CN108243761A - The tree potted landscape clipping device and pruning method of a kind of unmanned plane - Google Patents
The tree potted landscape clipping device and pruning method of a kind of unmanned plane Download PDFInfo
- Publication number
- CN108243761A CN108243761A CN201810067845.0A CN201810067845A CN108243761A CN 108243761 A CN108243761 A CN 108243761A CN 201810067845 A CN201810067845 A CN 201810067845A CN 108243761 A CN108243761 A CN 108243761A
- Authority
- CN
- China
- Prior art keywords
- module
- data processing
- unmanned plane
- processing module
- potted landscape
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G7/00—Botany in general
- A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Wood Science & Technology (AREA)
- Botany (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses the tree potted landscape clipping devices and pruning method of a kind of unmanned plane,Including interactive module,Clipping device,There-dimensional laser scanning device,Data processing module,Path planning module,Flight control modules and main control module,The interactive module and data processing module wireless two-way data connection,The clipping device is connect with unmanned plane ontology,And with the two-way electric connection of main control module,The there-dimensional laser scanning device is connect with unmanned plane ontology,And it is unidirectionally electrically connected with data processing module,The path planning module and the two-way electric connection of data processing module,The path planning module is unidirectionally electrically connected with flight control modules,The main control module and the two-way electric connection of data processing module,It overcomes traditional horticulture person by ladder,Big secateurs tool cuts the security risk of branch,It also reduces operator and operates the difficulty that UAV flight's clipping device carries out pruning trees.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, specifically, the tree potted landscape trimming the present invention relates to a kind of unmanned plane
Equipment and pruning method.
Background technology
Trimming is a kind of main method of tree potted landscape moulding, and is to safeguard the indispensable means of tree potted landscape moulding.
The reasonable growth to coordinating tree potted landscape each section is trimmed, maintains the graceful posture of tree potted landscape, Accelerate bloom is as a result, anti-cure the disease
Insect pest has important role.
Traditional pruning is that manually big secateurs is trimmed using one.Big secateurs weight is big, and worker uses expense
Power, and grind hand, it is impossible to it uses for a long time, pruning inefficiency also wastes manpower.The structure of big secateurs is simple, can only carry out
Single cut operator, the place that can be touched is more unilateral, cannot perfectly be trimmed at details.In addition because of big secateurs weight
Greatly, worker is held using laborious, and the cutting range that can be touched is with regard to relative reduction, the range of trimming also relative decrease.
For problem above, the Chinese invention patent application No. is 201710462547.7 discloses one kind with trimming plant
The intelligent unmanned plane of object function, including fuselage, propeller and stent, fuselage further includes clipping device, and clipping device includes knife
Piece, jack, rotating mechanism and fixed mechanism, jack include the first motor, the first roller gear, lifting platform and folding and unfolding
Component, rotating mechanism include the second motor, driving wheel, driven wheel, belt, shaft and turntable, fixed mechanism include third motor,
Driving plate, fixed plate and fixation kit, should be with the intelligent unmanned plane for trimming plant function, when people need to plant some
Object, such as when boxtree carries out the trimming of branch, the clipping device of unmanned plane can be started so that unmanned plane trims plant in flight
Object, it is not only time saving and energy saving compared to artificial trimming, it reduces labor intensity, moreover it is possible to so that the height of trimming is always consistent, trimming
Effect is more preferable, in addition, the blade for trimming can be removed quickly from clipping device, without being dismantled, convenient for blade more
It changes.
The patent solves the traditional artificial deficiency trimmed using big secateurs to a certain extent.But the patent exists
To need certain operating technology ability due to manipulating the trimming unmanned plane to carry out trimming in practical application, pair with repairing commonly
It cuts for personnel, it is difficult to which left-hand seat operates, and will result in tree potted landscape in this way and trims improper, the safe security risk increase of device.
Invention content
The present invention provides a kind of the tree potted landscape clipping device and pruning method of unmanned plane, it overcomes traditional horticulture
Person cuts the security risk of branch by ladder, big secateurs tool, also reduces operator and operates UAV flight's clipping device
Carry out the difficulty of pruning trees.
To achieve these goals, the technical solution taken of the present invention is：A kind of tree potted landscape clipping device of unmanned plane
And pruning method, including interactive module, clipping device, there-dimensional laser scanning device, data processing module, path planning module,
Flight control modules and main control module, the interactive module and data processing module wireless two-way data connection, the trimming dress
Put and connect with unmanned plane ontology, and with the two-way electric connection of main control module, the there-dimensional laser scanning device and unmanned plane ontology
Connection, and be unidirectionally electrically connected with data processing module, the path planning module and the two-way electric connection of data processing module,
The path planning module is unidirectionally electrically connected with flight control modules, and the main control module is two-way electrically with data processing module
Connection.
Preferably, the pruning method specifically includes following steps：
1), take off unmanned plane, by unmanned plane around one circle of tree potted landscape flight to be trimmed, makes the three-dimensional of unmanned plane carry
The tree potted landscape that laser scanning device treats trimming is scanned, and data processing module obtains the three-dimensional information number of the tree potted landscape
According to then automatically generating the three-dimensional stereo model of tree potted landscape in interactive module.
2), operator selects suitable trimming shape according to the three-dimensional stereo model of the tree potted landscape shown in interactive module
Shape.
3), the three-dimensional stereo model of tree potted landscape to be trimmed is divided into N layers by data processing module, and every layer is decomposed
It is arranged for n, the three-dimensional stereo model with trimming shape is compared, and forms every layer of information collection that often row's needs are trimmed.
4), data processing module selects one layer of middle as Primary layer from N layers, and is demarcated, and then selects again
Row corresponding with Primary layer is taken as basic row, and is determined discharging into rower substantially.
5), the number of plies that the three-dimensional stereo model of tree potted landscape to be trimmed is trimmed is defined as X, number of rows by data processing module
Y is defined as, the initial value X0=0 of Primary layer is set, the initial value arranged substantially is Y0=0.
6), every layer of information collection that often row's needs are trimmed that main control module is transmitted according to data processing module, control are repaiied
The shape that device first trims out (0,0) layer is cut, is then performed again；
1. it is constant to perform X, Y=Y+1；As Y=n, this layer trimming terminates, and then main control module connects from data processing module
The assignment command of X=X+1 is received, and the instruction is sent to path planning module, then path planning module generation flight path
Signal is simultaneously transferred to the corresponding flare maneuver of flight control modules control unmanned plane execution, that is, performs 2. step, otherwise return 1.
Step；
2. performing X=X+1, Y returns to initial value 0, returns and performs 1. step；Work as X=N, and during Y=n, then data processing mould
Block judges that all trimming finishes.
7), stop clipping device work, and unmanned plane makes a return voyage.
Preferably, the trimming shape can be pyramid or umbellate form.
It is using the advantageous effect of above technical scheme：The tree potted landscape clipping device of the unmanned plane, is hung by unmanned plane
There-dimensional laser scanning device and clipping device are carried, realizes the scanning to tree potted landscape and pruning work, it overcomes traditional garden
Skill worker cuts the security risk of branch by ladder, big secateurs tool, also reduces operator operation UAV flight and repaiies
Cut the difficulty that device carries out pruning trees.
Description of the drawings
Fig. 1 is the tree potted landscape clipping device control principle block diagram of the unmanned plane.
Specific embodiment
Below against attached drawing, by the description of the embodiment, making to the specific embodiment of the present invention further details of
Explanation, it is therefore an objective to those skilled in the art be helped to have more complete, accurate and deep reason to design of the invention, technical solution
Solution, and contribute to its implementation.
As shown in Figure 1, the present invention is the tree potted landscape clipping device and pruning method of a kind of unmanned plane, it overcomes tradition
Horticulture person cuts the security risk of branch by ladder, big secateurs tool, also reduces operator and operates UAV flight
Clipping device carries out the difficulty of pruning trees.
Specifically, as shown in Figure 1, including interactive module, clipping device, there-dimensional laser scanning device, data processing mould
Block, path planning module, flight control modules and main control module, the interactive module and data processing module wireless two-way data
Connection, the clipping device connect with unmanned plane ontology, and with the two-way electric connection of main control module, the 3 D laser scanning fills
It puts and is connect with unmanned plane ontology, and be unidirectionally electrically connected with data processing module, the path planning module and data processing mould
The two-way electric connection of block, the path planning module are unidirectionally electrically connected with flight control modules, the main control module and data
The two-way electric connection of processing module.
The pruning method specifically includes following steps：
1), take off unmanned plane, by unmanned plane around one circle of tree potted landscape flight to be trimmed, makes the three-dimensional of unmanned plane carry
The tree potted landscape that laser scanning device treats trimming is scanned, and data processing module obtains the three-dimensional information number of the tree potted landscape
According to then automatically generating the three-dimensional stereo model of tree potted landscape in interactive module.
2), operator selects suitable trimming shape according to the three-dimensional stereo model of the tree potted landscape shown in interactive module
Shape.
3), the three-dimensional stereo model of tree potted landscape to be trimmed is divided into N layers by data processing module, and every layer is decomposed
It is arranged for n, the three-dimensional stereo model with trimming shape is compared, and forms every layer of information collection that often row's needs are trimmed.
4), data processing module selects one layer of middle as Primary layer from N layers, and is demarcated, and then selects again
Row corresponding with Primary layer is taken as basic row, and is determined discharging into rower substantially.
5), the number of plies that the three-dimensional stereo model of tree potted landscape to be trimmed is trimmed is defined as X, number of rows by data processing module
Y is defined as, the initial value X0=0 of Primary layer is set, the initial value arranged substantially is Y0=0.
6), every layer of information collection that often row's needs are trimmed that main control module is transmitted according to data processing module, control are repaiied
The shape that device first trims out (0,0) layer is cut, is then performed again；
1. it is constant to perform X, Y=Y+1；As Y=n, this layer trimming terminates, and then main control module connects from data processing module
The assignment command of X=X+1 is received, and the instruction is sent to path planning module, then path planning module generation flight path
Signal is simultaneously transferred to the corresponding flare maneuver of flight control modules control unmanned plane execution, that is, performs 2. step, otherwise return 1.
Step；
2. performing X=X+1, Y returns to initial value 0, returns and performs 1. step；Work as X=N, and during Y=n, then data processing mould
Block judges that all trimming finishes.
7), stop clipping device work, and unmanned plane makes a return voyage.
The trimming shape can be pyramid or umbellate form.
The tree potted landscape clipping device of the unmanned plane, by unmanned plane carry there-dimensional laser scanning device and clipping device,
The scanning to tree potted landscape and pruning work are realized, it overcomes traditional horticulture person and is cut out by ladder, big secateurs tool
The security risk of poll also reduces operator and operates the difficulty that UAV flight's clipping device carries out pruning trees.
The present invention is exemplarily described above in association with attached drawing, it is clear that present invention specific implementation is not by above-mentioned side
The limitation of formula, as long as employ the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress；Or not
It is improved, the above-mentioned design of the present invention and technical solution are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (3)
1. a kind of tree potted landscape clipping device of unmanned plane, it is characterised in that：Including interactive module, clipping device, three-dimensional laser
Scanning means, data processing module, path planning module, flight control modules and main control module, the interactive module and data
Processing module wireless two-way data connection, the clipping device are connect with unmanned plane ontology, and with main control module is two-way electrically connects
It connects, the there-dimensional laser scanning device is connect with unmanned plane ontology, and is unidirectionally electrically connected with data processing module, the path
Planning module and the two-way electric connection of data processing module, the path planning module unidirectionally electrically connect with flight control modules
It connects, the main control module and the two-way electric connection of data processing module.
2. a kind of pruning method of the tree potted landscape clipping device of unmanned plane according to claim 1, it is characterised in that：Institute
It states pruning method and specifically includes following steps：
1), take off unmanned plane, by unmanned plane around one circle of tree potted landscape flight to be trimmed, makes the three-dimensional laser of unmanned plane carry
The tree potted landscape that scanning means treats trimming is scanned, and data processing module obtains the three-dimensional information data of the tree potted landscape,
Then the three-dimensional stereo model of tree potted landscape is automatically generated in interactive module.
2), operator selects suitable trimming shape according to the three-dimensional stereo model of the tree potted landscape shown in interactive module.
3), the three-dimensional stereo model of tree potted landscape to be trimmed is divided into N layers by data processing module, and is decomposed into n by every layer
Row, the three-dimensional stereo model with trimming shape are compared, and form every layer of information collection that often row's needs are trimmed.
4), data processing module selects one layer of middle as Primary layer from N layers, and is demarcated, then choose again with
Primary layer corresponds to row as basic row, and determines discharging into rower substantially.
5), the number of plies that the three-dimensional stereo model of tree potted landscape to be trimmed is trimmed is defined as X, number of rows definition by data processing module
For Y, the initial value X0=0 of Primary layer is set, the initial value arranged substantially is Y0=0.
6), every layer of information collection that often row's needs are trimmed that main control module is transmitted according to data processing module, control trimming dress
The shape for first trimming out (0,0) layer is put, is then performed again；
1. it is constant to perform X, Y=Y+1；As Y=n, this layer trimming terminates, and then main control module receives X from data processing module
The assignment command of=X+1, and the instruction is sent to path planning module, then path planning module generates flight path signal
And be transferred to flight control modules control unmanned plane and perform corresponding flare maneuver, that is, 2. step is performed, otherwise returns to 1. step；
2. performing X=X+1, Y returns to initial value 0, returns and performs 1. step；Work as X=N, and during Y=n, then count
Judge that all trimming finishes according to processing module.
7), stop clipping device work, and unmanned plane makes a return voyage.
3. a kind of pruning method of the tree potted landscape clipping device of unmanned plane according to claim 1, it is characterised in that：Institute
It can be pyramid or umbellate form to state the trimming shape in step 2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810067845.0A CN108243761A (en) | 2018-01-24 | 2018-01-24 | The tree potted landscape clipping device and pruning method of a kind of unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810067845.0A CN108243761A (en) | 2018-01-24 | 2018-01-24 | The tree potted landscape clipping device and pruning method of a kind of unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108243761A true CN108243761A (en) | 2018-07-06 |
Family
ID=62742162
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810067845.0A Pending CN108243761A (en) | 2018-01-24 | 2018-01-24 | The tree potted landscape clipping device and pruning method of a kind of unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108243761A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108901431A (en) * | 2018-08-14 | 2018-11-30 | 深圳市烽焌信息科技有限公司 | A kind of equipment that control unmanned plane carries out plant trimming |
| CN109032180A (en) * | 2018-08-14 | 2018-12-18 | 深圳市烽焌信息科技有限公司 | A kind of pruning method based on unmanned plane |
| CN109444937A (en) * | 2018-08-08 | 2019-03-08 | 北京木业邦科技有限公司 | Tree vigorous degree and Tending methods, device, electronic equipment and storage medium |
| CN110301248A (en) * | 2019-07-30 | 2019-10-08 | 南京林业大学 | A kind of intelligent cutting system and method based on unmanned plane |
| CN110506525A (en) * | 2019-08-19 | 2019-11-29 | 林文雅 | A kind of Multifunctional bonsai clipping device and its method |
| CN112107260A (en) * | 2020-06-01 | 2020-12-22 | 广东工业大学 | Intelligent cleaning and trimming integrated machine |
| CN112470741A (en) * | 2020-11-24 | 2021-03-12 | 国网天津市电力公司 | Unmanned aerial vehicle tree trimming combination tool |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005229828A (en) * | 2004-02-17 | 2005-09-02 | Tokyo Electric Power Co Inc:The | Method for removing construction or tree with helicopter |
| CN106628140A (en) * | 2016-11-23 | 2017-05-10 | 广东技术师范学院 | Overhead intelligent robot used for shearing plants |
| CN206178480U (en) * | 2016-11-25 | 2017-05-17 | 广州华夏职业学院 | Unmanned aerial vehicle is pruned to intelligence based on machine vision |
| CN206348666U (en) * | 2016-11-25 | 2017-07-21 | 仲恺农业工程学院 | 3D horticulture molding intelligence is pruned unmanned aerial vehicle |
| CN107306678A (en) * | 2017-08-08 | 2017-11-03 | 吴海锋 | A kind of gardening branch pruning intelligent robot |
-
2018
- 2018-01-24 CN CN201810067845.0A patent/CN108243761A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005229828A (en) * | 2004-02-17 | 2005-09-02 | Tokyo Electric Power Co Inc:The | Method for removing construction or tree with helicopter |
| CN106628140A (en) * | 2016-11-23 | 2017-05-10 | 广东技术师范学院 | Overhead intelligent robot used for shearing plants |
| CN206178480U (en) * | 2016-11-25 | 2017-05-17 | 广州华夏职业学院 | Unmanned aerial vehicle is pruned to intelligence based on machine vision |
| CN206348666U (en) * | 2016-11-25 | 2017-07-21 | 仲恺农业工程学院 | 3D horticulture molding intelligence is pruned unmanned aerial vehicle |
| CN107306678A (en) * | 2017-08-08 | 2017-11-03 | 吴海锋 | A kind of gardening branch pruning intelligent robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109444937A (en) * | 2018-08-08 | 2019-03-08 | 北京木业邦科技有限公司 | Tree vigorous degree and Tending methods, device, electronic equipment and storage medium |
| CN108901431A (en) * | 2018-08-14 | 2018-11-30 | 深圳市烽焌信息科技有限公司 | A kind of equipment that control unmanned plane carries out plant trimming |
| CN109032180A (en) * | 2018-08-14 | 2018-12-18 | 深圳市烽焌信息科技有限公司 | A kind of pruning method based on unmanned plane |
| CN108901431B (en) * | 2018-08-14 | 2020-11-13 | 义乌市美杰包装制品有限公司 | Equipment for controlling unmanned aerial vehicle to carry out plant pruning |
| CN112042415A (en) * | 2018-08-14 | 2020-12-08 | 胡开良 | Equipment for controlling unmanned aerial vehicle to carry out plant pruning |
| CN110301248A (en) * | 2019-07-30 | 2019-10-08 | 南京林业大学 | A kind of intelligent cutting system and method based on unmanned plane |
| CN110506525A (en) * | 2019-08-19 | 2019-11-29 | 林文雅 | A kind of Multifunctional bonsai clipping device and its method |
| CN112107260A (en) * | 2020-06-01 | 2020-12-22 | 广东工业大学 | Intelligent cleaning and trimming integrated machine |
| CN112470741A (en) * | 2020-11-24 | 2021-03-12 | 国网天津市电力公司 | Unmanned aerial vehicle tree trimming combination tool |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108243761A (en) | The tree potted landscape clipping device and pruning method of a kind of unmanned plane | |
| CN108738811A (en) | A kind of robot of controllable track climbs tree pruning method | |
| CN205249887U (en) | Omnidirectional gardens trimming machine | |
| CN205454643U (en) | Unsettled harvesting ware of forestry branches of tall trees pine nut | |
| CN108633482A (en) | A kind of fruit picking aircraft | |
| CN108901361B (en) | Unmanned tea picking machine | |
| CN204616448U (en) | Many rotors walnut picking device | |
| CN110012744B (en) | A formula of directly rising climbing razor for branch is pruned | |
| CN106857029A (en) | A kind of trimmer | |
| CN210695076U (en) | Intelligent trimming system based on unmanned aerial vehicle | |
| CN107258237A (en) | Full-automatic high altitude fruit picking | |
| CN206348666U (en) | 3D horticulture molding intelligence is pruned unmanned aerial vehicle | |
| CN111344185A (en) | Moving device with cylindrical rotating body | |
| CN110063157A (en) | A kind of trimming of Cold region apple jujube tree, girdling robot | |
| CN211152873U (en) | Be applied to branch trimming means of forestry | |
| CN106472000A (en) | A kind of mushroom recovering device | |
| CN110100590A (en) | A kind of shaping hedgerow automatic pruning machine | |
| CN209089487U (en) | A kind of hydraulic tree trimming machine | |
| CN107318492A (en) | A kind of unmanned plane pruning device | |
| CN207589573U (en) | A kind of disc type tea plant trimming machine | |
| CN110506526A (en) | It is a kind of for trimming the clipping device and its method of small bonsai | |
| CN205961824U (en) | Mowing equipment for agricultural | |
| CN108702919A (en) | Multifunctional intellectual mobile robot | |
| CN108849008A (en) | A kind of trimming plant side shoot device | |
| RU153715U1 (en) | ROBOTIC DEVICE FOR FIGURE FORMING OF GREEN PLANTS AND MOWING LAWNS |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180706 |
|
| RJ01 | Rejection of invention patent application after publication |