three-dimensional modeling module and is arranged in the robot body. Through hydraulic drive system and pressure feedback mechanism, can adjust the laminating power between supporting wheel and the trunk in real time, ensure that the robot is at complicated trunk surface steady movement, avoid unstable laminating and the not enough problem of control accuracy.

Inventors

  • LI YAN
  • LI YING
  • SUO YANG
  • LI LING

Assignees

  • 景天下生态环境科技有限公司

Dates

Publication Date
20260512
Application Date
20260324

Claims (10)

  1. 1. A wheeled tree climbing pruning robot, comprising: the robot comprises a robot body (1), wherein a driving wheel assembly (2) and a supporting wheel assembly (6) are arranged on the outer wall of the robot body (1) and are used for realizing fitting movement around a trunk; The outer wall of the hydraulic driving module (3) is arranged on one side of the robot body (1), and the other end of the hydraulic driving module is arranged on one side of the driving wheel assembly (2) and the supporting wheel assembly (6) and used for controlling the attaching force of each supporting wheel; The pressure feedback module (8) is arranged in the supporting wheel assembly (6) on the outer wall of the pressure feedback module (8) and used for detecting the contact pressure between the supporting wheel and the trunk in real time; The outer wall of the control unit (9) is arranged in the robot body (1), and the output of the hydraulic driving module (3) of the hydraulic driving module is regulated according to the detection result of the pressure feedback module (8); The laser radar module (4), the lower surface of the laser radar module (4) is arranged on the upper surface of the supporting wheel assembly (6) and used for collecting the space information of the trunk; the three-dimensional modeling module (10), the outer wall of the three-dimensional modeling module (10) is arranged in the robot body (1), the three-dimensional modeling module (10) is electrically connected with the laser radar module (4), and is used for generating a three-dimensional structural model of the trunk according to data acquired by the laser radar module (4); The pruning execution device (5) is arranged on the upper surface of the robot body (1) on the outer wall of the pruning execution device (5) and is used for identifying pruning targets according to the three-dimensional structure model and implementing pruning operation; the energy module (7), energy module (7) outer wall installs the outer wall at robot body (1), including solar energy power supply unit and wind energy power supply unit for provide electric power support.
  2. 2. The wheeled tree climbing pruning robot of claim 1, wherein the hydraulic driving module (3) comprises a plurality of hydraulic cylinders and proportional valves, and each hydraulic cylinder is arranged in one-to-one correspondence with the supporting wheel and is used for providing adjustable positive pressure so as to enable the robot body to be attached to the trunk surface.
  3. 3. The wheeled tree climbing pruning robot of claim 1, wherein the pressure feedback module (8) comprises flexible membrane type pressure sensors arranged at the contact positions of the supporting wheels and the trunk, and is used for acquiring the contact pressure on a unit area and converting the contact pressure into analog signals for processing by the main control unit.
  4. 4. The wheel type tree climbing pruning robot according to claim 1, wherein the control unit (9) adopts a closed loop control mode, calculates and outputs a control signal through a proportional, integral and differential controller according to the difference between the preset reference pressure and the current feedback pressure, and further adjusts the driving pressure of the hydraulic cylinder to realize stable fit control.
  5. 5. The wheeled tree climbing pruning robot of claim 1, wherein the trunk model constructed by the three-dimensional modeling module (10) is used for calculating a path of the robot climbing around the trunk, and path planning is optimized by taking a fitting stability index and an energy consumption index as objective functions.
  6. 6. The robot of claim 5, wherein the fit stability index is calculated based on a deviation of an actual pressure at each contact point between the robot and the trunk from a set reference pressure, and the energy consumption index is evaluated based on an energy usage amount of the driving system per unit time.
  7. 7. The wheeled tree climbing pruning robot according to claim 1, wherein the pruning executing device (5) comprises an electric shearing arm and an angle adjusting structure, and the control unit calculates shearing direction and force according to the pruning target point identified by the three-dimensional model and drives the shearing arm to execute pruning operation.
  8. 8. The wheeled tree climbing pruning robot according to claim 7, wherein the shearing direction is the direction with the smallest axial included angle with the target branch, and the shearing force is determined according to matching of the diameter of the target branch and the wood density parameter, so as to achieve the optimal cutting effect and avoid the tearing of the branch.
  9. 9. The wheel type tree climbing pruning robot according to claim 1, wherein in the energy module (7), the solar power supply unit comprises an expandable solar panel, the wind power supply unit comprises a wind power generation device arranged at one side of the robot, and the control unit automatically adjusts the energy supply priority of each energy unit according to the environmental illumination intensity and the wind speed so as to optimize the energy output efficiency.
  10. 10. A control method of a wheeled tree-climbing pruning robot according to any one of claims 1 to 9, characterized by comprising the steps of: S1, pushing a robot body (1) to enable a driving wheel assembly (2) to be in contact with a tree, and adjusting the position of a supporting wheel assembly (6) to be in contact with the tree by starting a hydraulic driving module (3); S2, performing multi-angle spatial scanning on the trunk and surrounding environment thereof by activating a laser radar module (4), obtaining point cloud data on the outer surface of the trunk, inputting the point cloud data into a three-dimensional modeling module, constructing a spatial model of the trunk, and extracting characteristic parameters for motion planning, including trunk radius, surface curvature, branch distribution position and direction information; s3, calculating a crawling path of the robot around the trunk according to the three-dimensional model, wherein the crawling path aims at reducing energy consumption and improving attaching stability; s4, controlling the driving wheel assemblies (2) to perform uniform speed or variable speed movement according to the paths, collecting contact pressure signals of the supporting wheel assemblies (6) in real time through the pressure feedback module (8) in the movement process, comparing the contact pressure signals with set reference pressure, and adjusting output pressure of the corresponding hydraulic driving module (3) in a closed-loop control mode if the pressure deviates from a set range; S5, when the robot body (1) approaches to a pruning target point, determining the space coordinates of the pruning point according to the spatial position, the diameter and the orientation information of the branches identified by the three-dimensional modeling module, and calculating the target pose parameters of the pruning execution device (5); S6, according to the mechanical parameters of the branches, matching the corresponding shearing force, controlling the pruning execution device (5) to execute shearing action, and monitoring shearing resistance in real time and properly compensating in the shearing process to prevent the branches from tearing or shearing failure; S7, after pruning is completed, the robot body (1) is controlled to continue to move along the path, and the next pruning task is executed until pruning of all target points is completed; s8, in the whole operation process, the availability of solar energy and wind energy is dynamically evaluated according to external environment parameters such as illumination intensity and wind speed, and the energy supply mode of the solar cell panel and the wind power generation device is automatically switched or combined by the energy source module (7) is controlled.

Description

Wheeled tree climbing pruning robot and control method thereof Technical Field The invention relates to the technical field of robots, in particular to a wheeled tree climbing pruning robot and a control method thereof. Background Existing tree climbing robots often employ simple driving modes, such as electric motors or chain drive systems, to control movement of the robot. This approach often fails to ensure a stable fit when facing complex trunk surfaces. The laminating effect of robot is relatively poor, appears sliding or break away from the condition of trunk easily. The control precision is not high, and the operation efficiency and precision are affected. Compared with the method, the device adopts a hydraulic driving system and accurately adjusts the attaching force through a pressure feedback mechanism, so that the stability and the moving precision of the robot are improved. Prior art path planning often relies on basic sensors, such as simple collision sensors or basic vision sensors. These sensors cannot accurately capture the complex morphology of the trunk, and in the case of complex tree environments, the accuracy and adaptability of path planning are poor. Path planning optimization is often not intelligent enough, and unnecessary energy waste and low movement efficiency are easily caused. In contrast, the tree trunk space information can be accurately obtained through the laser radar module and the three-dimensional modeling technology, and the path planning is optimized, so that the tree trunk space information is better suitable for the complex environment of the tree. In the traditional pruning method, the force control of the pruning tool often depends on manual operation or a simple electric device, and the shearing force cannot be adjusted according to the actual conditions of different trees in the mode, so that the shearing effect is unstable, and branch tearing or shearing failure can be caused. The pruning device of the prior art generally does not consider the difference of wood density and branch diameter, and influences the shearing quality. The invention ensures the pruning quality and effectively reduces the damage of trees by accurately adjusting the shearing force and the shearing direction. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a wheeled tree climbing pruning robot and a control method thereof, and solves the problems of unstable lamination, inaccurate path planning and low pruning precision of the existing pruning robot in a complex trunk environment. In order to achieve the purpose, the invention is realized by the following technical scheme that the wheel type tree climbing pruning robot comprises: the robot comprises a robot body, wherein the outer wall of the robot body is provided with a driving wheel assembly and a supporting wheel assembly, and the driving wheel assembly and the supporting wheel assembly are used for encircling a trunk to realize fitting movement; the outer wall of the hydraulic driving module is arranged on one side of the robot body, and the other end of the hydraulic driving module is arranged on one side of the driving wheel assembly and one side of the supporting wheel assembly and is used for controlling the attaching force of each supporting wheel; The pressure feedback module is arranged in the supporting wheel assembly on the outer wall of the pressure feedback module and used for detecting the contact pressure between the supporting wheel and the trunk in real time; The outer wall of the control unit is arranged in the robot body, and the output of the hydraulic driving module is regulated according to the detection result of the pressure feedback module; the lower surface of the laser radar module is arranged on the upper surface of the supporting wheel assembly and is used for collecting the space information of the trunk; The three-dimensional modeling module is arranged in the robot body, is electrically connected with the laser radar module and is used for generating a three-dimensional structural model of the trunk according to data acquired by the laser radar module; The outer wall of the pruning execution device is arranged on the upper surface of the robot body and is used for identifying pruning targets and implementing pruning operation according to the three-dimensional structure model; the energy module, the outer wall of energy module is installed at the outer wall of robot body, including solar energy power supply unit and wind energy power supply unit for provide electric power support. Preferably, the hydraulic driving module comprises a plurality of hydraulic cylinders and proportional valves, wherein each hydraulic cylinder is arranged in one-to-one correspondence with the supporting wheel and is used for providing adjustable positive pressure so as to enable the robot body to be attached to the trunk surface. Preferably, the pressure feedback module comprises flexible m