Self-adaptive alignment method and device for tree digging of arc-shaped shovel of tree mover

Abstract

The invention relates to a tree mover arc-shaped shovel tree-digging adaptive alignment method and device, and the method comprises the steps: distributing point clouds through a structured light device, projecting the structured light to the trunk surface of a tree with a to-be-cut tree root, and calculating the width information of the trunk surface according to the deformation and phase change of the structured light. Analyzing the received reflection point cloud by using a point cloud analysis algorithm, determining the three-dimensional coordinates of the central axis of the to-be-cut tree and the trunk width of the to-be-cut tree, incorporating the three-dimensional coordinates of the central axis of the to-be-cut tree and the trunk width of the to-be-cut tree into a coronal tree root fuzzy algorithm, receiving the spatial position of the coronal tree root, and calculating the spatial position of the coronal tree root according to the spatial position of the coronal tree root. And based on the spatial position of the coronal tree root and the rotation center of the curved working part of the tree mover, outputting an action instruction that the tree mover aligns to the cutting part. The point cloud scattering cost of the structured light equipment is relatively low, and a good depth measurement effect can be provided under the environment of tree shade and the like. The defect that a curved working part of a traditional tree mover is not easy to align with the center line of the root of a to-be-cut tree is overcome.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of garden operation equipment, in particular to an arc-shaped shovel tree-digging self-adaptive alignment method and device. BACKGROUND

[0002] The tree-digging machine is a mechanical device for transplanting trees, and its working structure mainly includes a shovel, a hydraulic system, a damping system and a power system. When transplanting trees, the shovel will be inserted into the soil around the tree, so as to dig out the tree, which can reduce the damage to the root system of the tree and improve the survival rate after transplantation. Due to the visual blind area, the operator of the tree-digging machine is difficult to align the curved working part of the tree-digging machine with the root center line of the tree to be cut. The misalignment of the root center line of the tree to be cut and the curved working part of the tree-digging machine often reduces the survival rate of the tree after transplantation. The technical problem of misalignment of the root center line of the tree and the curved working part of the tree-digging machine is a technical problem faced by many tree-digging machine equipment manufacturers. Therefore, it is necessary to propose a tree-digging machine arc-shaped shovel tree-digging self-adaptive alignment method and device to solve the defect that the curved working part of the traditional tree-digging machine is not easy to align with the root center line of the tree to be cut. SUMMARY

[0003] Therefore, it is necessary to propose a tree-digging machine arc-shaped shovel tree-digging self-adaptive alignment method and device to solve the defect that the curved working part of the traditional tree-digging machine is not easy to align with the root center line of the tree to be cut.

[0004] The application relates to a tree-digging machine arc-shaped shovel tree-digging self-adaptive alignment method, which comprises the following steps: Determine the point cloud type based on a structured light device; Analyze the received reflection point cloud by using a point cloud analysis algorithm; Obtain the information of the analyzed reflection point cloud; Determine the center axis three-dimensional coordinates of the tree to be cut and the trunk width of the tree to be cut by using the information of the reflection point cloud; Introduce the center axis three-dimensional coordinates of the tree to be cut and the trunk width of the tree to be cut into a coronal root fuzzy algorithm; Receive the spatial position of the coronal root; Output the action instruction of the tree-digging machine alignment cutting part based on the spatial position of the coronal root and the rotation center of the curved working part of the tree-digging machine.

[0005] The application also relates to a tree-digging machine, which comprises the following: A connecting support; A structured light device fixedly connected to the top end of the connecting support, which is used to execute the method of the tree-digging machine alignment cutting part; A driver hingedly connected to the connecting support; A hydraulic rod, one end of the hydraulic rod is connected with the connecting support, the other end of the hydraulic rod is connected with the driver; A side support, which is fixedly connected with the side wall of the shell of the driver; A connecting part, which is fixedly connected with the side support, is arranged away from the driver; An arc-shaped working part, the arc-shaped working part comprises, A first connecting part, which is hingedly connected with the bottom of the connecting part, The second connecting part, which is fixedly connected with the power shaft of the driver, An arc-shaped side wall, which is fixedly connected with the first connecting part and the second connecting part, A cutting block, which is arranged in the stepped groove arranged on the left and right side walls of the arc-shaped side wall, Wherein, the cutting block is fixedly connected with the arc-shaped side wall by welding or riveting, when the cutting block is damaged or worn out after long-term use, the cutting block can be replaced for continuous use, and damage or wear of the arc-shaped side wall can be avoided, The cutting block comprises, A rectangular connecting part, which is fixedly connected with the front side wall of the left and right stepped grooves of the arc-shaped side wall, A wedge-shaped working part, which is fixedly connected with one end of the arc-shaped side wall away from the rectangular connecting part, Wherein, the wedge-shaped working part is sharpened away from the arc-shaped side wall, when the rectangular connecting part is connected with the left and right stepped grooves of the arc-shaped side wall, the side surface of the rectangular connecting part close to the arc-shaped side wall abuts against the side wall of the left and right stepped grooves of the arc-shaped side wall, and then when the tree digging action is performed, the force received can be transmitted to the arc-shaped side wall.

[0006] The front and rear sides of the wedge-shaped working part, the rectangular connecting part and the lower end surface of the arc-shaped side wall are arc-shaped, and the arc-shaped surfaces of the wedge-shaped working part, the rectangular connecting part and the lower end surface of the arc-shaped side wall are continuous, the left and right sides of the wedge-shaped working part, the rectangular connecting part and the arc-shaped side wall are arc-shaped, and the arc-shaped surfaces of the adjacent wedge-shaped working part and the rectangular connecting part are continuous.

[0007] This application relates to an adaptive alignment device for a tree digger with an arc-shaped cutting blade. It uses a structured light device to distribute point clouds, projecting structured light onto the trunk surface of the tree to be cut. The width information of the trunk surface is calculated based on the deformation and phase change of the structured light. A point cloud analysis algorithm is used to analyze the received reflected point cloud, determining the three-dimensional coordinates of the central axis of the tree to be cut and the width of the trunk. These coordinates and the trunk width are then incorporated into a crown-root fuzzy algorithm to receive the spatial position of the crown roots. Based on this position and the rotation center of the curved working part of the tree digger, the device outputs an action command to align the cutting part. The structured light device for distributing point clouds is relatively low-cost and provides good depth measurement results in environments such as shade. This solves the problem of traditional tree diggers having difficulty aligning their curved working part with the centerline of the tree's root. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of an adaptive alignment method for tree digging with an arc-shaped shovel provided in an embodiment of this application.

[0009] Figure 2 This is a schematic diagram of the structure of an adaptive alignment device for tree digging with an arc-shaped shovel, provided in another embodiment of this application.

[0010] Figure label: 100 - Connecting bracket; 110 - Support beam; 120 - Connecting frame; 130 - Structured light equipment; 200 - Actuator; 300 - Hydraulic rod; 400 - Side support; 410 - First rectangular tube; 420 - Second rectangular tube; 430 - Third rectangular tube; 500 - Connecting part; 600 - Curved working part; 610 - Cutting block; 611 - Rectangular connecting part; 612 - Wedge-shaped working part; 620 - First connecting part; 630 - Second connecting part; 640 - Arc-shaped sidewall. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0012] This application provides a method and apparatus for adaptive alignment of a tree digger's curved shovel when digging trees.

[0013] like Figure 1 As shown, in one embodiment of this application, the adaptive alignment method for tree digging with an arc-shaped shovel includes: S100, based on structured light equipment, determines the point cloud type.

[0014] Specifically, the point cloud type of the structured light device has two types, one is line scanning structured light, and the other is area array structured light.

[0015] S200, using a point cloud analysis algorithm, analyzing the received reflection point cloud.

[0016] Specifically, the line scanning structured light is simpler than the area array structured light, and the precision is also higher. The active light source slowly scans the object to be measured, and the camera records the corresponding scanning process. By accurately correcting the relative pose of the camera and the projector, and selecting a corner on the measuring table as the origin to establish the object coordinate system, according to the relative pose of the camera and the light source in the process and the camera internal parameter, the three-dimensional structure of the object to be measured can be reconstructed.

[0017] It can be understood that using area array structured light, there are two types of area array structured light, one is random structured light, and the other is coded structured light.

[0018] In fact, random structured light is relatively simple and commonly used. By projecting a non-uniform and randomly distributed point structured light onto the measured space through the projector, and then imaging through the binocular camera, the obtained binocular image is subjected to epipolar rectification and then subjected to binocular dense matching, the corresponding depth map can be reconstructed.

[0019] When using time coding, within a certain time range, a series of structured light with different brightness is projected onto the measured space through the projector, and each projection is imaged through the camera. Assuming that there are n images, each pixel corresponds to a unique binary code with a length of n, and the problem of searching and matching pixels in binocular images becomes finding pixels with the same code value. If the binocular image has been subjected to epipolar rectification, then the projected structured light only needs to be non-repetitive in the x direction.

[0020] When using spatial coding, a structured light with non-repetitive light spots in a certain range is projected into the measured space through mathematical coding. The code value of a certain point can be obtained through its neighborhood, and the number of pixels containing a complete spatial code (window size) determines the reconstruction accuracy.

[0021] S300, obtaining information of the analyzed reflection point cloud.

[0022] S400, using the information of the reflection point cloud to determine the three-dimensional coordinates of the center axis of the tree to be cut and the trunk width of the tree to be cut.

[0023] S500, incorporating the three-dimensional coordinates of the center axis of the tree to be cut and the trunk width of the tree to be cut into the crown root fuzzy algorithm, and using the crown root fuzzy algorithm to determine the spatial position of the crown root.

[0024] S600 receives the spatial location of the crown root.

[0025] S700, based on the spatial position of the crown roots and the rotation center of the curved working part of the tree digger, outputs the action command for aligning the cutting part of the tree digger.

[0026] This embodiment relates to an adaptive alignment method for tree diggers using an arc-shaped shovel. It utilizes a structured light device to distribute point clouds, projecting structured light onto the trunk surface of the tree whose roots are to be cut. The width information of the trunk surface is calculated based on the deformation and phase change of the structured light. A point cloud analysis algorithm is used to analyze the received reflected point cloud, determining the three-dimensional coordinates of the central axis of the tree to be cut and the width of the trunk. These coordinates and the trunk width are then incorporated into a crown-root fuzzy algorithm to receive the spatial position of the crown roots. Based on this spatial position and the rotation center of the curved working part of the tree digger, an action command for aligning the cutting part of the tree digger is output. The point cloud distribution using structured light is relatively low-cost and can provide good depth measurement results in environments such as shade. This method solves the problem of traditional tree diggers having difficulty aligning their curved working part with the centerline of the tree's root.

[0027] like Figure 1 As shown, in one embodiment of this application, S100 includes: S110, retrieve the identification information of the structured light device.

[0028] Specifically, the coding features or pattern features of structured light can be determined based on the identification information of the structured light device.

[0029] The coding features include two types: temporal coding and spatial coding.

[0030] The principle of temporal coding is that within a certain time range, a structured light device projects a series of structured lights of varying brightness, and each projection is imaged by a camera. Each pixel corresponds to a unique binary code of length n, and the type of structured light is determined based on these codes.

[0031] The principle of spatial coding is to project mathematically encoded, non-repeatable structured light spots within a certain range into the space to be measured, and the coding value of a certain point can be obtained through its neighborhood.

[0032] S120, based on the identification information of the structured light device, determines whether the structured light emitted by the structured light device is a line-scan structured light.

[0033] Specifically, whether the structured light emitted by a structured light device is line-scan structured light can also be determined by pattern features.

[0034] The pattern features include three types: speckle structured light, stripe structured light, and sinusoidal stripe structured light.

[0035] The principle of speckle structured light is that the speckle structured light projects a random distribution of speckle patterns, and the distribution of the speckles has certain statistical characteristics and randomness.

[0036] The principle of fringe structured light is that the fringe structured light projects a parallel or approximately parallel fringe pattern, and the width, spacing, contrast and other parameters of the fringe can be used as the basis for identification.

[0037] The principle of sinusoidal fringe structured light is that the intensity of the sinusoidal fringe structured light shows a sinusoidal function variation law.

[0038] In S130, if the structured light emitted by the structured light device is line scanning structured light, a first type of three-dimensional orthogonal coordinate system is established using the rotation center of the curved working part of the tree excavator.

[0039] In S140, if the structured light emitted by the structured light device is not line scanning structured light, it is determined that the structured light emitted by the structured light device is face array structured light.

[0040] In fact, the embodiment can use the principle of spatial coding and the principle of sinusoidal fringe structured light to code the structured light.

[0041] When the principle of spatial coding of space meets the characteristics of line scanning structured light, it is determined that the structured light emitted by the structured light device is line scanning structured light, and a first type of three-dimensional orthogonal coordinate system is established using the rotation center of the curved working part of the tree excavator. Based on the first type of three-dimensional orthogonal coordinate system, the information of the analyzed reflection point cloud can be obtained. Using the information of the reflection point cloud, the central axis three-dimensional coordinates of the tree to be cut and the trunk width of the tree to be cut are determined.

[0042] When the principle of spatial coding of space meets the characteristics of line scanning structured light, it is determined that the structured light emitted by the structured light device is line scanning structured light, and a first type of three-dimensional orthogonal coordinate system is established using the rotation center of the curved working part of the tree excavator. Based on the first type of three-dimensional orthogonal coordinate system, the information of the analyzed reflection point cloud can be obtained. Using the information of the reflection point cloud, the central axis three-dimensional coordinates of the tree to be cut and the trunk width of the tree to be cut are determined.

[0043] The embodiment relates to the identity recognition information of the structured light device. The structured light device has relatively low cost and can provide good depth measurement effect in a tree shade and the like. The measurement range and accuracy thereof are less affected by factors such as environmental light and object surface material in the tree shade, and natural light interference does not occur.

[0044] As shown in FIG. 1, in an embodiment of the present application, after S100, S140 further includes: Figure 1 S141, the rotation center of the curved working part of the tree excavator is called. Specifically, the curved working part of the tree excavator is a thin semicircular working surface, and the rotation center of the curved working part of the tree excavator can be a virtual straight line, and the curved working part of the tree excavator can rotate around the virtual straight line.

[0045] ​

[0046] S142, establish the original three-dimensional orthogonal coordinate system.

[0047] Specifically, structured light devices can be used as data processing devices. The original three-dimensional orthogonal coordinate system is actually the virtual computing space of the structured light device.

[0048] S143 uses the spatial position of the area array structured light about the rotation center of the curved working part of the tree digger to generate a coupled vertical vector.

[0049] When a structured light device emits a structured light array, the reflected point cloud can form a plane that passes through the rotation center of the curved working part of a tree digger. This plane is composed of coupled vertical vectors.

[0050] S144 incorporates the coupled vertical vector into the original three-dimensional orthogonal coordinate system.

[0051] S145 generates a second type of three-dimensional orthogonal coordinate system.

[0052] Specifically, based on coupled vertical vectors and the original three-dimensional orthogonal coordinate system, a second type of three-dimensional orthogonal coordinate system can be generated.

[0053] This embodiment involves a second type of three-dimensional orthogonal coordinate system. It determines the depth information of an object's surface by calculating the parallax between images, generating a point cloud. Based on the principle of triangulation, the three-dimensional coordinates of each point on the object are calculated according to information such as the camera's position, lens focal length, and the object's position in the image.

[0054] like Figure 1 As shown, in one embodiment of this application, S200 includes: S211, based on the received reflection point cloud, determine whether to invoke the first type of three-dimensional orthogonal coordinate system.

[0055] S212, if the received reflected point cloud is a reflected point cloud of line scan structured light, then call the first type of three-dimensional spatial orthogonal coordinate system.

[0056] S213, if the received reflection point cloud is not the reflection point cloud of the line scan structured light, then call the second type of three-dimensional spatial orthogonal coordinate system.

[0057] Specifically, when the received reflection point cloud is a single-plane reflection point cloud, the first type of three-dimensional orthogonal coordinate system is invoked.

[0058] When the received reflection point cloud has a coupled vertical vector, the second type of three-dimensional orthogonal coordinate system is invoked.

[0059] The embodiment relates to different point cloud types of a structured light device. The point cloud devices are various, each having different working principles and characteristics, the line scanning structured light has a relatively fast reaction speed and can simplify post-processing calculation. The area array structured light can adapt to the complex trunk structure of a trunk shape, and different structured lights have different effects in different application scenarios.

[0060] In an embodiment of the present application, S200 further comprises: S221, calling a first type of three-dimensional space orthogonal coordinate system.

[0061] S222, determining the distance of the reflection points of the received reflection point cloud based on the wavelength-time relationship of the point cloud.

[0062] Specifically, the sinusoidal stripe structured light can change the wavelength of the structured light, and the reflected light of different structured lights can be used to mark the start time of the emitted structured light and the time when the structured light device receives the reflected light after reflection. Then, the point cloud data of the reflected light is determined. Further, the distance of the reflection points of the received reflection point cloud is determined.

[0063] S223, determining the horizontal inclination angle of the line scanning structured light by using the included angle between the point clouds of adjacent line scanning structured lights with respect to the horizontal plane.

[0064] Specifically, the line scanning structured light can be parallel to the horizontal plane in the normal state.

[0065] In the actual working process, the line scanning structured light can form different included angles with the horizontal plane in the three-dimensional actual space.

[0066] S224, incorporating the reflection point cloud and the horizontal inclination angle of the line scanning structured light into the first type of three-dimensional space orthogonal coordinate system.

[0067] S225, determining the feature information of the center axis three-dimensional coordinates of the tree to be cut and the feature information of the trunk width of the tree to be cut.

[0068] Specifically, based on the distance of the reflection points of the received reflection point cloud and the different included angles formed by the line scanning structured light with the horizontal plane in the three-dimensional actual space, the feature information of the center axis three-dimensional coordinates of the tree to be cut and the feature information of the trunk width of the tree to be cut can be calculated.

[0069] In an embodiment of the present application, S400 comprises: S411, determining the center axis three-dimensional coordinates of the tree to be cut based on the reflection point cloud width.

[0070] S412, determining the trunk width of the tree to be cut by using the horizontal inclination angle of the line scanning structured light and the center axis three-dimensional coordinates of the tree to be cut.

[0071] Specifically, the total length of the reflected point cloud width can actually determine the three-dimensional coordinates of the central axis of the tree to be cut and the trunk width of the tree to be cut.

[0072] Since the line scanning structured light forms different angles with the horizontal plane in the three-dimensional actual space, the horizontal inclination of the line scanning structured light and the three-dimensional coordinates of the central axis of the tree to be cut are used to determine more accurate data of the trunk width of the tree to be cut.

[0073] In an embodiment of the present application, S200 further comprises: S231, calling a second type of three-dimensional orthogonal coordinate system.

[0074] S232, based on the relative height of the structured light device and the rotation center of the curved working part of the tree excavator.

[0075] Specifically, since the second type of three-dimensional orthogonal coordinate system corresponds to the three-dimensional orthogonal coordinate system required by the analytical space of the area array structured light, based on the relative height of the structured light device and the rotation center of the curved working part of the tree excavator, and the vector plane reflected by the area array structured light, a determined three-dimensional calculation reference is formed.

[0076] S233, establishing a path plane of the spatial position of the structured light device and the spatial position of the rotation center of the curved working part of the tree excavator.

[0077] Specifically, the path plane of the spatial position of the structured light device and the spatial position of the rotation center of the curved working part of the tree excavator is actually the vector plane reflected by the area array structured light.

[0078] S234, determining the distance of the reflection point of the received reflected point cloud based on the wavelength-time relationship of the point cloud.

[0079] S235, including the reflected point cloud of the two end points in the path plane into the second type of three-dimensional orthogonal coordinate system.

[0080] Specifically, the reflected point cloud of the two end points in the path plane is actually the reflected point cloud formed by the reflected light of the edge profile of the trunk. Based on the reflected point cloud of the two end points in the path plane, the three-dimensional coordinates of the central axis of the tree to be cut and the trunk width of the tree to be cut can be calculated.

[0081] S236, determining the feature information of the three-dimensional coordinates of the central axis of the tree to be cut and the feature information of the trunk width of the tree to be cut.

[0082] In an embodiment of the present application, S400 comprises: S421, based on the path plane of the spatial position of the structured light device and the spatial position of the rotation center of the curved working part of the tree excavator, determining the angle between the path plane and the horizontal plane.

[0083] S422, determining the center axis three-dimensional coordinates of the tree to be cut based on the included angle between the path plane and the horizontal plane and the distance of the reflection points of the received reflection point cloud.

[0084] S423, determining the trunk width of the tree to be cut based on the reflection point cloud of the two end points in the path plane.

[0085] In an embodiment of the present application, S500 comprises: S510, determining the ambiguity height of the tree to be cut based on the trunk width of the tree to be cut.

[0086] S520, determining the ambiguity depth of the tree root of the tree to be cut using the ambiguity height of the tree to be cut.

[0087] S530, determining the ambiguity cutting depth of the tree root of the tree to be cut based on the crown tree root ambiguity algorithm.

[0088] S540, determining the spatial position of the crown tree root using the ambiguity cutting depth of the tree root of the tree to be cut and the spatial position of the structured light device.

[0089] Specifically, in general state, the height of the tree is 20 to 30 times the trunk width of the tree. The depth of the tree root of the tree is approximately equal to the height of the tree. The depth of the crown tree root is about ten percent of the depth of the tree root. Complete cutting of the crown tree root can greatly improve the survival rate of the tree.

[0090] Based on the ambiguity cutting depth of the tree root and the center axis three-dimensional coordinates of the tree to be cut, the spatial position of the crown tree root can be determined.

[0091] The present application also provides an adaptive alignment device for an arc-shaped shovel of a tree excavator.

[0092] As shown in the drawings, Figure 2 In an embodiment of the present application, an adaptive alignment device for an arc-shaped shovel of a tree excavator comprises a connecting bracket 100, a structured light device 130, a driver 200, a hydraulic rod 300, a side bracket 400, a connecting part 500 and a curved working part 600.

[0093] The structured light device 130 is fixedly connected to the top end of the connecting bracket 100, and the structured light device 130 is used to execute the method of alignment cutting part of the tree excavator.

[0094] The driver 200 is hingedly connected to the connecting bracket 100.

[0095] One end of the hydraulic rod 300 is connected to the connecting bracket 100, and the other end of the hydraulic rod 300 is connected to the driver 200.

[0096] The side support 400 is fixedly connected with the side wall of the driver 200.

[0097] The connecting part 500 is fixedly connected with the side support 400, and the connecting part 500 is arranged away from the driver 200.

[0098] The curved working part 600 comprises, The first connecting part 620 is hingedly connected with the bottom of the connecting part 500, the second connecting part 630 is fixedly connected with the power shaft of the driver 200, the arc-shaped side wall 640 is fixedly connected with the first connecting part 620 and the second connecting part 630, and the cutting block 610 is arranged in the stepped groove arranged on the left and right side walls of the arc-shaped side wall 640 and is fixedly connected with the arc-shaped side wall 640 in a distributed manner from top to bottom.

[0099] The curved working part 600 is a tree-digging bucket. The hydraulic rod 300 is a simplified hydraulic system. The driver 200 is a power system. When transplanting trees, the curved working part 600 will surround the tree inserted into the soil, thereby digging out the tree, which can reduce damage to the tree root system and improve the survival rate after transplanting. The hydraulic rod 300 can provide strong power to ensure that the driver 200 of the tree digger can effectively adjust the working angle of the curved working part 600 under various soil conditions. The connecting support 100 and the support can enhance the comfort and stability of operation, and reduce the damage of vibration to the tree and the machine itself. The power system is the power source of the tree digger, which can be a diesel engine or an electric motor, etc. These power systems provide the necessary energy for the tree digger to drive the hydraulic system and other mechanical actions. The traditional tree digger mechanical structure is relatively complex, and the tree digger can work smoothly and stably.

[0100] As Figure 2 shown in an embodiment of the present application, the cutting block 610 comprises, A rectangular connecting part 611 is fixedly connected to the front sidewall of the left and right stepped grooves of the arc-shaped sidewall 640, and a wedge-shaped working part 612 is fixedly connected to the end face of the rectangular connecting part 611 away from the arc-shaped sidewall 640. The end of the wedge-shaped working part 612 away from the arc-shaped sidewall 640 is sharpened. When the rectangular connecting part 611 is connected to the left and right stepped grooves of the arc-shaped sidewall 640, the side of the rectangular connecting part 611 close to the arc-shaped sidewall 640 abuts against the sidewall of the left and right stepped grooves of the arc-shaped sidewall 640, so that the force received can be transmitted to the arc-shaped sidewall 640 when digging trees.

[0101] To reduce soil accumulation during tree digging, the wedge-shaped working part 612, the rectangular connecting part 611, and the lower end face of the arc-shaped sidewall 640 are arc-shaped, and the arc-shaped surfaces of the lower end faces of the wedge-shaped working part 612, the rectangular connecting part 611, and the arc-shaped sidewall 640 are continuous. The left and right sides of the wedge-shaped working part 612, the rectangular connecting part 611, and the arc-shaped sidewall 640 are arc-shaped, and the arc-shaped surfaces of adjacent wedge-shaped working parts 612 and rectangular connecting parts 611 are continuous.

[0102] The arc-shaped sidewall 640 can excavate the roots of the trees to be dug out relatively intact, thereby improving the survival rate of the trees to be dug out.

[0103] like Figure 2 As shown, in one embodiment of this application, the side support 400 includes a first rectangular tube 410, a second rectangular tube 420, and a third rectangular tube 430. The extended line of the central axis of the first rectangular tube 410 is perpendicular to the extended line of the central axis of the third rectangular tube 430. The first rectangular tube 410 is fixedly connected to the second rectangular tube 420. The second rectangular tube 420 is fixedly connected to the third rectangular tube 430.

[0104] Specifically, the first rectangular tube 410, the second rectangular tube 420, and the third rectangular tube 430 of the side support 400 constitute the main body of the side support 400. The first rectangular tube 410 is fixedly connected to the second rectangular tube 420, and the second rectangular tube 420 is fixedly connected to the third rectangular tube 430. The extended line of the central axis of the first rectangular tube 410 and the extended line of the central axis of the third rectangular tube 430 are perpendicular to each other, thus achieving the purpose of the side support 400 supporting the driver 200 and the curved working part 600.

[0105] When the second rectangular tube 420 is positioned between the first rectangular tube 410 and the third rectangular tube 430, it can enhance the structural stability of the side support 400.

[0106] like Figure 2As shown, in one embodiment of this application, the angle between the extended central axis of the first rectangular tube 410 and the extended central axis of the second rectangular tube 420 is 45 degrees. The angle between the extended central axis of the second rectangular tube 420 and the extended central axis of the third rectangular tube 430 is 45 degrees. The driver 200 is fixedly connected to the first rectangular tube 410. The side bracket 400 is fixedly connected to the third rectangular tube 430.

[0107] Specifically, the angle between the extended central axis of the first rectangular tube 410 and the extended central axis of the second rectangular tube 420 is 45 degrees. The angle between the extended central axis of the second rectangular tube 420 and the extended central axis of the third rectangular tube 430 is 45 degrees.

[0108] The second rectangular tube 420 is positioned between the first rectangular tube 410 and the third rectangular tube 430, which can increase the accommodating space of the curved working part 600 while enhancing the structural stability of the side support 400.

[0109] The driver 200 is fixedly connected to the first rectangular tube 410, and the side bracket 400 is fixedly connected to the third rectangular tube 430. The stable side bracket 400 can effectively connect the driver 200 and the side bracket 400.

[0110] like Figure 2 As shown, in one embodiment of this application, the extension line of the central axis of the driver 200 is parallel to the extension line of the central axis of the first rectangular tube 410.

[0111] Specifically, the actuator 200, side support 400, and curved working part 600 can form a whole. The hydraulic rod 300 can connect the connecting bracket 100 to this whole. During the extension and retraction of the hydraulic rod 300, the whole formed by the actuator 200, side support 400, and curved working part 600 can rotate relative to the connecting bracket 100.

[0112] like Figure 2 As shown, in one embodiment of this application, the connecting bracket 100 includes a support beam 110 and a connecting frame 120. The support beam 110 and the connecting frame 120 are fixedly connected to each other.

[0113] The hinged portion of the actuator 200 is hinged to the side wall of the support beam 110. One end of the hydraulic rod 300 is hinged to the support beam 110. The other end of the hydraulic rod 300 is hinged to the rotating portion of the actuator 200.

[0114] The center axis of the hinge part of the driver 200 is parallel to the support beam 110. The center axis of the rotating part of the driver 200 is parallel to the center axis of the hinge part of the driver 200. The center axis of one end of the hydraulic rod 300 is parallel to the center axis of the other end of the hydraulic rod 300.

[0115] Specifically, the hydraulic rod 300 can provide strong power, ensuring that the driver 200 of the tree excavator can effectively adjust the working angle of the curved working part 600 under various soil conditions.

[0116] The technical features of the above-mentioned embodiments can be combined in any manner, and the execution order of the method steps is not limited. In order to make the description simple, all possible combinations of the technical features in the above-mentioned embodiments are not described, but as long as the combinations of the technical features do not contradict, they should be considered as the scope of the present disclosure.

[0117] The above-mentioned embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A tree-digging machine's arc-shaped shovel-based tree-digging adaptive alignment method, characterized in that, include: Determine the point cloud type using structured light equipment; The received reflected point cloud is analyzed using a point cloud parsing algorithm; Obtain the information of the parsed reflection point cloud; Using the information from the reflection point cloud, the three-dimensional coordinates of the central axis of the tree to be cut and the width of the tree trunk to be cut are determined; The three-dimensional coordinates of the central axis of the tree to be cut and the width of the trunk of the tree to be cut are incorporated into the crown root fuzzy algorithm; The spatial location for receiving the crown roots; Based on the spatial location of the crown roots and the rotation center of the curved working part of the tree digger, the action command for aligning the cutting part of the tree digger is output.

2. The method for aligning the cutting portion of a tree-digging machine according to claim 1, characterized in that, The determination of point cloud type based on structured light equipment includes: Access the identification information of the structured light device; Based on the identification information of the structured light device, determine whether the structured light emitted by the structured light device is a line-scan structured light; If the structured light emitted by the structured light device is a line-scan structured light, then the first type of three-dimensional orthogonal coordinate system is established by using the rotation center of the curved working part of the tree digging machine; If the structured light emitted by the structured light device is not a line scan structured light, then the structured light emitted by the structured light device is determined to be an area array structured light.

3. The method for aligning the cutting portion of a tree-digging machine according to claim 2, characterized in that, After determining the point cloud type based on the structured light device, the step of determining that the structured light emitted by the structured light device is an area array structured light if the structured light emitted by the structured light device is not a line scan structured light further includes: Call the rotation center of the curved working part of the tree digger; Establish an original three-dimensional orthogonal coordinate system; By utilizing the spatial position of the area array structured light about the rotation center of the curved working part of the tree digger, a coupled vertical vector is generated; Incorporate the coupled vertical vector into the original three-dimensional orthogonal coordinate system; Generate a second type of three-dimensional orthogonal coordinate system.

4. The method for aligning the cutting portion of a tree-digging machine according to claim 3, characterized in that, The step of using a point cloud parsing algorithm to parse the received reflected point cloud includes: Based on the received reflection point cloud, determine whether to invoke the first type of three-dimensional orthogonal coordinate system. If the received reflected point cloud is a reflected point cloud of line scan structured light, then the first type of three-dimensional orthogonal coordinate system is invoked; If the received reflection point cloud is not a reflection point cloud of line scan structured light, then the second type of three-dimensional spatial orthogonal coordinate system is invoked.

5. The method for aligning the cutting portion of a tree-digging machine according to claim 4, characterized in that, The step of using a point cloud parsing algorithm to parse the received reflected point cloud also includes: Invoke the first type of three-dimensional orthogonal coordinate system; Based on the relationship between wavelength and time in point clouds, the distance to the reflection point of the received reflected point cloud is determined; The horizontal tilt angle of the line-scan structured light is determined by using the angle between the point clouds of adjacent line-scan structured lights with respect to the horizontal plane. The horizontal tilt angle of the reflected point cloud and the line scan structured light is incorporated into the first type of three-dimensional orthogonal coordinate system. Determine the feature information of the three-dimensional coordinates of the central axis of the tree to be cut and the feature information of the trunk width of the tree to be cut.

6. The method for aligning the cutting portion of a tree-digging machine according to claim 5, characterized in that, The process of using information from the reflection point cloud to determine the three-dimensional coordinates of the central axis of the tree to be cut and the width of the tree trunk includes: Based on the width of the reflected point cloud, determine the three-dimensional coordinates of the central axis of the tree to be cut; The width of the tree trunk to be cut is determined by using the horizontal tilt angle of the line-scan structured light and the three-dimensional coordinates of the central axis of the tree to be cut.

7. The method for aligning the cutting portion of a tree-digging machine according to claim 5, characterized in that, The step of using a point cloud parsing algorithm to parse the received reflected point cloud also includes: Call the second type of three-dimensional orthogonal coordinate system; The relative height of the rotation center of the curved working part of the structured light equipment and the tree digger; Establish the path plane between the spatial position of the structured light equipment and the spatial position of the rotation center of the curved working part of the tree digger; Based on the relationship between wavelength and time in point clouds, the distance to the reflection point of the received reflected point cloud is determined; The reflected point clouds at the two endpoints of the path plane are incorporated into a second type of three-dimensional orthogonal coordinate system; Determine the feature information of the three-dimensional coordinates of the central axis of the tree to be cut and the feature information of the trunk width of the tree to be cut.

8. The method for aligning the cutting portion of a tree-digging machine according to claim 7, characterized in that, The process of using information from the reflection point cloud to determine the three-dimensional coordinates of the central axis of the tree to be cut and the width of the tree trunk includes: Based on the spatial position of the structured light equipment and the spatial position of the rotation center of the curved working part of the tree digger, determine the angle between the path plane and the horizontal plane. The three-dimensional coordinates of the central axis of the tree to be cut are determined by using the angle between the path plane and the horizontal plane and the distance between the reflection points of the received reflection point cloud. The width of the tree trunk to be cut is determined based on the reflected point clouds at the two endpoints in the path plane.

9. The method for aligning the cutting portion of a tree-digging machine according to claim 5 or claim 7, characterized in that, The step of incorporating the three-dimensional coordinates of the central axis of the tree to be cut and the trunk width of the tree to be cut into the crown root fuzzing algorithm includes: The fuzzy height of the tree to be cut is determined based on the trunk width of the tree to be cut. The fuzzy height of the tree to be cut is used to determine the fuzzy depth of the tree root. Based on the crown root fuzzy algorithm, the fuzzy cutting depth of the tree root of the tree to be cut is determined; The spatial location of the crown roots is determined by using the fuzzy cutting depth of the tree roots to be cut and the spatial position of the structured light device.

10. A tree-digging machine's arc-shaped shovel tree-digging adaptive alignment device, characterized in that, include: Connecting bracket; A structured light device is fixedly connected to the top of the connecting bracket, and the structured light device is used to perform the method of aligning the cutting part of the tree digger as described in any one of claims 1 to 9; The driver is hinged to the connecting bracket; A hydraulic rod, one end of which is connected to the connecting bracket, and the other end of which is connected to the driver; The side bracket is fixedly connected to the side wall of the housing of the driver; A connecting part is fixedly connected to the side bracket, and the connecting part is disposed away from the driver; The curved working part includes, The first connecting part is hinged to the bottom of the connecting part. The second connecting part is fixedly connected to the power shaft of the driver. The arc-shaped sidewall is fixedly connected to the first connecting part and the second connecting part. The cutting block has several vertically abutting and fixedly connected to the stepped grooves on the left and right sidewalls of the arc-shaped sidewall. The cutting block includes, The rectangular connecting part is fixedly connected to the front sidewall of the left and right stepped grooves of the arc-shaped sidewall. The wedge-shaped working part is fixedly connected to the end face of the rectangular connecting part away from the arc-shaped sidewall. The wedge-shaped working part has a sharpened end away from the arc-shaped sidewall, and when the rectangular connecting part connects with the left and right stepped grooves of the arc-shaped sidewall, the side of the rectangular connecting part closest to the arc-shaped sidewall abuts against the sidewall of the left and right stepped grooves of the arc-shaped sidewall. The wedge-shaped working part, the rectangular connecting part, and the lower end face of the arc-shaped sidewall are arc-shaped on the front and back sides, and the arc-shaped surfaces of the wedge-shaped working part, the rectangular connecting part, and the lower end face of the arc-shaped sidewall are continuous. The left and right sides of the wedge-shaped working part, the rectangular connecting part, and the arc-shaped sidewall are arc-shaped, and the arc-shaped surfaces of adjacent wedge-shaped working parts and the rectangular connecting part are continuous.

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