CN109191517A - Trees Tending methods, device, system, electronic equipment and storage medium - Google Patents
Trees Tending methods, device, system, electronic equipment and storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 239000000463 material Substances 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 11
- 238000013138 pruning Methods 0.000 description 11
- 230000006870 function Effects 0.000 description 8
- 230000009194 climbing Effects 0.000 description 7
- 238000009966 trimming Methods 0.000 description 7
- 230000006854 communication Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000004590 computer program Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000002023 wood Substances 0.000 description 3
- 244000141353 Prunus domestica Species 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 241001133760 Acoelorraphe Species 0.000 description 1
- 244000050510 Cunninghamia lanceolata Species 0.000 description 1
- 235000011609 Pinus massoniana Nutrition 0.000 description 1
- 241000018650 Pinus massoniana Species 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000001418 larval effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
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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
- A01G7/00—Botany in general
- A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T2207/30—Subject of image; Context of image processing
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Abstract
The embodiment of the present disclosure provides a kind of trees Tending methods, device, system, electronic equipment and storage medium.Wherein, the trees Tending methods, comprising: obtain the sensing data of target trees, the sensing data includes at least image data；Decision data is fostered according to what the sensing data determined the target trees；It is wherein described that decision data is fostered to include at least fostering highly for the target trees；Decision data is fostered to carry out operation to the target trees according to described.Pass through disclosure mode, without manually being measured to target trees height, but it is determined using the sensing data of target trees and fosters decision data including at least its altitude information, and then device is fostered to carry out operation to target trees automatically by trees, manpower and material resources are greatly saved, efficiency and operation accuracy are improved, is conducive to Promote Forestry and fosters automation.
Description
Technical field
This disclosure relates to field of computer technology, and in particular to a kind of trees Tending methods, device, system, electronic equipment
And storage medium.
Background technique
Field is fostered in forestry, needs to carry out trees beta pruning when arboreal growth is to certain phase and fosters work so that tree
Wood is preferably grown.Need the elevation information of trimming needed for calculating trees when carrying out and pruning and foster, and the trees of different larval instar
Also cutting range needed for different from, such as low age woods is lower for the height of required trimming, and the then phase of cutting range needed for middle-aged forest
To higher.In the prior art, tree trimming height is usually to be surveyed by manually carrying out the trees that pruning is fostered to every
Its height, and then cutting range needed for calculating target trees are measured, further by this height of pruning information input pruning equipment
Pruning work of the middle completion to trees.Using the method for this traditional acquisition height of pruning, needs manually to measure, read
With computed altitude information, a large amount of manpower and material resources are consumed, the degree of automation is lower, inefficiency and accuracy is lower.
Summary of the invention
The embodiment of the present disclosure provides a kind of trees Tending methods, device, system, electronic equipment and storage medium.
In a first aspect, providing a kind of trees Tending methods in the embodiment of the present disclosure.
Specifically, the trees Tending methods, comprising:
The sensing data of target trees is obtained, the sensing data includes at least image data；
Decision data is fostered according to what the sensing data determined the target trees；It is wherein described to foster decision data extremely
Height is fostered including the target trees less；
Decision data is fostered to carry out operation to the target trees according to described.
It is further, described to foster decision data according to what the sensing data determined the target trees, comprising:
The form and true altitude of the target trees are determined according to the sensing data；
Fostering highly for the target trees is determined according to the form of the target trees and true altitude.
It is further, described that decision data is fostered to carry out operation to the target trees according to, comprising:
Obtain trees fosters device that the target trees are carried out with the height in operation process apart from ground automatically；
When fostering height described in reaching in the height apart from ground, stops the trees and foster device to the target automatically
The operation of trees.
Further, the acquisition trees foster device to carry out in operation process apart from ground the target trees automatically
Height, comprising:
Using be arranged in the trees foster automatically range finder module on device obtain the trees foster automatically device away from
Height from the ground.
Second aspect, the embodiment of the present disclosure provide a kind of trees and foster system, comprising: smart machine and trees comfort automatically
Device is educated, is provided with sensor on the smart machine；Wherein,
The smart machine obtains the sensing data of target trees using the sensor, and the sensing data includes at least
Image data；
The trees foster device to receive the sensing data automatically, and determine the goal tree according to the sensing data
Wood fosters decision data；It is wherein described that decision data is fostered to include at least fostering highly for the target trees；
The trees foster device to foster decision data to carry out operation to the target trees also according to described automatically.
Further, the smart machine is that intelligent terminal that trees foster personnel to carry or intelligence wearable are set
It is standby.
Further, the trees foster automatically device according to the sensing data determine the form of the target trees with
And true altitude, and fostering highly for the target trees is determined according to the form of the target trees and true altitude.
Further, the trees foster device to obtain the height apart from ground in operation process automatically, and in distance
The height on ground reaches described when fostering height, stops the operation to the target trees.
Further, the trees foster device to obtain the height apart from ground using range finder module automatically.
The third aspect, the embodiment of the present disclosure provide a kind of trees and foster system, comprising: smart machine and trees comfort automatically
Device is educated, is provided with sensor on the smart machine；Wherein,
The smart machine obtains the sensing data of target trees using the sensor, and true according to the sensing data
The fixed target trees foster decision data；It is wherein described that decision data is fostered to foster height including at least the target trees
Degree；
The trees foster automatically and foster decision data described in device reception, and foster decision data to described according to described
Target trees carry out operation.
Further, the smart machine is that intelligent terminal that trees foster personnel to carry or intelligence wearable are set
It is standby.
Further, the smart machine determines the form of the target trees and true high according to the sensing data
Degree, and fostering highly for the target trees is determined according to the form of the target trees and true altitude.
Further, the trees foster device to obtain the height apart from ground in operation process automatically, and in distance
The height on ground reaches described when fostering height, stops the operation to the target trees.
Further, the trees foster device to obtain the height apart from ground using range finder module automatically.
Fourth aspect, the embodiment of the present disclosure provide a kind of trees and foster device, comprising:
Module is obtained, is configured as obtaining the sensing data of target trees, the sensing data includes at least image data；
Determining module, be configured as determining the target trees according to the sensing data fosters decision data；Wherein
It is described that decision data is fostered to include at least fostering highly for the target trees；
Operation module is configured as that decision data is fostered to carry out operation to the target trees according to.
Further, the determining module, comprising:
First determines submodule, is configured as determining the form of the target trees and true according to the sensing data
Highly；
Second determines submodule, is configured as determining the target according to the form and true altitude of the target trees
Trees foster height.
Further, the operation module, comprising:
First acquisition submodule is configured as acquisition trees and device is fostered to carry out operation process to the target trees automatically
The middle height apart from ground；
Stop submodule, be configured as the height apart from ground reach it is described foster height when, stop the trees from
It is dynamic to foster operation of the device to the target trees.
Further, the trees foster height of the device apart from ground to be fostered on device automatically by the trees automatically
Range finder module determines.
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, the memory in the structure of device that trees, which foster,
The computer instruction for fostering device to execute trees Tending methods in above-mentioned first aspect for storing one or more support trees,
The processor is configured to for executing the computer instruction stored in the memory.The trees foster device can be with
Including communication interface, device and other equipment or communication are fostered for trees.
5th 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.
6th aspect, the embodiment of the present disclosure provide a kind of computer readable storage medium, foster dress for storing trees
Computer instruction used is set, it includes refer to for executing computer involved in trees Tending methods in above-mentioned first aspect
It enables.
The technical solution that the embodiment of the present disclosure provides can include the following benefits:
The embodiment of the present disclosure is included at least by obtaining the sensing data of target trees automatically according to sensing data determination
Target trees altitude information fosters decision data, and fosters decision data to carry out operation to the target trees with described.It is logical
This mode of the disclosure is crossed, without manually measuring to target trees height, but utilizes the sensing data of target trees true
Surely decision data is fostered including at least its altitude information, and then fosters device to carry out operation to target trees automatically by trees,
Manpower and material resources are greatly saved, improve efficiency and operation accuracy, is conducive to Promote Forestry and fosters automation.
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 of the trees Tending methods according to one embodiment of the disclosure；
Fig. 2 shows the flow charts of the step S102 of embodiment according to Fig. 1；
Fig. 3 shows the flow chart of the step S103 according to one embodiment of the disclosure；
Fig. 4 shows the structural block diagram that system is fostered according to the trees of one embodiment of the disclosure；
Fig. 5 shows the structural block diagram that device is fostered according to the trees of one embodiment of the disclosure；
Fig. 6 shows the structural block diagram of the determining module 502 according to one embodiment of the disclosure；
Fig. 7 shows the structural block diagram of the operation module 503 according to one embodiment of the disclosure；
The structure that Fig. 8 is adapted for for realizing the electronic equipment of the trees Tending methods according to one embodiment of the disclosure is shown
It is intended to.
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 of the trees Tending methods according to one embodiment of the disclosure.As shown in Figure 1, the trees
Tending methods include the following steps S101-S103:
In step s101, the sensing data of target trees is obtained, the sensing data includes at least image data；
In step s 102, decision data is fostered according to what the sensing data determined the target trees；It is wherein described
Decision data is fostered to include at least fostering highly for the target trees；
In step s 103, decision data is fostered to carry out operation to the target trees according to described.
In the present embodiment, target trees can be artificial forest, gardens etc. growth trees, such as Chinese fir, palm,
Masson pine etc..It fosters decision data device can be fostered to execute automatically by trees, and then operation is carried out to target trees.Trees
Automatically it fosters device to can be a kind of equipment for fostering strategy to trees implementation automatically, can exist under the control of control module
Automatic-searching fosters target trees in forest, and fosters decision data to implement to foster strategy to target trees according to above-mentioned.Trees
Automatically it fosters device to can be the equipment for carrying out pruning operation to target trees, can be climbed after searching out target trees
It does and prunes to goal tree ebon.
Trees foster device during the automatic job to target trees automatically, can be according to the sensing number of target trees
Decision data execution is fostered to foster strategy accordingly according to identified.The sensing data of target trees can be by having sensor
Smart machine obtain.The sensor can be one of imaging sensor, range sensor etc. or a variety of.For example, logical
The camera crossed on smart machine determines image data.Specifically, the two field pictures data shot respectively by binocular camera.
The sensing data include binocular camera image data and binocular camera parameter (for example, between two cameras
Away from).In another example obtaining image data by camera, the distance based on image data and camera distance objective trees is determined
The true altitude of target trees.The sensing data includes the range information of image data and camera distance objective trees.Also
For example, obtaining image data by camera, it is based on image data and scale bar information, determines the true altitude of target trees.
The sensing data includes image data and scale bar information.The intelligence that smart machine can foster staff to carry for trees
Terminal device (such as mobile phone, plate etc.) or intelligent wearable device (intelligent helmet, smart glasses, smart watches etc.), also
It can be the sensors such as preassembled camera device around target device.In the sensing data for obtaining target trees
Afterwards, can be by being analyzed and processed to sensing data, at least determine target trees fosters height.For example, based on described double
Angle difference when the two cameras shooting for the image data and binocular camera that mesh camera obtains respectively determines the mesh
Mark the height of trees.Further, the height of the form based on trees and target trees determines and fosters height.It is described to foster height
Degree, which can be, to be executed the height fostered in target trees and/or target trees is executed with the maximum height fostered.For example, for repairing
For branch is fostered, fosters height to can be instruction trees and device climbing is fostered to start to repair to which position of target trees automatically
Branch, and/or instruction trees foster device is maximum during pruning to prune until which height etc. automatically.It is understood that
It is that trees foster device during to goal tree carpentery workshop industry automatically, the height of fostering of target trees can be formed to foster
One of parameter of decision, in addition to fostering height, it is also contemplated that other factors foster target trees, do not do herein
Limitation.
The embodiment of the present disclosure is included at least by obtaining the sensing data of target trees automatically according to sensing data determination
Target trees altitude information fosters decision data, and fosters decision data to carry out operation to the target trees with described.It is logical
This mode of the disclosure is crossed, without manually measuring to target trees height, but utilizes the sensing data of target trees true
Surely decision data is fostered including at least its altitude information, and then fosters device to carry out operation to target trees automatically by trees,
Manpower and material resources are greatly saved, improve efficiency and operation accuracy, is conducive to Promote Forestry and fosters automation.
In an optional implementation of the present embodiment, as shown in Fig. 2, the step S102, i.e., according to the sensing
Data determine the step of fostering decision data of the target trees, further comprise the steps S201-S202:
In step s 201, the form and true altitude of the target trees are determined according to the sensing data；
In step S202, fostering for the target trees is determined according to the form of the target trees and true altitude
Highly.
In an optional implementation of the present embodiment, the image data of acquired target trees can be entire mesh
Mark the image data of trees or the part image data of target trees part to be fostered.Pass through the image data of target trees
And the camera parameter etc. of image data is obtained, the true altitude of target trees can be calculated, later further according to described image
Data determine the form (texture, trees thickness, the tree crown of such as bark, which account for, sets high ratio) of the target trees, further according to
The form and true altitude of the target trees, which determine, fosters height.Such as equipment is fostered for pruning, pass through sensing data
The true altitude for determining target trees is L, and determines that the target trees, then can be with for low age woods by the form in image data
It determines cutting range (namely foster height) L/3, if the target trees are middle-aged forest, can determine that cutting range (namely is comforted
Educate height) it is L/2.Can determine target trees by the sensing data of target trees in this way fosters height.
In an optional implementation of the present embodiment, as shown in figure 3, the step S103, i.e., foster according to
The step of decision data carries out operation to the target trees, further comprises the steps S301-S302:
In step S301, obtains trees and device is fostered to carry out in operation process apart from ground the target trees automatically
Height；
In step s 302, when fostering height described in reaching in the height apart from ground, stop the trees and foster automatically
Operation of the device to the target trees.
In the optional implementation, fostering height is the maximum height fostered to target trees.Trees comfort automatically
Device is educated in target trees during fostering, and with the execution for fostering operation, can up be climbed along the trunk of target trees.
When trees foster height of the device apart from ground to reach automatically and foster height, stop the operation to target trees.Trees are automatic
Foster height of the device apart from ground that can foster the climbing speed on target trees and climbing time automatically according to trees
It determines, can also be determined by distance-measurement module.In this way, it can use and height control trees fostered to foster automatically
The work flow of equipment, prevent trees foster automatically device because climbing height be more than target trees due to fall down the case where.
In an optional implementation of the present embodiment, the step S301, i.e. acquisition trees foster device pair automatically
The target trees carry out the step of height in operation process apart from ground, further include steps of
Using be arranged in the trees foster automatically range finder module on device obtain the trees foster automatically device away from
Height from the ground.
In the optional implementation, it can be fostered automatically in trees and range finder module is set on device, real-time measurement trees
Foster device at a distance from ground, if distance, which reaches, fosters height, trees foster device to stop working automatically automatically.Example
Such as, in pruning operation process, trees foster automatically can be set a laser range sensor below device, trees comfort automatically
Device is educated during climbing upwards on the trunk of target trees, can emit laser to the ground, and receive the reflection on ground
Laser, and then trees are calculated according to the time difference between transmitting laser and reflection laser and foster device apart from ground automatically
Highly.
Fig. 4 shows the structural block diagram that system is fostered according to the trees of one embodiment of the disclosure.As shown in figure 4, the trees
Fostering system includes: that smart machine 401 and trees foster device 402 automatically, is provided with sensor on the smart machine 401
4011.Wherein,
The smart machine 401 obtains the sensing data of target trees using the sensor 4011；
The trees foster device 402 to receive the sensing data automatically, and determine the mesh according to the sensing data
Mark trees foster decision data；It is wherein described that decision data is fostered to include at least fostering highly for the target trees；
The trees foster device 402 to foster decision data to carry out operation to the target trees also according to described automatically.
In the present embodiment, smart machine 401 can be Portable intelligent terminal device, such as mobile phone plane plate etc., can also be with
It is head-wearing type intelligent equipment, such as intelligent helmet, intelligent glasses and Intelligent bracelet, can also be intelligent camera head etc..Intelligence is set
Standby 401, which can be trees, fosters the portable smart machine of personnel, is also possible to be fixedly mounted on the camera in forest.Intelligence
It can be provided with sensor 4011 in equipment 401, sensor 4011 can obtain target trees under the control of smart machine 401
Sensing data.Sensor 4011 sends it to trees after the sensing data for obtaining target trees and fosters device 402 automatically.Tree
Wood fosters device 402 that can determine the decision data of fostering of target trees according to sensing data automatically, and fosters decision according to this
Data carry out operation to target trees.In some embodiments, described that fostering for target trees is determined based on the sensing data
Decision data can be executed by smart machine 401, and foster decision data to be sent to the trees to foster device automatically by described
402。
Trees foster device to may include: control module, mobile module and foster execution module automatically；Wherein, described
Control module be used to be determined according to the sensing data of target trees include at least target trees foster height foster decision number
According to；Control module is also according to fostering decision data control mobile module mobile, to carry out climbing etc. movement on target trees, control
Molding block also according to foster decision data control foster execution module target trees foster height at execution foster operation with/
Or stop fostering operation.
The trees can be fostered device to be moved to institute by mobile module automatically according to the control signal that control module exports
It states wait foster the pre-position around trees, and upwardly or downwardly climbed along target trees；The machinery of mobile module is real
Existing structure can be the device that can be moved with driving wheel or crawler belt etc., and can also be can carry trees fosters equipment automatically
Moving trolley etc., specific implementation can according to the actual situation depending on, herein with no restrictions.
It fosters execution module that can be executed according to the control signal that control module exports to target trees and fosters strategy.It fosters
Strategy for example may include that trimming fosters strategy or intermediate cutting to foster strategy.The mechanical of execution module is fostered to realize that structure can be band
There are trimming tool, felling cutter or the mechanical arm configuration of saw blade etc., fosters execution module can also be and be directly anchored on frame
Cutter or saw blade, frame, which can surround, to be fixed on trunk or branch, and cutter or saw blade can be in the positions that frame is fixed
It is trimmed or is cut down in place.Fostering the specific implementation structure of execution module may be set according to actual conditions, herein with no restrictions.
It is above-mentioned to tree that trees foster device that can be referred to according to detailed process of the sensing data to goal tree carpentery workshop industry automatically
The description of the wooden Tending methods, details are not described herein.
Fostering system according to the trees of another embodiment of the disclosure includes: that smart machine and trees foster device automatically,
Sensor is provided on the smart machine.Wherein, the smart machine obtains the sensing of target trees using the sensor
Data, and decision data is fostered according to what the sensing data determined the target trees；It is wherein described to foster decision data extremely
Height is fostered including the target trees less；The trees foster automatically and foster decision data described in device reception, and according to
It is described that decision data is fostered to carry out operation to the target trees.
Smart machine can be Portable intelligent terminal device, such as mobile phone plane plate etc. is also possible to head-wearing type intelligent and sets
It is standby, such as intelligent helmet, intelligent eyes and Intelligent bracelet, it can also be intelligent camera head etc..Smart machine can be trees and comfort
The portable smart machine of the person of cultivating talent, is also possible to be fixedly mounted on the camera in forest.Biography is provided on smart machine
Sensor, sensor can obtain the sensing data of target trees under the control of smart machine.Smart machine is passed using sensing
After sensor obtains the sensing data of target trees, the decision data of fostering of target trees can be determined according to sensing data, and will
This is fostered decision data to send trees to and fosters device automatically, fosters device to foster decision data to mesh according to this automatically by trees
It marks trees and carries out operation.
Smart machine can refer to above-mentioned to trees Tending methods according to the determining process for fostering decision data of sensing data
Description, details are not described herein.
Trees foster device to may include: control module, mobile module and foster execution module automatically；Wherein, described
Control module is used for according to fostering decision data control mobile module mobile, to carry out climbing etc. movement on target trees, control
Molding block also according to foster decision data control foster execution module target trees foster height at execution foster operation with/
Or stop fostering operation.
The trees can be fostered device to be moved to institute by mobile module automatically according to the control signal that control module exports
It states wait foster the pre-position around trees, and upwardly or downwardly climbed along target trees；The machinery of mobile module is real
Existing structure can be the device that can be moved with driving wheel or crawler belt etc., and can also be can carry trees fosters equipment automatically
Moving trolley etc., specific implementation can according to the actual situation depending on, herein with no restrictions.
It fosters execution module that can be executed according to the control signal that control module exports to target trees and fosters strategy.It fosters
Strategy for example may include that trimming fosters strategy or intermediate cutting to foster strategy.The mechanical of execution module is fostered to realize that structure can be band
There are trimming tool, felling cutter or the mechanical arm configuration of saw blade etc., fosters execution module can also be and be directly anchored on frame
Cutter or saw blade, frame, which can surround, to be fixed on trunk or branch, and cutter or saw blade can be in the positions that frame is fixed
It is trimmed or is cut down in place.Fostering the specific implementation structure of execution module may be set according to actual conditions, herein with no restrictions.
Trees foster device above-mentioned according to fostering decision data that can refer to the detailed process of goal tree carpentery workshop industry automatically
Description to trees Tending methods, details are not described herein.
Following is embodiment of the present disclosure, can be used for executing embodiments of the present disclosure.
Fig. 5 shows the structural block diagram that device is fostered according to the trees of one embodiment of the disclosure, which can be by soft
Part, hardware or both are implemented in combination with as some or all of of electronic equipment.As shown in figure 5, the trees foster dress
It sets including obtaining module 501, determining module 502 and operation module 503:
Module 501 is obtained, is configured as obtaining the sensing data of target trees；
Determining module 502, be configured as determining the target trees according to the sensing data fosters decision data；Its
Described in foster decision data include at least the target trees fostering height；
Operation module 503 is configured as that decision data is fostered to carry out operation to the target trees according to.
In an optional implementation of the present embodiment, as shown in fig. 6, the determining module 502 includes first determining
Submodule 601 and second determines submodule 602:
First determines submodule 601, be configured as being determined according to the sensing data form of the target trees and
True altitude；
Second determination submodule 602 is configured as according to the form of the target trees and true altitude determination
Target trees foster height.
In an optional implementation of the present embodiment, as shown in fig. 7, the operation module 503 includes the first acquisition
Submodule 701 and stopping submodule 702:
First acquisition submodule 701 is configured as acquisition trees and device is fostered to carry out operation to the target trees automatically
In the process apart from the height on ground；
Stop submodule 702, be configured as the height apart from ground reach it is described foster height when, stop the trees
Automatically operation of the device to the target trees is fostered.
In an optional implementation of the present embodiment, the trees foster device apart from the height on ground by setting automatically
It sets and fosters the range finder module on device to obtain automatically in the trees, and be sent to first acquisition submodule.The present embodiment
The trees of proposition foster the trees Tending methods proposed in device and embodiment illustrated in fig. 1 and related embodiment corresponding consistent, tool
Body details can be found in the above-mentioned description to trees Tending methods, and details are not described herein.
Fig. 8 is adapted for the structural representation for realizing the electronic equipment of the trees Tending methods according to disclosure embodiment
Figure.
As shown in figure 8, electronic equipment 800 includes central processing unit (CPU) 801, it can be according to being stored in read-only deposit
Program in reservoir (ROM) 802 is held from the program that storage section 808 is loaded into random access storage device (RAM) 803
Various processing in the above-mentioned embodiment shown in FIG. 1 of row.In RAM803, be also stored with electronic equipment 800 operate it is required
Various programs and data.CPU801, ROM802 and RAM803 are connected with each other by bus 804.Input/output (I/O) interface
805 are also connected to bus 804.
I/O interface 805 is connected to lower component: the importation 806 including keyboard, mouse etc.；It is penetrated including such as cathode
The output par, c 807 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section 808 including hard disk etc.；
And the communications portion 809 of the network interface card including LAN card, modem etc..Communications portion 809 via such as because
The network of spy's net executes communication process.Driver 810 is also connected to I/O interface 805 as needed.Detachable media 811, such as
Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 810, in order to read from thereon
Computer program be mounted into storage section 808 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 809, and/or from detachable media
811 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. a kind of trees Tending methods characterized by comprising
The sensing data of target trees is obtained, the sensing data includes at least image data；
Decision data is fostered according to what the sensing data determined the target trees；It is wherein described that decision data is fostered at least to wrap
Include the target trees fosters height；
Decision data is fostered to carry out operation to the target trees according to described.
2. trees Tending methods according to claim 1, which is characterized in that determine the target according to the sensing data
Trees foster decision data, comprising:
The form and true altitude of the target trees are determined according to the sensing data；
Fostering highly for the target trees is determined according to the form of the target trees and true altitude.
3. trees Tending methods according to claim 1, which is characterized in that foster decision data to the mesh according to described
It marks trees and carries out operation, comprising:
Obtain trees fosters device that the target trees are carried out with the height in operation process apart from ground automatically；
When fostering height described in reaching in the height apart from ground, stops the trees and foster device to the target trees automatically
Operation.
4. trees Tending methods according to claim 3, which is characterized in that obtain trees and foster device to the mesh automatically
Mark the height in trees progress operation process apart from ground, comprising:
The range finder module on device is fostered to obtain the trees with fostering device distance automatically automatically using the trees are arranged in
The height in face.
5. a kind of trees foster system characterized by comprising smart machine and trees foster device automatically, and the intelligence is set
It is standby to be above provided with sensor；Wherein,
The smart machine obtains the sensing data of target trees using the sensor, and the sensing data includes at least image
Data；
The trees foster device to receive the sensing data automatically, and determine the target trees according to the sensing data
Foster decision data；It is wherein described that decision data is fostered to include at least fostering highly for the target trees；
The trees foster device to foster decision data to carry out operation to the target trees also according to described automatically.
6. a kind of trees foster system characterized by comprising smart machine and trees foster device automatically, and the intelligence is set
It is standby to be above provided with sensor；Wherein,
The smart machine obtains the sensing data of target trees using the sensor, the sensing data includes at least figure
As data；And decision data is fostered according to what the sensing data determined the target trees；It is wherein described to foster decision data
Height is fostered including at least the target trees；
The trees foster automatically and foster decision data described in device reception, and foster decision data to the target according to described
Trees carry out operation.
7. trees according to claim 5 or 6 foster system, which is characterized in that the smart machine is that trees foster people
The intelligent terminal or intelligent wearable device that member carries.
8. a kind of trees foster device characterized by comprising
Module is obtained, is configured as obtaining the sensing data of target trees, the sensing data includes at least image data；
Determining module, be configured as determining the target trees according to the sensing data fosters decision data；It is wherein described
Decision data is fostered to include at least fostering highly for the target trees；
Operation module is configured as that decision data is fostered to carry out operation to the target trees according to.
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 the described in any item method and steps of claim 1-4.
10. a kind of computer readable storage medium, is stored thereon with computer instruction, which is characterized in that the computer instruction quilt
Claim 1-4 described in any item method and steps are realized when processor executes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810941625.6A CN109191517A (en) | 2018-08-17 | 2018-08-17 | Trees Tending methods, device, system, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810941625.6A CN109191517A (en) | 2018-08-17 | 2018-08-17 | Trees Tending methods, device, system, electronic equipment and storage medium |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106249670A (en) * | 2016-10-11 | 2016-12-21 | 山东农业大学 | A kind of control method of pruning robot AUTONOMOUS TASK of climbing tree |
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2018
- 2018-08-17 CN CN201810941625.6A patent/CN109191517A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106249670A (en) * | 2016-10-11 | 2016-12-21 | 山东农业大学 | A kind of control method of pruning robot AUTONOMOUS TASK of climbing tree |
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