Control Method and Control Device of On-vehicle Portable Tree-cutting Robot

Abstract

The present invention provides a control method and a control device for a vehicle-mounted portable tree-sawing robot. The method includes: a 3D array lidar detects the surrounding environment distance where the vehicle-mounted portable tree-sawing robot is located; obtains the surrounding environment distance and determines whether there is a tree-sawing target that meets the tree-sawing conditions; if there is, controls the display terminal to mark the tree-sawing target; controls the panoramic camera to take pictures of the real environment, so that the user can screen out the final tree-sawing target according to the real environment pictures and the marked tree-sawing target to issue a tree-sawing instruction; controls the chain saw to perform tree-sawing work on the final tree-sawing target according to the tree-sawing instruction. The present invention utilizes the 3D array lidar to quickly select the tree-sawing target within a short time, and at the same time comprehensively obtains the real environmental scene by the panoramic camera. The two are combined to make up for each other's strengths and weaknesses to obtain an accurate tree-sawing target, and controls the chain saw to perform automatic tree-sawing, thereby reducing the labor intensity of the operators while improving the convenience and accuracy of the operation.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and particularly relates to a control method for a vehicle-mounted portable tree-sawing robot and a control device for a vehicle-mounted portable tree-sawing robot. Background Art

[0002] During the growth of trees, due to the common phenomenon of tree-line contradictions, high requirements for urban greening construction, and fast growth rate of trees, etc., in order to ensure the safety of line corridors, the power supply line operation and maintenance units need to regularly trim trees.

[0003] Currently, for tree trimming, basically, workers need to carry tools to climb trees to saw trees, which is heavy work and has a low safety factor. Summary of the Invention

[0004] To solve the above technical problems, the first object of the present invention is to propose a control method for a vehicle-mounted portable tree-sawing robot.

[0005] The second object of the present invention is to propose a control device for a vehicle-mounted portable tree-sawing robot.

[0006] The technical solution adopted by the present invention is as follows:

[0007] An embodiment of the first aspect of the present invention proposes a control method for a vehicle-mounted portable tree-sawing robot. The tree-sawing robot is arranged on an insulated boom truck or a high-reach truck with a bucket. The tree-sawing robot includes: a robotic arm, a chain saw arranged at the end of the robotic arm, a 3D area array lidar arranged on the robotic arm, and a panoramic camera arranged at the upper end of the tree-sawing robot. The method includes the following steps: controlling the insulated boom truck to lift the tree-sawing robot to the working radius; controlling the 3D area array lidar to start, so that the 3D area array lidar detects the surrounding environment distance where the robotic arm of the tree-sawing robot is located; obtaining the surrounding environment distance and the distance between the 3D area array lidar and the chain saw, and judging whether there is a tree-sawing target that meets the tree-sawing conditions according to the surrounding environment distance and the distance between the 3D area array lidar and the chain saw; if there is a tree-sawing target that meets the tree-sawing conditions, controlling the display terminal to mark the tree-sawing target according to the surrounding environment distance and display the corresponding coordinate position; controlling the panoramic camera to take a real environment picture, and controlling the display terminal to display the real environment picture, so that the user can screen out the final tree-sawing target according to the real environment picture and the marked tree-sawing target, and draw the final tree-sawing target on the display terminal to issue a tree-sawing instruction, and the tree-sawing instruction includes the coordinate position corresponding to the final tree-sawing target; controlling the chain saw to perform tree-sawing work on the final tree-sawing target according to the tree-sawing instruction.

[0008] The above-mentioned control method for a vehicle-mounted portable tree-sawing robot proposed by the present invention may also have the following additional technical features:

[0009] According to an embodiment of the present invention, the above control method further includes: if there is no tree-cutting target that meets the tree-cutting conditions, controlling the insulated boom truck or the elevated work platform with a bucket to advance the tree-cutting robot forward by a preset distance.

[0010] According to an embodiment of the present invention, the tree-cutting robot further includes: an auxiliary camera disposed near the chain saw, the auxiliary camera is used to capture an image within a preset range of the chain saw, so that after the user observes that the final tree-cutting target is sawed off according to the image within the preset range of the chain saw, a tree-cutting stop instruction is issued; the method further includes: after receiving the tree-cutting stop instruction, controlling the chain saw to stop working.

[0011] An embodiment of the second aspect of the present invention provides a control device for a vehicle-mounted portable tree-cutting robot. The tree-cutting robot is disposed on an insulated boom truck or an elevated work platform with a bucket. The tree-cutting robot includes: a robotic arm, a chain saw disposed at the end of the robotic arm, a 3D area array lidar disposed on the robotic arm, and a panoramic camera disposed at the upper end of the tree-cutting robot. The device includes: a first control module, the first control module is used to control the insulated boom truck to lift the tree-cutting robot to the working radius; a second control module, the second control module is used to control the 3D area array lidar to start, so that the 3D area array lidar detects the surrounding environment distance where the robotic arm of the tree-cutting robot is located; an acquisition module, the acquisition module is used to acquire the surrounding environment distance and the distance between the 3D area array lidar and the chain saw, and determine whether there is a tree-cutting target that meets the tree-cutting conditions according to the surrounding environment distance and the distance between the 3D area array lidar and the chain saw; a third control module, the third control module is used to, when there is a tree-cutting target that meets the tree-cutting conditions, control the display terminal to mark the tree-cutting target according to the surrounding environment distance and display the corresponding coordinate position; a fourth control module, the fourth control module is used to control the panoramic camera to capture a real environment picture, and control the display terminal to display the real environment picture, so that the user can screen out the final tree-cutting target according to the real environment picture and the marked tree-cutting target, and draw the final tree-cutting target on the display terminal to issue a tree-cutting instruction, and the tree-cutting instruction includes the coordinate position corresponding to the final tree-cutting target; a fifth control module, the fifth control module is used to control the chain saw to perform tree-cutting work on the final tree-cutting target according to the tree-cutting instruction.

[0012] The above control device for the vehicle-mounted portable tree-cutting robot of the present invention may further have the following additional technical features:

[0013] According to an embodiment of the present invention, the third control module is further configured to: when there is no tree-cutting target meeting the tree-cutting conditions, control the insulated boom truck to push the on-vehicle portable tree-cutting robot or the elevated truck with a bucket forward by a preset distance.

[0014] According to an embodiment of the present invention, the on-vehicle portable tree-cutting robot further includes: an auxiliary camera disposed near the chain saw, and the auxiliary camera is configured to capture an image within a preset range of the chain saw, so that after the user observes that the final tree-cutting target is cut off according to the image within the preset range of the chain saw, a tree-cutting stop instruction is issued; the fifth control module is further configured to: after receiving the tree-cutting stop instruction, control the chain saw to stop working.

[0015] Advantages of the present invention:

[0016] The present invention utilizes a 3D array lidar to quickly select a tree-cutting target within a short time, and at the same time comprehensively uses a panoramic camera to obtain a real environmental scene. The two are combined to make up for each other's strengths and weaknesses to obtain an accurate tree-cutting target, and control the chain saw to perform automatic tree cutting, thereby reducing the labor intensity of the operator while improving the convenience and accuracy of the operation. The entire tree-cutting robot is light and portable, and is directly installed on an insulated boom truck or an elevated truck with a bucket, and can be quickly installed. Description of the Drawings

[0017] Figure 1 is a flowchart of a control method for an on-vehicle portable tree-cutting robot according to an embodiment of the present invention;

[0018] Figure 2 is a flowchart of a control method for an on-vehicle portable tree-cutting robot according to another embodiment of the present invention;

[0019] Figure 3 is a block diagram of a control device for an on-vehicle portable tree-cutting robot according to an embodiment of the present invention. Detailed Embodiments

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0021] Figure 1FIG. 0 is a flowchart of a control method for an in-vehicle portable tree-sawing robot according to an embodiment of the present invention. The tree-sawing robot is disposed on an insulated boom truck or a boom lift truck. The tree-sawing robot includes: a robotic arm, a chain saw disposed at the end of the robotic arm, a 3D array lidar disposed on the robotic arm, and a panoramic camera disposed at the upper end of the tree-sawing robot. The method includes the following steps:

[0022] S1, controlling the insulated boom truck or the boom lift truck to lift the tree-sawing robot to the working radius.

[0023] That is to say, the tree-sawing robot is lifted to the vicinity of the tree where the branches need to be trimmed by the insulated boom truck or the boom lift truck.

[0024] S2, controlling the 3D array lidar to start so that the 3D array lidar detects the surrounding environment distance where the robotic arm of the tree-sawing robot is located.

[0025] Specifically, the 3D array lidar mainly relies on the characteristics of wave reflection or reception to detect targets. It actually originates from an infrared focal plane imager. An array of photosensitive elements is arranged on the focal plane of the focal plane detector. The infrared rays emitted from an infinite distance are imaged on these photosensitive elements on the focal plane of the system through an optical system. The detector converts the received optical signal into an electrical signal, performs integration amplification, sample and hold, and finally forms an image through an output buffer and a multiplexing system. The surrounding environment distance is the distance between the 3D array lidar disposed on the robotic arm and the tree-sawing target (the detection target in the present invention is a branch).

[0026] S3, obtaining the surrounding environment distance and the distance between the 3D array lidar and the chain saw, and judging whether there is a tree-sawing target that meets the tree-sawing conditions according to the surrounding environment distance and the distance between the 3D array lidar and the chain saw.

[0027] Specifically, the distance between the 3D array lidar and each tree-sawing target can be calculated according to the obtained surrounding environment distance. The distance between the 3D array lidar and the chain saw is fixed. Subtracting the distance between the 3D array lidar and the chain saw from the surrounding environment distance can obtain the distance between the chain saw and the tree-sawing target. Whether there is a tree-sawing target that meets the tree-sawing conditions is judged according to the distance between the chain saw and the tree-sawing target. Generally speaking, if the distance between the chain saw and the tree-sawing target is less than a certain distance (determined according to the working range of the chain saw of the tree-sawing robot), it is judged that the tree-sawing target meets the tree-sawing conditions.

[0028] S4, if there is a tree-sawing target that meets the tree-sawing conditions, controlling the display terminal to mark the tree-sawing target according to the surrounding environment distance and display the corresponding coordinate position.

[0029] It can be understood that the positions that meet the tree - sawing conditions and are displayed and marked on the display terminal are the tree - sawing targets, and at the same time, the display terminal calculates the coordinate positions of the tree - sawing targets.

[0030] S5, Control the panoramic camera to take pictures of the real environment, and control the display terminal to display the real - environment pictures, so that the user can screen out the final tree - sawing target based on the real - environment pictures and the marked tree - sawing targets, and draw the final tree - sawing target on the display terminal to issue a tree - sawing instruction. The tree - sawing instruction includes the coordinate position corresponding to the final tree - sawing target.

[0031] Specifically, the panoramic camera installed at the upper end of the tree - sawing robot takes pictures of the real environment and controls the display terminal to display them. The user can compare the real - environment pictures displayed on the display terminal with the marked tree - sawing targets, draw the final tree - sawing target on the display terminal, and screen out the tree - sawing targets that do not need to be sawn. The display terminal can generate a tree - sawing instruction according to the final tree - sawing target drawn by the user. The tree - sawing instruction includes the coordinate position corresponding to the final tree - sawing target.

[0032] S6, Control the chain saw to perform tree - sawing work on the final tree - sawing target according to the tree - sawing instruction.

[0033] Specifically, wireless communication can be carried out between the display terminal, the vehicle (insulated boom truck or bucket - truck with a boom) and the on - vehicle portable tree - sawing robot. It can be direct wireless communication or wireless communication through the cloud server. Related computing work, judgment work, and control work can be realized by using the cloud server or through the controllers embedded in the display terminal and the on - vehicle portable tree - sawing robot. The user can complete the screening of the final tree - sawing target and the issuance of the tree - sawing instruction through the display terminal set at a distance, without climbing the tree to saw the tree, and can complete automatic tree - sawing through remote operation.

[0034] According to an embodiment of the present invention, as Figure 2 shown, the above - mentioned control method may further include:

[0035] S7, If there is no tree - sawing target that meets the tree - sawing conditions, control the insulated boom truck or the bucket - truck with a boom to push the tree - sawing robot forward by a preset distance. The preset distance is set according to the actual situation. For example, 0.5m.

[0036] According to an embodiment of the present invention, the tree - sawing robot may further include: an auxiliary camera arranged close to the chain saw. The auxiliary camera is used to take pictures of the image within a preset range of the chain saw, so that the user can observe that the final tree - sawing target is sawn off based on the image within the preset range of the chain saw and issue a stop - tree - sawing instruction. The above - mentioned control method may further include: after receiving the stop - tree - sawing instruction, control the chain saw to stop working.

[0037] That is to say, the user takes an image within the preset range of the chainsaw through the auxiliary camera. After observing that the final tree-cutting target is completely cut according to the real-time image, the user sends a stop tree-cutting instruction to the tree-cutting robot. After receiving the stop tree-cutting instruction, the relevant control device controls the chainsaw to stop working.

[0038] It should be noted that in the embodiment of the present invention, the whole tree-cutting robot can be modularly assembled, and the weight of the robotic arm is less than 25 kg, achieving the purpose of being light and portable.

[0039] In summary, according to the control method of the vehicle-mounted portable tree-cutting robot in the embodiment of the present invention, the distance data of the environment where the robotic arm of the tree-cutting robot is located is obtained by using the fast and accurate measurement characteristics of the 3D array lidar in a short time. The qualified tree-cutting target is judged according to the preset tree-cutting rules. At the same time, the real environmental scene is obtained by integrating the panoramic camera. The two are combined to make up for each other's strengths and weaknesses to obtain an accurate tree-cutting target, and the chainsaw is controlled to cut the tree automatically, thereby reducing the labor intensity of the operators while improving the convenience and accuracy of the operation. The whole tree-cutting robot is light and portable and can be directly set on the insulated boom truck or the boom lift truck with a bucket, and can be quickly installed.

[0040] Corresponding to the above control method of the vehicle-mounted portable tree-cutting robot, the present invention also proposes a control device for the vehicle-mounted portable tree-cutting robot. Since the device embodiment of the present invention corresponds to the above method embodiment, the details not disclosed in the device embodiment can be referred to the above method embodiment, and will not be elaborated in the present invention.

[0041] Figure 3 is a block diagram of a control device for a vehicle-mounted portable tree-cutting robot according to an embodiment of the present invention. The tree-cutting robot is set on an insulated boom truck or a boom lift truck with a bucket. The tree-cutting robot includes: a robotic arm, a chainsaw arranged at the end of the robotic arm, a 3D array lidar arranged on the robotic arm, and a panoramic camera arranged at the upper end of the tree-cutting robot. As Figure 3 shown, the device includes: a first control module 1, a second control module 2, an acquisition module 3, a third control module 4, a fourth control module 5, and a fifth control module 6.

[0042] Among them, the first control module 1 is used to control the insulated boom truck or the elevated work truck with a bucket to lift the tree sawing robot to the working radius; the second control module 2 is used to control the 3D array lidar to start, so that the 3D array lidar detects the surrounding environment distance where the robotic arm of the tree sawing robot is located; the acquisition module 3 is used to acquire the surrounding environment distance and the distance between the 3D array lidar and the chain saw, and determine whether there is a tree sawing target that meets the tree sawing conditions according to the surrounding environment distance and the distance between the 3D array lidar and the chain saw; the third control module 4 is used to, when there is a tree sawing target that meets the tree sawing conditions, control the display terminal to mark the tree sawing target according to the surrounding environment distance and display the corresponding coordinate position; the fourth control module 5 is used to control the panoramic camera to take pictures of the real environment, and control the display terminal to display the real environment pictures, so that the user can screen out the final tree sawing target according to the real environment pictures and the marked tree sawing targets, and draw the final tree sawing target on the display terminal to issue a tree sawing instruction, and the tree sawing instruction includes the coordinate position corresponding to the final tree sawing target; the fifth control module 6 is used to control the chain saw to perform tree sawing work on the final tree sawing target according to the tree sawing instruction.

[0043] According to an embodiment of the present invention, the third control module 4 is further used to: when there is no tree sawing target that meets the tree sawing conditions, control the insulated boom truck or the elevated work truck with a bucket to push the tree sawing robot forward by a preset distance.

[0044] According to an embodiment of the present invention, the tree sawing robot further includes: an auxiliary camera disposed close to the chain saw, and the auxiliary camera is used to take pictures of the image within a preset range of the chain saw, so that the user can observe that the final tree sawing target is sawn off according to the image within the preset range of the chain saw and issue a stop tree sawing instruction; the fifth control module 6 is further used to: after receiving the stop tree sawing instruction, control the chain saw to stop working.

[0045] In summary, the control device of the vehicle-mounted portable tree sawing robot according to the embodiment of the present invention utilizes the fast and accurate measurement characteristics of the 3D array lidar to obtain the environmental distance data where the robotic arm of the tree sawing robot is located, determines the tree sawing targets that meet the conditions according to the preset tree sawing rules, and at the same time comprehensively obtains the real environmental scene through the panoramic camera. The two are combined to make up for each other's advantages and disadvantages to obtain accurate tree sawing targets, and control the chain saw to perform automatic tree sawing, thereby reducing the labor intensity of the operators while improving the convenience and accuracy of the operation. The entire tree sawing robot is light and portable, and is directly installed on the insulated boom truck or the elevated work truck with a bucket, and can be quickly installed.

[0046] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples. In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0047] Any process or method description shown in a flowchart or described otherwise herein can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a customized logic function or process, and the scope of the preferred embodiments of the present invention includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in an order opposite to that shown or discussed, according to the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0048] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A control method for a vehicle-mounted portable tree-cutting robot, characterized in that, The tree-sawing robot is installed on an insulated boom truck or a high-reach truck with a bucket. The tree-sawing robot includes: a robotic arm, a chainsaw installed at the end of the robotic arm, a 3D area array lidar installed on the robotic arm, and a panoramic camera installed at the upper end of the tree-sawing robot. The method includes the following steps: Control the insulated boom truck or the high-reach truck with a bucket to lift the tree-sawing robot to the working radius; Control the 3D area array lidar to start, so that the 3D area array lidar detects the surrounding environment distance where the robotic arm of the tree-sawing robot is located; Obtain the surrounding environment distance and the distance between the 3D area array lidar and the chainsaw, and determine whether there is a tree-sawing target that meets the tree-sawing conditions based on the surrounding environment distance and the distance between the 3D area array lidar and the chainsaw; If there is a tree-sawing target that meets the tree-sawing conditions, control the display terminal to mark the tree-sawing target according to the surrounding environment distance and display the corresponding coordinate position; Control the panoramic camera to take a real environment picture, and control the display terminal to display the real environment picture, so that the user can screen out the final tree-sawing target according to the real environment picture and the marked tree-sawing target, and draw the final tree-sawing target on the display terminal to issue a tree-sawing instruction, and the tree-sawing instruction includes the coordinate position corresponding to the final tree-sawing target; Control the chainsaw to perform tree-sawing work on the final tree-sawing target according to the tree-sawing instruction.

2. The control method of the in-vehicle portable tree-cutting robot according to claim 1, characterized in that, It also includes: If there is no tree-sawing target that meets the tree-sawing conditions, control the insulated boom truck or the high-reach truck with a bucket to push the tree-sawing robot forward by a preset distance.

3. The control method of the in-vehicle portable tree-cutting robot according to claim 1, characterized in that, The tree-sawing robot further includes: an auxiliary camera installed near the chainsaw, and the auxiliary camera is used to take pictures of the image within a preset range of the chainsaw, so that the user can observe that the final tree-sawing target is sawn off according to the image within the preset range of the chainsaw and issue a stop tree-sawing instruction; The method further includes: After receiving the stop tree-sawing instruction, control the chainsaw to stop working.

4. A control device for a vehicle-mounted portable tree-cutting robot, characterized in that, The vehicle-mounted portable tree-sawing robot is installed on an insulated boom truck or a high-reach truck with a bucket. The tree-sawing robot includes: a robotic arm, a chainsaw installed at the end of the robotic arm, a 3D area array lidar installed on the robotic arm, and a panoramic camera installed at the upper end of the tree-sawing robot. The device includes: A first control module, which is used to control the insulated boom truck or the high-reach truck with a bucket to lift the tree-sawing robot to the working radius; A second control module, which is used to control the 3D area array lidar to start, so that the 3D area array lidar detects the surrounding environment distance where the robotic arm of the tree-sawing robot is located; An acquisition module, which is used to obtain the surrounding environment distance and the distance between the 3D area array lidar and the chainsaw, and determine whether there is a tree-sawing target that meets the tree-sawing conditions based on the surrounding environment distance and the distance between the 3D area array lidar and the chainsaw; A third control module, which is used to control the display terminal to mark the tree-sawing target according to the surrounding environment distance and display the corresponding coordinate position when there is a tree-sawing target that meets the tree-sawing conditions; The fourth control module is configured to control the panoramic camera to capture pictures of the real environment and control the display terminal to display the pictures of the real environment, so that the user can screen out the final tree felling target based on the pictures of the real environment and the marked tree felling target, and draw the final tree felling target on the display terminal to issue a tree felling instruction, where the tree felling instruction includes the coordinate position corresponding to the final tree felling target; The fifth control module is configured to control the chain saw to perform tree felling work on the final tree felling target according to the tree felling instruction.

5. The control device of the in-vehicle portable tree-cutting robot according to claim 4, characterized in that The third control module is further configured to: when there is no tree felling target meeting the tree felling conditions, control the insulated boom truck or the elevated work truck with a bucket to push the tree felling robot forward by a preset distance.

6. The control device of the in-vehicle portable tree-cutting robot according to claim 4, characterized in that, The tree felling robot further includes an auxiliary camera disposed near the chain saw, and the auxiliary camera is configured to capture images within a preset range of the chain saw, so that the user can issue a stop tree felling instruction after observing that the final tree felling target is sawn off according to the images within the preset range of the chain saw; the fifth control module is further configured to: after receiving the stop tree felling instruction, control the chain saw to stop working.

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