Control method and control system of laser equipment for removing tree obstacles

Abstract

The invention provides a control method and a control system of laser equipment for removing tree obstacles, and relates to the technical field of laser equipment.The method comprises the steps that the laser equipment is used for conducting emission testing on wood of multiple thicknesses at multiple distances, and an obstacle removing efficiency function of the laser equipment is obtained; shooting a first image of the to-be-cleared position; detecting the first image, and determining a target area where a tree obstacle in the first image is located; selecting a target obstacle clearance position according to the first image and the target area; determining power utilization power according to the first image and an obstacle clearing efficiency function; and controlling the laser equipment to clear obstacles according to the electric power. According to the invention, the obstacle clearing efficiency function can be determined, and the optimal target obstacle clearing position can be found based on the shot first image, so that the obstacle in the target area can be cleared by using less laser emission times and lower energy consumption, the power consumption during obstacle clearing can be controlled, and the obstacle clearing effect can be achieved by using lower energy consumption.

Description

Technical Field

[0001] This invention relates to the field of laser equipment technology, and in particular to a control method and control system for a laser device used to clear tree obstructions. Background Technology

[0002] CN119336072A discloses a control method for a laser obstacle clearing device and the laser obstacle clearing device itself, relating to the field of laser obstacle clearing technology. The laser obstacle clearing device includes a lens assembly, a pan-tilt unit (PTZ), and a main unit. A gyroscope is configured in the PTG and is communicatively connected to the main unit. The main unit is equipped with a laser generator. The method includes: the gyroscope sending attitude data to the main unit; the main unit determining whether the attitude of the laser obstacle clearing device has changed based on the attitude data; and the main unit controlling the laser generator to stop generating laser light when the attitude of the laser obstacle clearing device changes. By configuring a gyroscope in the PTG and using the gyroscope to detect changes in the attitude of the laser obstacle clearing device and promptly stopping the laser generator from generating laser light, the laser beam can be shut off in time when the laser obstacle clearing device tilts or leans, altering the original laser beam's emission direction. This avoids harm to surrounding personnel and other safe objects, improving the safety of the laser obstacle clearing device during use.

[0003] CN119200663A discloses a control method and apparatus for a drone-mounted laser obstacle clearing device. The method includes: when the laser obstacle clearing device on the drone is activated, acquiring obstacle clearing direction data, first position data, and second position data of the obstacle to be cleared; determining the drone's yaw angle based on the obstacle clearing direction data, first position data, and second position data; and controlling the laser obstacle clearing device to shut down when the absolute value of the drone's yaw angle is greater than a preset yaw threshold. This method solves the problem of low control accuracy of laser obstacle clearing devices and achieves the beneficial effect of improving the control accuracy of laser obstacle clearing devices.

[0004] Therefore, in related technologies, the attitude of the laser device can be controlled so that the laser device can aim at the obstacle, but it is impossible to select a suitable target location for obstacle removal in the area to be cleared, thereby achieving the obstacle removal effect with fewer laser emission times and lower energy consumption.

[0005] The information disclosed in the background section of this application is intended only to enhance the understanding of the general background of this application and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] This invention provides a control method and control system for a laser device used to clear tree obstructions, which can solve the technical problems of related technologies that cannot select a suitable target location for clearing obstructions, and cannot achieve the clearing effect with fewer laser emission times and lower energy consumption.

[0007] According to a first aspect of the present invention, a control method for a laser device for clearing tree obstructions is provided, comprising:

[0008] During the testing process, a laser device was used to emit light onto wood of various thicknesses at multiple distances to obtain the obstacle-clearing efficiency function of the laser device.

[0009] During use, a camera matched with the laser device captures the first image of the location to be cleared;

[0010] The first image is detected to determine the target area where the tree obstacles in the first image are located;

[0011] Based on the first image and the target area, select the target obstacle removal location within the target area;

[0012] Based on the first image and the obstacle clearance efficiency function, determine the power consumption of the laser device when emitting laser to the target obstacle clearance location;

[0013] The laser equipment is controlled to clear obstacles based on the power consumption.

[0014] According to the present invention, during the testing process, a laser device is used to conduct emission tests on wood of various thicknesses at multiple distances to obtain the obstacle-clearing efficiency function of the laser device, including:

[0015] At multiple test distances, laser emission tests were conducted on wood of various thicknesses using different test power levels to determine the test duration required for the laser equipment to penetrate wood of various thicknesses.

[0016] Based on the test distance, test power consumption, test thickness and test duration, the equation to be fitted for the obstacle clearing efficiency function of the laser equipment is obtained, wherein the equation to be fitted includes multiple coefficients to be fitted.

[0017] Based on various test distances, test power consumption, test thicknesses, and test durations, the coefficients to be fitted in the equation to be fitted are solved to obtain the solution values ​​of the coefficients to be fitted.

[0018] The obstacle clearing efficiency function is determined based on the solved values ​​of the coefficients to be fitted.

[0019] According to the present invention, based on the test distance, test power consumption, test thickness, and test duration, the equation to be fitted for the obstacle-clearing efficiency function of the laser device is obtained, including:

[0020] According to the formula

[0021]

[0022] The equation to be fitted for the obstacle-clearing efficiency function of the laser device is obtained, where, For test duration, To test the thickness, To test the power consumption, To test the distance, It is half the divergence angle of the laser emitted by the laser device. , and The coefficients are to be fitted.

[0023] According to the present invention, selecting a target obstacle removal location in the target area based on a first image and a target area includes:

[0024] In the first image, select the area to be cleared;

[0025] Based on the intersection of the area to be cleared and the target area, determine the obstacle area where the trees and obstacles to be cleared are located;

[0026] In the target area, a connected component search is performed on the obstacle area to obtain the area where the tree branches connected to the obstacle area are located.

[0027] In the area where the tree branches connect to the obstacle area, determine the target obstacle removal location.

[0028] According to the present invention, in the target area, a connected component search process is performed on the obstacle area to obtain the area where the tree branches connected to the obstacle area are located, including:

[0029] By using an image classification model, the target region is classified to obtain the region where the tree branches are located within the target region;

[0030] Within the region where the tree branch is located, a connected component search is performed on the obstacle region to obtain the region where the tree branch is located that is connected to the obstacle region.

[0031] According to the present invention, determining the target obstacle removal location in the area where tree branches are located in communication with the obstacle area includes:

[0032] The trend curve recognition model processes the outline of the area where the tree branches connected to the obstacle area are located to obtain the trend curve of the tree branches. The trend curve is located within the outline of the area where the tree branches connected to the obstacle area are located, and the trend curve is the midline of the two side outlines.

[0033] The direction of the trend curve is determined based on the trend curve and the outline of the area where the tree branches connected to the obstacle area are located.

[0034] Determine the first intersection point between the trend curve and the edge of the first image;

[0035] Starting from the first intersection point, search along the direction of the trend curve to determine the first fork point of the trend curve;

[0036] On the trend curve, determine the trend curve segment between the first intersection point and the first fork point;

[0037] Within the trend curve segment, identify the target trend curve segment located outside the area to be cleared;

[0038] At each pixel point on the target trend curve segment, obtain the normal of the target trend curve segment;

[0039] Obtain the second intersection point between the normal and the contour lines on both sides of the target trend curve segment;

[0040] Determine the normal length of the line segment between the two second intersection points;

[0041] The pixel on the target trend curve segment corresponding to the minimum normal length is determined as the target obstacle clearing location.

[0042] According to the present invention, determining the power consumption of the laser device when emitting laser light at the target obstacle clearance location based on a first image and an obstacle clearance efficiency function includes:

[0043] Based on the camera's intrinsic and extrinsic parameters, determine the target distance between each target clearance location and the laser device, as well as the target length in the world coordinate system corresponding to the normal length of each target clearance location.

[0044] Based on the target distance, target length, and obstacle clearing efficiency function, determine the constraints of the power optimization model;

[0045] Based on the obstacle clearing efficiency function, determine the objective function of the power optimization model;

[0046] Based on the constraints and objective function, the power optimization model is solved to determine the power consumption.

[0047] According to the present invention, the constraints of the power optimization model are determined based on the target distance, target length, and obstacle clearance efficiency function, including:

[0048] According to the formula

[0049]

[0050]

[0051] Determine the constraints of the power optimization model, where, The duration for clearing obstacles at the i-th target location. Let the length of the target corresponding to the obstacle clearing position of the i-th target be . Let i be the distance between the target clearance location and the laser device. The power consumption to be determined when clearing the i-th target obstacle location is given. Minimum power consumption Maximum power consumption for The solution value, for The solution value, for The solution value.

[0052] According to the present invention, the objective function of the power optimization model is determined based on the obstacle clearing efficiency function, including:

[0053] According to the formula

[0054]

[0055] Determine the objective function of the power optimization model, where minimize is the minimization function, n is the number of target obstacle clearing locations, i≤n, and i and n are both positive integers.

[0056] According to a second aspect of the present invention, a control system for a laser device for clearing tree obstructions is provided, comprising:

[0057] The testing module is used to conduct laser emission tests on wood of various thicknesses at multiple distances during the testing process, and obtain the obstacle clearing efficiency function of the laser equipment;

[0058] The camera module is used to capture the first image of the location to be cleared during use using a camera matched with the laser device;

[0059] The target region module is used to detect the first image and determine the target region where the tree obstacles in the first image are located;

[0060] The target obstacle removal location module is used to select the target obstacle removal location in the target area based on the first image and the target area;

[0061] The power consumption module is used to determine the power consumption of the laser device when emitting laser to the target obstacle clearance position based on the first image and the obstacle clearance efficiency function.

[0062] The obstacle clearing module is used to control the laser equipment to clear obstacles based on the power consumption.

[0063] By adopting the above technical solution, the present invention can achieve the following technical effects:

[0064] According to the present invention, tests can be conducted first to determine the obstacle-clearing efficiency function of the laser device, thereby determining the obstacle-clearing efficiency of the laser device when clearing obstacles at various distances. The optimal target obstacle-clearing position can be identified based on the captured first image, allowing for the clearing of obstacles within the target area with fewer laser emission attempts and lower energy consumption. Furthermore, the power consumption during obstacle clearing can be controlled to achieve the desired clearing effect with lower energy consumption. When determining the obstacle-clearing efficiency function, tests can be conducted at multiple test distances using various test power levels on wood of varying thicknesses. During the tests, the energy loss of the laser device itself and the divergence of the laser during propagation are considered, along with the maximum energy that a unit volume of wood can withstand. The test time required to penetrate the wood is then tested, thus comprehensively considering factors such as energy loss and the wood's bearing capacity, improving the accuracy of the test. When determining the target obstacle removal location, the target trend curve segment can be identified through the trend curve, bifurcation points, and the area to be cleared. This ensures that all obstacles within the area to be cleared can be removed when the target obstacle removal location is found on the target trend curve segment. Furthermore, the location with the shortest branch diameter on the target trend curve can be used as the target obstacle removal location to reduce energy consumption when cutting off the target obstacle removal point and improve clearance efficiency. When calculating the power consumption, the limitations of clearance time and power consumption range are comprehensively considered, and minimizing the total energy consumption is taken as the objective to reduce energy consumption during obstacle removal and improve clearance efficiency.

[0065] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Other features and aspects of the invention will become clearer from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0066] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0067] Figure 1 A flowchart of a control method for a laser device for clearing tree obstacles according to an embodiment of the present invention is shown as an example;

[0068] Figure 2 A schematic diagram of an obstacle region according to an embodiment of the present invention is shown exemplarily;

[0069] Figure 3 A schematic diagram of the area where the tree branches are located is shown as an example according to an embodiment of the present invention;

[0070] Figure 4A schematic diagram of a trend curve according to an embodiment of the present invention is shown as an example;

[0071] Figure 5 A block diagram of a control system for a laser device for clearing tree obstructions according to an embodiment of the present invention is shown as an example. Detailed Implementation

[0072] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0073] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0074] Figure 1 A flowchart is provided, exemplarily illustrating, of a control method for a laser device for clearing tree obstructions according to an embodiment of the present invention, the method comprising:

[0075] Step S1: During the test, a laser device is used to conduct emission tests on wood of various thicknesses at multiple distances to obtain the obstacle clearing efficiency function of the laser device;

[0076] Step S2: During use, a first image of the location to be cleared is captured using a camera matched with the laser device;

[0077] Step S3: Detect the first image to determine the target area where the tree obstacle in the first image is located;

[0078] Step S4: Based on the first image and the target area, select the target obstacle removal location within the target area;

[0079] Step S5: Determine the power consumption of the laser device when emitting laser to the target obstacle clearing position based on the first image and the obstacle clearing efficiency function;

[0080] Step S6: Control the laser equipment to perform obstacle clearing based on the power consumption.

[0081] According to an embodiment of the present invention, the control method for a laser device for clearing tree obstacles can first conduct tests to determine the obstacle-clearing efficiency function of the laser device, thereby determining the obstacle-clearing efficiency of the laser device when clearing obstacles at various distances. Furthermore, the optimal target obstacle-clearing position can be found based on a captured first image, thereby clearing obstacles in the target area with fewer laser emission times and lower energy consumption. The power consumption during obstacle clearing can also be controlled, achieving the obstacle-clearing effect with lower energy consumption.

[0082] According to one embodiment of the present invention, in step S1, the laser device is a laser device for clearing obstacles, such as a laser obstacle clearing instrument. Various thicknesses of wood (e.g., planks) can be used for testing. The wood used to make the planks can be taken from the same species of tree as the one to be cleared, thereby improving the accuracy and usability of the test data. The obstacle clearing efficiency function can be used to describe the efficiency of the laser device in clearing obstacles at different distances; for example, it can be used to describe the time required for the laser device to penetrate various thicknesses of wood at different distances. Although the laser divergence angle is small, it is not zero. When clearing obstacles at greater distances, the laser inevitably exhibits a certain degree of divergence. Therefore, the obstacle clearing efficiency of the laser device may decrease when the obstacle is far away.

[0083] According to one embodiment of the present invention, during the testing process, the laser equipment and obstacles can also be set outdoors, for example, in an environment similar to the trees to be cleared, thereby improving the consistency between the testing environment and the actual use environment.

[0084] According to an embodiment of the present invention, step S1 includes: step S11, performing emission tests on wood of various test thicknesses at multiple test distances using various test power levels to determine the test duration required for the laser device to penetrate wood of various thicknesses; step S12, obtaining a fitting equation for the obstacle-clearing efficiency function of the laser device based on the test distance, test power level, test thickness, and test duration, wherein the fitting equation includes multiple fitting coefficients; step S13, solving for the fitting coefficients in the fitting equation based on the various test distances, various test power levels, various test thicknesses, and test duration to obtain the solution values ​​of the fitting coefficients; and step S14, determining the obstacle-clearing efficiency function based on the solution values ​​of the fitting coefficients.

[0085] According to one embodiment of the present invention, in step S11, wood of various thicknesses (i.e., wooden boards) can be placed at each test distance, and the wood can be irradiated with various test power until the wood is punctured. When the wood is punctured, the time taken from the start of irradiation to the moment of puncture is recorded, i.e., the test duration.

[0086] According to an embodiment of the present invention, in step S12, the equation to be fitted can be listed using the various parameters mentioned above. Based on the test distance, test power consumption, test thickness, and test duration, the equation to be fitted for the obstacle-clearing efficiency function of the laser device is obtained, including: obtaining the equation to be fitted for the obstacle-clearing efficiency function of the laser device according to formula (1).

[0087] (1)

[0088] in, For test duration, To test the thickness, To test the power consumption, To test the distance, It is half the divergence angle of the laser emitted by the laser device. , and The coefficients are to be fitted.

[0089] According to an embodiment of the present invention, in formula (1), The coefficients to be fitted represent the energy required to burn a unit volume of wood, i.e., the maximum energy that a unit volume of wood can withstand, expressed in J / m³. 3 , Let be the radius of the laser spot that illuminates the wood. Let be the area of ​​the laser spot that illuminates the wood, where The half-divergence angle is half the divergence angle of the laser emitted by the laser device, which can be obtained from the performance parameters of the laser device itself. This refers to the volume of wood burned by the laser device when it penetrates the wood. Therefore... This is the energy required to burn the aforementioned volume of wood. This indicates the power required to burn the aforementioned volume of wood, the source of which is laser irradiation. Therefore, This represents the power of the laser emitted by the laser device illuminating the wood. Since the laser device cannot convert all electrical power into laser power (for example, the laser device generates heat, thus losing some energy; the laser device may be equipped with a cooling system, the operation of which also consumes some energy), the power required to burn the aforementioned volume of wood is not equal to the test electrical power of the laser device. This can be expressed by a univariate linear expression regarding the test electrical power. To indicate the power consumption is At that time, the power of the laser received by the wood, that is, after considering various losses of the power used in the comprehensive test, is expressed by the above univariate linear expression to represent the power of the laser received by the wood, where, The coefficient is dimensionless. The unit is watt.

[0090] According to one embodiment of the present invention, in step S13, multiple pieces of wood of the same thickness can be tested at one distance using various test power levels. Then, wood of different thicknesses is used, and the tests are repeated using the same multiple test power levels to collect the test duration at that distance for testing wood of different thicknesses using various test power levels. Then, the above test can be repeated at another distance. By iteratively executing the above tests, the test duration at multiple distances for testing wood of different thicknesses using various test power levels can be obtained. Based on these data, a fitting process is performed to obtain the solution values ​​of the coefficients to be fitted.

[0091] According to an embodiment of the present invention, in step S14, the solution value of the coefficient to be fitted can be substituted into formula (1) to replace the corresponding coefficient to be fitted, so as to obtain the obstacle clearing efficiency function of the laser device.

[0092] In this way, various test power levels can be used to test wood of different thicknesses at multiple test distances. During the test, the energy loss of the laser equipment itself and the divergence of the laser during propagation are taken into account. Combined with the maximum energy that a unit volume of wood can withstand, the test time required to penetrate the wood is tested. This comprehensively considers multiple factors such as energy loss and the wood's bearing capacity, thereby improving the accuracy of the test.

[0093] According to one embodiment of the present invention, in step S2, after obtaining the obstacle clearing efficiency function through the above tests, a laser device can be used for obstacle clearing. The optical axis of the lens of the camera matched with the laser device can be parallel to the direction of the laser emitted by the laser device, and a first image of the location to be cleared can be captured by the camera, for example, an image of the location with messy branches and leaves.

[0094] According to an embodiment of the present invention, in step S3, the first image can be detected, for example, by detecting the first image through a convolutional neural network model to obtain the target area where the tree obstacle is located in the first image. For example, the outline of the area where the leaves and branches are located can be drawn in the first image, and the area within the outline is the target area where the tree obstacle is located.

[0095] According to one embodiment of the present invention, in step S4, a target obstacle removal location can be selected from the target area, which can both ensure that tree obstacles are removed and reduce energy consumption. For example, a thinner location on a branch can be selected to reduce the energy required to cut the branch.

[0096] According to an embodiment of the present invention, step S4 includes: step S41, selecting the area to be cleared in the first image; step S42, determining the obstacle area where the tree obstacle to be cleared is located based on the intersection of the area to be cleared and the target area; step S43, performing connected component search processing on the obstacle area in the target area to obtain the area where the tree branch is connected to the obstacle area; step S44, determining the target clearing location in the area where the tree branch is located.

[0097] According to one embodiment of the present invention, in step S41, a region to be cleared can be selected in the first image. For example, if a line needs to pass through this region, the region can be cleared to ensure that there are no obstacles such as tree branches in the region. The region to be cleared corresponds to a smaller area in reality than the area corresponding to the first image in reality.

[0098] According to an embodiment of the present invention, in step S42, as described above, the target area is the area within the outline of tree obstacles (e.g., leaves and branches) in the first image. The tree obstacles may exist within the area to be cleared or may exist outside the area to be cleared. The intersection of the area to be cleared and the target area can be determined as the obstacle area, thereby determining which tree obstacles need to be cleared. Tree obstacles located outside the area to be cleared do not need to be cleared.

[0099] Figure 2 A schematic diagram of an obstacle region according to an embodiment of the present invention is shown as an example.

[0100] According to one embodiment of the present invention, Figure 2 The solid-line box represents the edge of the first image; that is, the area inside the solid-line box is the first image. The dashed-line box represents the area to be cleared, and the target area is the area where the branches and leaves are located. The intersection of the target area and the area to be cleared is the obstacle area, which is the area where the obstacle needs to be cleared. However, the laser emitted by the laser device may not directly illuminate the obstacle area, but can be placed at a suitable location (which may be outside the area to be cleared) to clear the obstacle with the fewest laser shots and the least energy consumption.

[0101] According to one embodiment of the present invention, in order to find a suitable target obstacle clearing location, the regions where all obstacles connected to the obstacle region are located can be found. Step S43 includes: Step S431, classifying the target region using an image classification model to obtain the regions where tree branches are located in the target region; Step S432, performing connected component search processing on the obstacle region within the regions where tree branches are located to obtain the regions where tree branches are connected to the obstacle region.

[0102] According to one embodiment of the present invention, the image classification model can be a convolutional neural network model, which can classify the types of objects in the image, thereby determining the region where the branches are located and the region where the leaves are located (whether or not they are within the area to be cleared), and determining the region where the branches are located.

[0103] Figure 3 A schematic diagram of the area where the tree branches are located is shown as an example according to an embodiment of the present invention.

[0104] According to one embodiment of the present invention, Figure 3 Part of the branches and leaves on the left side of the map are located within the area to be cleared, i.e., the obstacle area. By performing a connected component search within the obstacle area, we can obtain the areas where the branches are connected to the obstacle area. Figure 3 The area where the branches are located on the left side of the middle. Figure 3 All the branches and leaves on the right side are located outside the area to be cleared. That is, the area where the branches and leaves are located is not the obstacle area. Therefore, the area where the branches and leaves are located on the right side does not include the area where the branches connected to the obstacle area are located.

[0105] According to an embodiment of the present invention, in step S44, after obtaining the area where the tree branches are connected to the obstacle area, the target obstacle removal location can be determined in this area, that is, the location where all the tree branches and leaves in the corresponding obstacle area can be removed by the fewest number of laser irradiations.

[0106] According to an embodiment of the present invention, step S44 includes: step S441, processing the contour line of the area where the tree branch is located connected to the obstacle area using a trend curve recognition model to obtain the trend curve of the tree branch, wherein the trend curve is located within the contour line of the area where the tree branch is located connected to the obstacle area, and the trend curve is the midline of the two side contour lines; step S442, determining the direction of the trend curve based on the trend curve and the contour line of the area where the tree branch is located connected to the obstacle area; step S443, determining the first intersection point of the trend curve and the edge of the first image; step S444, starting from the first intersection point, searching along the direction of the trend curve to determine... Step S445: Determine the first bifurcation point of the trend curve; Step S446: Determine the trend curve segment between the first intersection point and the first bifurcation point on the trend curve; Step S447: Determine the target trend curve segment located outside the area to be cleared within the trend curve segment; Step S448: Obtain the normal of the target trend curve segment at each pixel point on the target trend curve segment; Step S449: Obtain the second intersection point between the normal and the contour lines on both sides of the target trend curve segment; Step S4410: Determine the normal length of the line segment between the two second intersection points; Step S4410: Determine the pixel point on the target trend curve segment corresponding to the minimum normal length as the target clearing position.

[0107] According to an embodiment of the present invention, in step S441, the trend curve recognition model can be a convolutional neural network model, which can draw the trend curve within the outline of the area where the tree branch is located, which is connected to the obstacle area.

[0108] Figure 4 A schematic diagram of a trend curve according to an embodiment of the present invention is shown as an example.

[0109] According to one embodiment of the present invention, Figure 4 The solid lines in the image represent the outlines of the tree branches connected to the obstacle area, while the dashed lines represent the trend curves, which are the midlines of the two side outlines. The trend curve recognition model can be trained as follows: Mark the outlines of the tree branches in the tree branch image, and input the image of the tree branches with marked outlines into the trend curve recognition model. The model processes the outlines, outputs a training trend curve, and then determines the error between the training trend curve and the manually labeled trend curve. For example, the coordinate error between each pixel on the training trend curve and each pixel on the manually labeled trend curve (e.g., the Euclidean distance between a pixel on the training trend curve and the nearest pixel on the manually labeled trend curve). Based on this error, a loss function is determined. For example, the positional errors of each pixel are summed to obtain the loss function. This loss function is then used for backpropagation to train the trend curve recognition model. After multiple training iterations, the trained trend curve recognition model can be obtained.

[0110] According to one embodiment of the present invention, in step S442, the direction of the trend curve can be determined, that is, the direction from the root to the branch. For example, the position of the branch can be found by the outline, and the direction along the trend curve pointing to the branch is the direction of the trend curve. Another example is that the first intersection point can be taken as the starting point, and the direction away from the first intersection point can be the direction of the trend curve.

[0111] According to an embodiment of the present invention, in step S443, a first intersection point between the trend curve and the edge of the first image can be determined, which is the position on the trend curve closest to the root of the tree branch.

[0112] According to one embodiment of the present invention, in step S444, a search can be performed starting from the first intersection point along the direction of the trend curve to determine the first fork point of the trend curve, and in step S445, the trend curve segment between the first intersection point and the first fork point is determined. The trend curve after the fork point may be divided into multiple lines, and the trend curve after the fork may enter the area to be cleared in whole or in part. In order to facilitate processing, the target obstacle clearing position can be directly found on the trend curve before the fork point (i.e., the trend curve segment). After the target obstacle clearing position is irradiated with laser, the branches are cut off from the target obstacle clearing position, so that all branches and leaves after the target obstacle clearing position are cut off, thereby clearing all obstacles in the area to be cleared.

[0113] According to an embodiment of the present invention, in step S446, a portion of the trend curve segment may be located within the area to be cleared and a portion may be located outside the area to be cleared. In order to clear all the branches and leaves in the area to be cleared, a target trend curve segment may be found outside the area to be cleared, and a target clearing position may be found on the target trend curve segment. After laser irradiation of the target clearing position, all branches and leaves after the target clearing position are cut off, so that all branches and leaves in the area to be cleared are cleared.

[0114] According to one embodiment of the present invention, in step S447, the normal line at each pixel point on the target trend curve segment can be obtained, that is, the straight line perpendicular to the direction of the trend curve. In step S448, the normal line intersects with the contour lines on both sides respectively, and the intersection point is the second intersection point. In step S449, the length between the two second intersection points can be determined, that is, the normal length, which can be used as the diameter of the tree branch at that position. In step S4410, the pixel point on the target trend curve segment corresponding to the minimum normal length can be determined as the target obstacle clearing position, that is, the position with the shortest diameter can be selected as the target obstacle clearing position, thereby saving energy when cutting the target obstacle clearing position with laser. In other words, the position that is easiest to cut is selected for cutting.

[0115] In this way, the target trend curve segment can be determined by the trend curve, the fork point, and the area to be cleared. This allows all obstacles in the area to be cleared to be removed when the target clearing position is found on the target trend curve segment. Furthermore, the position with the shortest branch diameter on the target trend curve can be used as the target clearing position to reduce energy consumption when cutting off the target clearing position and improve clearing efficiency.

[0116] According to an embodiment of the present invention, in step S5, the power used when emitting laser to the target obstacle clearing position can be determined by the first image and the obstacle clearing efficiency function. There may be multiple tree branches and multiple target obstacle clearing positions. Therefore, an appropriate power can be set when clearing obstacles at each target position.

[0117] According to an embodiment of the present invention, step S5 includes: step S51, determining the target distance between each target obstacle clearing position and the laser device, and the target length of the normal length corresponding to each target obstacle clearing position in the world coordinate system, based on the intrinsic and extrinsic parameters of the camera; step S52, determining the constraints of the power optimization model based on the target distance, target length, and obstacle clearing efficiency function; step S53, determining the objective function of the power optimization model based on the obstacle clearing efficiency function; and step S54, solving the power optimization model based on the constraints and the objective function to determine the power consumption.

[0118] According to one embodiment of the present invention, in step S51, when actually using the laser device for obstacle clearing, the laser device can be set up at a location near the obstacle, for example, at a flat location around the obstacle, to facilitate the setting up of the laser device. After setting up the laser device, the target distance between the laser device and each target obstacle clearing location can be calculated, which can be based on the intrinsic and extrinsic parameters of the first image and the camera.

[0119] According to one embodiment of the present invention, the target distance between the target obstacle clearing position and the laser device, and the target length of the normal length corresponding to the target obstacle clearing position in the world coordinate system can be determined based on the intrinsic and extrinsic parameters of the camera and the laser rangefinder. For example, the target distance between the real-world position corresponding to the target obstacle clearing position and the laser device can be determined by the laser rangefinder. Alternatively, the distance between the real-world position corresponding to the second intersection point and the laser device can be determined by the laser rangefinder, and the coordinates of the two second intersection points in the real world can be determined based on the intrinsic and extrinsic parameters, thereby determining the distance between the two second intersection points in the real world, i.e., the target length, which can be used as the diameter of the tree branch in the real world.

[0120] According to an embodiment of the present invention, in step S52, the power optimization model can be a genetic algorithm model, a linear or nonlinear programming model, etc., and can set constraints and objective functions. Under the constraints, the optimal solution that maximizes the realization of the objective described by the objective function is obtained, and the power consumption corresponding to the optimal solution is the optimal power consumption.

[0121] According to an embodiment of the present invention, step S52 includes: determining the constraints of the power optimization model based on the target distance, target length, and obstacle clearing efficiency function, including: determining the constraints of the power optimization model according to formulas (2) and (3).

[0122] (2)

[0123] (3)

[0124] in, The duration for clearing obstacles at the i-th target location. Let the length of the target corresponding to the obstacle clearing position of the i-th target be . Let i be the distance between the target clearance location and the laser device. The power consumption to be determined when clearing the i-th target obstacle location is given. Minimum power consumption Maximum power consumption for The solution value, for The solution value, for The solution value.

[0125] According to an embodiment of the present invention, formula (2) is the clearance time for clearing the i-th target clearance position determined by the clearance efficiency function. The shape of the branch corresponding to the i-th target clearance position can be approximated as a cylinder, and the target length corresponding to the i-th target clearance position can be used as the diameter of the branch at that position. Therefore, the cross-sectional area of ​​the branch at that position (i.e., the base area of ​​the cylinder) is... The diameter of the laser spot is The height can be considered as that of a cylinder; therefore, the volume of tree that needs to be burned to cut off the branch at that location is... Theoretically, the energy required to burn this volume of wood is The power of the laser energy absorbed by the tree branch at this location is Therefore, the clearing time can be estimated as .

[0126] According to an embodiment of the present invention, formula (3) indicates that when irradiating each target obstacle clearing position, the undetermined value of the power consumption cannot exceed the allowable range, that is, the undetermined value of the power consumption is between the minimum power consumption and the maximum power consumption.

[0127] According to an embodiment of the present invention, step S53 includes: determining the objective function of the power optimization model based on the obstacle clearing efficiency function, including: determining the objective function of the power optimization model according to formula (4).

[0128] (4)

[0129] Where minimize is the minimization function, n is the number of target obstacle removal locations, i≤n, and i and n are both positive integers.

[0130] According to one embodiment of the present invention, in formula (4), This represents the energy consumption when clearing the i-th target obstacle location. Then it is the total energy consumption for clearing obstacles at all target locations. Therefore, the objective function described by formula (4) is to minimize the total energy consumption when the objective is to achieve the purpose of saving energy.

[0131] According to one embodiment of the present invention, under the constraints of the above-mentioned conditions, the power consumption required to maximize the realization of the objective described by the objective function can be solved, which is the power consumption of the laser device when emitting laser to the target obstacle clearing position.

[0132] In this way, when calculating the power consumption, the limitations of the clearing time and the range of power consumption can be comprehensively considered, and the goal of minimizing the total energy consumption can be taken into account, so as to reduce the energy consumption of clearing and improve the clearing efficiency.

[0133] According to an embodiment of the present invention, in step S6, the power consumption calculated above can be used to control the laser device to perform obstacle clearing. That is, when the laser device emits a laser at the target obstacle clearing position, its power consumption is set to the value calculated above.

[0134] According to an embodiment of the present invention, the control method for a laser device for clearing tree obstacles can first be tested to determine the obstacle-clearing efficiency function of the laser device, thereby determining the obstacle-clearing efficiency of the laser device when clearing obstacles at various distances. The optimal target obstacle-clearing position can be found based on a captured first image, thereby clearing obstacles in the target area with fewer laser emission times and lower energy consumption. Furthermore, the power consumption during obstacle clearing can be controlled to achieve the clearing effect with lower energy consumption. When determining the obstacle-clearing efficiency function, various test power levels can be used at multiple test distances to test wood of various thicknesses. During the test, the energy loss of the laser device itself and the divergence of the laser during propagation are considered, combined with the maximum energy that a unit volume of wood can withstand, to test the test time required to penetrate the wood. This comprehensively considers multiple factors such as energy loss and the wood's bearing capacity, improving the accuracy of the test. When determining the target obstacle removal location, the target trend curve segment can be identified through the trend curve, bifurcation points, and the area to be cleared. This ensures that all obstacles within the area to be cleared can be removed when the target obstacle removal location is found on the target trend curve segment. Furthermore, the location with the shortest branch diameter on the target trend curve can be used as the target obstacle removal location to reduce energy consumption when cutting off the target obstacle removal point and improve clearance efficiency. When calculating the power consumption, the limitations of clearance time and power consumption range are comprehensively considered, and minimizing the total energy consumption is taken as the objective to reduce energy consumption during obstacle removal and improve clearance efficiency.

[0135] Figure 5 An exemplary block diagram of a control system for a laser device for clearing tree obstructions according to an embodiment of the present invention is shown, the system comprising:

[0136] The testing module is used to conduct laser emission tests on wood of various thicknesses at multiple distances during the testing process, and obtain the obstacle clearing efficiency function of the laser equipment;

[0137] The camera module is used to capture the first image of the location to be cleared during use using a camera matched with the laser device;

[0138] The target region module is used to detect the first image and determine the target region where the tree obstacles in the first image are located;

[0139] The target obstacle removal location module is used to select the target obstacle removal location in the target area based on the first image and the target area;

[0140] The power consumption module is used to determine the power consumption of the laser device when emitting laser to the target obstacle clearance position based on the first image and the obstacle clearance efficiency function.

[0141] The obstacle clearing module is used to control the laser equipment to clear obstacles based on the power consumption.

[0142] This invention can be a method, apparatus, system, and / or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for performing various aspects of the invention.

[0143] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are merely examples and do not limit the present invention. The objectives of the present invention have been fully and effectively achieved. The functions and structural principles of the present invention have been demonstrated and explained in the embodiments, and any variations or modifications may be made to the implementation of the present invention without departing from the stated principles.

[0144] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for a laser device used for clearing tree obstructions, characterized in that, include: During the testing process, a laser device was used to emit light onto wood of various thicknesses at multiple distances to obtain the obstacle-clearing efficiency function of the laser device. During use, a camera matched with the laser device captures the first image of the location to be cleared; The first image is detected to determine the target area where the tree obstacles in the first image are located; Based on the first image and the target area, select the target obstacle removal location within the target area; Based on the first image and the obstacle clearance efficiency function, determine the power consumption of the laser device when emitting laser to the target obstacle clearance location; The laser equipment is controlled to clear obstacles based on the power consumption.

2. The control method for the laser device for clearing tree obstacles according to claim 1, characterized in that, During the testing process, a laser device was used to emit light onto wood of varying thicknesses at multiple distances to obtain the obstacle-clearing efficiency function of the laser device, including: At multiple test distances, laser emission tests were conducted on wood of various thicknesses using different test power levels to determine the test duration required for the laser equipment to penetrate wood of various thicknesses. Based on the test distance, test power consumption, test thickness and test duration, the equation to be fitted for the obstacle clearing efficiency function of the laser equipment is obtained, wherein the equation to be fitted includes multiple coefficients to be fitted. Based on various test distances, test power consumption, test thicknesses, and test durations, the coefficients to be fitted in the equation to be fitted are solved to obtain the solution values ​​of the coefficients to be fitted. The obstacle clearing efficiency function is determined based on the solved values ​​of the coefficients to be fitted.

3. The control method for the laser device for clearing tree obstructions according to claim 2, characterized in that, Based on the test distance, test power consumption, test thickness, and test duration, the equation to be fitted for the obstacle-clearing efficiency function of the laser equipment is obtained, including: According to the formula The equation to be fitted for the obstacle-clearing efficiency function of the laser device is obtained, where, For test duration, To test the thickness, To test the power consumption, To test the distance, It is half the divergence angle of the laser emitted by the laser device. , and The coefficients are to be fitted.

4. The control method for the laser device for clearing tree obstructions according to claim 3, characterized in that, Based on the first image and the target area, select the target obstacle removal location within the target area, including: In the first image, select the area to be cleared; Based on the intersection of the area to be cleared and the target area, determine the obstacle area where the trees and obstacles to be cleared are located; In the target area, a connected component search is performed on the obstacle area to obtain the area where the tree branches connected to the obstacle area are located. In the area where the tree branches connect to the obstacle area, determine the target obstacle removal location.

5. The control method for the laser device for clearing tree obstructions according to claim 4, characterized in that, Within the target region, a connected component search is performed on the obstacle region to obtain the regions containing branches connected to the obstacle region, including: By using an image classification model, the target region is classified to obtain the region where the tree branches are located within the target region; Within the region where the tree branch is located, a connected component search is performed on the obstacle region to obtain the region where the tree branch is located that is connected to the obstacle region.

6. The control method for the laser device for clearing tree obstructions according to claim 4, characterized in that, In the area where tree branches connect to the obstacle area, determine the target obstacle removal location, including: The trend curve recognition model processes the outline of the area where the tree branches connected to the obstacle area are located to obtain the trend curve of the tree branches. The trend curve is located within the outline of the area where the tree branches connected to the obstacle area are located, and the trend curve is the midline of the two side outlines. The direction of the trend curve is determined based on the trend curve and the outline of the area where the tree branches connected to the obstacle area are located. Determine the first intersection point between the trend curve and the edge of the first image; Starting from the first intersection point, search along the direction of the trend curve to determine the first fork point of the trend curve; On the trend curve, determine the trend curve segment between the first intersection point and the first fork point; Within the trend curve segment, identify the target trend curve segment located outside the area to be cleared; At each pixel point on the target trend curve segment, obtain the normal of the target trend curve segment; Obtain the second intersection point between the normal and the contour lines on both sides of the target trend curve segment; Determine the normal length of the line segment between the two second intersection points; The pixel on the target trend curve segment corresponding to the minimum normal length is determined as the target obstacle clearing location.

7. The control method for the laser device for clearing tree obstructions according to claim 6, characterized in that, Based on the first image and the obstacle clearance efficiency function, determine the power consumption of the laser device when emitting laser light at the target obstacle clearance location, including: Based on the camera's intrinsic and extrinsic parameters, determine the target distance between each target clearance location and the laser device, as well as the target length in the world coordinate system corresponding to the normal length of each target clearance location. Based on the target distance, target length, and obstacle clearing efficiency function, determine the constraints of the power optimization model; Based on the obstacle clearing efficiency function, determine the objective function of the power optimization model; Based on the constraints and objective function, the power optimization model is solved to determine the power consumption.

8. The control method for the laser device for clearing tree obstructions according to claim 7, characterized in that, Based on the target distance, target length, and obstacle clearance efficiency function, the constraints of the power optimization model are determined, including: According to the formula Determine the constraints of the power optimization model, where, The duration for clearing obstacles at the i-th target location. Let the length of the target corresponding to the obstacle clearing position of the i-th target be . Let i be the distance between the target clearance location and the laser device. The power consumption to be determined when clearing the i-th target obstacle location is given. Minimum power consumption Maximum power consumption for The solution value, for The solution value, for The solution value.

9. The control method for the laser device for clearing tree obstructions according to claim 8, characterized in that, Based on the obstacle clearing efficiency function, the objective function of the power optimization model is determined, including: According to the formula Determine the objective function of the power optimization model, where minimize is the minimization function, n is the number of target obstacle removal locations, i≤n, and i and n are both positive integers.

10. A control system for a laser device used for clearing tree obstructions, characterized in that, include: The testing module is used to conduct laser emission tests on wood of various thicknesses at multiple distances during the testing process, and obtain the obstacle clearing efficiency function of the laser equipment; The camera module is used to capture the first image of the location to be cleared during use using a camera matched with the laser device; The target region module is used to detect the first image and determine the target region where the tree obstacles in the first image are located; The target obstacle removal location module is used to select the target obstacle removal location in the target area based on the first image and the target area; The power consumption module is used to determine the power consumption of the laser device when emitting laser to the target obstacle clearance position based on the first image and the obstacle clearance efficiency function. The obstacle clearing module is used to control the laser equipment to perform obstacle clearing based on the power consumption.

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