201008480 九、發明說明： 【發明所屬之技術領域】 本發明係有關-觀藝造型之自動修剪裝置及方法，特別 是指-種具有測單元而可控娜剪路徑之園藝造型之自動 修剪裝置及方法’其兼具自動造型修剪、使用範圍廣及造型變 化多等優點及功效。 【先前技術】 如第一及第二圖所示，習知花木修剪裝置90需以-固定 座91女裝於貨車8〇上，並利用貨車8〇之行進方向與該花 木修剪裝置9GA-車軌92移動的方向，使—旋轉刀座⑽進 行不同位置之修剪。 然而’由於貨車8G具有-定的重量及體積，使得習知花 木修剪裝㈣只能細在可供貨車8()練之道路及空間内的 修剪作業。 • 、，例來說’ 一般公園中，許多的樹木都種植在草皮上，若 、u花木修剪裝置i^行修剪，職車的重量赋會料皮造成 . 破壞，影響整體美觀；且公園内之道路大多為人行走道，其空 . 残合貨車之概，耻1知花木修剪裝置僅適合修剪 般種植於車道旁之花草樹木，可使用之顧有所偈限。 另外’如第二圖所不’習知花木修煎裝置9〇之旋轉刀座 93雖可作_預定角度0之調整’使修剪之外型有所變化，但 其形狀僅限於-些簡單的幾何_(如三角形、矩形），若要使 201008480 花木達到一特殊外型，增加視覺效果，只能以人工修剪之方法 來達到造型的變化，但人工修剪之造型，則可能因技術、經驗 等相關因素，而無法完成某些特殊造型或修剪之造型與預先設 定之造型有所落差。 因此，有必要研發新產品，以解決上述缺點及問題。 【發明内容】 本發明之主要目的’在於提供一種園藝造型之自動修剪裝 置及方法，其具有自動造型修剪之功能。 本發明之次一目的，在於提供一種園藝造型之自動修剪裝 置及方法，其使用範圍廣。 本發明之再一目的’在於提供一種園藝造型之自動修剪裝 置及方法’其具有造型變化多之優點。 本發明係提供一種園藝造型之自動修剪裝置及方法，其裝 置部分係包括： 一主架，其係具有一對第一軌道、一可供該主架移動之輪 組及至少一固定部；該輪組係設有複數活動輪，而該固定部係 用以將該主架作一定位； 活動架，其係具有兩第一配合部、一第一驅動部及一第 一軌道；該兩第一配合部係分別設於該對第一執道上並藉由 該第一驅動部之動力傳輸，使該活動架於該第一軌道上作一第 一軸向之移動； 修剪裝置，其係具有一第二配合部、一第二驅動部一 201008480 伸縮才干部、—第三驅動部、—切航件組及—第四驅動部；該 第二配合部係設於該活動架之第二_上，__^_ 部之動力傳輸，使歸剪裝置職第二軌道上作1二轴向z 之移動’該第二驅動部係可驅動該伸縮桿部沿—第三抽向延伸 或收縮-預定長度，而該切割树組係可枢轉的設於該伸縮桿 部延伸之末端上，麟由該第四㈣部之驅動來達到旋轉； -控制單元，其係具有—顯示部、—主機及—控制部，該 主機係具有-造㈣料庫’ *馳卿係舰域之控制而驅 動該第一驅動部、該第二驅動部、該第三驅動部及該第四驅動 部，以控制該切割元件組之作動、停止及移動位置。 其方法部分則包括： 一·準備步驟； 二.取像步驟； 三·圖像選擇步驟； 四•裝置定位步驟； 五.執行步驟及六；及 六完成步驟。 本發明之上述目的與優點，不難從下述所選用實施例之詳 細說明與附圖中，獲得深入瞭解。 茲以下列實施例並配合圖式詳細說明本發明於後： 【實施方式】 本發明係為一種園藝造型之自動修剪裝置及方法’其裝置 201008480 部&如第三、第四及第五騎示係包括： 一主架10，其係具有一對第一執道11、一可供該主架10 移動之輪組12及至少一固定部13 ;該輪組12係設有複數活 動輪121，而軸定部13侧以將該主架10作-定位；201008480 IX. Description of the invention: [Technical field of the invention] The present invention relates to an automatic trimming device and method for viewing and styling, in particular to an automatic trimming device for gardening with a measuring unit and a controllable path The method 'has the advantages and functions of automatic shape trimming, wide use range and many shape changes. [Prior Art] As shown in the first and second figures, the conventional flower trimming device 90 requires the female seat 91 to be worn on the truck 8 and utilizes the traveling direction of the truck 8 and the flower trimming device 9GA-vehicle. The direction in which the rail 92 moves causes the rotating blade holder (10) to be trimmed at different positions. However, because the truck 8G has a fixed weight and volume, the conventional flower trimming device (4) can only be finely trimmed in the road and space available for the truck 8 (). • ,, for example, in the general park, many trees are planted on the turf. If the u-tree trimming device is trimmed, the weight of the car will be caused by the skin. The damage will affect the overall appearance; Most of the roads are pedestrian walkways, and they are empty. The wreckage of the trucks, the shame of the flowers and trees trimming device is only suitable for pruning plants and trees planted next to the driveway, and there are limits to use. In addition, as shown in the second figure, the rotating blade holder 93 of the flower-shaping device 9 can be adjusted to a predetermined angle of 0, so that the shape of the trimming is changed, but the shape is limited to a simple one. Geometry _ (such as triangles, rectangles), in order to make 201008480 flowers and trees to achieve a special appearance, increase the visual effect, can only be artificially trimmed to achieve the shape change, but the artificial trimming shape may be due to technology, experience, etc. Related factors, and can not complete some special styling or trimming style and the pre-set shape has a gap. Therefore, it is necessary to develop new products to solve the above shortcomings and problems. SUMMARY OF THE INVENTION The main object of the present invention is to provide an automatic trimming device and method for gardening, which has the function of automatic shape trimming. A second object of the present invention is to provide an automatic trimming apparatus and method for gardening, which has a wide range of uses. A further object of the present invention is to provide an automatic trimming device and method for horticultural modeling, which has the advantage of having a large variety of shapes. The present invention provides an automatic trimming device and method for horticultural modeling, the device portion of which includes: a main frame having a pair of first rails, a wheel set for moving the main frame, and at least one fixing portion; The wheel set is provided with a plurality of movable wheels, and the fixed part is used for positioning the main frame; the movable frame has two first engaging portions, a first driving portion and a first track; a matching portion is respectively disposed on the pair of first lanes and transmits the movable frame on the first rail by a power transmission of the first driving portion; the trimming device has a trimming device a second mating portion, a second driving portion, a 201008480 telescopic trunk, a third driving portion, a cut-off member group, and a fourth driving portion; the second mating portion is disposed in the second of the movable frame The power transmission of the __^_ portion causes the movement of the two axial axes z on the second track of the shearing device. The second driving portion can drive the telescopic rod portion to extend or contract along the third drawing direction. a predetermined length, and the cutting tree group is pivotally disposed on the telescopic rod At the end, the lin is driven by the fourth (four) part to rotate; the control unit has a display unit, a host, and a control unit, and the host system has a - (four) material library. The first drive unit, the second drive unit, the third drive unit and the fourth drive unit are driven by the control of the domain to control the actuation, stop and movement positions of the cutting element group. The method part includes: a preparation step; 2. an image capture step; a third image selection step; a fourth device positioning step; a fifth execution step and a sixth completion step. The above objects and advantages of the present invention will be readily understood from the following detailed description of the preferred embodiments illustrated herein. The present invention will be described in detail below with reference to the following embodiments: [Embodiment] The present invention relates to an automatic trimming device and method for gardening modeling, the device of which is 201008480 & third, fourth and fifth riding The system includes: a main frame 10 having a pair of first lanes 11, a wheel set 12 for moving the main frame 10, and at least one fixing portion 13; the wheel set 12 is provided with a plurality of movable wheels 121 And the side of the shaft portion 13 is used to position the main frame 10;
一活動架20，其係具有兩第一配合部2卜一第一驅動部 及第一軌道23;該兩第—配合部21係分別設於該對第一 軌道11上’補_第_驅動部22之動力傳輸使該活動架 20於該第—軌道Π上作一第-軸向X之移動； 修剪裝置30，其係具有一第二配合部31、一第二驅動 邠32、一伸縮桿部33、一第三驅動部34、一切割元件組35 第四驅動36，該第二配合部31係設於該活動架2〇之 第一軌道23上’並藉由該第二驅動部32之動力傳輸使該修 剪裝置3G於該第二軌道23上作—第二轴向z之移動；該第三 驅解34係可驅動該伸縮桿部33沿―第三轴向γ延伸或收縮 一預定長度L，元件組35财轉的設於該伸縮桿 部33延伸之末端上，並藉由該第四驅動部洲之驅動來達到旋 轉； -控制早7L 40，其係具有—顯示部4卜_域42及一控 制部43 ’該主機42係具有-造型資料庫42i，而該控制部43 係依該主機42之控制而驅動該第—驅動部22、該第二驅動部 32、該第三驅動部34及該第四驅動部％，以控制該切割元件 201008480 組35之作動、停止及移動位置。 更詳細的說，該蝴元件組35係具有至少—個切割元件 51而該伸船干部33延伸之末端係為—多邊形錐面或一圓錐 面’虽該切割το件組35具有複數個切割元件351時，則複數 個切割元件351間係以相同之角度差設於雜面上(如第四及第 五圖所示，假設該伸縮桿部33延伸之末端係為一圓錐而該 切割元件組35係具有三個切割元件351，則三個切割元件351 間分別以120度之角度差設於該圓錐面上）。 關於該第-驅動部22、該第二驅動部32及該第三驅動部 34 ’其係皆設有-速度賴元件及—位伽授元件（圖中未 示），使該_元件組35之實際移練置與速度可贿至該控 制部43，以確認該切割元件組35之實際移動位置與預定移動 位置相符。 而關於該控制單元4〇與該第四驅動部36間，又設有一繼 電器（圖中未示）’以控制該切割元件組35之作動停止；且 該控制單元40設有-用以提供電力之供電裝置44(如第三圖 所示）。 如第六、第七及第八圖所示，係為本發明之園藝造型之自 動修剪方法，其包括下列步驟： 一.準備步驟61 :準備一影像擷取單元50及一園藝造型 之自動修剪裝置；該園藝造型之自動修剪裝置係包括·· 201008480 一主架10，其係具有一對第一軌道u、一可供該主 架10移動之輪組12及至少-固定部13 ;該輪組12係設有複 數活動輪121 ’而該固定部13係用以將該主架1Q作-定位； 一活動架20，其係具有兩第一配合部2卜一第一驅 動P 22及第—軌道23 ;兩第一配合部係分別設於該對 第執道11上，並藉由該第一驅動部22之動力傳輸，使該活a movable frame 20 having two first mating portions 2, a first driving portion and a first rail 23; the two first mating portions 21 are respectively disposed on the pair of first rails 11 'complement_first_driver The power transmission of the portion 22 causes the movable frame 20 to perform a first-axis X movement on the first track cymbal; the trimming device 30 has a second engaging portion 31, a second driving cymbal 32, and a telescopic a rod portion 33, a third driving portion 34, a cutting element group 35, a fourth driving portion 36, the second mating portion 31 is disposed on the first rail 23 of the movable frame 2' and by the second driving portion The power transmission of 32 causes the trimming device 3G to perform a movement of the second axial direction z on the second track 23; the third drive 34 can drive the telescopic rod portion 33 to extend or contract in the "third axial direction γ" a predetermined length L, the component group 35 is provided on the end of the extension of the telescopic rod portion 33, and is rotated by the driving of the fourth driving portion; - control early 7L 40, which has a display portion 4 _ domain 42 and a control unit 43 'The host 42 has a styling database 42i, and the control unit 43 is driven by the control of the host 42 - of the drive unit 22, the second driving portion 32, the third driving section and the fourth driving section 34%, the cutting element to control the actuator group 35 201 008 480, the position and the movement stops. In more detail, the butterfly element group 35 has at least one cutting element 51 and the end of the extension ship 33 is a polygonal cone or a conical surface. Although the cutting group 35 has a plurality of cutting elements. At 351, a plurality of cutting elements 351 are disposed on the mating surface with the same angular difference (as shown in the fourth and fifth figures, assuming that the end of the telescopic rod portion 33 extends is a cone and the cutting element group The 35 series has three cutting elements 351, and the three cutting elements 351 are respectively disposed on the conical surface with an angular difference of 120 degrees. The first driving unit 22, the second driving unit 32, and the third driving unit 34' are each provided with a speed-rate element and a-bit gamma element (not shown), such that the element group 35 The actual shifting speed and speed can be bribed to the control unit 43 to confirm that the actual moving position of the cutting element group 35 coincides with the predetermined moving position. And a relay (not shown) is further disposed between the control unit 4 and the fourth driving unit 36 to control the stopping of the cutting element group 35; and the control unit 40 is provided to provide power Power supply unit 44 (as shown in the third figure). As shown in the sixth, seventh and eighth figures, the method for automatically trimming the gardening shape of the present invention comprises the following steps: 1. Preparation step 61: preparing an image capturing unit 50 and an automatic trimming of a gardening shape. The automatic trimming device of the horticultural styling includes a main frame 10 having a pair of first rails u, a wheel set 12 for moving the main frame 10, and at least a fixing portion 13; The group 12 is provided with a plurality of movable wheels 121' and the fixed portion 13 is used for positioning the main frame 1Q; a movable frame 20 having two first engaging portions 2 and a first driving P 22 and - a track 23; the two first mating portions are respectively disposed on the pair of lanes 11 and are transmitted by the power of the first driving portion 22 to make the live
動架20於該第一軌道11上作一第-轴向X之移動； 一修剪裝置30，其係具有n合部31、一第二 _部32 ' -伸縮桿部33、—第三驅動部料、—切割元件組 35及第四驅動部36 ;該第二配合部31係設於該活動架20 之第二軌道23上’ il藉由該第二驅動部32之動力傳輸，使該 修剪裝置30於二軌道23上作—第二㈣z之移動；該第 二驅動部34係可驅動該伸縮桿部33沿_第三轴向γ作一預定 長度L之延伸錢縮，而該蝴元件組&係可轉的設於該 伸縮桿部33延伸之末端上，並藉由該第四驅動部3 達到旋轉； 一控制單元40,其係具有—顯示部41、—主機公及 :控制部43，該主機42係具有一造型資料庫421，而該控制 部43係依該主機42之控制而驅動該第—驅動㈣二 驅動部32、鄕三_ 34糊,部36，以控制該: 割兀件組35之作動、停止及移動位置； μ 201008480 二·取像步驟62 :如第八圖所示，將一預定物件7〇定義 一 3D座標系，再於對應該3D座標系之χ_ζ平面A1與^三平 面A2之位置逐一進行該影像擷取單元5〇之預定距離s定位及 倍率調整，並對該預定物件7〇擷取一物件影像71，再將擷取 之物件影像71、定位之預定距離s及倍率儲存至該主機42， 使該主機42可分析該預定物件7〇之外形輪廓尺寸範圍； 三.圖像選擇步驟63 :於該造型圖像庫421中選取一造 型圖像421A(可利用多種不同之軟體來設計，再將設計完成之 圖形儲存至該造型資料庫421);如第九圖所示，一般較常用 於花木之造型圖像421A至少包括：保齡球瓶、動物或幾何圖 形等設計；並於該顯示部41上與儲存於該主機42之物件影像 71作一比例之調整(如第九圖所示，將所選擇之造型圖像 之與該物件影像71作比例之比對，來調整修剪之造型大小， 當該造型圖像421A比例太大或太小時，則調整至—較適當之 比例）’使該主機42分析-預定修剪路徑，再確認該切割元件 、、且35之移動範圍係可完成預定修剪路徑之移動，若預定修剪 路徑範圍超㈣蝴元件組35之可_範圍麵續進行比 例之調整； 四·裝置定位步驟64 :將本發明之園藝造型之自動修剪 裝置定位於一特定位置； 五·執行步驟65 :在裝置定位夺認後，即以該主機42執 201008480 行啟動，使該控制部43驅_第一_部22、該第二驅動部 32、該第三驅動部34及該第四驅動部36之作動，進而控制該 切割元件組35之作動、停止及就修剪触之移動(如第十圖 所示，該切割元件叙35係由一第一預定位置ρι移動至一第二 預定位置P2); 一 六.完成步驟66 :在該切割元件組35完成預定修剪路徑 後，即得到一外型與選取之造型圖像42U相符之預定物件… 如第十-及第十二騎示，關於該取像步驟62，當該預定物 件70定義_ 3D座標系後，其係具有兩χ_ζ平面M及兩γ_ζ 平面Α2 ;當該預定物件7〇之外形較為規則（或對稱)時只須 對應- Χ-Ζ平面Α1與- γ-Ζ平面Α2進行該預定物件7〇之影 賴取(如第十二圖所示）；當該預定物件7()之外形較不規則 時，則必須對應三平面（如兩χ_ζ平面A1與一 γ_ζ平面A2， 或兩Y-Z平面A2與-Χ-Ζ平面A1)或四平面（兩χ—z平面A1 及兩Y-Z平面A2)進行擷取(如第十三圖所示）。 關於本發明之園藝造型之自動修剪裝置之較佳實施方 式’其係如第十四圖所示，—攝影裝置所拍攝之影像係傳至 -個人電腦，而該控則細該個人電腦之指令驅動一機器 手臂作X、Y、Z軸之移動，且以速度回授及位置回授來確認一 剪裁刀之實際移動位置與預定之移動位置是否相符進而完成 樹木之修剪。 12 201008480 更詳細的說，該預定修剪路徑依修剪之輪廓、尺寸或範圍 之不同亦可分割為複數修剪路徑，使本發明之園藝造型之自動 修剪裝置於不同之定位點上分段進行修剪；以兩次修剪來說， 假設將該預定物件70分為一第一區塊7〇A及一第二區塊 70B(如第一圖所示），而該預修剪路徑係分為一第一路徑及 一第二路徑，縣發明之園藝造型之自絲f裝置係先於該第 一區塊70A之範圍内進行裝置定位步驟64及執行步驟65，完 成該第—路徑之修剪後，再移動至該第二區塊70B之範圍，並 重複裝置定位步驟64及執行步驟65，進行該第二路徑之修 剪’即可完成所需之造型。 關於本發明之實際應用’其係可適用於一般公園、住家庭 園或道路旁等花草樹木之自動修剪，達到不同之造型變化。 綜上所述，本發明之優點及功效可歸納為·· [1] 自動造型修剪。由於習知花木修剪裝置僅能將花木之 外型修剪整齊或修剪為簡單之幾何_，因此，特殊的造型往 往必須藉由人J1修剪之方式來達成；而本發明^需將欲修剪之 化木外型作-影像娜’並選取—造卵像作_比例調整後， 即可將本發明之園藝造型裝置作—定位、啟動，使其依一預定 修剪路徑自動進行修剪，達到所需之造型。 [2] 使用翻廣。習知花木修剪裝置在使用上必須與貨車 配合來達到行進’因此，具有體積及題，可使用之範 13 201008480 圍具有一定之侷限，而本發明利用該輪組及該固定部，即可達 到移動，所需之移動空間小且重量較輕，可使用之場合較不受 到侷限，故，本發明具有使用範圍廣之優點。 [3]造型變化多。一般人工修剪之造型可能因技術及經驗 等相關因素，而無法完成某錄殊造型；而本發明可於該造型 資料庫中儲存多種造型圖像，再於使用時選取所需之造型圖 像，即可自動進行修剪，完全不需具備修剪技術及經驗，故， 本發明具有造型變化多之優點。 以上僅是藉由較佳實施例詳細說明本發明，對於該實施例 所做的任何簡單修改與變化，皆不脫離本發明之精神與範圍。 由以上詳細說明，可使熟知本項技藝者明瞭本發明的確可 達成前述目的，實已符合專利法之規定，爰提出發明專利之申 201008480 【圖式簡單說明】 第一圖係習知花木修剪裝置的示意圖 第二圖係習知花木修剪裝置之旋轉刀座之角度變化的示意圖 第三圖係本發明之實施例之示意圖 第四圖係本發明之切割元件組與伸縮桿部之組裝的示意圖 第五圖係本發明之切割元件組與伸縮桿部之組裝的正面示意 圖The moving frame 20 performs a first-axis X movement on the first rail 11; a trimming device 30 having an n-portion 31, a second-portion 32'-the telescopic rod portion 33, and a third drive a part, a cutting element group 35 and a fourth driving part 36; the second engaging part 31 is disposed on the second rail 23 of the movable frame 20, and the il is transmitted by the power of the second driving part 32. The trimming device 30 performs a second (four) z movement on the two rails 23; the second driving portion 34 can drive the telescopic rod portion 33 to extend along the third axial direction γ for a predetermined length L, and the butterfly The component group & is rotatably disposed at the end of the extension of the telescopic rod portion 33, and is rotated by the fourth driving portion 3; a control unit 40 having a display portion 41, a main body and: The control unit 43 has a modeling database 421, and the control unit 43 drives the first (four) two driving unit 32, the third unit 34, and the unit 36 to control according to the control of the host 42. The action, the stop and the moving position of the cutting member group 35; μ 201008480 2. The image capturing step 62: as shown in the eighth figure, the predetermined object 7 is determined a 3D coordinate system, and corresponding to the position of the D_ζ plane A1 and the ^3 plane A2 corresponding to the 3D coordinate system, the predetermined distance s positioning and magnification adjustment of the image capturing unit 5〇 are performed one by one, and the predetermined object 7 is captured. An object image 71 is further stored to the host 42 by the captured object image 71, the predetermined distance s and the magnification of the positioning, so that the host 42 can analyze the outline size range of the predetermined object 7 ;; 3. Image selection step 63: Select a modeling image 421A in the modeling image library 421 (which can be designed by using a plurality of different softwares, and then save the designed graphic to the modeling database 421); as shown in the ninth figure, generally The styling image 421A, which is often used for flowers and trees, includes at least a design of a bowling pin, an animal or a geometric figure, and is adjusted on the display portion 41 in proportion to the object image 71 stored in the main unit 42 (as shown in the ninth figure). The ratio of the selected shape image to the object image 71 is adjusted to adjust the size of the trimming shape. When the proportion of the shape image 421A is too large or too small, the ratio is adjusted to a more appropriate ratio. Make the Lord 42 analysis - predetermined trimming path, and then confirming the cutting element, and the range of movement of 35 can complete the movement of the predetermined trimming path, if the predetermined trimming path range exceeds (4) the _ range of the butterfly component group 35 continues to be scaled; 4. Device positioning step 64: positioning the automatic trimming device of the gardening model of the present invention at a specific position; 5. Performing step 65: after the device is positioned and recognized, the host computer 42 is activated by the 201008480 line to make the control portion Actuation of the first drive unit 22, the second drive unit 32, the third drive unit 34, and the fourth drive unit 36, thereby controlling the actuation, stopping, and trimming movement of the cutting element group 35 ( As shown in the tenth figure, the cutting element 35 is moved from a first predetermined position ρι to a second predetermined position P2); a six. Completion step 66: after the cutting element group 35 completes the predetermined clipping path, Obtaining a predetermined object conforming to the selected modeling image 42U... As for the tenth-and twelfth riding, with respect to the capturing step 62, when the predetermined object 70 defines the _3D coordinate system, the system has two Χ_ζplane M and two γ_ ζ plane Α 2; when the predetermined object 7 〇 is more regular (or symmetrical), it only needs to correspond to - Χ - Ζ plane Α 1 and - γ - Ζ plane Α 2 to perform the predetermined object 7 〇 (such as the twelfth When the predetermined object 7() is irregular, it must correspond to three planes (such as two χ_ζ plane A1 and one γ_ζ plane A2, or two YZ planes A2 and -Χ-Ζ plane A1) or The four planes (two χ-z plane A1 and two YZ planes A2) are captured (as shown in Fig. 13). A preferred embodiment of the automatic trimming device for horticultural styling of the present invention is as shown in Fig. 14, wherein the image taken by the photographic device is transmitted to a personal computer, and the control commands the personal computer. A robot arm is driven to move the X, Y, and Z axes, and the speed feedback and the position feedback are used to confirm whether the actual moving position of the cutting knife matches the predetermined moving position to complete the trimming of the tree. 12 201008480 In more detail, the predetermined trimming path may be divided into a plurality of trimming paths according to the contour, size or range of the trimming, so that the automatic trimming device of the gardening model of the present invention is segmented and trimmed at different positioning points; In the case of two trims, it is assumed that the predetermined object 70 is divided into a first block 7A and a second block 70B (as shown in the first figure), and the pre-trimming path is divided into a first The path and the second path, the device for horticultural modeling of the county invention performs the device positioning step 64 and the step 65 before the first block 70A, and after the trimming of the first path is completed, the device moves. Up to the range of the second block 70B, and repeating the device positioning step 64 and performing step 65, performing the trimming of the second path can complete the desired shape. With regard to the practical application of the present invention, it can be applied to automatic trimming of flowers and trees, such as in general parks, homes, or roads, to achieve different style changes. In summary, the advantages and effects of the present invention can be summarized as [1] automatic modeling and trimming. Since the conventional flower-wood trimming device can only trim or trim the exterior of the flower and tree into a simple geometry, the special shape often has to be achieved by means of human J1 trimming; and the present invention needs to be trimmed. After the wooden appearance type - image Na ' and selected - the egg-making image _ ratio adjustment, the gardening molding device of the invention can be positioned and activated to automatically trim according to a predetermined clipping path to achieve the desired modeling. [2] Use wide. The conventional flower-pruning device must be used in conjunction with the truck to achieve the travel. Therefore, it has a volume and a problem, and the usable specification 13 201008480 has certain limitations, and the present invention can be achieved by using the wheel set and the fixing portion. The moving, the required moving space is small and the weight is light, and the use can be less restricted. Therefore, the present invention has the advantage of wide use range. [3] There are many changes in style. Generally, the artificial trimming shape may not be able to complete a certain recording style due to related factors such as technology and experience; and the present invention can store a plurality of modeling images in the modeling database, and then select a desired modeling image when using, The trimming can be performed automatically, and the trimming technique and experience are not required at all, so the invention has the advantages of many changes in shape. The present invention has been described in detail by the preferred embodiments of the present invention. From the above detailed description, those skilled in the art can understand that the present invention can achieve the above-mentioned objects, and has met the requirements of the patent law, and has filed a patent for invention 201008480. [Simple description of the drawings] The first figure is a conventional flower-pruning BRIEF DESCRIPTION OF THE DRAWINGS FIG. 2 is a schematic view showing a change in the angle of a rotary blade holder of a conventional flower-pruning device. FIG. 3 is a schematic view showing an embodiment of the present invention. FIG. 4 is a schematic view showing the assembly of the cutting element group and the telescopic rod portion of the present invention. The fifth figure is a front view showing the assembly of the cutting element group and the telescopic rod portion of the present invention.
第六圖係本發明之修剪方法的基本步驟之流程圖 第七圖係本發明之修剪方法的詳細步驟的流程圖 第八圖係本發明之預定物件影像擷取的示意圖 第九圖係本發明之造型圖像之比例調整的示意圖 第十圖係本發明之實際修剪方式操作的示意圖 第十-_本發明之另—種預定物件影像擁取的示意圖 第十二圖係本發明之規則預定物件之影像齡的示意圖 第十三圖係本發明之不規則預定物件之影像摘取的示意圖 第十四圖係本發明之_造型之自祕錄置之實施例的方 塊不意圖 11第一軌道 121活動輪 20活動架 22第一驅動部 【主要元件符號說明】 10主架 12輪組 13固定部 21第一配合部 2010084806 is a flow chart of the basic steps of the pruning method of the present invention. FIG. 7 is a flow chart showing detailed steps of the pruning method of the present invention. FIG. 8 is a schematic view of the predetermined object image capture of the present invention. FIG. 10 is a schematic view showing the operation of the actual trimming mode of the present invention. FIG. 10 is a schematic diagram of another predetermined object image capturing. The twelfth drawing is a predetermined object of the present invention. FIG. 13 is a schematic view showing an image pickup of an irregular predetermined object of the present invention. FIG. 14 is a block diagram of an embodiment of the present invention. Movable wheel 20 movable frame 22 first driving part [main component symbol description] 10 main frame 12 wheel set 13 fixing part 21 first matching part 201008480
23第二軌道 31第二配合部 33伸縮桿部 35切割元件組 36第四驅動部 41顯示部 421造型資料庫 43控制部 50影像擷取單元 62取像步驟 64裝置定位步驟 66完成步驟 70A第一區塊 71物件影像 90花木修剪裝置 92車轨 X第一軸向 Z第二轴向 A2 Y-Z平面 P2第二預定位置 S預定距離 30修剪裝置 32第二驅動部 34第三驅動部 351切割元件 40控制單元 42主機 421A造型圖像 44供電裝置 61準備步驟 63圖像選擇步驟 65執行步驟 70物件 70B第二區塊 80貨車 91固定座 93旋轉刀座 Y第三軸向 A1 X-Z平面 P1第一預定位置 L預定長度 0預定角度 1623 second track 31 second engaging portion 33 telescopic rod portion 35 cutting element group 36 fourth driving portion 41 display portion 421 modeling database 43 control portion 50 image capturing unit 62 image capturing step 64 device positioning step 66 completion step 70A A block 71 object image 90 flower trimming device 92 car track X first axis Z second axis A2 YZ plane P2 second predetermined position S predetermined distance 30 trimming device 32 second driving portion 34 third driving portion 351 cutting element 40 control unit 42 host 421A modeling image 44 power supply device 61 preparation step 63 image selection step 65 execution step 70 object 70B second block 80 truck 91 fixed seat 93 rotating knife seat Y third axis A1 XZ plane P1 first Predetermined position L predetermined length 0 predetermined angle 16