CN108811849A - A kind of greening pruner equipment and its working method based on artificial intelligence - Google Patents
A kind of greening pruner equipment and its working method based on artificial intelligence Download PDFInfo
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- CN108811849A CN108811849A CN201810760439.2A CN201810760439A CN108811849A CN 108811849 A CN108811849 A CN 108811849A CN 201810760439 A CN201810760439 A CN 201810760439A CN 108811849 A CN108811849 A CN 108811849A
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- 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
- A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
- A01G3/0435—Machines specially adapted for shaping plants, e.g. topiaries
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- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
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Abstract
A kind of greening pruner equipment and its working method based on artificial intelligence,Including pruning mechanism,Control mechanism and mobile mechanism,Control mechanism includes processor,Driving device,Positioning device and navigation device,Positioning device is used to obtain the location information of pruning mechanism,Navigation device is used to generate the mobile route of pruning mechanism,Pruning mechanism includes photographic device,Lifting device,Clamping device,Driven shearing and storage box,Photographic device is connect with processor,For shooting pruning mechanism ambient enviroment,Lifting device,Clamping device and driven shearing are connect with driving device respectively,Lifting device is set as hydraulic lifting unit,For adjusting the vertical height of photographic device and driven shearing,Clamping device includes mechanical arm and gripper,Branch is trimmed to about for fixation and shifts the branch trimmed,Driven shearing is used for pollard,Storage box is for storing sundries,Mobile mechanism is set to the lower section of pruning mechanism,For driving pruning mechanism to be moved.
Description
Technical field
The present invention relates to artificial intelligence field, in particular to a kind of greening pruner equipment and its work based on artificial intelligence
Method.
Background technique
With running down for humans-nature relationship in recent years, people more and more recognize natural main property, therefore, people
The construction of greening is increasingly paid attention to, meanwhile, greening can also make one pleasing.
Currently, the main construction of greening is in public places, such as the places such as gardens, cell, street, process is trimmed in the woods
In, correct pruning method is grasped, by reasonably trimming, the tree-like of grace can be turned out.It is further adjusted by trimming
The reasonable distribution of nutriment, inhibit excessive growth, promote bud differentiation, reach treelet ahead of time yield positive results, and can extend full-bloom stage,
The best fruiting period can also make veteran rejuvenation.
Existing staff is that hand-held clipping device trims nursery stock, and not only using trouble, time-consuming and laborious, and
And it is hand-held using heavy clipping device for a long time, it is easy to cause the arm ache of staff, is unfavorable for the body of staff
Body health, seriously affects the progress of trimming work, is unfavorable for people's production and life.
Summary of the invention
Goal of the invention：In order to overcome the disadvantage in background technique, the embodiment of the invention provides one kind to be based on artificial intelligence
Greening pruner equipment and its working method, the problem of can effectively solve the problem that involved in above-mentioned background technique.
Technical solution：A kind of greening pruner equipment based on artificial intelligence, including pruning mechanism, control mechanism and movement
Mechanism, the control mechanism include processor, driving device, positioning device and navigation device, the processor respectively with institute
Driving device, the positioning device and navigation device connection are stated, the positioning device is for obtaining the pruning mechanism
Location information and the location information is sent to the processor, the navigation device is for generating the pruning mechanism
The mobile route is simultaneously sent to the processor by mobile route, and the pruning mechanism includes photographic device, lifting device, folder
Tight device, driven shearing and storage box, the photographic device are connected to the processor, for shooting around the pruning mechanism
Filmed image is simultaneously sent to the processor, the lifting device, the clamping device and driven shearing difference by environment
It is connect with the driving device, the lifting device is set as hydraulic lifting unit, for adjusting the photographic device and institute
The vertical height of driven shearing is stated, the clamping device includes mechanical arm and gripper, is trimmed to about branch for fixation and turns
The branch trimmed is moved, the driven shearing is used for pollard, and for storing sundries, the mobile mechanism sets the storage box
It is placed in the lower section of the pruning mechanism, for driving the pruning mechanism to be moved.
As a kind of preferred embodiment of the invention, the pruning mechanism further includes soil testing assemblies, the Soil K+adsorption
Device is connected to the processor, for detecting soil quality and the soil quality being sent to the processor.
As a kind of preferred embodiment of the invention, the storage box includes the first inner cylinder and the second inner cylinder, and described first
Inner cylinder is for storing the branch trimmed, and second inner cylinder is for storing rubbish.
As a kind of preferred embodiment of the invention, the driven shearing includes protective device, and the protective device is set to institute
It states at the blade of driven shearing, before starting the driven shearing, the blade of the driven shearing is completely covered in the protective device.
As a kind of preferred embodiment of the invention, the control mechanism further includes storage device, and the storage device is used for
Storage trimming data and environmental data.
As a kind of preferred embodiment of the invention, including following work step：
A) target position is set, the target position is imported the navigation device by the processor, and the navigation device generates
The location information of the pruning mechanism to the target position mobile route and the mobile route is sent to the processing
Device；
B) processor drives the mobile mechanism according to institute to the driving device output mobile signal, the driving device
Mobile route is stated to be moved；
C) photographic device shoots the pruning mechanism ambient enviroment and filmed image is sent to the processor；
D) processor extracts target trees from the filmed image, and analyzes the current growth shape of the target trees
State；
E) processor obtains the location information of the pruning mechanism, and obtains the target trees according to the positional information
The mean temperature and humidity of region this season；
F) the optimum growh state of processor target trees according to the mean temperature and humidity simulation；
G) processor compares the current growth conditions and the optimum growh state, extracts extra goal tree
Branch；
H) processor calculates the distance value of the driven shearing to the target branch, and exports and increase to the driving device
Signal, the driving device drive the lifting device to rise the height of the distance value；
I) processor exports clamping signal to the driving, and the driving device drives mesh described in the gripping means grips
Mark branch；
J) processor exports trim signal to the driving device, and the driving device drives described in the driven shearing severing
Target branch.
As a kind of preferred embodiment of the invention, step e further includes：
The processor exports detection signal to the driving device, and the driving device drives described in the clamping device clamping
The soil is simultaneously transferred to the soil testing assemblies, the soil testing assemblies detection by soil near target trees ' root
The soil quality is simultaneously sent to the processor by soil quality.
As a kind of preferred embodiment of the invention, further include before step i：
The processor judges on the target branch according to the filmed image that the photographic device is sent with the presence or absence of animal nest
Cave；
If so, abandoning the trimming of the target branch.
As a kind of preferred embodiment of the invention, further include after step j：
The processor calculates the length of the target branch according to the filmed image that the photographic device is sent；
The processor judges whether first inner cylinder can accommodate the target branch completely；
If so, the processor exports the first transfer signal to the driving device, the driving device drives the clamping dress
It sets and the target branch is transferred to first inner cylinder.
As a kind of preferred embodiment of the invention, further include：
The processor judges on the target trees according to the filmed image that the photographic device is sent with the presence or absence of rubbish；
If so, the processor calculates the distance value of the clamping device to the rubbish, and exports and rise to the driving device
High RST, the driving device drive the lifting device to rise the height of the distance value；
The processor exports the second transfer signal to the driving device, and the driving device drives the clamping device by institute
It states rubbish and is transferred to second inner cylinder.
The present invention realizes following beneficial effect：
A kind of greening pruner equipment based on artificial intelligence provided by the invention using automation pruning technique to target trees into
Row trimming, to reach optimum growh state；Automatic-searching needs the target trees trimmed, and analyzes working as the target trees
Preceding growth conditions, this season for obtaining region locating for the target trees is averaged temperature and humidity and soil quality, and is simulated with this
The optimum growh state of the target trees is repaired by the comparison of current growth conditions and optimum growh state under above-mentioned condition
Cut extra target branch；Before trimming target branch, complete analysis first is carried out to the target branch, when the target
There are when animal nest on branch, then abandon to the target branch pruning；For carrying out selectivity by the target branch of severing
Storage, improves the utilization rate of useless branch, and the branch that can not be stored then is transferred at the spaciousness of ground and waits by subsequent recovery.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and consistent with the instructions for explaining the principles of this disclosure.Fig. 1 is a kind of greening based on artificial intelligence provided by the invention
Clipping device structural schematic diagram；
Fig. 2 is clipping device operation schematic diagram provided by the invention；
Fig. 3 is soil testing assemblies operation schematic diagram provided by the invention；
Fig. 4 is driven shearing structural schematic diagram provided by the invention；
Fig. 5 is control mechanism structural block diagram provided by the invention；
Fig. 6 is a kind of greening pruner equipment flow chart of work methods based on artificial intelligence provided by the invention；
Fig. 7 is soil testing assemblies flow chart of work methods provided by the invention；
Fig. 8 is animal nest detection method flow chart provided by the invention；
Fig. 9 is branch accommodation method flow chart provided by the invention；
Figure 10 is rubbish accommodation method flow chart provided by the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Embodiment one
As shown in Fig. 1,2,3,4,5, a kind of greening pruner equipment based on artificial intelligence, including pruning mechanism 1, control mechanism 2
And mobile mechanism 3, control mechanism 2 include processor 4, driving device 5, positioning device 6 and navigation device 7, processor 4 divides
It is not connect with driving device 5, positioning device 6 and navigation device 7, positioning device 6 is used to obtain the location information of pruning mechanism 1
And location information is sent to processor 4, navigation device 7 is used to generate the mobile route of pruning mechanism 1 and sends out mobile route
Processor 4 is given, pruning mechanism 1 includes photographic device 8, lifting device 9, clamping device 10, driven shearing 11 and storage box, is taken the photograph
Picture device 8 is connect with processor 4, for shooting 1 ambient enviroment of pruning mechanism and filmed image being sent to processor 4, is gone up and down
Device 9, clamping device 10 and driven shearing 11 are connect with driving device 5 respectively, and lifting device 9 is set as hydraulic lifting unit,
For adjusting the vertical height of photographic device 8 and driven shearing 11, clamping device 10 includes mechanical arm and gripper, for solid
Surely it is trimmed to about branch and shifts the branch trimmed, driven shearing 11 is used for pollard, and storage box is moved for storing sundries
Motivation structure 3 is set to the lower section of pruning mechanism 1, for driving pruning mechanism 1 to be moved.
Pruning mechanism 1 further includes soil testing assemblies 12, and soil testing assemblies 12 are connect with processor 4, for detecting soil
Soil quality is simultaneously sent to processor 4 by loamy texture amount.
Storage box includes the first inner cylinder 13 and the second inner cylinder 14, and the first inner cylinder 13 is used to store the branch trimmed,
Second inner cylinder 14 is for storing rubbish.
Driven shearing 11 further includes protective device 15, and protective device 15 is set at the blade of driven shearing 11, electronic starting
Before cutting 11, the blade of driven shearing 11 is completely covered in protective device 15.
Control mechanism 2 further includes storage device 16, and storage device 16 is for storing trimming data and environmental data.
Specifically, a kind of greening pruner equipment based on artificial intelligence provided by the invention includes pruning mechanism 1, control machine
Structure 2 and mobile mechanism 3, control mechanism 2 include processor 4, driving device 5, positioning device 6, navigation device 7 and storage dress
16 are set, pruning mechanism 1 includes photographic device 8, lifting device 9, clamping device 10, driven shearing 11, storage box and Soil K+adsorption
Device 12, clamping device 10 include mechanical arm and gripper, and storage box includes the first inner cylinder 13 and the second inner cylinder 14, electronic
Cutting 11 includes protective device 15.
Wherein, photographic device 8 includes several monitoring cameras, and monitoring camera is uniformly arranged on the surrounding of pruning mechanism 1,
Can environment around 360 degree of monitoring clipping devices, each monitoring camera is synchronous to be sent to processor 4 for filmed image, locates
The whole combined analysis of each shooting picture that reason device 4 will receive, photographic device 8 is in addition to for obtaining target trees and goal tree
Other than branch, processor 4 will also judge the barrier around clipping device according to the filmed image received, and takes and keep away accordingly
Barrier measure, to guarantee the safety of clipping device and personnel.Clamping device 10 and driven shearing 11 are respectively arranged at pruning mechanism 1
The left and right sides, the left and right sides of pruning mechanism 1 be also respectively provided with one can closed storage chamber, in the standby state, folder
Tight device 10 and driven shearing 11 are accommodated in storage chamber respectively, and elastic packaging layer, elastic packaging are provided on the inside of gripper
The contact surface of layer fully wrapped around gripper and branch, lifting device 9 is set to the bottom of pruning mechanism 1, and connects pruning mechanism 1
With mobile mechanism 3, driven shearing 11 further includes cutter, and driven shearing 11 is used for the lesser branch of cut-off diameter, and cutter is for cutting
The branch being relatively large in diameter is cut, driven shearing 11 further includes protective device 15, and protective device 15 is set as blade protective case, protective device
15 are set to the outside of driven shearing 11, and the blade of driven shearing 11 is completely covered, and before starting driven shearing 11, first starting is clamped
Device 10 removes protective device 15, can prevent driven shearing 11 from causing to accidentally injure, and soil testing assemblies 12 are set to mobile mechanism 3
Bottom, storage box is divided into two parts arranged side by side：First inner cylinder 13 and the second inner cylinder 14, the first inner cylinder 13 and the second inner cylinder
14 is independently detachable, when mobile mechanism 3 is by dustbin, can rubbish in removal the first inner cylinder 13 or the second inner cylinder 14,
Mobile mechanism 3 includes several wheels, and is set to the lower section of pruning mechanism 1.
Embodiment two
As shown in fig. 6, a kind of working method of the greening pruner equipment based on artificial intelligence, including following work step：
A) target position is set, target position is imported navigation device 7 by processor 4, and navigation device 7 generates the position of pruning mechanism 1
Confidence ceases to the mobile route of target position and mobile route is sent to processor 4；
B) processor 4 drives mobile mechanism 3 to be moved according to mobile route to 5 output mobile signal of driving device, driving device 5
It is dynamic；
C) photographic device 8 shoots 1 ambient enviroment of pruning mechanism and filmed image is sent to processor 4；
D) processor 4 extracts target trees from filmed image, and analyzes the current growth conditions of target trees；
E) processor 4 obtains the location information of pruning mechanism 1, and obtains target trees region this season according to location information
Mean temperature and humidity；
F) processor 4 is according to mean temperature and the optimum growh state of humidity simulation target trees；
G) processor 4 compares current growth conditions and optimum growh state, extracts extra target branch；
H) processor 4 calculates the distance value of driven shearing 11 to target branch, and exports to driving device 5 and increase signal, driving dress
Set the height of 5 driving lifting device, 9 climb value；
I) processor 4 exports clamping signal to driving, and driving device 5 drives clamping device 10 to clamp target branch；
J) processor 4 exports trim signal to driving device 5, and driving device 5 drives 11 severing target branch of driven shearing.
As shown in fig. 7, step e further includes：
Processor 4 exports detection signal to driving device 5, and it is attached that driving device 5 drives clamping device 10 to clamp target trees ' root
Soil is simultaneously transferred to soil testing assemblies 12 by close soil, and soil testing assemblies 12 detect soil quality and send out soil quality
Give processor 4.
As shown in figure 8, further including before step i：
Processor 4 judges on target branch according to the filmed image that photographic device 8 is sent with the presence or absence of animal nest；
If so, the trimming for the branch that forgoes one's aim.
Specifically, the present invention has automatic patrol function, and a predeterminable area is arranged in processor 4, and processor 4 will be preset
Region imports navigation device 7, and navigation device 7 automatically generates mobile route of the pruning mechanism 1 in predeterminable area, mobile mechanism 3
Pruning mechanism 1 is driven to be moved according to mobile route, in 1 moving process of pruning mechanism, processor 4 is according to the bat received
Photogra can greening in automatic identification predeterminable area, and suitable pruning method is taken according to the growing state of greening, this
Outside, it goes back adjustable point and carries out greening pruner, a target position is set in processor 4, positioning device 6 obtains the position of pruning mechanism 1
Location information is simultaneously sent to processor 4 by confidence breath, and target position and location information are imported navigation device 7, led by processor 4
Boat device 7 automatically generates the best mobile route of location information to target position, and mobile mechanism 3 drives pruning mechanism 1 according to shifting
Dynamic route is moved, when being moved to target position, processor 4 according to the filmed image received extract target trees or
Other plant obtains the kind and the growth shape of each time of target trees using internet by the method that picture compares
State, then determine the current growth conditions of target trees, processor 4 obtains the location information of pruning mechanism 1, position at this time again
Information is identical as target position, obtains the mean temperature of target trees region this season and wet by above-mentioned location information
Degree, then detects the soil quality of target arboreal growth, and processor 4 is by the average temperature of target trees and current growth conditions, this season
Humidity and soil quality establish corresponding relationship, and above-mentioned corresponding relationship is saved to storage device 16, and processor 4 is according to this season
Average temperature and humidity and soil quality simulation contemporaneity in target trees optimum growh state, then by current growth conditions
Compared with optimum growh state, judge whether there is extra branch, if so, using extra branch as target branch into
Row extracts, and processor 4 calculates the vertical distance value between driven shearing 11 and target branch, and exports to driving device 5 and increase letter
Number, driving device 5 drives lifting device 9 to rise, wherein during lifting device 9 rises, 4 real-time judge mesh of processor
Whether mark branch is in the working range of driven shearing 11, and the working range of driven shearing 11 is less than the work model of clamping device 10
It encloses, stops rising if so, processor 4 controls lifting device 9, processor 4 judges target according to recently received filmed image
It whether there is animal nest on branch, analyzed if so, selecting next target trees, if it is not, processor 4 is defeated to driving
Clamping signal out, driving device 5 drive clamping device 10 to clamp target branch, and processor 4 exports trimming letter to driving device 5
Number, driving device 5 drives 11 severing target branch of driven shearing.
Embodiment three
As shown in figure 9, further including after step j：
Processor 4 calculates the length of target branch according to the filmed image that photographic device 8 is sent；
Processor 4 judges whether the first inner cylinder 13 can accommodate target branch completely；
If so, processor 4 exports the first transfer signal to driving device 5, driving device 5 drives clamping device 10 by target branch
It is transferred to the first inner cylinder 13.
As shown in Figure 10, further include：
Processor 4 judges on target trees according to the filmed image that photographic device 8 is sent with the presence or absence of rubbish；
If so, processor 4 calculates the distance value of clamping device 10 to rubbish, and is exported to driving device 5 and increase signal, driving dress
Set the height of 5 driving lifting device, 9 climb value；
Processor 4 exports the second transfer signal to driving device 5, and driving device 5 drives clamping device 10 that rubbish is transferred to the
Two inner cylinders 14.
Specifically, have the effects that be processed into fertilizer or household goods by the target branch of severing, the present invention is by severing
Target branch carries out selective storage, and after driven shearing 11 is by target branch severing, processor 4 controls clamping device 10 for target
Branch is moved to the front of photographic device 8, and processor 4 calculates the length of target branch according to the filmed image received, then
Judge whether the first inner cylinder 13 can accommodate target branch completely, if so, processor 4 is believed to first transfer of the output of driving device 5
Number, driving device 5 drives clamping device 10 that target branch is transferred to the first inner cylinder 13, if it is not, processor 4 is to driving device 5
Third transfer signal is exported, driving device 5 drives clamping device 10 that target branch is transferred at the spaciousness of ground.
During pruning mechanism 1 is mobile, with the presence or absence of green in the filmed image that 4 real-time judge of processor receives
Change, if so, whether there is rubbish in further judgement greening, if so, moved at where driving mobile mechanism 3 to rubbish, when
Rubbish enters in the working range of clamping device 10, and processor 4 exports the second transfer signal to driving device 5, and driving device 5 is driven
Rubbish is transferred to the second inner cylinder 14 by dynamic clamping device 10, in addition, first judging goal tree after processor 4 determines target trees
It whether there is rubbish on wood, if so, first removing the rubbish on target trees, then analyze the current growth conditions of target trees.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow the skill for being familiar with the technical field
Art personnel can understand the content of the present invention and implement it accordingly, and can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of greening pruner equipment based on artificial intelligence, including pruning mechanism, control mechanism and mobile mechanism, feature
Be, the control mechanism includes processor, driving device, positioning device and navigation device, the processor respectively with institute
Driving device, the positioning device and navigation device connection are stated, the positioning device is for obtaining the pruning mechanism
Location information and the location information is sent to the processor, the navigation device is for generating the pruning mechanism
The mobile route is simultaneously sent to the processor by mobile route, and the pruning mechanism includes photographic device, lifting device, folder
Tight device, driven shearing and storage box, the photographic device are connected to the processor, for shooting around the pruning mechanism
Filmed image is simultaneously sent to the processor, the lifting device, the clamping device and driven shearing difference by environment
It is connect with the driving device, the lifting device is set as hydraulic lifting unit, for adjusting the photographic device and institute
The vertical height of driven shearing is stated, the clamping device includes mechanical arm and gripper, is trimmed to about branch for fixation and turns
The branch trimmed is moved, the driven shearing is used for pollard, and for storing sundries, the mobile mechanism sets the storage box
It is placed in the lower section of the pruning mechanism, for driving the pruning mechanism to be moved.
2. a kind of greening pruner equipment based on artificial intelligence according to claim 1, it is characterised in that：The trimmer
Structure further includes soil testing assemblies, and the soil testing assemblies are connected to the processor, for detecting soil quality and by institute
It states soil quality and is sent to the processor.
3. a kind of greening pruner equipment based on artificial intelligence according to claim 1, it is characterised in that：The storage box
Including the first inner cylinder and the second inner cylinder, for storing the branch trimmed, second inner cylinder is used for first inner cylinder
Store rubbish.
4. a kind of greening pruner equipment based on artificial intelligence according to claim 1, it is characterised in that：The driven shearing
Including protective device, the protective device is set at the blade of the driven shearing, before starting the driven shearing, the guarantor
The blade of the driven shearing is completely covered in protection unit.
5. a kind of greening pruner equipment based on artificial intelligence according to claim 1, it is characterised in that：The control machine
Structure further includes storage device, and the storage device is for storing trimming data and environmental data.
6. a kind of working method of greening pruner equipment based on artificial intelligence according to claim 1-5,
It is characterized in that：Including following work step：
A) target position is set, the target position is imported the navigation device by the processor, and the navigation device generates
The location information of the pruning mechanism to the target position mobile route and the mobile route is sent to the processing
Device；
B) processor drives the mobile mechanism according to institute to the driving device output mobile signal, the driving device
Mobile route is stated to be moved；
C) photographic device shoots the pruning mechanism ambient enviroment and filmed image is sent to the processor；
D) processor extracts target trees from the filmed image, and analyzes the current growth shape of the target trees
State；
E) processor obtains the location information of the pruning mechanism, and obtains the target trees according to the positional information
The mean temperature and humidity of region this season；
F) the optimum growh state of processor target trees according to the mean temperature and humidity simulation；
G) processor compares the current growth conditions and the optimum growh state, extracts extra goal tree
Branch；
H) processor calculates the distance value of the driven shearing to the target branch, and exports and increase to the driving device
Signal, the driving device drive the lifting device to rise the height of the distance value；
I) processor exports clamping signal to the driving, and the driving device drives mesh described in the gripping means grips
Mark branch；
J) processor exports trim signal to the driving device, and the driving device drives described in the driven shearing severing
Target branch.
7. a kind of working method of greening pruner equipment based on artificial intelligence according to claim 6, it is characterised in that：
Step e further includes：
The processor exports detection signal to the driving device, and the driving device drives described in the clamping device clamping
The soil is simultaneously transferred to the soil testing assemblies, the soil testing assemblies detection by soil near target trees ' root
The soil quality is simultaneously sent to the processor by soil quality.
8. a kind of working method of greening pruner equipment based on artificial intelligence according to claim 6, it is characterised in that：
Further include before step i：
The processor judges on the target branch according to the filmed image that the photographic device is sent with the presence or absence of animal nest
Cave；
If so, abandoning the trimming of the target branch.
9. a kind of working method of greening pruner equipment based on artificial intelligence according to claim 6, it is characterised in that：
Further include after step j：
The processor calculates the length of the target branch according to the filmed image that the photographic device is sent；
The processor judges whether first inner cylinder can accommodate the target branch completely；
If so, the processor exports the first transfer signal to the driving device, the driving device drives the clamping dress
It sets and the target branch is transferred to first inner cylinder.
10. a kind of working method of greening pruner equipment based on artificial intelligence according to claim 6, feature exist
In：Further include：
The processor judges on the target trees according to the filmed image that the photographic device is sent with the presence or absence of rubbish；
If so, the processor calculates the distance value of the clamping device to the rubbish, and exports and rise to the driving device
High RST, the driving device drive the lifting device to rise the height of the distance value；
The processor exports the second transfer signal to the driving device, and the driving device drives the clamping device by institute
It states rubbish and is transferred to second inner cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810760439.2A CN108811849A (en) | 2018-07-12 | 2018-07-12 | A kind of greening pruner equipment and its working method based on artificial intelligence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810760439.2A CN108811849A (en) | 2018-07-12 | 2018-07-12 | A kind of greening pruner equipment and its working method based on artificial intelligence |
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| Publication Number | Publication Date |
|---|---|
| CN108811849A true CN108811849A (en) | 2018-11-16 |
Family
ID=64136699
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810760439.2A Withdrawn CN108811849A (en) | 2018-07-12 | 2018-07-12 | A kind of greening pruner equipment and its working method based on artificial intelligence |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109804889A (en) * | 2019-03-18 | 2019-05-28 | 林思鸿 | A kind of multi-functional lumbering device |
| CN117546691A (en) * | 2023-10-19 | 2024-02-13 | 廊坊市园林绿化事务中心 | Intelligent garden tree pruning system and method based on image recognition |
-
2018
- 2018-07-12 CN CN201810760439.2A patent/CN108811849A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109804889A (en) * | 2019-03-18 | 2019-05-28 | 林思鸿 | A kind of multi-functional lumbering device |
| CN117546691A (en) * | 2023-10-19 | 2024-02-13 | 廊坊市园林绿化事务中心 | Intelligent garden tree pruning system and method based on image recognition |
| CN117546691B (en) * | 2023-10-19 | 2024-04-19 | 廊坊市园林绿化事务中心 | Intelligent garden tree pruning system and method based on image recognition |
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Application publication date: 20181116 |