阅读说明：本技术 一种多功能盆景修剪装置及其方法 (A kind of Multifunctional bonsai clipping device and its method ) 是由 林文雅 于 2019-08-19 设计创作，主要内容包括：本发明属于园艺技术领域,具体涉及一种多功能盆景修剪装置及其方法。所述多功能盆景修剪装置,包括底座、转台、机械手,所述机械手通过铰接件固定连接于底座,所述转台位于底座上,用于带动盆景做旋转运动,便于修剪机构根据盆景修剪模型对盆景进行修剪；还包括修剪机构、控制机构,所述控制机构与转台、机械手、修剪机构电连接,所述控制机构用于利用递归神经网络、卷积神经网络建立盆景修剪模型,并根据盆景修剪模型控制转台、机械手、修剪机构的工作状态；所述修剪机构设于机械手端部,用于根据盆景修剪模型修剪盆景,实现盆景的个性化设计,使得盆景富含艺术性,更具有观赏价值。(The invention belongs to technical field of gardening, and in particular to a kind of Multifunctional bonsai clipping device and its method.The Multifunctional bonsai clipping device, including pedestal, turntable, manipulator, the manipulator is fixedly connected on pedestal by articulation piece, and the turntable is located on pedestal, for driving potted landscape to make rotating motion, model is trimmed according to potted landscape convenient for pruning mechanism, potted landscape is trimmed；It further include pruning mechanism, control mechanism, the control mechanism is electrically connected with turntable, manipulator, pruning mechanism, the control mechanism be used for using recurrent neural network, convolutional neural networks establish potted landscape trimming model, and according to potted landscape trim model cootrol turntable, manipulator, pruning mechanism working condition；The pruning mechanism is set to robot end, trims potted landscape for trimming model according to potted landscape, realizes the personalized designs of potted landscape, so that potted landscape is rich in artistry, has more ornamental value.)

1. a kind of Multifunctional bonsai clipping device, including pedestal, turntable, manipulator, the manipulator connects by the way that articulation piece is fixed Be connected to pedestal, the turntable is located on pedestal, for driving potted landscape to make rotating motion, it is characterised in that: further include pruning mechanism, Control mechanism, the control mechanism are electrically connected with turntable, manipulator, pruning mechanism, and the control mechanism is used to utilize recurrence mind Potted landscape trimming model is established through network, convolutional neural networks, and model cootrol turntable, manipulator, trimmer are trimmed according to potted landscape The working condition of structure；The pruning mechanism is set to robot end, trims potted landscape for trimming model according to potted landscape.

2. Multifunctional bonsai clipping device according to claim 1, it is characterised in that: the pruning mechanism includes that cutter drives Motivation structure, cutter, the cutter drives mechanism are electrically connected with the control mechanism, for driving cutter to carry out trimming behaviour to potted landscape Make.

3. Multifunctional bonsai clipping device according to claim 1 or 2, it is characterised in that: the cutter drives mechanism packet Motor, lead screw, sliding block, sliding rail are included, the cutter is set on sliding block, and the sliding block is connect with the screw rod, and the sliding block is logical Motor is crossed along sliding rail driving cutter trimming potted landscape.

4. Multifunctional bonsai clipping device according to claim 3, it is characterised in that: the cutter includes scissors, sawtooth One of or it is a variety of.

5. Multifunctional bonsai clipping device according to claim 1, it is characterised in that: the turntable includes shaft, turntable, Described shaft one end is connected to pedestal, and the other end is connected to turntable, for driving turntable to make rotating motion.

6. Multifunctional bonsai clipping device according to claim 1, it is characterised in that: the control mechanism includes that image passes Sensor, controller, described image sensor are set to the image information that robot end is used to obtain potted landscape growth；The controller It is set on pedestal, for handling the potted landscape growth image information of acquisition.

7. Multifunctional bonsai clipping device according to claim 1 or 6, it is characterised in that: the control mechanism further includes Image analysis terminal, described image analysing terminal carry out data with controller and dock, and grow image for potted landscape based on the received Information generates potted landscape and trims model information, and potted landscape trimming model information is sent to controller.

8. a kind of Multifunctional bonsai pruning method, it is characterised in that:

Potted landscape trimming model is established using recurrent neural network, convolutional neural networks；

According to potted landscape trim model cootrol turntable, manipulator, pruning mechanism working condition.

9. Multifunctional bonsai pruning method according to claim 8, it is characterised in that: further include the figure for obtaining potted landscape growth As information；

The image information obtained is handled, and is sent to image analysis terminal.

10. Multifunctional bonsai pruning method according to claim 8, it is characterised in that: further include potted landscape based on the received It grows image information and generates potted landscape trimming model information, and potted landscape trimming model information is sent to controller.

Technical field

The invention belongs to technical field of gardening, and in particular to a kind of Multifunctional bonsai clipping device and its method.

Background technique

Social people, which are particular about, now cultivates the moral character and nourishes the nature, and more and more people's selections plant flowers and plants landscape at oneself, still It but has no way of doing it to the trimming of flowers and plants landscape.The clipping device sold on the market now is mostly only single trimming effect, no Trimming reference can be provided for user, therefore, for the people commonly without gardening basis, need one kind that can provide for everybody Trim the flowers and plants clipping device of reference.

As patent No. CN201810502011.8 is disclosed a kind of trimming for flowers and plants landscape provides trimming reference model Method, the people on no gardening pruning basis can also trim out the flowers and plants landscape admired, and eliminate for different flowers Gardening engineer design link, save time and cost, a mediocrity can operate, control interface hommization, Short time limit is trimmed, work efficiency is high, and manufacturing cost is low, but structure is complicated for the flowers and plants clipping device, is not easy to take care of, only explanation Control system is trimmed according to trimming model-reference control trimming module, and trimming module includes telescoping mechanism and trimmer Structure, the telescoping mechanism are the telescopic rod in direction, adjustable in length, and the pruning mechanism includes scissors and saw blade, does not specify it Specific structure and its trim mode.

However some gardening pruning structures and its method are also disclosed at present, as patent No. CN201821108321.3 is disclosed A kind of multifunctional gardening pruning mechanical arm, provides a kind of small in size, and operating flexibility is motor-driven, and multiple functional gardening is pruned Mechanical arm, including master console, the turntable above master console, the support arm above turntable are located at branch The hydraulic stem of brace two sides, the function arm positioned at support arm front end, gripper and electric saw positioned at function arm front end, the support Arm is mounted on the middle position of turntable above console, and the support arm two sides are equipped with for controlling the hydraulic of manipulator motion Bar, the support arm and function arm are hinged, and function arm front end is equipped with the control device for controlling multi-motion, described Equipped with the gripper and pruning electric saw for clamping on control device.In order to solve tradition when carrying out gardening pruning, using people Work is pruned time-consuming and laborious problem, and this patent is designed to provide a kind of multifunctional gardening pruning manipulator easy to operate Arm, but the gardening pruning mechanical arm can only carry out single cut operator, and potted landscape cannot be placed in root on turntable It is trimmed according to the upgrowth situation of potted landscape, the place that can be touched is more unilateral, cannot perfectly trim, trim out at details The design of lacking individuality of potted landscape.

Summary of the invention

In order to solve above-mentioned potted landscape clipping device, structure is complicated, not easy to operate, and cut operator mode is single and potted landscape is trimmed The problems such as lacking individuality designs, the present invention provide a kind of Multifunctional bonsai clipping device and its method.

To achieve the above object, the technical scheme adopted by the invention is that: a kind of Multifunctional bonsai clipping device, including bottom Seat, turntable, manipulator, the manipulator are fixedly connected on pedestal by articulation piece, and the turntable is located on pedestal, for driving Potted landscape makes rotating motion, and further includes pruning mechanism, control mechanism, and the control mechanism is electrically connected with turntable, manipulator, pruning mechanism It connects, the control mechanism is used to establish potted landscape trimming model using recurrent neural network, convolutional neural networks, and is repaired according to potted landscape Cut model cootrol turntable, manipulator, pruning mechanism working condition；The pruning mechanism is set to robot end, is used for basis Potted landscape trims model and trims potted landscape.

Further, pruning mechanism includes cutter drives mechanism, cutter, the cutter drives mechanism and the control mechanism Electrical connection, for driving cutter to carry out cut operation to potted landscape.

Further, cutter drives mechanism includes motor, lead screw, sliding block, sliding rail, and the cutter is set on sliding block, institute It states sliding block to connect with the screw rod, the sliding block drives cutter to trim potted landscape by motor along sliding rail.

Further, cutter includes one of scissors, sawtooth or a variety of.

Further, turntable includes shaft, turntable, and described shaft one end is connected to pedestal, and the other end is connected to turntable, is used It makes rotating motion in drive turntable.

Further, control mechanism includes imaging sensor, controller, and described image sensor is used set on robot end In the image information for obtaining potted landscape growth；The controller is set on pedestal, for growing image information to the potted landscape of acquisition It is handled.

Further, control mechanism further includes image analysis terminal, and described image analysing terminal and controller carry out data Docking generates potted landscape for the growth image information of potted landscape based on the received and trims model information, and potted landscape is trimmed model information It is sent to controller.

A kind of Multifunctional bonsai pruning method,

Potted landscape trimming model is established using recurrent neural network, convolutional neural networks；

According to potted landscape trim model cootrol turntable, manipulator, pruning mechanism working condition.

Further, further include

Obtain the image information of potted landscape growth；

The image information obtained is handled, and is sent to image analysis terminal.

Further, further include based on the received potted landscape growth image information generate potted landscape trimming model information, and by basin Scape trimming model information is sent to controller.

The present invention provides a kind of Multifunctional bonsai clipping device, including pedestal, turntable, manipulator, and the manipulator passes through Articulation piece is fixedly connected on pedestal, and the turntable is located on pedestal, for driving potted landscape to make rotating motion, is convenient for pruning mechanism root Potted landscape is trimmed according to potted landscape trimming model；It further include pruning mechanism, control mechanism, the control mechanism and turntable, machinery Hand, pruning mechanism electrical connection, the control mechanism are used to establish potted landscape trim mode using recurrent neural network, convolutional neural networks Type, and according to potted landscape trim model cootrol turntable, manipulator, pruning mechanism working condition；The pruning mechanism is set to machinery Potted landscape is trimmed for trimming model according to potted landscape in hand end, realizes the personalized designs of potted landscape and the intelligence with potted landscape trimming work It can control, so that potted landscape is rich in artistry, have more ornamental value.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of Multifunctional bonsai clipping device；

Fig. 2 is the structural schematic diagram that pruning mechanism is opened；

Fig. 3 is the structural schematic diagram of pruning mechanism closure；

Fig. 4 is the flow chart of Multifunctional bonsai pruning method.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, is clearly and completely retouched to the technical solution in the present invention It states, it is clear that the described embodiments are merely a part of the embodiments of the present invention, instead of all the embodiments.

As shown in Figure 1-3, a kind of Multifunctional bonsai clipping device, including pedestal 1, turntable 2, manipulator 3, the manipulator 3 are fixedly connected on pedestal 1 by articulation piece, and the turntable 2 is located on pedestal 1, for driving potted landscape 4 to make rotating motion, also wraps Pruning mechanism, control mechanism are included, the control mechanism is electrically connected with turntable, manipulator, pruning mechanism, and the control mechanism is used for Potted landscape trimming model is established using recurrent neural network RNN, convolutional neural networks CNN, and model cootrol is trimmed according to potted landscape and is turned Platform, manipulator, pruning mechanism working condition；The pruning mechanism is set to robot end, for trimming model according to potted landscape Potted landscape is trimmed, the trimming direction of potted landscape from top to bottom is realized by manipulator；The clipping device of the present embodiment further includes power supply, institute It states power supply and provides power supply for control mechanism, pruning mechanism, manipulator, turntable.

It includes cutter drives mechanism 5, cutter 6 that pruning mechanism, which includes pruning mechanism, the cutter drives mechanism 5 and the control Mechanism electrical connection processed, for driving cutter to carry out cut operation to potted landscape；Cutter drives mechanism 5 includes motor 51, lead screw 52, slides Block 53, sliding rail 54, the cutter 6 are set on sliding block 53, and the sliding block 53 is connect with the screw rod 52, and the sliding block 53 passes through Motor 51 drives cutter to trim potted landscape along sliding rail 54；The cutter includes scissors or sawtooth, this is said for sentencing scissors Bright, the sliding block drives scissors to trim potted landscape along sliding rail, i.e. two knife handles of scissors are respectively arranged on sliding block, the knife of the scissors Handle can be fixedly connected on sliding block by existing articulation piece, sliding block by motor control its along sliding rail merge with point It opens, the opening and closure of scissors is realized, to trim to potted landscape；The motor of the present embodiment and the control mechanism signal pair It connects, electric machine operation state is controlled by control mechanism, realizes the opening and closing to scissors, to realize the trimming to potted landscape.

Turntable includes shaft, turntable, and described shaft one end is connected to pedestal, and the other end is connected to turntable, for band turn Disk makes rotating motion, and trims model according to potted landscape convenient for pruning mechanism and trims potted landscape, realizes potted landscape according to personal preference and potted landscape Growth tendency trim potted landscape.

Control mechanism includes imaging sensor, controller, image analysis terminal, and described image sensor is set to manipulator end Portion is used to obtain the image information of potted landscape growth；The controller is set on pedestal, for growing image to the potted landscape of acquisition Information is handled；Described image analysing terminal carries out data with controller and docks, and grows image for potted landscape based on the received Information generates potted landscape and trims model information, and potted landscape trimming model information is sent to controller, realizes that the personalization of potted landscape is set Meter and the intelligent control of potted landscape trimming work have more ornamental value so that potted landscape is rich in artistry.

Imaging sensor includes camera, video camera, camera etc., and the present embodiment is illustrated by taking camera as an example, this is taken the photograph Robot end is set to as first 7, and is set side by side with the pruning mechanism, so that passing through mechanical hand-motion before being trimmed Camera takes pictures to potted landscape, obtains the image information of potted landscape growth, which includes the letter such as branch, leaf, trunk Breath utilizes recurrent neural network RNN, convolutional Neural so that the potted landscape information that image analysis terminal obtains is more accurate convenient for it Network C NN establishes potted landscape trimming model, so that the trimming model of potted landscape has more feature.

Image analysis terminal includes mobile phone, plate, computer etc..The present embodiment, which takes the mobile phone as an example, to be illustrated, and mobile phone receives The image information of potted landscape growth, which includes the information such as branch, leaf, trunk, utilizes recurrence according to the image information Neural network RNN, convolutional neural networks CNN establish potted landscape trimming model, and the information of this potted landscape trimming model is transmitted to control Device processed realizes the personalized designs of potted landscape, enhances the ornamental value of potted landscape.

As shown in figure 4, a kind of Multifunctional bonsai pruning method,

S1: the image information of potted landscape growth is obtained；

The image information obtained is handled, and is sent to image analysis terminal；

It is namely taken pictures by machinery hand-motion camera to potted landscape, obtains the image information of potted landscape growth, the figure As information includes the information such as branch, leaf, trunk, the image information that camera obtains is transmitted to controller, and controller processing obtains The image information taken, and this information is sent to image analysis terminal phone, the growth shape of potted landscape is observed convenient for potted landscape grower State, and judge how the possible direction of growth of potted landscape and potted landscape put close to area without shade；

S2: potted landscape trimming model is established using recurrent neural network RNN, convolutional neural networks CNN；

Namely potted landscape growth image information generates potted landscape trimming model information to image analysis terminal based on the received, and will Potted landscape trimming model information is sent to controller；

Potted landscape grows image information based on the received i.e. on mobile phone, utilizes recurrent neural network RNN, convolutional neural networks CNN establishes potted landscape trimming model, and the information of this potted landscape trimming model is sent to controller；

S3: according to potted landscape trim model cootrol turntable, manipulator, pruning mechanism working condition；

I.e. controller receives potted landscape and trims model information, and controls turntable, manipulator, trimming according to the trimming model information The work of mechanism, potted landscape are placed on turntable, and when where needing to trim, potted landscape is rotated to the side convenient for pruning mechanism work To mechanical hand-motion pruning mechanism needs the place trimmed to trim in potted landscape, realizes the intelligent control of potted landscape trimming work System has more ornamental value so that potted landscape is rich in artistry.