阅读说明：本技术 一种电液气混合控制的自适应爬树整枝方法 (Self-adaptive tree climbing and pruning method based on electro-hydraulic-pneumatic hybrid control ) 是由 文剑 班以琛 崔芸瑞 坝仕宏 吕坤 李文彬 于 2021-09-18 设计创作，主要内容包括：本发明公开了一种电液气混合控制的自适应爬树整枝方法,包括移动端与整枝机建立蓝牙通讯、预设作业信息、整枝机设备就位、PLC控制整枝机作业、获取传感器信息和自动反馈控制系统；所述设置预设作业信息包括设置树种、整枝高度、树干直径和枝杈直径信息；所述整枝机设备就位包括选取待整枝树木和夹紧轮与刀具夹紧树干；所述PLC控制整枝机作业包括PLC控制整枝机匀加速爬升、匀速整枝、匀加速下降、匀减速下降四个阶段；所述自动反馈控制系统包括液压马达自动调速系统、液压马达自动调压系统和气缸自动调压系统。本技术能使整枝机自适应树干直径变化,实现实时夹紧树干,防止打滑下落,能依靠冲击力实现高速全自动整枝,极大的提高整枝效率。(The invention discloses an electric-hydraulic-pneumatic hybrid control self-adaptive tree climbing and pruning method, which comprises the steps that a mobile terminal and a pruning machine establish Bluetooth communication, preset operation information, the pruning machine is in place, a PLC controls the operation of the pruning machine, sensor information is obtained, and an automatic feedback control system is adopted; the preset operation information setting comprises tree species setting, pruning height setting, trunk diameter setting and branch diameter setting; the pruning machine equipment is positioned in place and comprises a tree to be pruned, a clamping wheel and a cutter which are used for clamping a trunk; the operation of the pruning machine controlled by the PLC comprises four stages of uniform accelerated climbing, uniform pruning, uniform accelerated descending and uniform decelerated descending of the pruning machine controlled by the PLC; the automatic feedback control system comprises an automatic speed regulating system of the hydraulic motor, an automatic pressure regulating system of the hydraulic motor and an automatic pressure regulating system of the cylinder. The technology can lead the pruning machine to be self-adaptive to the change of the diameter of the trunk, realize the real-time clamping of the trunk, prevent the trunk from slipping and falling, realize the high-speed full-automatic pruning by depending on the impact force and greatly improve the pruning efficiency.)

1. A self-adaptive tree climbing and pruning method based on electro-hydraulic-pneumatic hybrid control is characterized by comprising the steps that a mobile terminal and a pruning machine establish Bluetooth communication, operation information is preset, pruning machine equipment is in place, a controller controls the operation of the pruning machine, sensor information is obtained, and an automatic feedback control system is adopted;

the preset operation information setting comprises tree species setting, pruning height setting, trunk diameter setting and branch diameter setting;

the pruning machine equipment is positioned in place and comprises a tree to be pruned, a clamping wheel and a cutter which are used for clamping a trunk;

the controller controls the operation of the pruning machine and comprises four stages of uniform accelerated climbing, uniform pruning, uniform accelerated descending and uniform decelerated descending of the pruning machine controlled by the controller;

the acquired sensor information comprises driving wheel rotating speed information, clamping wheel rotating speed information, pruning machine real-time position information and cylinder real-time pressure information;

the automatic feedback control system comprises an automatic speed regulating system of the hydraulic motor, an automatic pressure regulating system of the hydraulic motor and an automatic pressure regulating system of the cylinder.

2. The self-adaptive tree climbing and pruning method based on the electro-hydraulic-pneumatic hybrid control as claimed in claim 1, wherein: the mobile terminal and the pruning machine establish Bluetooth communication, and the purpose of the Bluetooth communication is to control the pruning machine and receive and display the operation state of the pruning machine in real time by sending an instruction through the mobile terminal.

3. The self-adaptive tree climbing and pruning method based on the electro-hydraulic-pneumatic hybrid control as claimed in claim 1, wherein: the controller can be a PLC, a single chip microcomputer and other controllers.

4. The self-adaptive tree climbing and pruning method based on the electro-hydraulic-pneumatic hybrid control as claimed in claim 1, wherein: and the rotating speed information of the driving wheel and the real-time position information of the pruning machine are acquired through a hydraulic motor encoder.

5. The self-adaptive tree climbing and pruning method based on the electro-hydraulic-pneumatic hybrid control as claimed in claim 1, wherein: and the rotating speed information of the clamping wheel is acquired through a clamping wheel encoder.

6. The self-adaptive tree climbing and pruning method based on the electro-hydraulic-pneumatic hybrid control as claimed in claim 1, wherein: and the real-time pressure information of the cylinder is acquired through a pressure sensor.

7. The self-adaptive tree climbing and pruning method based on the electro-hydraulic-pneumatic hybrid control as claimed in claim 1, wherein: the hydraulic motor automatic speed regulating system is characterized in that a real-time rotating speed signal of the hydraulic motor is transmitted to a PID control module of the PLC, and an output signal of the PLC is transmitted to the hydraulic proportional speed regulating valve so as to regulate the rotating speed of the hydraulic motor to be the same as the preset rotating speed.

8. The self-adaptive tree climbing and pruning method based on the electro-hydraulic-pneumatic hybrid control as claimed in claim 1, wherein: the automatic pressure regulating system of the air cylinder transmits signals of the pressure sensors of the air cylinders to the PID control module of the PLC, and output signals of the PLC are transmitted to the air pressure proportional pressure reducing valve of each air cylinder so as to adjust real-time clamping force of each air cylinder to be the same as preset clamping force.

9. The self-adaptive tree climbing and pruning method based on the electro-hydraulic-pneumatic hybrid control as claimed in claim 1, wherein: the automatic pressure regulating system of the hydraulic motor is characterized in that a real-time rotating speed signal of the hydraulic motor and a real-time rotating speed signal of the clamping wheel are transmitted to a PID control module of the PLC, an output signal of the PLC is transmitted to the air pressure proportional pressure reducing valve and the hydraulic proportional pressure reducing valve of the clamping cylinder, so that the torque of the hydraulic motor and the clamping force of the clamping cylinder are adjusted, and the real-time rotating speed of the hydraulic motor is kept the same as the real-time rotating speed of the clamping wheel.

Technical Field

The invention relates to the technical field of electro-hydraulic-pneumatic hybrid control, in particular to a self-adaptive tree climbing and pruning method based on electro-hydraulic-pneumatic hybrid control.

Background

The construction of the artificial forest mainly takes an industrial timber forest as a main part, and the pruning of the artificial forest can promote the growth of the forest, improve the tree trunk straightness, reduce the plant diseases and insect pests and increase the operating income of the forest. At present, the degree of mechanical automation of forest zones in China is not high, manual pruning is mainly used, but the manual pruning is low in pruning efficiency, and great hidden danger exists in worker safety, so that the development of forestry pruning automation equipment is a future development direction for improving the forestry production efficiency and promoting the forestry production modernization.

The invention patent 2020113979148 discloses a crawler-type hydraulically-driven stumpage pruning machine, and aims to solve the problems that the power distribution of the pruning machine is unreasonable, timely adjustment cannot be made according to the actual running state, the clamping force is insufficient in the climbing process, the pruning machine is easy to slip and fall, and the like, so that the self-adaptive tree-climbing pruning method based on the electro-hydraulic-pneumatic hybrid control can be used for completing high-efficiency and intelligent pruning operation.

Disclosure of Invention

The technical problem to be solved by the technology is to provide an electric-hydraulic-pneumatic hybrid control self-adaptive tree climbing and pruning method aiming at the defects of the prior art, the electric-hydraulic-pneumatic hybrid control self-adaptive tree climbing and pruning method can enable a pruning machine to self-adapt to the change of the diameter of a trunk, high-speed pruning is realized by means of impact force, and the pruning efficiency is greatly improved.

In order to achieve the technical purpose, the technical scheme adopted by the technology is as follows:

a self-adaptive tree climbing and pruning method based on electro-hydraulic-pneumatic hybrid control is characterized by comprising the steps of establishing Bluetooth communication between a mobile terminal and a pruning machine, presetting operation information, positioning equipment of the pruning machine, controlling the operation of the pruning machine by a controller, acquiring sensor information and automatically feeding back a control system.

The setting of the preset operation information comprises setting of tree species, pruning height, trunk diameter and branch diameter information.

The pruning machine equipment is positioned in place and comprises a tree to be pruned, a clamping wheel and a cutter which are used for clamping the trunk.

The controller controls the operation of the pruning machine and comprises four stages of uniform acceleration climbing, uniform pruning, uniform acceleration descending and uniform deceleration descending of the pruning machine controlled by the controller.

The acquired sensor information comprises driving wheel rotating speed information, clamping wheel rotating speed information, pruning machine real-time position information and cylinder real-time pressure information.

The automatic feedback control system comprises an automatic speed regulating system of the hydraulic motor, an automatic pressure regulating system of the hydraulic motor and an automatic pressure regulating system of the cylinder.

As a further improved technical scheme of the technology, the rotating speed information of the driving wheel and the real-time position information of the pruning machine are obtained through a hydraulic motor encoder.

As a further improved technical scheme of the technology, the controller can be a PLC, a single chip microcomputer and other controllers.

As a further improved technical scheme of the technology, the rotating speed information of the clamping wheel is acquired by a clamping wheel encoder.

As a further improved technical scheme of the technology, the real-time pressure information of the cylinder is acquired through a pressure sensor.

As a further improved technical scheme of the technology, the clamp wheel encoder information comprises the real-time rotating speed of the clamp wheel.

As a further improved technical scheme of the technology, the hydraulic motor automatic speed regulating system is characterized in that a real-time rotating speed signal of the hydraulic motor is transmitted to a PID control module of a PLC, and an output signal of the PLC is transmitted to a hydraulic proportional speed regulating valve so as to regulate the rotating speed of the hydraulic motor to be the same as a preset rotating speed.

As a further improved technical scheme of the technology, the automatic pressure regulating system of the air cylinder transmits signals of the pressure sensors of the air cylinders to the PID control module of the PLC, and output signals of the PLC are transmitted to the air pressure proportional pressure reducing valve of each air cylinder so as to adjust real-time clamping force of each air cylinder to be the same as preset clamping force.

As a further improved technical scheme of the technology, the hydraulic motor automatic pressure regulating system transmits a real-time rotating speed signal of the hydraulic motor and a real-time rotating speed signal of the clamping wheel to the PID control module of the PLC, and an output signal of the PLC is transmitted to the air pressure proportional pressure reducing valve and the hydraulic proportional pressure reducing valve of the clamping cylinder so as to adjust the torque of the hydraulic motor and the clamping force of the clamping cylinder, and further keep the real-time rotating speed of the hydraulic motor the same as the real-time rotating speed of the clamping wheel.

The beneficial effect of this technique does: (1) the technology can enable the crawler-type hydraulically-driven stumpage pruning machine to acquire the running information in real time, quickly adjust the running state and achieve the purpose of reasonable power distribution; (2) the technology can lead the crawler-type hydraulically-driven stumpage pruning machine to realize real-time clamping of the tree trunk, timely adjust the torque of the hydraulic motor and effectively prevent the machine and the tree trunk from slipping; (3) the technology can realize automatic control of the crawler-type hydraulically-driven stumpage pruning machine in the whole operation process, is simple and convenient to operate, and reduces the labor intensity of workers.

Drawings

FIG. 1 is a control schematic diagram of an adaptive tree climbing pruning method based on electro-hydraulic-pneumatic hybrid control according to the present invention;

FIG. 2 is a control flow chart of an adaptive tree climbing pruning method based on electro-hydraulic-pneumatic hybrid control according to the present invention;

FIG. 3 is a working diagram of a suitable machine for an adaptive tree-climbing pruning method of electro-hydraulic-pneumatic hybrid control according to the present invention;

the parts in the drawings are numbered as follows: 1. pruning machine; 2. a hydraulic pump; 3. an air pump; 4. an electric cabinet.

Detailed Description

The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.

As shown in fig. 1, an adaptive tree climbing and pruning method based on electro-hydraulic-pneumatic hybrid control includes the following steps.

(1) The highest training height information is preset in a PLC (programmable logic controller), the PLC transmits signals to a hydraulic three-position four-way electromagnetic directional valve, the hydraulic three-position four-way electromagnetic directional valve controls a hydraulic motor to rotate forwards and backwards, a hydraulic motor encoder transmits displacement information back to a PID (proportion integration differentiation) control module of the PLC, and the reversing time of the hydraulic three-position four-way electromagnetic directional valve is corrected in time.

(2) The relation information of the real-time running speed and the time of the pruning machine is preset in the PLC, the PLC transmits signals to the hydraulic proportional speed regulating valve, the hydraulic proportional speed regulating valve controls the rotating speed of the hydraulic motor, the hydraulic motor encoder transmits the rotating speed information to the PID control module of the PLC, and the control flow of the hydraulic proportional speed regulating valve is corrected in time.

(3) The PLC controller can control the air pressure two-position four-way reversing valve to realize clamping and releasing of each air cylinder.

(4) Presetting pre-tightening force information of each cylinder of the pruning machine in a PLC (programmable logic controller), transmitting signals to each air pressure proportional pressure reducing valve by the PLC, controlling the clamping cylinder, the obstacle avoidance cylinder and the swing cylinder by each air pressure proportional pressure reducing valve respectively, transmitting air cylinder pressure information back to a PID (proportion integration differentiation) control module of the PLC by each air cylinder pressure sensor, and correcting the pressure of each air cylinder in time.

(5) The hydraulic motor encoder and the clamp wheel encoder transmit respective rotating speed signals to the PLC, the PLC compares the two rotating speed signals, if the signals are different, the phenomenon of skidding of the crawler-type hydraulic drive stumpage pruning machine is judged, and the PLC adjusts the pressure of the hydraulic proportional pressure reducing valve and the pressure of the air pressure proportional pressure reducing valve of the clamp cylinder in time.

As shown in fig. 2, the full-automatic main control flow of this embodiment is system initialization, the mobile terminal establishes bluetooth communication with the pruning machine, presets operation information, receives sensor information, determines whether the real-time rotation speed of the hydraulic motor is the same as the preset rotation speed, if not, adjusts the hydraulic proportional speed control valve by using a PID control algorithm, if the same, determines whether the pressure of each cylinder is the same as the preset pressure, if the different, adjusts the pneumatic proportional pressure reducing valve of each cylinder by using a PID algorithm, if the same, determines whether the rotation speed of the hydraulic motor is the same as the rotation speed of the clamping wheel, if the different, adjusts the hydraulic proportional pressure reducing valve and the pneumatic proportional pressure reducing valve of the clamping wheel by using a PID control algorithm, if the same, determines whether the operation height is the target height as expected, if not, adjusts the hydraulic three-position four-way electromagnetic directional control valve by using a PID control algorithm, if the feedback adjustment is consistent with the expectation, the feedback adjustment is completed.

As shown in FIG. 3, the applicable machine of the embodiment mainly connects the power component and the pruning machine through an electro-hydraulic-pneumatic integrated pipeline, so that the purpose of remote control can be achieved.

The invention can lead the climbing pruning machine to be self-adaptive to the diameter change of the trunk, realize the real-time clamping of the trunk, realize the full-automatic high-speed pruning depending on the impact force and greatly improve the pruning efficiency.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.