Garden nursery stock pruning device and pruning method

Abstract

The invention provides a garden nursery stock pruning device and pruning method, relates to the technical field of garden machinery, and solves the technical problems that existing garden nursery stock manual pruning is low in efficiency, high in safety risk and difficult to realize standardized modeling, and existing automatic equipment is single in function and poor in adaptability. According to the technical scheme, a lifting unit, a telescopic unit and a pruning unit are combined with a sensor technology, and the nursery stock is automatically pruned into most standard three-dimensional landscape shapes such as a cone shape, a cylinder shape and an oval shape which are formed by rotating a generatrix around an axis; the operation efficiency and safety can be improved, and diversified requirements of scenes such as municipal greening and landscape modeling can be met.

Description

Technical Field

[0001] The present invention relates to the technical field of garden machinery, and specifically to a garden nursery trimming device and a trimming method. Background Art

[0002] With the acceleration of China's urbanization process and the improvement of residents' requirements for the quality of the ecological environment, the garden greening maintenance work faces the dual challenges of efficiency and quality. The current mainstream garden nursery trimming operations still highly rely on manual operations, and there are pain points such as low standardization, prominent safety hazards, and difficulty in realizing complex shapes. Although some scholars have proposed intelligent solutions, their functions still have certain limitations.

[0003] For example, Patent CN202420107072.5 proposes a spherical tree trimming device for garden engineering. Its trimming machine is installed on a crossbeam with a fixed height, and a U-shaped collection box is connected below the trimming machine. The trimming machine is driven by a motor to rotate to complete spherical trimming, and the trimmed branches and leaves fall into the collection box. In this solution, the designed fixed crossbeam type spherical trimming device is limited by the non-adjustable height and single trajectory, and has a narrow application range. Patent CN202411453311.3 proposes an intelligent shaping green trimming vehicle, and its trimming operation is completed by a robotic arm on the vehicle body and a detachable trimming mechanism installed at the end of the robotic arm. Its trimming mechanism can rotate around the hinge point to drive the slide rail to rotate and change different trimming angles, and different trimming shapes can be achieved by replacing slide rails of different shapes. Although the intelligent trimming vehicle proposed in this solution realizes multi-angle trimming through the robotic arm and replaceable slide rails, frequent replacement of components makes the operation cumbersome and costly.

[0004] There are generally two major technical bottlenecks in existing equipment: one is that it can only operate on a single plane or a fixed curved surface, and the other is the lack of adaptive adjustment ability. When facing vegetation of different heights and densities, it is necessary to repeatedly adjust the positions of the equipment and tools. In order to overcome the deficiencies of the existing technology, the present invention proposes a garden nursery trimming device and a trimming method, which provide a new paradigm for the standardization and high efficiency of garden trimming operations through the integration of structural optimization and intelligent technology. Summary of the Invention

[0005] Therefore, the present invention solves the defects in the prior art of low efficiency, high safety risk, and difficulty in realizing standardized shapes in the manual trimming of garden nurseries, as well as the technical problems of single function and poor adaptability of existing automated equipment; the garden nursery trimming device and trimming method provided by the present invention, through the lifting unit, telescopic unit, trimming unit combined with sensor technology, realize automatically trimming the nursery stock into standardized three-dimensional landscape shapes such as cones, cylinders, and ellipses, which are mostly formed by the rotation of the generatrix around the axis, improve the operation efficiency and safety, and are applicable to the diverse needs of scenarios such as municipal greening and landscape shaping.

[0006] A garden nursery stock pruning device provided by the present invention includes: a traveling mechanism, on which a lifting mechanism is arranged, on the lifting mechanism a telescopic mechanism is arranged, and on the telescopic mechanism a pruning mechanism is arranged; the traveling mechanism is used to drive the whole device to move, the lifting mechanism is used to drive the telescopic mechanism and the pruning mechanism to move up and down, and the telescopic mechanism is used to drive the pruning mechanism to switch different pruning states to adapt to nursery stocks of different shapes. The traveling mechanism is the loading trolley, and the pruning mechanism is the trimmer.

[0007] Further, the traveling mechanism includes a support chassis, on which a console, a first lidar and a second lidar are arranged, and a display screen and control buttons are arranged on the console; traveling wheels are arranged at the bottom of the support chassis.

[0008] Further, the lifting mechanism includes a slide rail support plate, which is connected to the support chassis through a fixed base; a first slide rail and a second slide rail are vertically arranged on the side of the slide rail support plate, and a lifting lead screw is arranged between the first slide rail and the second slide rail; a ball slider is arranged on the lifting lead screw, and both sides of the ball slider are respectively slidably connected to the first slide rail and the second slide rail; a motor base is arranged on the fixed base, a motor is arranged on the motor base, and the output shaft of the motor is in transmission connection with the lifting lead screw; the output shaft of the motor and the lifting lead screw can be in transmission connection through a synchronous belt, and both ends of the lifting lead screw can be rotatably connected to the slide rail support plate through bearings.

[0009] Further, the telescopic mechanism includes a telescopic arm fixing plate, which is arranged on the ball slider; a telescopic arm is arranged on the telescopic arm fixing plate; a trimmer fixing plate is arranged at one end of the telescopic arm away from the ball slider; a tool fixing plate is arranged on the trimmer fixing plate, and a first electric telescopic shaft and a second electric telescopic shaft are respectively arranged on the left and right sides of the tool fixing plate. The telescopic arm fixing plate is fixed together with the ball slider, and can realize telescopic movement in the horizontal direction and can also move up and down with the ball slider.

[0010] Further, the pruning mechanism includes a first fixed arm and a second fixed arm, which are respectively rotatably connected to the output ends of the first electric telescopic shaft and the second electric telescopic shaft through a first connecting piece and a second connecting piece; a first tool and a second tool are respectively arranged on the inner sides of the first fixed arm and the second fixed arm; the electric telescopic shaft is an electric push rod to push the tool to make an opening and closing movement, and the four blades cooperate to realize a continuous dynamic pruning action.

[0011] Further, the first tool and the second tool are arc-shaped, the concave sides of the first tool and the second tool correspond to each other, and their ends close to the ball slider are stacked up and down; both ends of the first tool and the second tool close to the ball slider are rotatably connected to the tool fixing plate, so that when the first electric telescopic shaft and the second electric telescopic shaft make telescopic movements, the opening and closing of the first tool and the second tool can be controlled.

[0012] Further, both the first cutting tool and the second cutting tool are formed by stacking a first blade and a second blade up and down; the first blade and the second blade are stacked with staggered teeth up and down to improve the trimming efficiency.

[0013] Further, a support frame is provided between the slide rail support plate and the fixed base; the support frame strengthens the connection between the slide rail support plate and the fixed base.

[0014] Further, a depth camera is provided on the front side of the trimmer fixing plate.

[0015] The present invention also provides a trimming method based on the above-mentioned garden nursery stock trimming device, including the following steps:

[0016] S1: Select a trimming mode from a cylinder, a cone, and an ellipse;

[0017] S2: The depth camera identifies the tree to be trimmed, and the first lidar and the second lidar real-time feedback distance information, and the device moves to the side of the nursery stock to be trimmed;

[0018] S3: The lifting mechanism descends to the lowest end of the trimmed branches and leaves; the opening angle of the trimming mechanism opens to the maximum; the telescopic mechanism is controlled to adjust the trimming mechanism to the position of the nursery stock; the electric push rod pushes the closing angle of the trimming mechanism to shrink to reach the trimming depth; according to the selected trimming mode, the lifting mechanism moves from bottom to top, and the closing angle of the trimming mechanism changes continuously according to the selected trimming mode to perform the trimming task;

[0019] S4: After the trimming task is completed, each mechanism resets.

[0020] The present invention has the following advantages compared with the prior art:

[0021] 1. A garden nursery stock trimming device and trimming method provided by the present invention can complete complex three-dimensional shapes (such as geometric bodies formed by rotating a generatrix around an axis) in a single operation, without manual intervention or component replacement, which can greatly improve the trimming efficiency and standardization level. The fully automated operation reduces the operation difficulty and also reduces the safety risk; the adjustable trimmer does not require the design and replacement of various shaped cutting tools, and the modular design reduces the maintenance cost and manufacturing cost; the present invention supports various scenarios such as municipal greening and landscape modeling, and has wide applicability.

[0022] 2. A garden nursery stock trimming device and trimming method provided by the present invention aim at the defects of low efficiency, high safety risk and difficulty in realizing standardized shapes in traditional manual trimming, as well as the problems of single function and poor adaptability of existing automated equipment. Through the combination of a lifting mechanism, a telescopic mechanism, a trimming mechanism and sensor technology, it realizes the automatic trimming of nursery stock into standardized three-dimensional landscape shapes such as cones, cylinders, and ellipses, which are mostly formed by rotating a generatrix around an axis, improves the operation efficiency and safety, and meets the diverse needs of scenarios such as municipal greening and landscape modeling. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 Schematic diagram of the overall structure of the present invention Figure 1 ;

[0025] Figure 2 Schematic diagram of the overall structure of the present invention Figure 2 ;

[0026] Figure 3 Schematic diagram of the trimming mechanism structure of the present invention;

[0027] Figure 4 Structure of the control system of the present invention;

[0028] Figure 5 Flow chart of the control program of the present invention.

[0029] Description of reference numerals:

[0030] 1. Traveling wheel; 2. Support chassis; 3. Ball slider; 4. Telescopic arm fixing plate; 5. First connecting piece; 6. First fixed arm; 7. First cutter; 8. Second cutter; 9. Second fixed arm; 10. First electric telescopic shaft; 11. Second connecting piece; 12. Second electric telescopic shaft; 13. Cutter fixing plate; 14. Trimmer fixing plate; 15. Telescopic arm; 16. Slide rail support plate; 17. Support frame; 18. Motor; 19. Motor base; 20. Fixed base; 21. Control button; 22. Display screen; 23. Console; 24. First lidar; 25. First slide rail; 26. First blade; 27. Second blade; 28. Lifting lead screw; 29. Second slide rail; 30. Depth camera; 31. Second lidar. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the drawings. Obviously, the described embodiments are some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0032] Embodiment 1

[0033] Figure 1A kind of garden nursery stock pruning device provided in this embodiment is as follows Figure 1 As shown, it includes: a traveling mechanism, on which a lifting mechanism is arranged, on the lifting mechanism a telescopic mechanism is arranged, and on the telescopic mechanism a pruning mechanism is arranged; the traveling mechanism is used to drive the whole device to move, the lifting mechanism is used to drive the telescopic mechanism and the pruning mechanism to move up and down, and the telescopic mechanism is used to drive the pruning mechanism to switch different pruning states to adapt to nursery stocks of different shapes. The traveling mechanism is the loading trolley, and the pruning mechanism is the trimmer. The traveling mechanism includes a support chassis 2, on which a console 23, a first lidar 24 and a second lidar 31 are arranged, and a display screen 22 and control buttons 21 are arranged on the console 23; traveling wheels 1 are arranged at the bottom of the support chassis 2. The lifting mechanism includes a slide rail support plate 16, which is connected to the support chassis 2 through a fixed base 20; a first slide rail 25 and a second slide rail 29 are vertically arranged on the side of the slide rail support plate 16, and a lifting lead screw 28 is arranged between the first slide rail 25 and the second slide rail 29; a ball slider 3 is arranged on the lifting lead screw 28, and both sides of the ball slider 3 are slidably connected to the first slide rail 25 and the second slide rail 29 respectively; a motor base 19 is arranged on the fixed base 20, and a motor 18 is arranged on the motor base 19, and the output shaft of the motor 18 is in transmission connection with the lifting lead screw 28. The telescopic mechanism includes a telescopic arm fixing plate 4, which is arranged on the ball slider 3; a telescopic arm 15 is arranged on the telescopic arm fixing plate 4; a trimmer fixing plate 14 is arranged at one end of the telescopic arm 15 away from the ball slider 3; a tool fixing plate 13 is arranged on the trimmer fixing plate 14, and a first electric telescopic shaft 10 and a second electric telescopic shaft 12 are respectively arranged on the left and right sides of the tool fixing plate 13. The pruning mechanism includes a first fixed arm 6 and a second fixed arm 9, which are respectively connected to the output ends of the first electric telescopic shaft 10 and the second electric telescopic shaft 12 through a first connecting piece 5 and a second connecting piece 11; a first tool 7 and a second tool 8 are respectively arranged on the inner sides of the first fixed arm 6 and the second fixed arm 9. The first tool 7 and the second tool 8 are arc-shaped, the concave sides of the first tool 7 and the second tool 8 correspond to each other, and their ends close to the ball slider 3 are stacked up and down; both ends of the first tool 7 and the second tool 8 close to the ball slider 3 are connected to the tool fixing plate 13. The first tool 7 and the second tool 8 are both composed of a first blade 26 and a second blade 27 stacked up and down; the first blade 26 and the second blade 27 are stacked with staggered teeth up and down to improve the pruning efficiency. A support frame 17 is arranged between the slide rail support plate 16 and the fixed base 20; the support frame 17 strengthens the connection between the slide rail support plate 16 and the fixed base 20. A depth camera 30 is arranged on the front side of the trimmer fixing plate 14.

[0034] Based on this device, it is possible to achieve the shaping and pruning of most three-dimensional landscapes formed by the rotation of the generatrix around the axis, such as cylinders and cones. The depth camera 30 identifies the seedlings to be pruned, and the lidar feeds back the position distance between the loading trolley and the seedlings to be pruned, so that the trolley reaches a reasonable pruning position; under the drive of the motor, the lifting lead screw 28 rotates, and the pruning mechanism moves up and down along the guide rail through the telescopic arm 15 and the ball slider 3. The pruning height of the pruning mechanism and the horizontal distance between the pruning mechanism and the seedlings to be pruned are adjusted through the feedback signal of the depth camera 30; the first cutter 7 and the second cutter 8 on the pruning mechanism open to the maximum angle by shortening the first electric telescopic shaft 10 and the second electric telescopic shaft 12. After reaching a reasonable pruning position through the adjustment of the lifting mechanism and the telescopic mechanism, the first electric telescopic shaft 10 and the second electric telescopic shaft 12 extend, and the two cutters of the pruning mechanism close, and the pruning operation is performed from the bottom end of the seedlings upward.

[0035] The control system of this device can be divided into five modules according to functions, as Figure 4 shown. In addition to including the control button 21 module composed of the control button 21, the display screen 22, and the console 23, the sensor module composed of the depth camera 30 and the lidar, and the actuator module composed of the lifting mechanism, the telescopic mechanism, the pruning mechanism, and the traveling mechanism, it also includes a power module and a controller module, which are arranged in the device to achieve the target requirements such as the device traveling and pruning. The power module provides electrical energy for the entire device; the staff can set the pruning shape through the control button 21 and feedback the instruction to the controller module. The control module sends a control signal to the sensor module. In the sensor module, the depth information of the object is collected through the depth camera 30, and the seedlings to be pruned are identified based on deep learning. The lidar installed on the vehicle body scans the surrounding environment omnidirectionally to obtain the distance data points from the trolley to the seedlings to be pruned. The sensor module feeds back the navigation result and the recognition result to the controller; the controller module sends an execution instruction to the actuator to complete the pruning task. After the pruning task is completed, it is fed back to the controller, and the actuator resets. The control program flow chart is as Figure 5 shown.

[0036] The pruning shape of such nursery stock can be set in advance on the console 23. Before performing the pruning task on the target nursery stock, different pruning shapes are selected on the console 23 through the control buttons 21, and the pruning shape is displayed on the display screen 22. The pruning mechanism controls the clamping angle of the two cutters in real time by the electric telescopic shaft according to the program setting. The lifting mechanism, the telescopic mechanism, and the pruning mechanism cooperate to control to achieve pruning of different shapes. Taking the pruning of a cylindrical shape as an example, select the cylindrical shape pruning on the console 23. After the electric telescopic shaft pushes the two cutters of the pruning tool to be clamped to the pruning depth, keep the clamping angle unchanged during the pruning process and prune from bottom to top; taking the pruning of an oval shape as an example, select the oval shape pruning on the console 23. After the electric push rod pushes the two cutters of the pruning tool to be clamped to the pruning depth, continuously adjust the clamping angle of the cutters through the electric push rod during the pruning process. From bottom to top, the clamping angle of the cutters uniformly changes from small to large and then to small. After the pruning task is completed, each mechanism resets, and the trolley moves to the next nursery stock to be pruned and starts to perform the next pruning task. If the pruning shape changes, the pruning shape needs to be reset on the console 23; thus, the pruning of tree trunks of different shapes can be completed; the device can also place the two cutters on both sides of the tree trunk and then drive the electric telescopic shaft to move. When the inner sides of the tools fit the tree trunk, the movement stops. In this way, the angles at which the two cutters move inward can be different, realizing the clamping pruning of special-shaped tree trunks.

[0037] Embodiment 2

[0038] This embodiment provides a pruning method based on the above-mentioned garden nursery stock pruning device, including the following steps:

[0039] S1: System initialization; select the pruning mode (cylindrical, conical, oval, etc.);

[0040] S2: The depth camera 30 identifies the tree to be pruned, and the first lidar 24 and the second lidar 31 real-time feedback the distance information, and the device moves to the side of the nursery stock to be pruned;

[0041] S3: The lifting mechanism descends to the lowest end of the branches and leaves to be pruned; the opening angle of the pruning mechanism opens to the maximum; control the telescopic mechanism to adjust the pruning mechanism to the position of the nursery stock; the electric push rod pushes the clamping angle of the pruning mechanism to shrink until it reaches the pruning depth; according to the selected pruning mode, the lifting mechanism moves from bottom to top, and the clamping angle of the pruning mechanism continuously changes according to the selected pruning mode to perform the pruning task;

[0042] S4: After the pruning task is completed, each mechanism resets.

[0043] Obviously, the above embodiments are merely examples for clear illustration and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation manners here. And the obvious changes or modifications derived therefrom still fall within the protection scope of the present invention.

Claims

1. A pruning device for garden nursery stock, characterized in that Comprising: A traveling mechanism, on which a lifting mechanism is provided, on the lifting mechanism a telescopic mechanism is provided, and on the telescopic mechanism a pruning mechanism is provided; the traveling mechanism is used to drive the whole device to move, the lifting mechanism is used to drive the telescopic mechanism and the pruning mechanism to move up and down, and the telescopic mechanism is used to drive the pruning mechanism to switch different pruning states to adapt to seedlings of different shapes.

2. The pruning device for garden nursery stock according to claim 1, wherein The traveling mechanism includes a support chassis (2), on which a console (23), a first lidar (24) and a second lidar (31) are provided, and on the console (23) there are a display screen (22) and control buttons (21); at the bottom of the support chassis (2) there are traveling wheels (1).

3. The pruning device for garden nursery stock according to claim 2, wherein The lifting mechanism includes a slide rail support plate (16), which is connected to the support chassis (2) through a fixed base (20); on the side of the slide rail support plate (16) there are vertically arranged a first slide rail (25) and a second slide rail (29), and between the first slide rail (25) and the second slide rail (29) there is a lifting lead screw (28); on the lifting lead screw (28) there is a ball slider (3), and both sides of the ball slider (3) are respectively slidably connected to the first slide rail (25) and the second slide rail (29); on the fixed base (20) there is a motor base (19), and on the motor base (19) there is a motor (18), and the output shaft of the motor (18) is in transmission connection with the lifting lead screw (28).

4. The pruning device for garden nursery stock according to claim 3, wherein, The telescopic mechanism includes a telescopic arm fixing plate (4), which is arranged on the ball slider (3); on the telescopic arm fixing plate (4) there is a telescopic arm (15); at one end of the telescopic arm (15) away from the ball slider (3) there is a trimmer fixing plate (14); on the trimmer fixing plate (14) there is a tool fixing plate (13), and on the left and right sides of the tool fixing plate (13) there are respectively a first electric telescopic shaft (10) and a second electric telescopic shaft (12).

5. The pruning device for garden seedlings according to claim 4, characterized in that, The pruning mechanism includes a first fixed arm (6) and a second fixed arm (9), which are respectively connected to the output ends of the first electric telescopic shaft (10) and the second electric telescopic shaft (12) through a first connecting piece (5) and a second connecting piece (11); on the inner sides of the first fixed arm (6) and the second fixed arm (9) there are respectively a first tool (7) and a second tool (8).

6. The pruning device for garden seedlings according to claim 5, wherein, The first tool (7) and the second tool (8) are arc-shaped, the concave sides of the first tool (7) and the second tool (8) correspond to each other, and their ends close to the ball slider (3) are stacked up and down; the ends of the first tool (7) and the second tool (8) close to the ball slider (3) are both connected to the tool fixing plate (13).

7. The pruning device for garden nursery stock according to claim 6, wherein Both the first tool (7) and the second tool (8) are composed of a first blade (26) and a second blade (27) stacked up and down; the first blade (26) and the second blade (27) are stacked with staggered teeth up and down.

8. The pruning device for garden seedlings according to claim 7, wherein, There is a support frame (17) between the slide rail support plate (16) and the fixed base (20).

9. The pruning device for garden seedlings according to claim 8, wherein There is a depth camera (30) on the front side of the trimmer fixing plate (14).

10. A pruning method for the garden nursery stock pruning device according to any one of claims 1 to 9, characterized in that, Including the following steps: S1: Select a pruning mode from a cylinder, a cone, and an ellipse; S2: The depth camera (30) identifies the tree to be pruned, and the first lidar (24) and the second lidar (31) real-time feedback distance information, and the device moves to the side of the nursery stock to be pruned; S3: The lifting mechanism descends to the lowest end of the branches and leaves to be pruned; the opening angle of the pruning mechanism opens to the maximum; the telescopic mechanism is controlled to adjust the position of the pruning mechanism to the nursery stock; the electric telescopic shaft pushes the closing angle of the pruning mechanism to shrink to reach the pruning depth; according to the selected pruning mode, the lifting mechanism moves from bottom to top, and the closing angle of the pruning mechanism continuously changes according to the selected pruning mode to perform the pruning task; S4: After the pruning task is completed, each mechanism resets.

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