CN113647262B - Tree geometric shaping and trimming robot system and operation method thereof - Google Patents
Tree geometric shaping and trimming robot system and operation method thereof Download PDFInfo
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- CN113647262B CN113647262B CN202110837316.6A CN202110837316A CN113647262B CN 113647262 B CN113647262 B CN 113647262B CN 202110837316 A CN202110837316 A CN 202110837316A CN 113647262 B CN113647262 B CN 113647262B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
- A01G3/0435—Machines specially adapted for shaping plants, e.g. topiaries
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
Abstract
The invention discloses a tree geometric shaping and trimming robot system and an operation method thereof, wherein the trimming robot system comprises a crawler moving chassis, a trimming mechanical arm and a control cabinet which are arranged on the crawler moving chassis, a hydraulic system for driving the trimming mechanical arm, a sensing navigation system and an operation control system arranged in the control cabinet, the trimming robot can accurately control the movement of the chassis and the attitude tool position of the trimming mechanical arm according to the surrounding environment and self information acquired by the sensing navigation system, track a single tree or a tree wall in real time, and adaptively adjust the attitude tool position once or for a plurality of times to surround the single tree or the tree wall to finish automatic trimming work; the invention is not only suitable for the unified tree wall trimming operation of standardized orchards and gardens, but also suitable for finishing irregular geometric shaping trimming tasks under various outdoor complex environments, thereby improving the operation efficiency, greatly reducing the operation cost and simultaneously ensuring the safety of the trimming operation.
Description
Technical Field
The invention relates to the technical field of automatic robots, in particular to a tree geometric shaping and trimming robot system and an operation method thereof.
Background
The tree pruning operation is the most important link in the orchard production or garden maintenance process and belongs to labor intensive work, and the pruning operation requirement runs through the whole branch growing link. Through reasonable pruning, the artistic effect of the trees can be displayed, a standardized orchard or garden can be constructed, and the growth speed and direction of the branches and the number and angles of the branches can be regulated and controlled, so that the ventilation and light transmission conditions are improved, and the mature fruit trees are high in quality, high in yield and stable in yield.
At present, most of tree shaping and trimming work is still carried out by manually holding a trimming knife by hand or carrying an electric or pneumatic trimming machine, the labor intensity is high, and certain potential safety hazards exist. The thick branch pruning of large-scale standardized orchard or gardens is then handed over and is carried out on the tractor that carries the pruning machines, and the pruning cutter is usually reciprocating type sword strip and disc saw bit two kinds, has realized mechanized operation, nevertheless because the tractor is comparatively huge volume, need increase the path width who sets for it and go to reduced tree planting area, and still need artifical supplementary operation, and it is higher to the requirement of manual operation. Full-automatic trimming operation is common in the field of lawn trimming, but is rarely reported in the field of tree trimming, and the operation scene of tree trimming is space trimming, which is essentially different from plane trimming of a lawn.
The invention patent 201610221814.7 provides a full-automatic branch pruning robot and a pruning method, which are characterized in that after binocular vision navigation positioning, pruning operation of holding a trunk or a branch for rotary cutting is adopted, and the pruning robot has novelty but the defects that in an outdoor environment, if navigation is carried out by means of camera vision, the navigation quality is influenced to a great extent by ambient light, and meanwhile, the pruning mode of holding the branch is not suitable for large-scale operation.
The invention patent 201710079996.3 provides an intelligent tree pruning robot and equipment, in particular to a four-axis aircraft carrying a pruning tool, which has certain portability, but has certain potential safety hazard when an unmanned aerial vehicle is used as a mobile carrier, and is not suitable for large-scale pruning operation.
The invention patent 201810271399.5 provides a high-voltage transmission line corridor branch pruning robot walking along a ground wire and a control method thereof, and the operation scene is to prune branches of a high-voltage transmission line corridor so as to avoid causing transmission line safety accidents. The invention has strong practicability and high pruning efficiency, but is only limited to work in specific scenes.
In order to improve the pruning efficiency and reduce the labor intensity and the operation cost, a tree pruning robot which is suitable for multiple scenes, full-automatic, efficient and reliable is urgently needed to be designed.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a tree geometric shaping and trimming robot system and an operation method thereof.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: a tree geometric shaping and trimming robot system comprises a trimming robot and a control terminal in communication connection with the trimming robot, wherein the trimming robot comprises a crawler moving chassis, a trimming mechanical arm arranged on the crawler moving chassis, a control cabinet and a hydraulic system used for driving the trimming mechanical arm, the trimming robot system also comprises a perception navigation system and an operation control system arranged in the control cabinet, the perception navigation system comprises a binocular vision camera, a laser radar, an ultrasonic radar, a GNSS inertial combined navigator and an encoder, the binocular vision camera and the laser radar are arranged on the control cabinet through a bracket and are matched with each other to detect the surrounding environment information of the trimming robot, the ultrasonic radar is arranged at the crawler moving chassis and is used for supplementing a detection area and avoiding obstacles, the GNSS inertial combined navigator is arranged at the trimming robot, the device comprises a plurality of encoders, a sensing navigation system and a hydraulic system, wherein the encoders are respectively arranged at a trimming mechanical arm and a crawler moving chassis and are used for sensing the states of the trimming mechanical arm and the crawler moving chassis, the operation control system is respectively in communication connection with the sensing navigation system and the hydraulic system, and the operation control system can control the movement of the crawler moving chassis and the posture position of the trimming mechanical arm according to the acquired ambient environment information of the sensing navigation system and the self state information of the trimming robot.
Furthermore, the operation control system is integrated with an industrial personal computer, a single chip microcomputer, a power supply, a power distribution system and a transceiver station; the single chip microcomputer is provided with a sensor data acquisition module, and the sensor data acquisition module is in communication connection with the perception navigation system and is responsible for acquiring information of the perception navigation system; the industrial personal computer is in communication connection with the sensor data acquisition module and is provided with a synchronous positioning and mapping module, a wireless data transmission module and a motion planning and action control module; the synchronous positioning and map building module is in communication connection with the sensor data acquisition module and is used for realizing the autonomous positioning and navigation of the pruning robot and building an incremental map; the wireless data transmission module is in communication connection with the control terminal and is used for inputting the tree pruning geometric shape set by the control terminal and outputting the information of the pruning robot to the control terminal; the motion planning and action control module is respectively in communication connection with the trimming mechanical arm and the crawler moving chassis and is used for performing action planning and action control on the trimming mechanical arm and the crawler moving chassis.
Further, pruning arm of machinary includes movable mechanical joint arm, knife rest and circular saw, movable mechanical joint arm's one end is fixed on the track removes the chassis, and its other end is installed the knife rest, the circular saw has a plurality of installations in the knife rest to realize interconnect through the hold-in range for realize torque transmission and synchronous speed, movable mechanical joint arm and knife rest are connected with hydraulic system respectively, by the motion of the movable mechanical joint arm of hydraulic system drive and the rotation of circular saw.
The operation method of the tree geometric shaping and trimming robot system comprises the following steps:
s1, setting a following mode of the pruning robot, inputting a target geometric shape of the pruned tree into a control terminal, and transmitting the target geometric shape into an operation control system of the pruning robot system through wireless data transmission;
s2, if the trimming robot works under the known environment map, directly performing the step S3; if the pruning robot works under the unknown environment map, the driving channel is sensed through a sensing navigation system of the pruning robot system, and path planning and action control are performed through an operation control system of the pruning robot system, so that the pruning robot moves along the planned route;
in the process that the pruning robot moves along the planned route, a perception navigation system of a pruning robot system perceives the surrounding tree environment and obstacles, an operation control system of the pruning robot system integrates multiple sensing information to construct an incremental three-dimensional map, namely a local map, and finally the pruning robot returns to a starting point along the planned route to complete perception of the operation environment;
s3, planning the trimming times of the trimming mechanical arm and the attitude tool positions of the trimming times according to the set trimmed target geometric shape and the incremental three-dimensional map, driving the trimming mechanical arm to an initial attitude tool position and driving a circular saw of the trimming mechanical arm to prepare trimming, planning a route again according to the motion planning operation requirement of the trimming mechanical arm, and controlling the trimming robot to drive in a driving channel along the re-planned route;
and S4, the pruning robot turns back and moves in the driving channel along with the posture-changing knife position of the passing tree and the driving path corresponding to the posture-changing knife position until the pruning work is finished.
Further, in step S1, the following manner of the trimming robot is automatic following based on ultra-wideband positioning technology or remote following using a control terminal.
Further, in step S2, specifically, the method includes:
if the pruning robot works under the unknown environment map, the driving channel marked by the warning pile for redundant sensing is jointly matched by a binocular vision camera and a laser radar of the pruning robot system, and the driving path of the iterative pruning robot is planned in real time through the motion planning and action control module of the operation control system of the pruning robot system, so that the pruning robot is driven and controlled to move along the planned route;
the method comprises the steps that a binocular vision camera and a laser radar of a pruning robot system cooperate with each other to sense surrounding tree environments in a redundant mode, the ultrasonic radar of the pruning robot system covers detection blind areas of front and rear end obstacles by the laser radar and the binocular vision camera in the driving process to achieve automatic obstacle avoidance, a synchronous positioning and map building module of an operation control system is called again, self positioning is carried out according to the moving position of the pruning robot and a map, an incremental three-dimensional map is built on the basis of the self positioning, and finally the pruning robot returns to a starting point along a planned route to complete the process of sensing the operation environment.
Further, in step S3, specifically, the method includes:
the motion planning and action control module of the operation control system is combined with an incremental three-dimensional map constructed by the target geometric shape and synchronous positioning and mapping module, the trimming times of the trimming mechanical arm and the attitude tool position of each trimming time are planned, then the motion planning and action control module starts a hydraulic system to drive the trimming mechanical arm to an initial attitude tool position and drive a circular saw of the trimming mechanical arm to prepare trimming, the motion planning and action control module plans a route again according to the motion planning operation requirement of the trimming mechanical arm, and controls the trimming robot to drive in a driving channel along the re-planned route.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the movement planning of the pruning mechanical arm is realized by combining a self-defined geometric shape target and an incremental three-dimensional map, so that the required pruning times and the accurate posture cutter positions of all the pruning times are planned, then, the driving path is determined by combining the pruning posture cutter positions of each time, and the three-dimensional geometric pruning operation is finished by continuously and repeatedly pruning; while the traditional tractor type trimming operation of semi-automatic suspension trimming arm needs manual experience, the same type of trimming robot needs remote control to operate, and accurate operation cannot be realized. Therefore, the tree pruning machine improves the ornamental value and the accurate operation capacity of trees, realizes diversified pruning styles and improves the full automation level of unmanned orchards and unmanned gardens.
2. The incremental three-dimensional map is constructed in an incremental mode after the operation channel is traced, the current situation that the existing mobile chassis such as an automatic mower works only by means of global positioning information is overcome, the positioning information is prevented from being lost due to tree branch covering, and meanwhile, the tree trunk can be traced to carry out tree branch covering and descending operation.
3. The method can adjust the planned path in real time according to the feedback of the position positioning information, meanwhile, the ultrasonic radar collects ground information in real time in the driving process of the pruning robot, and if an obstacle which is difficult to pass is encountered, the path is replanned to avoid the obstacle, so that the safety is ensured.
4. The method can realize automatic following, is simpler and more convenient, and the planned path line not only considers whether the route can be followed by the route line and the shortest path, but also considers avoiding the surrounding obstacles; when the remote recall is started, the laser radar and the binocular vision camera are started to sense the surrounding information, so that the planned path is prevented from being caught in a narrow environment and continuously and blindly explored, and a better planned path can be obtained.
Drawings
Fig. 1 is a schematic structural diagram of a tree geometry pruning robot system.
Fig. 2 is a control schematic diagram of the tree geometry pruning robot system.
Fig. 3 is a schematic diagram of a hydraulic system.
Fig. 4 is a flow chart of an operation method of the tree geometry pruning robot system.
Detailed Description
The present invention will be further described with reference to the following specific examples.
Referring to fig. 1 to 3, the tree geometry shaping and trimming robot system provided for this embodiment includes a trimming robot and a control terminal (not shown) communicatively connected to the trimming robot, the trimming robot includes a crawler moving chassis 1, a trimming mechanical arm mounted on the crawler moving chassis, a control cabinet 3 and a hydraulic system for driving the trimming mechanical arm, the tree geometry shaping and trimming robot system further includes a perception navigation system and an operation control system arranged in the control cabinet 3, the perception navigation system includes a binocular vision camera 502, a laser radar 501, an ultrasonic radar 503, a GNSS inertial combined navigator 504 and an encoder (not shown), the binocular vision camera 502 and the laser radar 501 are mounted on the control cabinet 3 through a bracket, and are matched to detect surrounding environment information of the trimming robot, the ultrasonic radar 503 is installed at the crawler moving chassis for supplementing a detection area and avoiding obstacles, the GNSS inertial integrated navigator 504 is installed at the trimming robot for outputting absolute positioning coordinates, angular velocity, acceleration and course angle of the trimming robot, the encoder has a plurality of disc saw rotary encoders for detecting the disc saw rotary speed of the trimming robot, a chassis driving wheel rotary encoder for detecting the disc saw rotary speed and angular displacement of the crawler moving chassis and a hydraulic cylinder displacement stroke pull rope encoder for detecting the hydraulic cylinder displacement of a hydraulic system, the encoder is installed at the trimming mechanical arm and the crawler moving chassis 1 respectively and used for sensing the states of the trimming mechanical arm and the crawler moving chassis 1, the operational control system is in communication connection with the sensing navigation system and the hydraulic system respectively, and can control the movement of the crawler moving chassis and the trimming according to the surrounding environment information of the sensing navigation system and the self-state information of the trimming robot And shearing the posture position of the mechanical arm.
The operation control system is integrated with an industrial personal computer, a singlechip, a power supply, a power distribution system and a transceiver station (not shown in the figure); the single chip microcomputer is provided with a sensor data acquisition module, and the sensor data acquisition module is in communication connection with the perception navigation system and is responsible for acquiring information of the perception navigation system; the industrial personal computer is in communication connection with the sensor data acquisition module and is provided with a synchronous positioning and mapping module, a wireless data transmission module and a motion planning and action control module; the synchronous positioning and map building module is in communication connection with the sensor data acquisition module and is used for realizing the autonomous positioning and navigation of the pruning robot and building an incremental map; the wireless data transmission module is in communication connection with the control terminal and is used for inputting the tree pruning geometric shape set by the control terminal and outputting the information of the pruning robot to the control terminal; the motion planning and action control module is respectively in communication connection with the trimming mechanical arm and the crawler moving chassis 1 and is used for performing action planning and action control on the trimming mechanical arm and the crawler moving chassis 1.
The hydraulic system comprises a circular saw driving group, a movable mechanical joint arm driving group, a gasoline engine 407, a dipstick 408, an oil tank 409, a cooling fan 410, an oil pump 411, an overflow valve 412 and an electromagnetic pressure relief valve 413; the circular saw driving group comprises a hydraulic motor 401, a first balance valve 402 and a first electro-hydraulic proportional direction valve 403 which are sequentially connected in series, the circular saw driving group is arranged at a tool rest 202 of the trimming mechanical arm and comprises three groups of hydraulic cylinders 404, a second balance valve 405 and a second electro-hydraulic proportional direction valve 406 which are sequentially connected in series, the circular saw driving group is arranged at a movable mechanical joint 201 of the trimming mechanical arm, and the gasoline engine 407, the dipstick 408, the oil tank 409, the cooling fan 410, the oil pump 411, the overflow valve 412 and the electromagnetic relief valve 413 are connected with the circular saw driving group and the movable mechanical joint driving group in series and used for adjusting the pose tool position of the trimming mechanical arm. The electro-hydraulic proportional direction valve has the functions of reversing and flow proportional control, and the precise adjustment of the stroke of the hydraulic cylinder 404 and the rotating speed of the hydraulic motor 401 is realized by adding closed-loop control; the balance valve has the function that after the proper opening pressure is adjusted, when the electro-hydraulic proportional direction valve is closed, the hydraulic cylinder can be locked, the hydraulic motor can be stopped quickly, and safety accidents are prevented; when the electro-hydraulic proportional directional valve is opened, one end of the balance valve is pushed into oil by high-pressure oil, and the other end of the balance valve is directly returned by the pilot loop;
the pruning mechanical arm comprises a movable mechanical knuckle arm 201, a tool rest 202 and a circular saw 203, one end of the movable mechanical knuckle arm 201 is fixed on the caterpillar track moving chassis 1, the other end of the movable mechanical knuckle arm is provided with the tool rest 202, the movable mechanical knuckle arm 201 is connected with a hydraulic cylinder 404 of a hydraulic system, the tool rest 202 is connected with a hydraulic motor 401 of the hydraulic system, five circular saws 203 are installed in the tool rest 202, and are connected with each other through synchronous belts for realizing torque transmission and synchronous rotating speed.
Referring to fig. 4, the following is a working method of the tree geometry pruning robot system of the present embodiment, including the following steps:
s1, setting a following mode of the pruning robot, inputting a target geometric shape of the tree to be pruned at a control terminal, and transmitting the target geometric shape to an operation control system of the pruning robot system through wireless data transmission; the following mode of the trimming robot is automatic following based on an ultra-wideband positioning technology or remote following by using a control terminal;
s2, if the trimming robot works under the known environment map, directly performing the step S3; if the pruning robot works under the unknown environment map, the following steps are specifically performed:
if the pruning robot works under the unknown environment map, the binocular vision camera 502 and the laser radar 501 of the pruning robot system are matched together and a driving channel marked by a warning pile for redundant sensing is used, and iterative pruning robot driving path planning is carried out in real time through the motion planning and action control module of the operation control system of the pruning robot system, so that the pruning robot is driven and controlled to move along the planned route.
In the process that the pruning robot moves along the planned route, a perception navigation system of a pruning robot system perceives the surrounding tree environment and obstacles, an operation control system of the pruning robot system integrates multiple sensing information to construct an incremental three-dimensional map, namely a local map, and finally the pruning robot returns to a starting point along the planned route to complete perception of the operation environment, wherein the perception navigation system specifically comprises the following steps:
the binocular vision camera 502 and the laser radar 501 of the pruning robot system cooperate with each other to sense the surrounding tree environment in a redundant mode, the ultrasonic radar 503 of the pruning robot system covers the detection blind areas of the laser radar 501 and the binocular vision camera 502 to obstacles at the front end and the rear end in the driving process to achieve automatic obstacle avoidance, a synchronous positioning and mapping module of an operation control system is called again, self positioning is carried out according to the moving position of the pruning robot and a map, an incremental three-dimensional map is built on the basis of the self positioning, and finally the pruning robot returns to the starting point along a planned route to complete the process of sensing the working environment.
S3, planning the trimming times of the trimming mechanical arm and the posture cutter position of each trimming time according to the set trimmed target geometric shape and the incremental three-dimensional map, driving the trimming mechanical arm to the initial posture cutter position and driving a circular saw of the trimming mechanical arm to prepare for trimming, planning a route again according to the motion planning operation requirement of the trimming mechanical arm, and controlling the trimming robot to drive in the driving channel along the re-planned route, wherein the method comprises the following steps:
the motion planning and action control module of the operation control system combines the target geometric shape and the incremental three-dimensional map constructed by the synchronous positioning and mapping module, plans the trimming times of the trimming mechanical arm and the attitude tool position of each trimming time, carries out different attitude tool position plans aiming at two different modes of tree wall trimming and single tree trimming, the single tree trimming mainly tracks the center of a trunk to carry out surrounding trimming, for tree wall pruning, the mean value of each trunk distance channel is selected as judgment of the attitude tool position, then the hydraulic cylinder 404 of the hydraulic system is started through the motion planning and action control module to drive the pruning mechanical arm to the initial attitude tool position, the circular saw of the pruning mechanical arm is driven by the hydraulic motor 401 to rotate to prepare for pruning, the motion planning and action control module replans the route according to the motion planning operation requirement of the pruning mechanical arm, and the pruning robot is controlled to drive in the driving channel along with the replanned route.
And S4, the pruning robot turns back and moves in the driving channel along with the posture-changing knife position of the passing tree and the driving path corresponding to the posture-changing knife position until the pruning work is finished.
The above-mentioned embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereby, and all changes made in the shape and principle of the present invention should be covered within the scope of the present invention.
Claims (6)
1. A tree geometry plastic pruning robot system comprises a pruning robot and a control terminal in communication connection with the pruning robot, wherein the pruning robot comprises a crawler moving chassis, a pruning mechanical arm installed on the crawler moving chassis, a control cabinet and a hydraulic system for driving the pruning mechanical arm, and is characterized in that: the system comprises a control cabinet, a perception navigation system and an operation control system arranged in the control cabinet, wherein the perception navigation system comprises a binocular vision camera, a laser radar, an ultrasonic radar, a GNSS inertia combined navigator and an encoder, the binocular vision camera and the laser radar are arranged on the control cabinet through a bracket and are matched with each other to detect the surrounding environment information of the trimming robot, the ultrasonic radar is arranged at a crawler moving chassis and is used for supplementing a detection area and avoiding obstacles, the GNSS inertia combined navigator is arranged at the trimming robot and is used for outputting the absolute positioning coordinate, the angular velocity, the acceleration and the course angle of the trimming robot, the encoder is provided with a plurality of parts which are respectively arranged at the trimming mechanical arm and the crawler moving chassis and are used for perceiving the states of the trimming mechanical arm and the crawler moving chassis, and the operation control system is respectively in communication connection with the perception navigation system and the hydraulic system, the movement of the crawler moving chassis and the posture position of the trimming mechanical arm can be controlled according to the ambient environment information of the acquisition and perception navigation system and the self state information of the trimming robot;
the operation control system is integrated with an industrial personal computer, a singlechip, a power supply, a power distribution system and a transceiver station; the single chip microcomputer is provided with a sensor data acquisition module, and the sensor data acquisition module is in communication connection with the perception navigation system and is responsible for acquiring information of the perception navigation system; the industrial personal computer is in communication connection with the sensor data acquisition module and is provided with a synchronous positioning and mapping module, a wireless data transmission module and a motion planning and action control module; the synchronous positioning and map building module is in communication connection with the sensor data acquisition module and is used for realizing the autonomous positioning and navigation of the pruning robot and building an incremental map; the wireless data transmission module is in communication connection with the control terminal and is used for inputting the tree pruning geometric shape set by the control terminal and outputting the information of the pruning robot to the control terminal; the motion planning and action control module is respectively in communication connection with the trimming mechanical arm and the crawler moving chassis and is used for performing action planning and action control on the trimming mechanical arm and the crawler moving chassis.
2. The tree geometry pruning robot system of claim 1, wherein: the pruning mechanical arm comprises a movable mechanical knuckle arm, a cutter frame and a circular saw, wherein one end of the movable mechanical knuckle arm is fixed on the caterpillar band moving chassis, the other end of the movable mechanical knuckle arm is provided with the cutter frame, the circular saw is provided with a plurality of parts which are arranged in the cutter frame and are mutually connected through a synchronous belt, the movable mechanical knuckle arm and the cutter frame are connected with a hydraulic system respectively, and the movable mechanical knuckle arm is driven by the hydraulic system to move and rotate with the circular saw.
3. A method of operating a tree geometry pruning robot system as claimed in any one of claims 1 to 2, comprising the steps of:
s1, setting a following mode of the pruning robot, inputting a target geometric shape of the pruned tree into a control terminal, and transmitting the target geometric shape into an operation control system of the pruning robot system through wireless data transmission;
s2, if the trimming robot works under the known environment map, directly performing the step S3; if the pruning robot works under the unknown environment map, the driving channel is sensed through a sensing navigation system of the pruning robot system, and path planning and action control are performed through an operation control system of the pruning robot system, so that the pruning robot moves along the planned route;
in the process that the pruning robot moves along the planned route, a perception navigation system of a pruning robot system perceives the surrounding tree environment and obstacles, an operation control system of the pruning robot system integrates multiple sensing information to construct an incremental three-dimensional map, namely a local map, and finally the pruning robot returns to a starting point along the planned route to complete perception of the operation environment;
s3, planning the trimming times of the trimming mechanical arm and the attitude tool positions of the trimming times according to the set trimmed target geometric shape and the incremental three-dimensional map, driving the trimming mechanical arm to an initial attitude tool position and driving a circular saw of the trimming mechanical arm to prepare trimming, planning a route again according to the motion planning operation requirement of the trimming mechanical arm, and controlling the trimming robot to drive in a driving channel along the re-planned route;
and S4, the trimming robot changes the posture cutter position and the corresponding driving path along with the passing trees, and turns back and moves in the driving channel until the trimming work is finished.
4. The method of claim 3, wherein the robotic tree geometry pruning system comprises: in step S1, the trimming robot follows automatically based on ultra-wideband positioning technology or remotely using a control terminal.
5. The method of claim 3, wherein in step S2, the method comprises:
if the pruning robot works under the unknown environment map, the driving channel marked by the warning pile for redundant sensing is jointly matched by a binocular vision camera and a laser radar of the pruning robot system, and the driving path of the iterative pruning robot is planned in real time through the motion planning and action control module of the operation control system of the pruning robot system, so that the pruning robot is driven and controlled to move along the planned route;
the method comprises the steps that a binocular vision camera and a laser radar of a pruning robot system cooperate with each other to sense surrounding tree environments in a redundant mode, the ultrasonic radar of the pruning robot system covers detection blind areas of front and rear end obstacles by the laser radar and the binocular vision camera in the driving process to achieve automatic obstacle avoidance, a synchronous positioning and map building module of an operation control system is called again, self positioning is carried out according to the moving position of the pruning robot and a map, an incremental three-dimensional map is built on the basis of the self positioning, and finally the pruning robot returns to a starting point along a planned route to complete the process of sensing the operation environment.
6. The method of claim 3, wherein in step S3, the method comprises:
the motion planning and action control module of the operation control system is combined with an incremental three-dimensional map constructed by the target geometric shape and synchronous positioning and mapping module, the trimming times of the trimming mechanical arm and the attitude tool position of each trimming time are planned, then the motion planning and action control module starts a hydraulic system to drive the trimming mechanical arm to an initial attitude tool position and drive a circular saw of the trimming mechanical arm to prepare trimming, the motion planning and action control module plans a route again according to the motion planning operation requirement of the trimming mechanical arm, and controls the trimming robot to drive in a driving channel along the re-planned route.
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| CN114097450A (en) * | 2021-11-23 | 2022-03-01 | 南方电网电力科技股份有限公司 | Robot for cleaning tree obstacles on power line |
| CN114097452B (en) * | 2021-12-14 | 2023-06-09 | 亿嘉和科技股份有限公司 | Tree pruning tool and control method thereof |
| CN114097453B (en) * | 2021-12-21 | 2023-03-28 | 乌鲁木齐优尼克生物科技有限公司 | Rear suspension type pruning machine |
| CN114303677B (en) * | 2021-12-22 | 2022-11-29 | 繁昌县敏捷园林景观有限公司 | Intelligent gardening modeling multifunctional robot based on vision technology |
| CN114394112B (en) * | 2021-12-31 | 2023-06-30 | 上海于万科技有限公司 | Automatic green pruning operation vehicle that plants |
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| WO2015180021A1 (en) * | 2014-05-26 | 2015-12-03 | 中国科学院自动化研究所 | Pruning robot system |
| CN206713507U (en) * | 2017-03-16 | 2017-12-08 | 广西电力职业技术学院 | A kind of ornamental trees and shrubs flowers and plants pruning car |
| CN109673297B (en) * | 2019-01-07 | 2024-02-27 | 北京信息科技大学 | Pruning robot |
| CN111149534A (en) * | 2020-02-24 | 2020-05-15 | 茂名职业技术学院 | Movable double-arm fruit tree pruning robot |
| CN111837682B (en) * | 2020-08-12 | 2022-01-04 | 滨州学院 | Crawler-type pruning robot |
| CN111949032A (en) * | 2020-08-18 | 2020-11-17 | 中国科学技术大学 | 3D obstacle avoidance navigation system and method based on reinforcement learning |
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