Three-dimensional plant cluster pruning method with cambered surface modeling

A pruning method and plant technology, applied in the field of intelligent control, can solve the problems of large pruning blind spots, difficult to meet the pruning range, single structure and function, etc.

Active Publication Date: 2020-10-30
BINZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the pruning machines at home and abroad have a single structure and function, a small pruning range, and a large pruning blind area. It

Method used

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  • Three-dimensional plant cluster pruning method with cambered surface modeling
  • Three-dimensional plant cluster pruning method with cambered surface modeling
  • Three-dimensional plant cluster pruning method with cambered surface modeling

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0113] Embodiment 1 describes an intelligent pruning robot.

[0114] like figure 1 As shown, the intelligent pruning robot adopts a crawler-type structure, wherein the crawler-type pruning robot includes a crawler-type carrying chassis 1 , a main boom 2 , a sub-boom 3 , a pruning mechanism 4 and folding hydraulic legs 5 .

[0115] The crawler-type carrying chassis 1 is used to realize the walking of the crawler-type pruning robot.

[0116] like figure 2 As shown, the main boom frame 2 adopts a length-extensible structure, that is, it includes a first-stage main arm 6, a second-stage main arm 7, and a third-stage main arm 8; wherein, the first-stage main arm 6, the second-stage main arm The arm 7 and the third-stage main arm 8 are nested in sequence.

[0117] A first telescopic mechanism is provided inside the main boom frame 2 to realize the extension and retraction of the second-stage main arm 7 and the third-stage main arm 8 .

[0118] Wherein, the first telescopic mech...

Embodiment 2

[0199] This embodiment 2 describes a three-dimensional plant cluster pruning method with an arc shape, which is realized based on the pruning robot in the above-mentioned embodiment 1. By intelligently controlling the pruning robot in the above-mentioned embodiment 1, it is beneficial to Realize the precise and efficient pruning of different shapes and different spatial levels in the three-dimensional plant clusters with curved shapes.

[0200] like Figure 11 Shown, a kind of three-dimensional plant cluster pruning method with arc shape, comprises the following steps:

[0201] I. The crawler-type pruning robot first runs and stops after arriving at the three-dimensional plant cluster place with the arc shape to be pruned.

[0202] II. Manually rotate each foldable hydraulic support leg 5 outward horizontally.

[0203] After the positioning pin hole 30 of each folding hydraulic support leg is aligned with the positioning pin hole 29 on the corresponding position of the crawl...

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Abstract

The invention belongs to the technical field of intelligent control, and discloses a three-dimensional plant cluster pruning method with cambered surface modeling, which is realized based on a pruningrobot. The pruning robot is provided with two sets of telescopic variable-amplitude arm frames, namely a main arm frame and an auxiliary arm frame, so that the operation radius of the pruning robot is increased; meanwhile, the pruning robot is further provided with four groups of folding hydraulic supporting legs, and each group of folding hydraulic supporting legs can be rapidly folded and unfolded, so that the amplitude variation stability of the arm frames is further improved, and an arm frame system consisting of the main arm frame, the auxiliary arm frame and the like can meet the posture requirement of a larger working radius; besides, by means of the auxiliary arm frame, the trimming angle of a trimming mechanism can be rapidly and finely adjusted, and the trimming operation efficiency is greatly improved. According to the method, the pruning robot is intelligently controlled, and pruning work of a three-dimensional large plant cluster with a cambered surface shape is well achieved.

Description

technical field [0001] The invention belongs to the technical field of intelligent control, and relates to a three-dimensional plant cluster pruning method with an arc shape. Background technique [0002] With the continuous development of urban environmental greening construction, various three-dimensional large-scale plant clusters with curved shapes have been widely used. How to accurately and efficiently trim green vegetation of different shapes and different spatial levels has become the primary problem facing the sustainable development of every city. At present, the pruning machines at home and abroad have a single structure and function, a small pruning range, and a large pruning blind area. It is difficult to meet the requirements of the trimming range, and there are also disadvantages such as poor trimming effect and low trimming efficiency. It can be seen that how to propose an intelligent pruning method aimed at three-dimensional plant clusters with arc shape i...

Claims

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Application Information

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IPC IPC(8): A01G3/04
CPCA01G3/0435
Inventor 牛得学周平华崔书彬
Owner BINZHOU UNIV
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