CN108873845A - A kind of joint greening clipping device and its working method based on artificial intelligence - Google Patents
A kind of joint greening clipping device and its working method based on artificial intelligence Download PDFInfo
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- CN108873845A CN108873845A CN201810760423.1A CN201810760423A CN108873845A CN 108873845 A CN108873845 A CN 108873845A CN 201810760423 A CN201810760423 A CN 201810760423A CN 108873845 A CN108873845 A CN 108873845A
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- 238000013473 artificial intelligence Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 84
- 238000013138 pruning Methods 0.000 claims abstract description 62
- 238000009966 trimming Methods 0.000 claims abstract description 56
- 238000010008 shearing Methods 0.000 claims abstract description 55
- 238000003860 storage Methods 0.000 claims abstract description 28
- 239000000284 extract Substances 0.000 claims description 8
- YTAHJIFKAKIKAV-XNMGPUDCSA-N [(1R)-3-morpholin-4-yl-1-phenylpropyl] N-[(3S)-2-oxo-5-phenyl-1,3-dihydro-1,4-benzodiazepin-3-yl]carbamate Chemical compound O=C1[C@H](N=C(C2=C(N1)C=CC=C2)C1=CC=CC=C1)NC(O[C@H](CCN1CCOCC1)C1=CC=CC=C1)=O YTAHJIFKAKIKAV-XNMGPUDCSA-N 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000003716 rejuvenation Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
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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
- A01G3/02—Secateurs; Flower or fruit shears
- A01G3/033—Secateurs; Flower or fruit shears having motor-driven blades
- A01G3/037—Secateurs; Flower or fruit shears having motor-driven blades the driving means being an electric motor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- Automation & Control Theory (AREA)
- Quality & Reliability (AREA)
- Manufacturing & Machinery (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
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Abstract
A kind of joint greening clipping device and its working method based on artificial intelligence,Including pruning mechanism,Mobile mechanism,Unmanned plane and control mechanism,Control mechanism includes processor,Driving device,Positioning device,First navigation device and storage device,Positioning device is used to obtain the location information of pruning mechanism,First navigation device is used to generate the mobile route of pruning mechanism,Storage device is used to store the upgrowth situation of greening,Pruning mechanism includes the first photographic device,Lifting device,First driven shearing and storage tank,First photographic device is used to shoot the environment in front of pruning mechanism,Lifting device is used to control the adjustable height of the first driven shearing,First driven shearing is for trimming greening,Storage tank remains leaf for storing residual branch,Mobile mechanism is for driving pruning mechanism mobile,Unmanned plane includes the second navigation device and the second photographic device,Second navigation device is used to generate the flight path of unmanned plane,Second photographic device is used to obtain the environment in front of unmanned plane.
Description
Technical field
The present invention relates to artificial intelligence field, in particular to it is a kind of based on artificial intelligence joint greening clipping device and its
Working 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；Meanwhile whole standardized greening environment can improve the living conditions of people.
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
Joint greening clipping device and its working method, the problem of can effectively solve the problem that involved in above-mentioned background technique.
Technical solution：A kind of joint greening clipping device based on artificial intelligence, including pruning mechanism, mobile mechanism, nothing
Man-machine and control mechanism, the control mechanism include processor, driving device, positioning device, the first navigation device and deposit
Storage device, the processor respectively with the driving device, the positioning device, first navigation device and the storage
Device connection, the positioning device are used to obtain the location information of the pruning mechanism and are sent to the location information described
Processor, first navigation device are used to generate the mobile route of the pruning mechanism and the mobile route are sent to institute
Processor is stated, the storage device is used to store the upgrowth situation of greening, and the pruning mechanism includes the first photographic device, lifting
Device, the first driven shearing and storage tank, first photographic device is connected to the processor, for shooting the trimmer
First filmed image is simultaneously sent to the processor, the lifting device and first driven shearing point by environment in front of structure
It is not connect with the driving device, the lifting device is used to control the adjustable height of first driven shearing, first electricity
Dynamic to cut for trimming greening, the storage tank is used to store the residual branch trimmed and remains leaf, and the mobile mechanism is set to described
The bottom of pruning mechanism, and being connect with the driving device, for driving the pruning mechanism mobile, the unmanned plane with it is described
Processor connection, the unmanned plane include the second navigation device and the second photographic device, second navigation device and institute
It states the second photographic device to be connected to the processor respectively, second navigation device is used to generate the flight road of the unmanned plane
The flight path is simultaneously sent to the processor by line, and second photographic device is used to obtain the ring in front of the unmanned plane
Second filmed image is simultaneously sent to the processor by border.
As a kind of preferred embodiment of the invention, the storage tank includes the first inner cylinder and the second inner cylinder, and described first
Inner cylinder is for storing the branches and leaves trimmed, and second inner cylinder is for storing rubbish.
As a kind of preferred embodiment of the invention, the pruning mechanism further includes airplane parking area, and the airplane parking area is for parking
The unmanned plane of standby mode, the airplane parking area are connected by rotating device with the pruning mechanism, the rotating device with it is described
Driving device connection, for airplane parking area described in folding and unfolding.
As a kind of preferred embodiment of the invention, the unmanned plane further includes the second driven shearing, and second driven shearing is set
It is placed in the front of the unmanned plane, and is connect with the driving device, for trimming the branches and leaves of eminence.
As a kind of preferred embodiment of the invention, the unmanned plane further includes pick device, and the pick device is set to
The uav bottom, the pick device include several grippers, and with the driving device, it is residual on ground for picking up
The surplus leaf of branch.
As a kind of preferred embodiment of the invention, including following work step：
A) target position is set, the target position is imported first navigation device, first navigation by the processor
Device generates the location information of the pruning mechanism to the mobile route of the target position and is sent to the mobile route
The processor；
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) first photographic device shoots the environment in front of the pruning mechanism and the first filmed image is sent to the place
Manage device；
D) first filmed image is sent to second navigation device by the processor, and second navigation device generates
First flight path is simultaneously sent to the processor by the first flight path of the unmanned plane；
E) processor to the unmanned plane export the first flight signal, the unmanned plane according to first flight path into
Row flight；
F) second photographic device shoots the environment in front of the unmanned plane and the second filmed image is sent to the processing
Device；
G) processor acquires greening information according to second filmed image, the greening of same type is sorted out, and needle
Different trimming schemes is formulated to different types of greening, a trimming model is established to the greening of same type；
H) processor is afforested the greening in first filmed image as target as extraction, and judges the target
It afforests whether consistent with the appearance of the trimming model；
I) if it is not, the processor extracts part extra in the target greening, using redundance as trimming target, and
The distance value for calculating first driven shearing to the trimming target, exports to the driving device and increases signal, the driving
Device drives the lifting device to rise the height of the distance value；
J) processor exports the first trim signal to the driving device, and the driving device drives first driven shearing
Target is trimmed described in severing.
As a kind of preferred embodiment of the invention, further include：
After second inner cylinder storage, the processor extracts the rubbish bucket position nearest apart from the pruning mechanism
It sets, and the dustbin position is sent to second navigation device, second navigation device generates the location information
To the dustbin position the second flight path and second flight path is sent to the processor；
The processor exports the second flight signal to the unmanned plane, and the unmanned plane is carried according to second flight path
Second inner cylinder is to dustbin position discharging.
As a kind of preferred embodiment of the invention, step e further includes：
The processor exports the first rotating signal to the driving device, and the driving device drives the rotating device upward
It is rotated by 90 °；
When the unmanned plane returns to the pruning mechanism, the processor exports the second rotating signal to the driving device,
The driving device drives the rotating device to being rotated down 90 degree.
As a kind of preferred embodiment of the invention, the distance value for calculating first driven shearing to the trimming target is also wrapped
It includes：
The processor judges whether the maximum wicking height of the lifting device is greater than or equal to the distance value；
If so, starting the lifting device；
If it is not, the processor controls at the unmanned plane during flying to the trimming target；
The processor exports the second trim signal to the driving device, and the driving device driving described second is electronic to cut out
Break the trimming target.
As a kind of preferred embodiment of the invention, further include after step j：
The processor controls the unmanned plane nap of the earth flight；
The processor exports the first pickoff signals to the driving device, and the driving device drives the pick device by ground
Trimming target pick-up on face is to first inner cylinder；
The processor exports the second pickoff signals to the driving device, and the driving device drives the pick device by ground
Rubbish on face is picked up to second inner cylinder.
The present invention realizes following beneficial effect：
A kind of joint greening clipping device based on artificial intelligence provided by the invention is green to target using automation pruning technique
Change is trimmed, and sets different trimming schemes according to different types of greening, so that same type greening is able to height in appearance
Degree is unified, greening can either be made to reach optimum growh state, and it can be made to have more ornamental value；Utilize the convenient of unmanned plane
Performance is enough faster, more accurately to collect greening information, and the target greening that Automatic-searching needs to trim is established according to afforesting type
Model is trimmed, target greening and trimming model are compared, trimming target is extracted, it is cut out using the first driven shearing
It cuts；The pick device of unmanned plane is picked up and stores to the trimming target cut, can be improved the utilization rate of useless branch；It rises
The raised limited height of falling unit enables unmanned plane when trimming maximum wicking height of the target beyond the lifting device
Trimming task is executed, unmanned plane by the height limitation of trimming target, does not cut it using the second driven shearing of unmanned plane.
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 joint based on artificial intelligence provided by the invention
Greening pruner device structure schematic diagram；
Fig. 2 is airplane parking area structural schematic diagram provided by the invention；
Fig. 3 is that unmanned plane provided by the invention parks schematic diagram；
Fig. 4 is unmanned plane structural schematic diagram provided by the invention；
Fig. 5 is that lifting device provided by the invention uses schematic diagram；
Fig. 6 is control mechanism structural block diagram provided by the invention；
Fig. 7 is that a kind of joint based on artificial intelligence provided by the invention afforests clipping device flow chart of work methods；
Fig. 8 is unmanned plane discharge method flow chart provided by the invention；
Fig. 9 is rotating device flow chart of work methods provided by the invention；
Figure 10 is pick device flow chart of work methods provided by the invention；
Figure 11 is that unmanned plane provided by the invention trims flow chart of work methods.
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. 1,2,3,4,5,6, a kind of joint greening clipping device based on artificial intelligence, including pruning mechanism 1, movement
Mechanism 2, unmanned plane 3 and control mechanism 4, control mechanism 4 include processor 5, driving device 6, the navigation of positioning device 7, first
Device 8 and storage device 9, processor 5 respectively with driving device 6, positioning device 7, the first navigation device 8 and storage device
9 connections, positioning device 7 are used to obtain the location information of pruning mechanism 1 and location information are sent to processor 5, the first navigation
Device 8 is used to generate the mobile route of pruning mechanism 1 and mobile route is sent to processor 5, and storage device 9 is green for storing
The upgrowth situation of change, pruning mechanism 1 include the first photographic device 10, lifting device 11, the first driven shearing 12 and storage tank 13,
First photographic device 10 is connect with processor 5, for shooting the environment in 1 front of pruning mechanism and being sent to the first filmed image
Processor 5, lifting device 11 and the first driven shearing 12 are connect with driving device 6 respectively, and lifting device 11 is for controlling first
The adjustable height of driven shearing 12, for the first driven shearing 12 for trimming greening, it is surplus that storage tank 13 is used to store the residual branch trimmed
Leaf, mobile mechanism 2 is set to the bottom of pruning mechanism 1, and connect with driving device 6, for driving pruning mechanism 1 mobile, nothing
Man-machine 3 connect with processor 5, and unmanned plane 3 includes the second navigation device 14 and the second photographic device 15, the second navigation device 14
And second photographic device 15 connect respectively with processor 5, the second navigation device 14 is used to generate the flight path of unmanned plane 3 simultaneously
Flight path is sent to processor 5, the second photographic device 15 is used to obtain the environment in 3 front of unmanned plane and second count is photographed
As being sent to processor 5.
Storage tank 13 includes the first inner cylinder 16 and the second inner cylinder 17, and the first inner cylinder 16 is for storing the branch trimmed
Leaf, the second inner cylinder 17 is for storing rubbish.
Pruning mechanism 1 further includes airplane parking area 18, and airplane parking area 18 is used to park the unmanned plane 3 of standby mode, and airplane parking area 18 is logical
It crosses rotating device 19 to be connected with pruning mechanism 1, rotating device 19 is connect with driving device 6, is used for folding and unfolding airplane parking area 18.
Unmanned plane 3 further includes the second driven shearing 20, and the second driven shearing 20 is set to the front of unmanned plane 3, and fills with driving
6 connections are set, for trimming the branches and leaves of eminence.
Unmanned plane 3 further includes pick device 21, and pick device 21 is set to 3 bottom of unmanned plane, if pick device 21 includes
Dry gripper, and with driving device 6, for pick up the residual branch on ground remain leaf.
Specifically, a kind of joint greening clipping device based on artificial intelligence provided by the invention includes pruning mechanism 1, moves
Motivation structure 2, unmanned plane 3 and control mechanism 4, control mechanism 4 are led including processor 5, driving device 6, positioning device 7, first
Navigate device 8 and storage device 9, and pruning mechanism 1 includes the first photographic device 10, lifting device 11, the first driven shearing 12, storing
Case 13 and airplane parking area 18, unmanned plane 3 include the second navigation device 14, the second photographic device 15, the second driven shearing 20 and pick up
Device 21 is taken, storage tank 13 includes the first inner cylinder 16 and the second inner cylinder 17.
Wherein, the first photographic device 10 and the second photographic device 15 include several monitoring cameras, monitoring camera
It is uniformly arranged on the surrounding of pruning mechanism 1 and unmanned plane 3, it can be around 360 degree of monitoring pruning mechanisms 1 and unmanned plane 3
Environment, each monitoring camera is synchronous to be sent to processor 5, each shooting picture that processor 5 will receive for filmed image
Whole combined analysis, the first photographic device 10 and the second photographic device 15 are other than obtaining and afforesting information, and processor 5 is also by basis
The first filmed image and the second filmed image that receive judge the barrier around pruning mechanism 1 or unmanned plane 3, and use
The avoidance measure of response, to guarantee that the present invention can operate normally.1 side of pruning mechanism is set as airplane parking area 18, airplane parking area 18
Folding and unfolding can be realized by rotating device 19, during going to target position, unmanned plane 3, which is in standby and is parked in, to stop
On machine level ground 18, there is pruning mechanism 1 to carry unmanned plane 3 and go to target position, at this point, airplane parking area 18 is horizontality, when arrival mesh
After cursor position, unmanned plane 3 executes the task of acquisition greening information, and unmanned plane 3 flies away from airplane parking area 18, then withdraws airplane parking area 18,
At this point, airplane parking area 18 is in a vertical state.First driven shearing 12 is set to the front of pruning mechanism 1, the first driven shearing 12 and
Second driven shearing 20 further includes cutter, and the first driven shearing 12 and the second driven shearing 20 are used for the lesser branch of severing diameter,
Cutter is used for the biggish branch of cutting diameter, and the first driven shearing 12 and the second driven shearing 20 further include protective device, protection
Device is set as blade protective case, and protective device is set to the outside of the first driven shearing 12 and the second driven shearing 20, and completely
The blade for covering the first driven shearing 12 and the second driven shearing 20, start the first driven shearing 12 and the second driven shearing 20 it
Before, protective device is first removed, can prevent the first driven shearing 12 and the second driven shearing 20 from causing to accidentally injure, storage tank 13 divides for simultaneously
Two parts of column：First inner cylinder 16 and the second inner cylinder 17, the first inner cylinder 16 and the second inner cylinder 17 are independently detachable, when
When mobile mechanism 2 is by dustbin, can rubbish in removal the first inner cylinder 16 or the second inner cylinder 17, mobile mechanism 2 includes several
Wheel, and it is set to the lower section of pruning mechanism 1, the bottom of unmanned plane 3 is provided with pick device 21, and capturing apparatus can pick up trimming
Get off branches and leaves and rubbish, and the branches and leaves being collected into are recyclable to be fabricated to feed.
Embodiment two
As shown in fig. 7, a kind of working method of the joint greening clipping device based on artificial intelligence, including following work step：
A) target position is set, target position is imported the first navigation device 8 by processor 5, and the first navigation device 8 generates trimmer
The location information of structure 1 to target position mobile route and mobile route is sent to processor 5；
B) processor 5 drives mobile mechanism 2 to be moved according to mobile route to 6 output mobile signal of driving device, driving device 6
It is dynamic；
C) the first photographic device 10 shoots the environment in 1 front of pruning mechanism and the first filmed image is sent to processor 5；
D) the first filmed image is sent to the second navigation device 14 by processor 5, and the second navigation device 14 generates the of unmanned plane 3
First flight path is simultaneously sent to processor 5 by one flight path；
E) processor 5 exports the first flight signal to unmanned plane 3, and unmanned plane 3 flies according to the first flight path；
F) the second photographic device 15 shoots the environment in 3 front of unmanned plane and the second filmed image is sent to processor 5；
G) processor 5 acquires greening information according to the second filmed image, and the greening of same type is sorted out, and is directed to inhomogeneity
Different trimming schemes is formulated in the greening of type, establishes a trimming model to the greening of same type；
H) processor 5 is afforested the greening in the first filmed image as target as extraction, and judges target greening and trimming
Whether the appearance of model is consistent；
I) if it is not, processor 5 extracts extra part in target greening, using redundance as trimming target, and calculating the
One driven shearing 12 exports to driving device 6 to the distance value of trimming target and increases signal, driving device 6 drives lifting device 11
The height of climb value；
J) processor 5 exports the first trim signal to driving device 6, and driving device 6 drives 12 severing of the first driven shearing to trim mesh
Mark.
As shown in figure 8, further including：
After the storage of the second inner cylinder 17, processor 5 extracts the dustbin position nearest apart from pruning mechanism 1, and by rubbish
Rubbish bucket position, which is set, is sent to the second navigation device 14, and the second navigation device 14 generates the second flight of location information to dustbin position
Second flight path is simultaneously sent to processor 5 by route；
Processor 5 to unmanned plane 3 export the second flight signal, unmanned plane 3 according to the second flight path carry the second inner cylinder 17 to
The discharging of dustbin position.
As shown in figure 9, step e further includes：
Processor 5 exports the first rotating signal to driving device 6, and driving device 6 drives rotating device 19 to be rotated by 90 ° upwards；
When unmanned plane 3 returns to pruning mechanism 1, processor 5 exports the second rotating signal to driving device 6, and driving device 6 drives
Rotating device 19 is to being rotated down 90 degree.
As shown in Figure 10, further include after step j：
Processor 5 controls 3 nap of the earth flight of unmanned plane；
Processor 5 exports the first pickoff signals to driving device 6, and driving device 6 drives pick device 21 by the trimming on ground
Target pick-up is to the first inner cylinder 16；
Processor 5 exports the second pickoff signals to driving device 6, and driving device 6 drives pick device 21 by the rubbish on ground
It picks up to the second inner cylinder 17.
Specifically, the present invention has automatic patrol function, and a predeterminable area is arranged in processor 5, and processor 5 will be preset
Region imports the first navigation device 8, and the first navigation device 8 automatically generates mobile route of the pruning mechanism 1 in predeterminable area, moves
Motivation structure 2 drives pruning mechanism 1 and unmanned plane 3 to be moved according to mobile route, in above-mentioned moving process, processor 5
According to receive the first filmed image can greening in automatic identification predeterminable area, and formulated and closed according to the growing state of greening
In addition, going back adjustable point carries out greening pruner a target position is arranged, positioning device 7 obtains in suitable trimming scheme in processor 5
It takes the location information of pruning mechanism 1 and location information is sent to processor 5, processor 5 is by target position and location information
The first navigation device 8 is imported, navigation device automatically generates the best mobile route of location information to target position, mobile mechanism 2
Pruning mechanism 1 and unmanned plane 3 is driven to be moved according to mobile route, when being moved to target position, pruning mechanism 1 is in mesh
Cursor position is awaited orders, and processor 5 controls the outgoing flight of unmanned plane 3, and the second navigation device 14 is clapped according to the first photographic device 10 before
The first filmed image taken the photograph generates the first flight path of unmanned plane 3, and unmanned plane 3 is obtained in flight by the second photographic device 15
All greening information near target position are taken, processor 5 analyzes collected greening information, by the greening of same type
Sorted out, by the greening pruner of same type at identical appearance, a shared trimming model established to the greening of same type,
Trimming model and afforesting type establish one-to-one relationship, and trimming model is the appearance after greening pruner, and unmanned plane 3 has acquired
Bi Hou, fly back airplane parking area 18 again, processor 5 extracted from the first filmed image it is any greening and it is green as target
Change, processor 5 extracts trimming model corresponding with the type of target greening again, wherein the growth conditions afforested according to target
Equal proportion zooms in or out trimming model, and target is afforested and compared with trimming model by processor 5, extracts trimming target,
Pruning mechanism 1 is controlled again to be moved at target greening, the distance value of the first driven shearing 12 to trimming target is calculated, to driving device
6 outputs increase signal, and driving device 6 drives the height of 11 climb value of lifting device, and processor 5 is exported to driving device 6
First trim signal, driving device 6 drive 12 severing of the first driven shearing to trim target, when pruning mechanism 1 trims target greening,
The low-latitude flying around target greening of unmanned plane 3, the first photographic device 10 shoot the environment around unmanned plane 3 and shoot second
Image is sent to processor 5, and processor 5 judges in the second filmed image with the presence or absence of trimming target, if so, processor 5 is to nothing
Man-machine 3 output third flight signal, unmanned plane 3, which flies to, trims the surface of target, and processor 5 exports first to driving device 6
Pickoff signals, driving device 6 drives pick device 21 by the trimming target pick-up on ground to the first inner cylinder 16, if it is not, processing
Device 5 judges with the presence or absence of rubbish in the second filmed image, if so, processor 5 exports the 4th flight signal to unmanned plane 3, nobody
Machine 3 flies to the surface of rubbish, and processor 5 exports the second pickoff signals to driving device 6, and driving device 6 drives pick device
21 pick up the rubbish on ground to the second inner cylinder 17, and when the second inner cylinder 17 is collected completely, processor 5 controls unmanned plane 3 and carries
Second inner cylinder 17, which is gone to, goes out removal rubbish away from nearest dustbin or refuse depot, returns again at pruning mechanism 1.
Embodiment three
As shown in figure 11, calculating the first driven shearing 12 to the distance value for trimming target further includes：
Processor 5 judges whether the maximum wicking height of lifting device 11 is greater than or equal to distance value；
If so, starting lifting device 11；
If it is not, processor 5 controls at the flight of unmanned plane 3 to trimming target；
Processor 5 exports the second trim signal to driving device 6, and driving device 6 drives 20 severing of the second driven shearing to trim target.
Specifically, unmanned plane 3 can combine with pruning mechanism 1 and be trimmed, and the first driven shearing 12 is trimmed from top to bottom,
Second driven shearing 20 is modified from top to bottom, and the pruning efficiency can be improved.
For some tall trees wood, the first driven shearing 12 can not be increased to the top of trees by lifting device 11,
In this case, it would have to carry out auxiliary trimming using unmanned plane 3.
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 joint based on artificial intelligence afforests clipping device, including pruning mechanism, mobile mechanism, unmanned plane and control
Mechanism, which is characterized in that the control mechanism includes processor, driving device, positioning device, the first navigation device and storage
Device, the processor are filled with the driving device, the positioning device, first navigation device and the storage respectively
Connection is set, the positioning device is used to obtain the location information of the pruning mechanism and the location information is sent to the place
Device is managed, first navigation device is used to generate the mobile route of the pruning mechanism and is sent to the mobile route described
Processor, the storage device are used to store the upgrowth situation of greening, and the pruning mechanism includes the first photographic device, lifting dress
It sets, the first driven shearing and storage tank, first photographic device is connected to the processor, for shooting the pruning mechanism
First filmed image is simultaneously sent to the processor, the lifting device and first driven shearing difference by the environment in front
It is connect with the driving device, the lifting device is used to control the adjustable height of first driven shearing, and described first is electronic
It cuts for trimming greening, the storage tank is used to store the residual branch trimmed and remains leaf, and the mobile mechanism is set to described repair
The bottom of shearing machine structure, and connect with the driving device, for driving the pruning mechanism mobile, the unmanned plane and the place
Device connection is managed, the unmanned plane includes the second navigation device and the second photographic device, second navigation device and described
Second photographic device is connected to the processor respectively, and second navigation device is used to generate the flight path of the unmanned plane
And the flight path is sent to the processor, second photographic device is used to obtain the environment in front of the unmanned plane
And the second filmed image is sent to the processor.
2. a kind of joint based on artificial intelligence according to claim 1 afforests clipping device, it is characterised in that：The storage
Object case includes the first inner cylinder and the second inner cylinder, and first inner cylinder is for storing the branches and leaves trimmed, second inner cylinder
For storing rubbish.
3. a kind of joint based on artificial intelligence according to claim 1 afforests clipping device, it is characterised in that：It is described to repair
Shearing machine structure further includes airplane parking area, and the airplane parking area is used to park the unmanned plane of standby mode, and the airplane parking area passes through rotating device
It is connected with the pruning mechanism, the rotating device is connect with the driving device, for airplane parking area described in folding and unfolding.
4. a kind of joint based on artificial intelligence according to claim 1 afforests clipping device, it is characterised in that：The nothing
Man-machine further includes the second driven shearing, and second driven shearing is set to the front of the unmanned plane, and connects with the driving device
It connects, for trimming the branches and leaves of eminence.
5. a kind of joint based on artificial intelligence according to claim 1 afforests clipping device, it is characterised in that：The nothing
Man-machine further includes pick device, and the pick device is set to the uav bottom, and the pick device includes several machinery
Pawl, and with the driving device, for pick up the residual branch on ground remain leaf.
6. a kind of work side of joint greening clipping device based on artificial intelligence according to claim 1-5
Method, it is characterised in that：Including following work step：
A) target position is set, the target position is imported first navigation device, first navigation by the processor
Device generates the location information of the pruning mechanism to the mobile route of the target position and is sent to the mobile route
The processor；
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) first photographic device shoots the environment in front of the pruning mechanism and the first filmed image is sent to the place
Manage device；
D) first filmed image is sent to second navigation device by the processor, and second navigation device generates
First flight path is simultaneously sent to the processor by the first flight path of the unmanned plane；
E) processor to the unmanned plane export the first flight signal, the unmanned plane according to first flight path into
Row flight；
F) second photographic device shoots the environment in front of the unmanned plane and the second filmed image is sent to the processing
Device；
G) processor acquires greening information according to second filmed image, the greening of same type is sorted out, and needle
Different trimming schemes is formulated to different types of greening, a trimming model is established to the greening of same type；
H) processor is afforested the greening in first filmed image as target as extraction, and judges the target
It afforests whether consistent with the appearance of the trimming model；
I) if it is not, the processor extracts part extra in the target greening, using redundance as trimming target, and
The distance value for calculating first driven shearing to the trimming target, exports to the driving device and increases signal, the driving
Device drives the lifting device to rise the height of the distance value；
J) processor exports the first trim signal to the driving device, and the driving device drives first driven shearing
Target is trimmed described in severing.
7. a kind of working method of joint greening clipping device based on artificial intelligence according to claim 6, feature
It is：Further include：
After second inner cylinder storage, the processor extracts the rubbish bucket position nearest apart from the pruning mechanism
It sets, and the dustbin position is sent to second navigation device, second navigation device generates the location information
To the dustbin position the second flight path and second flight path is sent to the processor；
The processor exports the second flight signal to the unmanned plane, and the unmanned plane is carried according to second flight path
Second inner cylinder is to dustbin position discharging.
8. a kind of working method of joint greening clipping device based on artificial intelligence according to claim 6, feature
It is：Step e further includes：
The processor exports the first rotating signal to the driving device, and the driving device drives the rotating device upward
It is rotated by 90 °；
When the unmanned plane returns to the pruning mechanism, the processor exports the second rotating signal to the driving device,
The driving device drives the rotating device to being rotated down 90 degree.
9. a kind of working method of joint greening clipping device based on artificial intelligence according to claim 6, feature
It is：Calculating first driven shearing to the distance value for trimming target further includes：
The processor judges whether the maximum wicking height of the lifting device is greater than or equal to the distance value；
If so, starting the lifting device；
If it is not, the processor controls at the unmanned plane during flying to the trimming target；
The processor exports the second trim signal to the driving device, and the driving device driving described second is electronic to cut out
Break the trimming target.
10. a kind of working method of joint greening clipping device based on artificial intelligence according to claim 6, feature
It is：Further include after step j：
The processor controls the unmanned plane nap of the earth flight；
The processor exports the first pickoff signals to the driving device, and the driving device drives the pick device by ground
Trimming target pick-up on face is to first inner cylinder；
The processor exports the second pickoff signals to the driving device, and the driving device drives the pick device by ground
Rubbish on face is picked up to second inner cylinder.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810760423.1A CN108873845A (en) | 2018-07-12 | 2018-07-12 | A kind of joint greening clipping device and its working method based on artificial intelligence |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810760423.1A CN108873845A (en) | 2018-07-12 | 2018-07-12 | A kind of joint greening clipping device and its working method based on artificial intelligence |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109752385A (en) * | 2019-01-28 | 2019-05-14 | 黄惠珠 | A kind of food safety detection equipment and its working method based on image analysing computer |
| CN111522376A (en) * | 2020-04-17 | 2020-08-11 | 苏州昭轩数字科技有限公司 | Intelligent area planting method and system based on artificial intelligence and big data |
| JP7004962B1 (en) * | 2021-02-05 | 2022-01-21 | エムラインシステム株式会社 | Unmanned aerial vehicle controls and unmanned aerial vehicle systems |
| JP7004963B1 (en) * | 2021-02-05 | 2022-01-21 | エムラインシステム株式会社 | Unmanned aerial vehicle |
| CN115088500A (en) * | 2022-08-25 | 2022-09-23 | 中化现代农业有限公司 | Pruning system for fruit trees and using method |
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2018
- 2018-07-12 CN CN201810760423.1A patent/CN108873845A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109752385A (en) * | 2019-01-28 | 2019-05-14 | 黄惠珠 | A kind of food safety detection equipment and its working method based on image analysing computer |
| CN111522376A (en) * | 2020-04-17 | 2020-08-11 | 苏州昭轩数字科技有限公司 | Intelligent area planting method and system based on artificial intelligence and big data |
| JP7004962B1 (en) * | 2021-02-05 | 2022-01-21 | エムラインシステム株式会社 | Unmanned aerial vehicle controls and unmanned aerial vehicle systems |
| JP7004963B1 (en) * | 2021-02-05 | 2022-01-21 | エムラインシステム株式会社 | Unmanned aerial vehicle |
| CN115088500A (en) * | 2022-08-25 | 2022-09-23 | 中化现代农业有限公司 | Pruning system for fruit trees and using method |
| CN115088500B (en) * | 2022-08-25 | 2022-11-18 | 中化现代农业有限公司 | Pruning system for fruit trees and using method |
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