CN109190541A - Trees foster device and control method, device, electronic equipment and storage medium - Google Patents
Trees foster device and control method, device, electronic equipment and storage medium Download PDFInfo
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- CN109190541A CN109190541A CN201810975286.3A CN201810975286A CN109190541A CN 109190541 A CN109190541 A CN 109190541A CN 201810975286 A CN201810975286 A CN 201810975286A CN 109190541 A CN109190541 A CN 109190541A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
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- 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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/02—Agriculture; Fishing; Mining
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/94—Hardware or software architectures specially adapted for image or video understanding
Abstract
The embodiment of the present disclosure discloses trees and fosters device and control method, device, electronic equipment and storage medium.This method comprises: obtaining sensing data；Wherein, the sensing data includes at least to the first sensing data of target trees and fosters to the trees the second sensing data of device；The job state that the tree information of the target trees and the trees foster device current and/or next stage is entered is determined according to the sensing data；The trees, which are adaptively adjusted, according to the tree information and the job state fosters movement of the device on the target trees.The above scheme high degree of automation that the embodiment of the present disclosure proposes, flexible in operation, substantially increase that trees foster device fosters efficiency and operation quality.
Description
Technical field
This disclosure relates to field of computer technology, and in particular to a kind of trees foster device and control method, device, electronics
Equipment and storage medium.
Background technique
Forestry is the important basic industry in China, as the mankind continually develop forestry, causes environment to occur various
Ecological problem.Trees greening work has obtained the attention of various circles of society, carries out pruning in time to the trees in forest fostering, favorably
In the survival rate for improving trees, guarantee the normal growth of forest.Traditional tending of woods works by being accomplished manually, special by having
The forest industry personnel of industry knowledge, observe forest, measured and are analyzed, and formulate it is corresponding foster strategy, finally by people
The mode of work completes tending of woods operation.
To use manpower and material resources sparingly, trees prune by automatic clipping device and foster the matter for being able to ascend forest economy
Amount especially fosters the future economy for being able to ascend trees to be worth natural forests, occurs many trimming machine cuts people energy at present
Enough automatically trees prune and be fostered.Although technology path has certain difference, overall plan has centainly similar
Property, such as all dynamic system, climbing system, pruning device.However these devices some need in the specific implementation process
The climbing speed and cutting range of equipment are manually adjusted by long-distance remote control device, some equipment is comforted with constant speed
Educate operation.It can not can not be mentioned on a large scale according to the adaptive switching equipment operating mode of actual scene and climbing speed
High forest operation efficiency, guarantees the operation quality of equipment.
Summary of the invention
The embodiment of the present disclosure provides a kind of trees and fosters device and control method, device, electronic equipment and computer-readable
Storage medium.
In a first aspect, providing the control method that a kind of trees foster device in the embodiment of the present disclosure, comprising:
Obtain sensing data；Wherein, the sensing data is included at least to the first sensing data of target trees and to institute
State the second sensing data that trees foster device；
According to the sensing data determine the tree information of the target trees and the trees foster device currently and/
Or the job state that next stage is entered；
Adaptively adjusting the trees according to the tree information and the job state fosters device in the target
Movement on trees.
Further, adaptively adjusting the trees according to the tree information and the job state fosters device to exist
Movement on the target trees, includes at least one of the following:
The inner diameter size that the trees foster the frame unit of device is controlled according to the dimension data in the tree information,
To foster device to be pressed on the surfaces of the target trees trees；
When the job state switches to trimming state from non-trimming state, the trimming that the trees foster device is adjusted
Parameter, and control the trees and device is fostered to climb upwards on the target trees with First Speed；
When the job state switches to non-trimming state from trimming state, controls the trees and device stopping is fostered to repair
Work is cut, and controls the trees and device is fostered to climb upwards on the target trees with second speed；
It is non-pruning state in the job state and moves up, and determines that the trees comfort according to the tree information
When educating device and being less than preset threshold at a distance from pollard, the climbing speed that the trees foster device is reduced；
Determine that the trees foster device to complete control to the target trees when fostering operation according to the tree information
Making the trees fosters device to move down with third speed along the target trees.
Further, first sensing data includes:
Utilize the image data for the target trees that imaging sensor obtains；
The tree information that the target trees are determined according to the sensing data includes:
The dimension data and pruning data of the target trees are determined according to the image data of the target trees.
Further, second sensing data includes:
The pressure data for fostering the trimming module on device to be experienced using the trees that pressure sensor obtains；
The operation shape that the trees foster device current and/or next stage is entered is determined according to the sensing data
State, comprising:
It is described that the trees are determined to foster device currently be trimming state be also non-trimming state according to the pressure data.
Further, second sensing data includes:
The position data and speed data of device are fostered using the trees that position sensor obtains；
The operation for determining that the trees foster device current and/or next stage is entered according to the sensing data
State, comprising:
The job state that the trees foster device current is determined according to the position data and speed data.
Further, second sensing data includes:
Height of the device on the target trees is fostered using the trees that position sensor or baroceptor obtain
Degree evidence；
The operation for determining that the trees foster device current and/or next stage is entered according to the sensing data
State, comprising:
Determine that the trees foster device to be currently at rising or decline state according to the altitude information.
Further, first sensing data includes:
Utilize the dimension data and/or the goal tree of the target trees that pressure sensor or imaging sensor obtain
The branch distributed data of wood；
The operation shape that the trees foster device current and/or next stage is entered is determined according to the sensing data
State, comprising:
Identify that the trees foster repairing for device next stage in advance according to the dimension data and/or branch distributed data
Cut task and/or trimming state.
Further, determine that the tree information of the target trees and the trees foster dress according to the sensing data
Set the job state that current and/or next stage entered, comprising:
Prediction processing is carried out to the sensing data using artificial intelligence model, is believed with the trees of the determination target trees
The job state that breath and the trees foster device current and/or next stage is entered.
Second aspect, the embodiment of the present disclosure provide a kind of trees and foster device, comprising: sensor-based system, control module, liter
It drops module and fosters execution module；Wherein,
The sensor-based system is for obtaining sensing data；Wherein, the sensing data includes at least the to target trees
One sensing data and the second sensing data that the trees are fostered with device；
The control module determines that the tree information of the target trees and the trees are comforted according to the sensing data
The job state that device is current and/or next stage is entered is educated, and according to the tree information and the job state
Control the lifting module and it is described foster execution module, foster device in the goal tree adaptively to adjust the trees
Movement on wood.
Further, the lifting module includes frame unit, sliding unit, driving unit and controlled elasticity unit；
The sliding unit, driving unit and controlled elasticity unit are arranged on frame unit, and the frame unit is used for
It supports the trees to foster device, and fosters device to be fixed on the target trees trees；
The control signal that the controlled elasticity unit is exported according to the control module changes its internal diameter, the sliding
Unit is arranged inside the controlled elasticity unit, and when the controlled elasticity unit shrinks internal diameter, is pressed on described
Target trees outer surface can be slided up and down with the speed parameter that control module exports on the surface of the target trees；
The driving unit under the control of the control module for driving the sliding unit in the target trees
Outer surface moves up and down.
Further, described that execution module is fostered to be arranged on the frame unit, including pruning tool and power unit；
The pruning tool trims the branch on the target trees under the driving of the power unit.
Further, the control module executes at least one of following operation:
The inner diameter size that the trees foster the frame unit of device is controlled according to the dimension data in the tree information,
To foster device to be pressed on the surfaces of the target trees trees；
When the job state switches to trimming state from non-trimming state, the trimming that the trees foster device is adjusted
Parameter, and control the trees and device is fostered to climb upwards on the target trees with First Speed；
When the job state switches to non-trimming state from trimming state, controls the trees and device stopping is fostered to repair
Work is cut, and controls the trees and device is fostered to climb upwards on the target trees with second speed；
It is non-pruning state in the job state and moves up, and determines that the trees comfort according to the tree information
When educating device and being less than preset threshold at a distance from pollard, the climbing speed that the trees foster device is reduced；
Determine that the trees foster device to complete control to the target trees when fostering operation according to the tree information
Making the trees fosters device to move down with third speed along the target trees.
Further, the sensor-based system includes imaging sensor, pressure sensor, position sensor, baroceptor
At least one of.
Further, including at least one of:
Described image sensor obtains the image data of the target trees, and the control module is according to the target trees
Image data determine the dimension data and pruning data of the target trees；
The pressure sensor obtains the pressure data that the trees foster the trimming module on device to be experienced, described
Control module determines the trees to foster device currently is trimming state be also non-trimming state according to the pressure data；
The position sensor obtains the position data and speed data that the trees foster device, the control module root
The job state that the trees foster device current is determined according to the position data and speed data；
The position sensor or baroceptor obtain the trees and foster height of the device on the target trees
Data, the control module determine that the trees foster device to be currently at rising or decline shape according to the altitude information
State；
The pressure sensor or imaging sensor obtain the size number that the trees foster device in the target trees
According to and/or branch distributed data, described in the control module is identified in advance according to the dimension data and/or branch distributed data
Trees foster the trimming task and/or trimming state of device next stage.
Further, the control module carries out prediction processing to the sensing data using artificial intelligence model, with true
The operation shape that the tree information of the fixed target trees and the trees foster device current and/or next stage is entered
State.
The third aspect, the embodiment of the present disclosure provide the control device that a kind of trees foster device, comprising:
Module is obtained, is configured as obtaining sensing data；Wherein, the sensing data includes at least the to target trees
One sensing data and the second sensing data that the trees are fostered with device；
Determining module is configured as determining the tree information of the target trees and the tree according to the sensing data
The job state that wood fosters device current and/or next stage is entered；
Module is adjusted, is configured as adaptively adjusting the trees according to the tree information and the job state and comfort
Educate movement of the device on the target trees.
Further, the adjustment module, includes at least one of the following:
First control submodule is configured as fostering dress according to the dimension data control trees in the tree information
The trees are fostered device to be pressed on the surfaces of the target trees by the inner diameter size for the frame unit set；
Adjusting submodule is configured as when the job state switches to trimming state from non-trimming state, adjusts institute
It states trees and fosters the trimming parameter of device, and control the trees and foster device upward on the target trees with First Speed
Climbing；
Second control submodule is configured as when the job state switches to non-trimming state from trimming state, control
Making the trees fosters device to stop trimming work, and controls the trees and foster device with second speed in the target trees
Upper climbing upwards；
First determines submodule, is configured as being non-pruning state and to move up in the job state, and according to institute
State tree information determine the trees foster device and at a distance from pollard be less than preset threshold when, reduce the trees and comfort
Educate the climbing speed of device；
Second determines submodule, is configured as determining that the trees foster device to complete to described according to the tree information
When fostering operation of target trees is controlled the trees and device is fostered to be moved down with third speed along the target trees.
Further, first sensing data includes:
Utilize the image data for the target trees that imaging sensor obtains；
The determining module, comprising:
Third determines submodule, is configured as determining the ruler of the target trees according to the image data of the target trees
Very little data and pruning data.
Further, second sensing data includes:
The pressure data for fostering the trimming module on device to be experienced using the trees that pressure sensor obtains；
The determining module, comprising:
4th determines submodule, is configured as described determining that the trees foster device currently and are according to the pressure data
Trimming state is also non-trimming state.
Further, second sensing data includes:
The position data and speed data of device are fostered using the trees that position sensor obtains；
The determining module, comprising:
5th determines submodule, is configured as determining that the trees foster device according to the position data and speed data
The current job state.
Further, second sensing data includes:
Height of the device on the target trees is fostered using the trees that position sensor or baroceptor obtain
Degree evidence；
The determining module, comprising:
6th determines submodule, is configured as determining that the trees foster device to be currently at according to the altitude information
Rise or decline state.
Further, first sensing data includes:
Utilize the dimension data and/or the goal tree of the target trees that pressure sensor or imaging sensor obtain
The branch distributed data of wood；
The determining module, comprising:
7th determines submodule, be configured as being identified in advance according to the dimension data and/or branch distributed data described in
Trees foster the trimming task and/or trimming state of device next stage.
Further, the determining module, comprising:
Submodule is handled, is configured as carrying out prediction processing to the sensing data using artificial intelligence model, with determination
The job state that the tree information of the target trees and the trees foster device current and/or next stage is entered.
The function can also execute corresponding software realization by hardware realization by hardware.The hardware or
Software includes one or more modules corresponding with above-mentioned function.
In a possible design, it includes memory and processor in the structure of the control device of device that trees, which foster,
The memory is used to store one or more support trees and the control device of device is fostered to execute trees in above-mentioned first aspect
The computer instruction of the control method of device is fostered, the processor is configured to based on executing and storing in the memory
The instruction of calculation machine.The trees, which foster the control device of device, to include communication interface, and the control of device is fostered for trees
Device and other equipment or communication.
Fourth aspect, the embodiment of the present disclosure provide a kind of electronic equipment, including memory and processor；Wherein, described
Memory is for storing one or more computer instruction, wherein one or more computer instruction is by the processor
It executes to realize method and step described in first aspect.
5th aspect, the embodiment of the present disclosure provide a kind of computer readable storage medium, foster dress for storing trees
Computer instruction used in the control device set, it includes the controlling parties that device is fostered for executing trees in above-mentioned first aspect
Computer instruction involved in method.
The technical solution that the embodiment of the present disclosure provides can include the following benefits:
The embodiment of the present disclosure passes through the trees for obtaining target trees to be fostered and being fostered to target trees and fosters
The sensing data of device, and then determine that the tree information of target trees and trees foster the operation shape of device according to sensing data
State, and it is dynamic according to tree information and job state fostering of adaptively adjusting that trees foster device on the target trees
Make, solves trees in prior art and device is fostered adjustment not act adaptively, need the problem of artificially controlling, automate journey
Degree is high, flexible in operation, and substantially increase that trees foster device fosters efficiency and operation quality.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
In conjunction with attached drawing, by the detailed description of following non-limiting embodiment, the other feature of the disclosure, purpose and excellent
Point will be apparent.In the accompanying drawings:
Fig. 1 shows the flow chart that the control method of device is fostered according to the trees of one embodiment of the disclosure；
Fig. 2 shows the structural block diagrams that device is fostered according to the trees of one embodiment of the disclosure；
Fig. 3 shows the structural block diagram of the lifting module 203 of embodiment according to Fig.2,；
Fig. 4 shows the structural block diagram that the control device of device is fostered according to the trees of one embodiment of the disclosure；
Fig. 5 is adapted for fostering the electronics of control method of device to set according to the trees of one embodiment of the disclosure for realizing
Standby structural schematic diagram.
Specific embodiment
Hereinafter, the illustrative embodiments of the disclosure will be described in detail with reference to the attached drawings, so that those skilled in the art can
Easily realize them.In addition, for the sake of clarity, the portion unrelated with description illustrative embodiments is omitted in the accompanying drawings
Point.
In the disclosure, it should be appreciated that the term of " comprising " or " having " etc. is intended to refer to disclosed in this specification
Feature, number, step, behavior, the presence of component, part or combinations thereof, and be not intended to exclude other one or more features,
A possibility that number, step, behavior, component, part or combinations thereof exist or are added.
It also should be noted that in the absence of conflict, the feature in embodiment and embodiment in the disclosure
It can be combined with each other.The disclosure is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 shows the flow chart that the control method of device is fostered according to the trees of one embodiment of the disclosure.Such as Fig. 1 institute
Show, the trees foster the control method of device to include the following steps S101-S103:
In step s101, sensing data is obtained；Wherein, the sensing data is included at least passes to the first of target trees
Sense data and the second sensing data that the trees are fostered with device；
In step s 102, determine that the tree information of the target trees and the trees are comforted according to the sensing data
Educate the job state that device is current and/or next stage is entered；
In step s 103, the trees are adaptively adjusted according to the tree information and the job state and fosters dress
Set the movement on the target trees.
In the present embodiment, the first sensing data of target trees is obtained by sensor and trees foster device to mesh
The second sensing data during mark the fostering of trees.Sensor can include but is not limited to pass comprising pressure sensor, image
One of sensor, position sensor (including GPS etc.), baroceptor or a variety of combinations.The first sensing of target trees
Data can include but is not limited to the image data of target trees, branch distributed data；Trees foster the second of device to sense number
The pressure data of fostering the trimming module on device to be born according to including but not limited to trees, trees foster the positional number of device
The altitude information of device on target trees etc. is fostered according to, speed data, trees.
The tree information of target trees includes but is not limited to the dimension information and pruning data of target trees；Target trees
Dimension information includes the diameter of a cross-section of a tree trunk 1.3 meters above the ground of trees, the high data of tree；The pruning data of target trees include the distribution of the branch of trimming, branch
The information such as parameter, Mowing frequency.Trees foster device job state include but is not limited to foster state, it is non-foster state, on
The state of liter, decline state.It fosters state and non-to foster state may include cut state and non-cutting state.It is obtained by sensor
The first sensing data and the second sensing data taken can determine that the tree information of above-mentioned target trees and trees foster device
Job state.Such as: trees foster device during pollard, determine that trimming module is born by pressure sensor
Pressure judge that trees foster the job state of device；Imaging sensor fosters device or branch to be distributed by obtaining trees
Image identifies that trees foster the working condition of device；Position sensor is used to obtain trees and fosters position and height where device
Spend information.
After the tree information and trees that target trees have been determined foster the job state of device, so that it may according to current
It fosters situation adaptively to adjust trees and fosters movement of the device on target trees.For example, according to the tree information of target trees
The climbing speed of device, climbing direction etc. are fostered with job state adjustment trees, can also be distributed according to the branch of target trees
Situation adjustment trees foster the cut state (such as start cutting, stop cutting, at a slow speed cutting, fly-cutting) of device.
The embodiment of the present disclosure passes through the trees for obtaining target trees to be fostered and being fostered to target trees and fosters
The sensing data of device, and then determine that the tree information of target trees and trees foster the operation shape of device according to sensing data
State, and it is dynamic according to tree information and job state fostering of adaptively adjusting that trees foster device on the target trees
Make, solves trees in prior art and device is fostered adjustment not act adaptively, need the problem of artificially controlling, automate journey
Degree is high, flexible in operation, and substantially increase that trees foster device fosters efficiency and operation quality.
In an optional implementation of the present embodiment, the step S103, i.e., according to the tree information and institute
State job state and adaptively adjust the trees and foster device the movement on the target trees the step of, including it is following at least
One:
According to the inner diameter size of the dimension data control framework unit in the tree information, the trees are fostered into dress
Set the surface for being pressed on the target trees；
When the job state switches to trimming state from non-trimming state, the trimming that the trees foster device is adjusted
Parameter, and control the trees and device is fostered to climb upwards on the target trees with First Speed；
When the job state switches to non-trimming state from trimming state, controls the trees and device stopping is fostered to repair
Work is cut, and controls the trees and device is fostered to climb upwards on the target trees with second speed；
Determine that the trees foster device to complete control to the target trees when fostering operation according to the tree information
Making the trees fosters device to move down with third speed along the target trees.
In the optional implementation, after the dimension information that target trees have been determined, it can be fostered by controlling trees
Trees are fostered device to be pressed on the surfaces of target trees by the inner diameter size of the frame unit on device.Trees foster device
On frame unit be the adjustable structure of internal diameter, can be cyclic structure, can cover on the trunk of target trees, and energy
Enough its inner diameter sizes of adjust automatically, to be adapted with the trunk of target trees.The dimension data of target trees includes target trunk
Diameter of a cross-section of a tree trunk 1.3 meters above the ground data, can according to the diameter of a cross-section of a tree trunk 1.3 meters above the ground size of trunk adjust frame unit inner diameter size, so that trees foster device in mesh
When being climbed upward or downward on mark trees, it can be pressed on the trunk surface of target trees, be unlikely to fall off from target trees.
When being determined that the job state switches between non-trimming state and trimming state, the adjustable trees
The trimming parameter of device is fostered, and controls the climbing speed that the trees foster device.For example, fostering device tree in trees
When branch trimming, the pressure sensor of device can be fostered to identify that trees foster whether device is in non-cutting shape by being mounted on trees
Under state, if being in non-cutting state, it can control trees and device fostered to climb upwards according to cruising speed namely second speed.
If it is determined that trees foster device to be in cut state, it can control trees and foster device according to cutting speed namely First Speed
It is climbed upwards while carrying out pollard, after the branch pruning wait need to trim, control trees foster device by patrolling
Speed of a ship or plane degree namely second speed continue up climbing.First Speed be lower than second speed, thus realize trees foster device according to
Speed is climbed in the adaptive switching of different job states, improves the effect that trees foster the operating efficiency of device, and trees foster
Device is completed during upward climbing and is fostered to the pruning of target trees.
When moving up under being determined that job state is non-pruning state, determine that trees foster device by tree information
Distance when being closer, can control trees and device fostered to reduce climbing speed, slowly close to be trimmed when pollard
Branch, touch when pollard drive trees foster motor and cutter on device treat pollard carry out trimming comfort
It educates, avoids leading to tool damage due to fostering device excessive velocities to generate strong collision when pollard encountering.
It is being determined that trees foster device to have been completed to target trees when fostering work, can control trees and foster
Device is moved down along target trees, namely switches to decline state.For example, when trees foster device to complete to whole trees
Trimming foster after, can control trees and device fostered to open drop mode, driving trees foster device mobile to opposite direction, press
Speed namely third speed according to decline drop quickly to trunk bottom.Decrease speed is greater than trees and device is fostered to climb upwards
The speed of free position namely third speed are greater than First Speed and second speed in the process, can be improved trees in this way and foster
The operating efficiency of device.
In an optional implementation of the present embodiment, first sensing data includes:
Utilize the image data for the target trees that imaging sensor obtains；
The step of tree information of the target trees is determined according to the sensing data described in the step S102, into
One step the following steps are included:
The dimension data and pruning data of the target trees are determined according to the image data of the target trees.
In the optional implementation, the image data of target trees can be obtained by imaging sensor.Image sensing
Device can be set fosters on device in trees, also can be set around target trees, or portable for staff
Imaging sensor on electronic equipment.Processing analysis is carried out by the image data to target trees, obtains the ruler of target trees
Very little data and pruning data.The dimension data of target trees includes but is not limited to the diameter of a cross-section of a tree trunk 1.3 meters above the ground of target trees, the high data of tree, target
The pruning data of trees include but is not limited to the data such as distribution situation, branch parameter, Mowing frequency to pollard.
In an optional implementation of the present embodiment, second sensing data includes:
The pressure data for fostering the trimming module on device to be experienced using the trees that pressure sensor obtains；
Determine that the trees foster device current and/or next stage institute according to the sensing data in the step S102
The job state of entrance includes:
It is described that the trees are determined to foster device currently be trimming state be also non-trimming state according to the pressure data.
In the optional implementation, pressure data can be obtained by pressure sensor, and pressure sensor can be set
In the trimming module that trees foster device, fosters device to trim module when fostering to target trees for experiencing trees and held
The pressure received.Trees foster device under trimming state, are trimmed by trimming module to the branches and leaves on target trees, the mistake
Module is trimmed in journey can bear biggish pressure, and trees foster device under non-trimming state, and trimming module is in idle shape
State is not subject to the pressure from branch, therefore can be judged that trees foster dress by pressure size is born by pressure sensor
Setting in trimming state is also non-trimming state.
In an optional implementation of the present embodiment, second sensing data includes:
The position data and speed data of device are fostered using the trees that position sensor obtains；
Determine that the trees foster device current and/or next stage institute according to the sensing data in the step S102
The step of job state of entrance, comprising the following steps:
The job state that the trees foster device current is determined according to the position data and speed data.
In the optional implementation, position sensor can be set fosters on device in trees, for obtaining tree in real time
Wood fosters the position of device.Position sensor includes mobile satellite location equipment and inertial navigation equipment, and mobile satellite location equipment and/or inertial navigation are set
It is standby to position the plane coordinates position that trees foster device on Earth Surface, and inertial navigation equipment can position trees and foster dress
Set the height and position on target trees.The position coordinates of device are fostered by obtaining trees in real time, and according to time and movement
Distance determines that trees foster the speed data of device.Movement speed and movement of the device on target trees are fostered by trees
It is also that (trees foster device upward to non-trimming state under trimming state that direction, which can determine that trees foster device to be in trimming state,
It is mobile, and speed is slower, under non-trimming state, trees foster device may upwards may also be downward, but movement speed compared with
Trimming state is fast), can also judge that trees foster device is propradation or decline state.In addition, trees foster device can
To acquire the high information (or the maximum height for needing pollard) of tree in advance by sensor, and above-mentioned height is preset as trees
The maximum climbing height of device is fostered to be defaulted as setting when position sensor identifies, and device is fostered to reach highest climbing height
Wood fosters device to complete the branch pruning work of whole trees, and then determines that trees foster device next stage to enter non-repair
Scissor state.
In an optional implementation of the present embodiment, second sensing data includes:
Height of the device on the target trees is fostered using the trees that position sensor or baroceptor obtain
Degree evidence；
Determine that the trees foster device current and/or next stage institute according to the sensing data in the step S102
The step of job state of entrance, comprising the following steps:
Determine that the trees foster device to be currently at rising or decline state according to the altitude information.
In the optional implementation, position sensor and air pressure transmission on device can also be fostered according to trees are arranged in
Sensor determines that trees foster altitude information of the device on target trees.Position sensor can be inertial navigation equipment, for obtaining
Trees foster position data of the device when target trees move up dynamic, and then determine that trees foster device in mesh according to position data
Mark the altitude information on trees, namely the altitude information apart from ground.It can also be obtained by baroceptor in the present embodiment
Barometric information, and then determine that trees foster altitude information of the device on target trees by the size variation of air pressure.In determination
After trees foster the altitude information of device, it can determine that trees foster device to be in propradation according to the variation of altitude information
Or decline state can also be determined that trees foster the rising speed of device by the variation speed of height, and then determine trees
Fostering device to be in trimming state is also non-trimming state.
In an optional implementation of the present embodiment, first sensing data includes:
Utilize the dimension data and/or the goal tree of the target trees that pressure sensor or imaging sensor obtain
The branch distributed data of wood；
The step of tree information of the target trees is determined according to the sensing data described in the step S102, into
One step the following steps are included:
Identify that the trees foster repairing for device next stage in advance according to the dimension data and/or branch distributed data
Cut task and/or trimming state.
In the optional implementation, during trees foster device to climb upwards along trunk, image can be passed through
Sensor and/or pressure sensor carry out the identification in advance of trimming task and state, and control trees foster device to slow down in advance
Speed is climbed, slowly close to the branch for needing to trim.
In one embodiment, the imaging sensor above device can be fostered to identify that trees foster dress by the way that trees are arranged in
The top of present position is set either with or without the branch trimmed, if there is then continuing up climbing；If it is not, thinking
Trees foster device to complete this branch pruning task, and determine that next stage will enter non-trimming state.Further, it is also possible to logical
It crosses imaging sensor and determines the information such as the size of trees, the height for needing pollard and branch distribution in advance, and then realize
Identification in advance to cutting task and state.
In another embodiment, pressure sensor sensed in advance branch above device can be fostered by the way that trees are arranged in
Distribution situation, and then the job state that trees foster device next stage to be entered is determined according to branch distribution situation.
In an optional implementation of the present embodiment, the step S102 determines institute according to the sensing data
The step for the job state that the tree information and the trees for stating target trees foster device current and/or next stage is entered
Suddenly, it further includes steps of
Prediction processing is carried out to the sensing data using artificial intelligence model, is believed with the trees of the determination target trees
The job state that breath and the trees foster device current and/or next stage is entered.
In the optional implementation, can by preparatory trained artificial intelligence model to the sensing data of acquisition into
Row processing analysis, and judge whether the trees need to trim, if you do not need to trimming will then be fostered without the trimming for carrying out branch
Work.It is trimmed if necessary, then tree information is determined according to sensing data, and make the side of fostering of entire trimming process
Case, such as: trees foster device along trunk move up in cruising speed climbing distance and position, need pollard
Position and distance etc. specific Tending.Realize that trees foster device during the branch pruning of whole target trees
The full automatic trimming of scheme progress can be fostered to foster by specific automatically.Above-mentioned judgement trees need to not need the side trimmed
Method can be completed by carrying out the methods of feature extraction to Tree image data.Above-mentioned artificial intelligence model can be by a large amount of
Trees data training obtain, continuous machine learning can also be carried out in actual operation, improve artificial intelligence model
Accuracy.
Fig. 2 shows the structural block diagrams that device is fostered according to the trees of one embodiment of the disclosure.As shown in Fig. 2, the trees
Device is fostered to include: sensor-based system 201, control device 202, lifting module 203 and foster execution module 204；Wherein,
The sensor-based system 201 is for obtaining sensing data；Wherein, the sensing data is included at least to target trees
First sensing data and the second sensing data that the trees are fostered with device；
The control module 202 according to the sensing data determine the target trees tree information and the trees
Foster device current and/or job state that next stage is entered, and according to the tree information and the operation shape
State control the lifting module 203 and it is described foster execution module 204, foster device in institute adaptively to adjust the trees
State the movement on target trees.
In the present embodiment, sensor-based system 201 is used to acquire the sensing data of target trees, and sensing data is included at least to mesh
It marks the first sensing data of trees and the trees is fostered with the second sensing data of device.Target trees can be artificial gloomy
The trees, such as Chinese fir, palm, masson pine etc. of woods, gardens etc. growth.
The sensing data that control module 202 can be obtained by sensor-based system 201, determine the tree information of target trees with
And the job state that trees foster device current and/or next stage is entered, and according to the tree information and operation shape
State control the lifting module and it is described foster execution module, adaptively adjust the trees and foster device in the goal tree
Movement on wood.Namely control module 202 can be used for executing embodiment illustrated in fig. 1 and the proposed trees of other embodiments foster
The control method of device, detail can be found in the above-mentioned description to embodiment illustrated in fig. 1 and other embodiments, no longer superfluous herein
It states.
Lifting module 203 can be used for receiving the control signal of the output of control module 202, and based on control signaling bearer tree
Wood fosters device to move up on target trees.
Execution module 204 is fostered to can be used for receiving the control signal of the output of control module 202, and based on control signal pair
Target trees carry out fostering operation.
In an optional implementation of the present embodiment, as shown in figure 3, the lifting module 203 includes frame unit
301, sliding unit 302, driving unit 303 and controlled elasticity unit 304；
The sliding unit 302, driving unit 303 and controlled elasticity unit 304 are arranged on frame unit 301, described
Frame unit 301 is used to support the trees and fosters device, and fosters device to be fixed on the target trees trees；
The controlled elasticity unit 304 changes its internal diameter, institute according to the control signal that the control module 202 exports
It states sliding unit 302 to be arranged inside the controlled elasticity unit 304, and shrinks internal diameter ruler in the controlled elasticity unit 304
When very little, it is pressed on target trees outer surface, it can be with the speed parameter that control module 202 exports in the target trees
Surface slides up and down；
The driving unit 303 under the control of the control module 202 for driving the sliding unit 302 described
Target trees outer surface moves up and down.
In one embodiment, trees foster device that can be carried on the frame unit 301 of lifting module 203；Lifting
Module 203 can drive trees that device is fostered to be moved up and down on target trees by driving unit 303.
Frame unit 301 can be the cyclic structure with retractable opening, can around live target trees trunk or
Person's branch.In an implementation, controlled elasticity unit 304 include it is multiple, be symmetricly set on frame unit 301, can be with
It is fixed on frame unit 301 for one end, and the structure for the mechanical arm that the other end can be swung around fixing end.Sliding unit 302
May include it is multiple, the inside of the movable one end of controlled elasticity unit 304 can be separately positioned on.Frame unit 301 is looped around tree
After doing above, its internal diameter is can be changed in controlled elasticity unit 304 under control of the control means, such as movable one end is inwardly received
Contracting, so that sliding unit 304 is pressed on target trees outer surface, so that trees foster device to be fixed on target trees,
Driving unit 303 can drive sliding unit 302 to slide up and down in the outer surface of target trees at this time, and then trees is driven to foster
Device is moved.Above structure is only illustrative, and in practical applications, can change each unit according to actual needs
Mechanical structure, as long as can be realized above-mentioned function.
It is described that execution module is fostered to be arranged in the frame unit 301 in an optional implementation of the present embodiment
On, including pruning tool；The pruning tool trims the tree on the target trees under the driving of the driving unit 303
Branch.
In the optional implementation, execution module 204 is fostered to be arranged on frame unit 301 shown in Fig. 3, goes up and down mould
It, can be with after trees are fostered device to be fixed on target trees by block 203 by frame unit 301 and controlled elasticity unit 304
It is moved up and down according to the control signal that control module 202 exports, while fostering execution module 204 defeated in control module 202
It is executed under the control of control signal out and fosters operation.Such as fostering execution module 204 includes that one end is fixed on frame unit 301
On pruning tool, pruning tool can be cutter or saw blade, and power unit can be set in the fixing end, for drive repair
Branch tool is cut back and forth, with pruning trees or is fallen trees.Foster the mechanical structure of execution module 204 can be according to practical feelings
Condition is configured, and herein by way of example only, does not do any restrictions to its mechanical structure.
In an optional implementation of the present embodiment, the control module 202 executes at least one of following operation:
The inner diameter size that the trees foster the frame unit of device is controlled according to the dimension data in the tree information,
To foster device to be pressed on the surfaces of the target trees trees；
When the job state switches to trimming state from non-trimming state, the trimming that the trees foster device is adjusted
Parameter, and control the trees and device is fostered to climb upwards on the target trees with First Speed；
When the job state switches to non-trimming state from trimming state, controls the trees and device stopping is fostered to repair
Work is cut, and controls the trees and device is fostered to climb upwards on the target trees with second speed；
It is non-pruning state in the job state and moves up, and determines that the trees comfort according to the tree information
When educating device and being less than preset threshold at a distance from pollard, the climbing speed that the trees foster device is reduced；
Determine that the trees foster device to complete control to the target trees when fostering operation according to the tree information
Making the trees fosters device to move down with third speed along the target trees.
In the optional implementation, above-mentioned steps and above-mentioned trees that control module is realized foster the controlling party of device
Step included by step S103 is corresponding consistent in method, and detail, which can be found in, above-mentioned fosters in the control method of device trees
The specific descriptions of step S103, details are not described herein.
In an optional implementation of the present embodiment, the sensor-based system include imaging sensor, pressure sensor,
At least one of position sensor, baroceptor.
In the optional implementation, the detail of sensor included by sensor-based system, which can be found in, above-mentioned is comforted trees
The description of the control method of device is educated, details are not described herein.
In an optional implementation of the present embodiment, including at least one of:
Described image sensor obtains the image data of the target trees, and the control module is according to the target trees
Image data determine the dimension data and pruning data of the target trees；
The pressure sensor obtains the pressure data that the trees foster the trimming module on device to be experienced, described
Control module determines the trees to foster device currently is trimming state be also non-trimming state according to the pressure data；
The position sensor obtains the position data and speed data that the trees foster device, the control module root
The job state that the trees foster device current is determined according to the position data and speed data；
The position sensor or baroceptor obtain the trees and foster height of the device on the target trees
Data, the control module determine that the trees foster device to be currently at rising or decline shape according to the altitude information
State；
The pressure sensor or imaging sensor obtain the size number that the trees foster device in the target trees
According to and/or branch distributed data, described in the control module is identified in advance according to the dimension data and/or branch distributed data
Trees foster the trimming task and/or trimming state of device next stage.
In the optional implementation, the detail for the above-mentioned rate-determining steps that control module 202 executes can be found in above-mentioned
Trees are fostered with the description of the control method of device, details are not described herein.
In an optional implementation of the present embodiment, the control module is using artificial intelligence model to the sensing
Data carry out prediction processing, with the tree information and the trees of the determination target trees foster device current and/or under
The job state that one stage was entered.
In the optional implementation, the detail for the above-mentioned rate-determining steps that control module 202 executes can be found in above-mentioned
Trees are fostered with the description of the control method of device, details are not described herein.
Following is embodiment of the present disclosure, can be used for executing embodiments of the present disclosure.
Fig. 4 shows the structural block diagram that the control device of device is fostered according to the trees of one embodiment of the disclosure, the device
It being implemented in combination with as some or all of of electronic equipment by software, hardware or both.As shown in figure 4, described
It includes obtaining module 401, determining module 402 and adjustment module 403 that trees, which foster the control device of device:
Module 401 is obtained, is configured as obtaining sensing data；Wherein, the sensing data is included at least to target trees
The first sensing data and the trees are fostered with the second sensing data of device；
Determining module 402 is configured as determining tree information and the institute of the target trees according to the sensing data
State the job state that trees foster device current and/or next stage is entered；
Module 403 is adjusted, is configured as adaptively adjusting the tree according to the tree information and the job state
Wood fosters movement of the device on the target trees.
The trees foster the trees in device and embodiment illustrated in fig. 1 and related embodiment to foster the control method pair of device
Should be consistent, detail can be found in the description of the above-mentioned control method that trees are fostered with device, and details are not described herein.
In an optional implementation of the present embodiment, the adjustment module is included at least one of the following:
First control submodule is configured as fostering dress according to the dimension data control trees in the tree information
The trees are fostered device to be pressed on the surfaces of the target trees by the inner diameter size for the frame unit set；
Adjusting submodule is configured as when the job state switches to trimming state from non-trimming state, adjusts institute
It states trees and fosters the trimming parameter of device, and control the trees and foster device upward on the target trees with First Speed
Climbing；
Second control submodule is configured as when the job state switches to non-trimming state from trimming state, control
Making the trees fosters device to stop trimming work, and controls the trees and foster device with second speed in the target trees
Upper climbing upwards；
First determines submodule, is configured as being non-pruning state and to move up in the job state, and according to institute
State tree information determine the trees foster device and at a distance from pollard be less than preset threshold when, reduce the trees and comfort
Educate the climbing speed of device；
Second determines submodule, is configured as determining that the trees foster device to complete to described according to the tree information
When fostering operation of target trees is controlled the trees and device is fostered to be moved down with third speed along the target trees.
In an optional implementation of the present embodiment, first sensing data includes:
Utilize the image data for the target trees that imaging sensor obtains；
The determining module, comprising:
Third determines submodule, is configured as determining the ruler of the target trees according to the image data of the target trees
Very little data and pruning data.
In an optional implementation of the present embodiment, second sensing data includes:
The pressure data for fostering the trimming module on device to be experienced using the trees that pressure sensor obtains；
The determining module, comprising:
4th determines submodule, is configured as described determining that the trees foster device currently and are according to the pressure data
Trimming state is also non-trimming state.
In an optional implementation of the present embodiment, second sensing data includes:
The position data and speed data of device are fostered using the trees that position sensor obtains；
The determining module, comprising:
5th determines submodule, is configured as determining that the trees foster device according to the position data and speed data
The current job state.
In an optional implementation of the present embodiment, second sensing data includes:
Height of the device on the target trees is fostered using the trees that position sensor or baroceptor obtain
Degree evidence；
The determining module, comprising:
6th determines submodule, is configured as determining that the trees foster device to be currently at according to the altitude information
Rise or decline state.
In an optional implementation of the present embodiment, first sensing data includes:
Utilize the dimension data and/or the goal tree of the target trees that pressure sensor or imaging sensor obtain
The branch distributed data of wood；
The determining module, comprising:
7th determines submodule, be configured as being identified in advance according to the dimension data and/or branch distributed data described in
Trees foster the trimming task and/or trimming state of device next stage.
In an optional implementation of the present embodiment, the determining module, comprising:
Submodule is handled, is configured as carrying out prediction processing to the sensing data using artificial intelligence model, with determination
The job state that the tree information of the target trees and the trees foster device current and/or next stage is entered.
In above-mentioned optional implementation, the function and above-mentioned trees that modules are realized are fostered in the control method of device
Each step is corresponding consistent, and detail can be found in the description of the above-mentioned control method that trees are fostered with device, no longer superfluous herein
It states.
Fig. 5 is adapted for the electronic equipment for realizing the control method for fostering device according to the trees of disclosure embodiment
Structural schematic diagram.
As shown in figure 5, electronic equipment 500 includes central processing unit (CPU) 501, it can be according to being stored in read-only deposit
Program in reservoir (ROM) 502 is held from the program that storage section 508 is loaded into random access storage device (RAM) 503
Various processing in the above-mentioned embodiment shown in FIG. 1 of row.In RAM503, be also stored with electronic equipment 500 operate it is required
Various programs and data.CPU501, ROM502 and RAM503 are connected with each other by bus 504.Input/output (I/O) interface
505 are also connected to bus 504.
I/O interface 505 is connected to lower component: the importation 506 including keyboard, mouse etc.；It is penetrated including such as cathode
The output par, c 507 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section 508 including hard disk etc.；
And the communications portion 509 of the network interface card including LAN card, modem etc..Communications portion 509 via such as because
The network of spy's net executes communication process.Driver 510 is also connected to I/O interface 505 as needed.Detachable media 511, such as
Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 510, in order to read from thereon
Computer program be mounted into storage section 508 as needed.
Particularly, according to embodiment of the present disclosure, it is soft to may be implemented as computer above with reference to Fig. 1 method described
Part program.For example, embodiment of the present disclosure includes a kind of computer program product comprising be tangibly embodied in and its readable
Computer program on medium, the computer program include the program code for executing the method for Fig. 1.In such implementation
In mode, which can be downloaded and installed from network by communications portion 509, and/or from detachable media
511 are mounted.
Flow chart and block diagram in attached drawing illustrate system, method and computer according to the various embodiments of the disclosure
The architecture, function and operation in the cards of program product.In this regard, each box in course diagram or block diagram can be with
A part of a module, section or code is represented, a part of the module, section or code includes one or more
Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box
The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical
On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants
It is noted that the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart, Ke Yiyong
The dedicated hardware based system of defined functions or operations is executed to realize, or can be referred to specialized hardware and computer
The combination of order is realized.
Being described in unit or module involved in disclosure embodiment can be realized by way of software, can also
It is realized in a manner of through hardware.Described unit or module also can be set in the processor, these units or module
Title do not constitute the restriction to the unit or module itself under certain conditions.
As on the other hand, the disclosure additionally provides a kind of computer readable storage medium, the computer-readable storage medium
Matter can be computer readable storage medium included in device described in above embodiment；It is also possible to individualism,
Without the computer readable storage medium in supplying equipment.Computer-readable recording medium storage has one or more than one journey
Sequence, described program is used to execute by one or more than one processor is described in disclosed method.
Above description is only the preferred embodiment of the disclosure and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the disclosure, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed in the disclosure
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (10)
1. the control method that a kind of trees foster device characterized by comprising
Obtain sensing data；Wherein, the sensing data is included at least to the first sensing data of target trees and to the tree
Wood fosters the second sensing data of device；
According to the sensing data determine the tree information of the target trees and the trees foster device current and/or under
The job state that one stage was entered；
Adaptively adjusting the trees according to the tree information and the job state fosters device in the target trees
On movement.
2. the control method that trees according to claim 1 foster device, which is characterized in that according to the tree information with
And the job state adaptively adjusts the trees and fosters movement of the device on the target trees, including following at least one
:
The inner diameter size that the trees foster the frame unit of device is controlled according to the dimension data in the tree information, it will
The trees foster device to be pressed on the surfaces of the target trees；
When the job state switches to trimming state from non-trimming state, adjusts the trees and the trimming of device is fostered to join
Number, and control the trees and device is fostered to climb upwards on the target trees with First Speed；
When the job state switches to non-trimming state from trimming state, controls the trees and device is fostered to stop trimming work
Make, and controls the trees and device is fostered to climb upwards on the target trees with second speed；
It is non-pruning state in the job state and moves up, and determines that the trees foster dress according to the tree information
It sets with when being less than preset threshold at a distance from pollard, reduces the climbing speed that the trees foster device；
Determine that the trees foster device to complete to control institute to the target trees when fostering operation according to the tree information
Stating trees fosters device to move down with third speed along the target trees.
3. the control method that trees according to claim 2 foster device, which is characterized in that the first sensing data packet
It includes:
Utilize the image data for the target trees that imaging sensor obtains；
The tree information that the target trees are determined according to the sensing data includes:
The dimension data and pruning data of the target trees are determined according to the image data of the target trees.
4. the control method that trees according to claim 2 foster device, which is characterized in that the second sensing data packet
It includes:
The pressure data for fostering the trimming module on device to be experienced using the trees that pressure sensor obtains；
The job state that the trees foster device current and/or next stage is entered, packet are determined according to the sensing data
It includes:
It is described that the trees are determined to foster device currently be trimming state be also non-trimming state according to the pressure data.
5. the control method that trees according to claim 2 foster device, which is characterized in that the second sensing data packet
It includes:
The position data and speed data of device are fostered using the trees that position sensor obtains；
The operation shape for determining that the trees foster device current and/or next stage is entered according to the sensing data
State, comprising:
The job state that the trees foster device current is determined according to the position data and speed data.
6. the control method that trees according to claim 2 foster device, which is characterized in that the second sensing data packet
It includes:
High degree of the device on the target trees is fostered using the trees that position sensor or baroceptor obtain
According to；
The operation shape for determining that the trees foster device current and/or next stage is entered according to the sensing data
State, comprising:
Determine that the trees foster device to be currently at rising or decline state according to the altitude information.
7. a kind of trees foster device characterized by comprising sensor-based system, control module go up and down module and foster execution
Module；Wherein,
The sensor-based system is for obtaining sensing data；Wherein, the sensing data is included at least passes to the first of target trees
Sense data and the second sensing data that the trees are fostered with device；
The control module determines that the tree information of the target trees and the trees foster dress according to the sensing data
The job state that current and/or next stage entered is set, and is controlled according to the tree information and the job state
The lifting module and it is described foster execution module, foster device on the target trees adaptively to adjust the trees
Movement.
8. the control device that a kind of trees foster device characterized by comprising
Module is obtained, is configured as obtaining sensing data；Wherein, the sensing data is included at least passes to the first of target trees
Sense data and the second sensing data that the trees are fostered with device；
Determining module is configured as determining that the tree information of the target trees and the trees are comforted according to the sensing data
Educate the job state that device is current and/or next stage is entered；
Module is adjusted, is configured as adaptively adjusting the trees according to the tree information and the job state and fosters dress
Set the movement on the target trees.
9. a kind of electronic equipment, which is characterized in that including memory and processor；Wherein,
The memory is for storing one or more computer instruction, wherein one or more computer instruction is by institute
Processor is stated to execute to realize method and step described in any one of claims 1-6.
10. a kind of computer readable storage medium, is stored thereon with computer instruction, which is characterized in that the computer instruction quilt
Processor realizes method and step described in any one of claims 1-6 when executing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810975286.3A CN109190541B (en) | 2018-08-24 | 2018-08-24 | Tree tending device, control method and device, electronic equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810975286.3A CN109190541B (en) | 2018-08-24 | 2018-08-24 | Tree tending device, control method and device, electronic equipment and storage medium |
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| CN109190541A true CN109190541A (en) | 2019-01-11 |
| CN109190541B CN109190541B (en) | 2021-03-05 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (1)
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| CN112633107A (en) * | 2020-12-16 | 2021-04-09 | 广东省林业科学研究院 | Intelligent forestry monitoring method, device, equipment and storage medium |
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| US20140110021A1 (en) * | 2012-10-24 | 2014-04-24 | David H. Divine | Robotic Tree Trimmer And Cutter |
| CN105794502A (en) * | 2016-04-12 | 2016-07-27 | 山东国兴智能科技有限公司 | Full-automatic branch trimming robot and method |
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