1979 results about "Tree trunk" patented technology

The present invention relates to the technical field of terrestrial laser scanning-based forestry data processing, and disclosed are a broad-leaved forest individual tree segmentation method and system based on branch and trunk information guidance. The method comprises: taking a terrestrial laser scanning-based broad-leaved forest point cloud as a processing object, and using RANSAC cylinder fitting in combination with growth characteristics of a tree trunk to perform tree trunk detection; extracting, starting from the top of the tree trunk in a low-vegetation area, tree branches and trunk by means of segmented growth of the branches and trunk in combination with changes in the thickness of branch and trunk segments; and segmenting, starting from the tips of the branches, a tree crown leaf point cloud by means of layer-by-layer growth. The present invention achieves a stronger tree trunk detection capability under the conditions of lush low vegetation and complex terrain, and moreover, the present invention can achieve accurate segmentation of tree crowns when large and small tree crowns are intertwined and multiple tree crowns are closely surrounded. The algorithm is highly efficient and easy to use, and has great practical significance for improving the semantic understanding capability of forest scenes, and assisting in forest resource survey, vegetation ecology research, and calibration and verification of satellite remote sensing products.

The invention provides a forest land tree height measurement and determination method and system based on laser radar point cloud data. Stress wave signals are collected based on a trunk base acoustic emission sensor array to generate an acoustic characteristic parameter set, the digital twin model is driven to complete forest stand structure topological optimization, and a three-dimensional growth vector model reflecting the internal mechanical state of a trunk is formed. And synchronously fusing high-precision slope point cloud data returned by the unmanned aerial vehicle laser radar in real time, correcting a terrain distortion error through a dynamic splicing algorithm in combination with stress distribution characteristics, and generating a crown segmentation boundary constrained by physical characteristics. And finally outputting a tree height parameter corrected by the abrupt slope topography through model iterative optimization and space vector analysis. According to the technical scheme, synchronous sensing of the three-dimensional shape and the mechanical state of the tree in the complex terrain environment is achieved, and the tree height measurement error is reduced.

The invention discloses an irrigation device and method for forest tree breeding, and belongs to the technical field of forest tree breeding, the irrigation device comprises a liquid conveying pipe connected with a liquid conveying pump, the outer side of the liquid conveying pipe is connected with a sleeve, the outer side of the sleeve is fixedly connected with a branch pipe, and the outer side of the branch pipe is communicated with an irrigation pipe; the connecting pipe is rotationally connected to the outer end of the branch pipe, the end, away from the infusion pipe, of the connecting pipe is fixedly connected with an irrigation pipe, and a pressure valve assembly is arranged on the inner side of the branch pipe; the fixing plates are fixedly installed on the outer sides of the branch pipes, fertilizer feeding assemblies are arranged above the fixing plates, fixing assemblies are rotationally installed at the tops of the fertilizer feeding assemblies, and meanwhile the two fixing assemblies are spliced and fixed to the outer side of the trunk. According to the irrigation device and method for forest tree breeding, swing type uniform irrigation can be achieved through the water pressure effect, application of a corresponding amount of fertilizer can be achieved according to the specific growth progress of trees, and the forest tree breeding effect is effectively improved.

The invention provides a forestry disease and pest control punching and pesticide injection device which comprises a groove shell, sliding bases, clamping arms, a diameter measuring shell and a pesticide injection assembly, the sliding bases are slidably assembled on the two sides of the groove shell in a limited mode, one ends of the sliding bases are fixedly connected with the clamping arms, the diameter measuring shell is slidably assembled on the clamping arms, and the pesticide injection assembly comprises a pesticide injection shell box, a drill bit base plate and a drill bit. Sliding bases are movably arranged at the two ends of the groove shell, clamping shells are slidably assembled on the sliding bases, the clamping shells are slidably assembled in the groove shell, the drill bit base plate is slidably assembled on an inner guide rod of the medicine injection shell box, the drill bit is rotatably assembled on the drill bit base plate, and the medicine injection shell box is in linkage connection with the diameter measuring shell. The diameter of a trunk can be measured in the process of automatically clamping the trunk, the drilling depth of one side of the drill bit is automatically adjusted according to the diameter of the trunk, the pesticide injection precision is improved while the working efficiency is improved, and pesticide liquid can be evenly conveyed into the trunk.

The invention relates to the technical field of garden monitoring, in particular to a landscaping monitoring system and method, and the system comprises a collection module which is used for obtaining multi-angle images of a garden in stages, and selectively collecting the images according to a correlation judgment result; the analysis module is used for extracting vegetation indexes, disease targets, leaf health features and falling object state features; the identification selection module is used for generating a dynamic acquisition strategy according to the relevance abnormal index and triggering the acquisition module to directionally acquire the second-level image; the weighted fusion module is used for performing adaptive weighted fusion on the multi-source features and calculating a comprehensive wilt risk level; the early-warning module is used for generating early-warning signals and early-warning grades, the view limitation of traditional single-view-angle monitoring is broken through, large-range vegetation vitality abnormal areas can be rapidly screened, detail features of trunk diseases, low leaf withering and microscopic disease spots can be accurately captured, and the comprehensiveness and reliability of early withering recognition are remarkably improved.

The invention discloses an unmanned aerial vehicle laser radar point cloud individual tree segmentation method based on collaborative information guidance. The individual tree segmentation method comprises the steps of obtaining an initial crown class; based on the uniqueness of point cloud distribution of the unmanned aerial vehicle laser radar in the forest region, geometric significance features are constructed, and accurate extraction of trunk candidate points and objectified detection of trunks are realized; dividing the initial crown class into under-segmentation, correct segmentation and over-segmentation; outputting the correctly segmented crown as a single tree segmentation result, and further refining the under-segmented class cluster; and optimizing the under-segmented crown by using the mutual reference information of the crown and the trunk. According to the method, the tree boundary refined segmentation capability is improved, and the extraction precision and reliability of the unmanned aerial vehicle laser radar point cloud single tree are effectively improved.

The invention discloses a fine individual tree segmentation method fusing air-based laser radar point clouds and ground-based laser radar point clouds, and aims to solve the challenges that the data volume of combined point clouds is large, crown staggering is complex in a dense forest environment, and part of tree trunk point clouds are lost due to shielding, and the method combines an individual tree segmentation strategy from top to bottom and an individual tree segmentation strategy from bottom to top. A weighted height-density map is adopted to carry out individual tree positioning, a mark control watershed algorithm is combined to realize preliminary tree crown region extraction, then multi-label local graph segmentation optimization is introduced, segmentation boundaries are corrected, an under-segmentation unit is optimized by adopting a shortest path, and a complete segmentation framework is formed. On the basis of airborne and foundation point clouds of six actually measured sample plots, the method is verified after registration and combination. The advantages of airborne point cloud and foundation point cloud are combined, and the proposed individual tree segmentation method provides technical support for refined forest modeling and ecological monitoring.

A foldable tree platform assembly includes a longitudinal post for placement along the trunk of the tree. A foot-engaging platform is supported by the post and moveable between a forwardly projecting use position in which the platform extends transversely of the post and defines an upper surface of the platform for supporting the foot or feet of a user and a stowed position in which the platform extends along the post. A standoff is supported by the post and is moveable relative to the post between a rearwardly projecting use position for engaging the trunk of the tree to support the post offset from the tree and a stowed position in which the standoff is folded at least partly into the plane of the post.

The present invention relates to the technical field of garden greening sapling planting, and discloses a municipal engineering garden greening sapling planter, including an equipment frame, the bottom of the equipment frame is fixedly connected with a plurality of support columns, the end of the support column away from the equipment frame is rotatably connected with a wheel, and the top of the equipment frame is fixedly connected with a plurality of connecting rods. The present invention, by setting an auxiliary planting mechanism, when the planting tube moves downward, the sliding ring of the planting tube side wall is driven to move downward, and the pressing plate at the bottom of the push column is first pressed against the ground, at which time the pressing plate drives the sliding ring at the top of the push column to slide upward along the sliding groove, and the sliding ring slides upward to drive a plurality of telescopic rods 2 to move upward, and the plurality of telescopic rods 2 drive a plurality of auxiliary arc plates to approach the direction close to the trunk, so that the arrangement is conducive to the plurality of auxiliary arc plates in the device to straighten the saplings, and avoid the saplings from being planted crookedly and affecting the growth of the saplings, thereby improving the planting quality of the saplings by the device.

The invention provides a single tree segmentation-biological parameter estimation method based on a vehicle-mounted LiDAR point cloud, and belongs to the technical field of urban landscaping intelligent monitoring. The point cloud individual tree segmentation algorithm based on tree geometric feature constraint is designed for solving the problem that individual tree segmentation is difficult due to crown overlapping in an urban scene, and the method takes a tree geometric structure as a constraint, combines point cloud reflection intensity information, a clustering algorithm, a main direction index and other means, and obtains the individual tree segmentation algorithm based on the tree geometric feature constraint. And accurate extraction of trunks and crowns in the scene point cloud is realized. Aiming at the problems of high feature redundancy, poor model interpretability and the like in an existing estimation method, a random forest model is taken as a basis, an adaptive feature selection algorithm is introduced to improve variable screening efficiency, hyper-parameters are dynamically adjusted by utilizing pigeon inspired optimization, and generalization and stability of the model are enhanced; an estimation model used for estimating biological parameters such as leaf area index, biomass and carbon reserve is designed.

An ecological landscape maintenance device, comprising a base (1), wherein two limiting sliding columns (4) are symmetrically and fixedly mounted on the upper surface of the base (1); a sliding plate (7) is slidably mounted on the outer surfaces of the two limiting sliding columns (4); and an annular frame (17) is fixedly mounted at one end of the sliding plate (7). Floating bark on the surface of a tree trunk can be removed through the rotation of brush wheels (19); and by means of the device, floating bark on the surface of a tree can be completely removed before the brushing of a whitewash.

The invention discloses a pest control management system and method for forest tree breeding, and relates to the technical field of forest tree breeding and seedling raising, and the method comprises the following steps: collecting environment data and soil rhizosphere data by collecting multi-mode images of leaves and trunks of a pinus massoniana young forest and videos that pinus massoniana caterpillars gnaw leaves and cluster diffusion; constructing a disease and insect pest recognition model by using a convolutional neural network, performing definite diagnosis on pine wood nematode disease, pine caterpillars and monochamus alternatus hope, and quantifying the disease and insect pest occurrence area and population density of each sub-region; calculating a pine wood nematode disease control demand index, comparing the pine wood nematode disease control demand index with a threshold value, and triggering a corresponding control strategy; the diffusion coefficient of the pine caterpillars is calculated and compared with a risk threshold value, and a prevention and control scheme is formulated; calculating the propagation coefficient of the monochamus alternatus hope, judging the propagation risk and giving a prevention and control strategy; according to the invention, intelligent pest identification, risk quantification and control strategy closed-loop control are realized, treatment and scientific prevention and control are facilitated, and the pest control efficiency of the pinus massoniana young forest and the forest stand health level are improved.

The invention discloses a clamping jaw mechanism of an intelligent pomegranate tree sprout tillers removing device, and belongs to the technical field of agricultural machinery. The mechanism comprises a robot connecting rod, a base, a clamping jaw driving mechanism and a dynamic clamping mechanism. The dynamic clamping mechanism is composed of an elastic cloth belt and a rotatable rubber roller and is rapidly installed on a clamping jaw vertical rod through a lock catch, the elastic cloth belt can stretch out and draw back along with the diameter change of a trunk, the rubber roller rolls to be attached to the surface of the trunk, and bark is prevented from being damaged. The clamping jaw driving mechanism adopts a double-shaft-extension electric cylinder to drive clamping jaws to open and close, and precise clamping is achieved in cooperation with servo torque control. The clamping jaw solves the problems that a traditional clamping jaw is high in trunk damage risk, poor in adaptability and insufficient in terrain compatibility, has the advantages of being high in protectiveness, outstanding in dynamic adaptability, convenient and fast to maintain and the like, and meets the efficient automation requirement of pomegranate orchard sprout tillers removing operation.

The invention discloses a telescopic obstacle-avoiding tree-climbing robot. The telescopic obstacle-avoiding tree-climbing robot comprises a clamping mechanism, a moving mechanism and a telescopic mechanism, the three clamping mechanisms are arranged in parallel up and down and are the same in structure, each clamping mechanism is formed by connecting five arc-shaped blocks and two knuckles through a steering engine, and the knuckles and the arc-shaped blocks are controlled by the steering engines to extrude and clamp the tree trunk inwards; the moving mechanism is mounted on the arc-shaped block in the middle and used for moving and avoiding obstacles when the clamping mechanism is unfolded; the telescopic mechanism is installed on the platform, a roller is connected with the second arc-shaped block and the fourth arc-shaped block through a belt, a motor controls rotation of a gear, the belt is driven to contract the second arc-shaped block and the fourth arc-shaped block of the clamping mechanism into a third arc-shaped block, and crotches can be conveniently avoided during obstacle avoidance. By means of the clamping mechanism, the moving mechanism, the telescopic mechanism and the like, obstacle-avoiding crawling and self-adaptive clamping capacity can be achieved on a tree trunk with a certain crotch, and the problem that an existing tree-climbing robot is difficult to crawl on the tree trunk with the crotch is solved.

The invention discloses a three-dimensional tree modeling method and device based on 3DGS. The method comprises the steps of determining modeling components including a trunk, branches and leaves for a three-dimensional tree modeling task, obtaining tree-surrounding image data collected by an unmanned aerial vehicle, performing camera pose estimation and obtaining sparse point clouds through sparse reconstruction, inputting a three-dimensional Gaussian splash 3DGS model to generate point clouds of a three-dimensional tree, and obtaining three-dimensional tree point clouds according to the point clouds of the three-dimensional tree point clouds. Selecting a corresponding model according to a segmentation object to generate 2D masks of different visual angles, extracting a complete tree to select a segmentation arbitrary model SAM model, extracting a tree component to select a semantic segmentation network MFAANet model based on a coding and decoding structure, generating the corresponding 2D masks on input images of different visual angles, and based on a multi-visual-angle mask obtained through segmentation, extracting a multi-visual-angle mask based on the multi-visual-angle mask. And generating a final point cloud classification result through a multi-view mask voting mechanism. The method is obviously superior to the existing method in the aspects of tree rendering quality and component segmentation precision.

A leakage-proof vibration harvester comprises a crawler-type walking mechanism, a fruit output mechanism, a chassis which is installed at the front end of the fruit output mechanism and provided with a U-shaped opening, and a clamping jaw vibration assembly which can clamp a tree trunk and vibrate, and the clamping jaw vibration assembly is hung on a machine frame, extending forwards, of the fruit output mechanism through a spring. The left half umbrella assembly is installed on the left side of the chassis and is in seamless connection with the left side of the fruit output mechanism, the right half umbrella assembly is installed on the right side of the chassis and is in seamless connection with the right side of the fruit output mechanism, and after the right half umbrella assembly and the left half umbrella assembly are opened, the ends of the right half umbrella assembly and the left half umbrella assembly intersect to form a closed collecting umbrella; the base plate closes the U-shaped opening to surround the trunk along with opening of the right half umbrella assembly and the left half umbrella assembly, or opens the U-shaped opening along with folding of the right half umbrella assembly and the left half umbrella assembly. The fruit collecting efficiency is improved, the harvesting efficiency is improved, and damage to trunks is reduced. The invention further provides a harvesting method of the leakage-proof vibration harvester.

The invention discloses a single tree trunk structure extraction method and system based on deep learning, and the method comprises the steps: obtaining two-dimensional image data of a single tree, marking the two-dimensional image data, and constructing a single tree trunk segmentation data set; constructing a spatial domain and frequency domain double-branch network based on the segmented data set, respectively extracting spatial domain features and frequency domain features, and fusing the double-branch features to generate a coding feature map; the coding feature map is decoded, in the decoding process, coordinate convolution CoordConv is adopted to enhance position perception, and mask segmentation and semantic label extraction are respectively carried out through a dynamic mask reconstruction branch DRMask Branch and an instance branch Inst Branch; based on a bipartite graph matching strategy, associating results of the mask segmentation and instance branches, and realizing segmentation of a single tree trunk and matching of instance-level labels; according to the method, the boundary precision and the detail reconstruction capability of trunk segmentation are remarkably improved, and the problem of feature loss of a traditional method in a complex under-forest environment is solved.

The invention discloses a special-shaped trunk self-adaptive whitewashing method, whitewashing system and whitewashing device, and belongs to the technical field of special-shaped trunk whitewashing, and the method comprises the following steps: S1, obtaining a to-be-brushed special-shaped trunk point cloud and a trunk reference model point cloud; s2, the mass center of each point cloud block of the to-be-brushed special-shaped trunk is calculated; s3, determining whitewashing attitude parameters; S31, obtaining a total rotation matrix; s32, the calculated quaternion is converted into a whitewashing posture parameter; s4, a whitewashing path is planned; S41, a discretized segmented B spline curve is constructed, and reachable path point pairs are constructed; and S42, interpolating the reachable path point pairs by using a Bresenham algorithm, and generating a whitewashing path. By adopting the special-shaped trunk self-adaptive whitewashing method, the whitewashing system and the whitewashing device, the self-adaptive whitewashing operation of the special-shaped trunk is realized by determining the whitewashing attitude parameter and planning the path, and the efficiency of the whitewashing operation of the special-shaped trunk is improved.

The present invention relates to the technical field of tree transplantation, and discloses a tree transplantation device for garden construction based on green environmental protection, including a tree root shoveling mechanism. Above the tree root shoveling mechanism, there is a water spraying structure. Above the water spraying structure, there is a tree trunk clamping mechanism. Behind the tree root shoveling mechanism, there is a driving mechanism. The rear side of the driving mechanism is fixedly connected with a welding panel. One end of the tree trunk clamping mechanism close to the driving mechanism is fixedly connected with an L-shaped fixing rod. The tree root shoveling mechanism includes a circular plate. The outer side surface of the circular plate is fixedly connected with a first gear. Inside the circular plate near the first gear, there is a sliding bar slidably connected. The upper and lower surfaces of the sliding bar are both fixedly connected with cylinders. The front side surface of the sliding bar is fixedly connected with a small gear. The present invention has the characteristics of stabilizing trees, automatically watering, and improving the survival rate of transplanted trees.

The invention discloses an automatic dynamic measurement method and device for long-term forest eco-hydrology water volume in the technical field of eco-hydrology water volume measurement, and the method comprises the specific steps: 1, selecting a measurement point, building a sample plot according to a standard, and selecting a plurality of experiment points meeting conditions in the sample plot; 2, installing a water quantity monitoring device at the experiment point meeting the condition; 3, measuring the trunk runoff, the penetration precipitation, the water content of a surface fallen leaf layer and the soil water content of the forest in a preset time period by using a water quantity monitoring device, and recording a drainage time point; and 4, calculating the flow velocity, the total flow and the forest water conservation amount according to the measured data. The device is convenient and practical, penetrating rainfall is intercepted and measured through the plastic film, stem flow is intercepted and detected through the runoff ring, the fixing claws are continuously pushed to enter a tree trunk through the telescopic connecting rods by means of the gravity of water in the water measuring cylinder to fix the whole device, and the data quality stability of long-term hydrological water volume measurement and the safety of the device are improved.

The invention relates to an intelligent climbing coconut tree flexible picking and transporting integrated robot which comprises two open-close type circular rails, a connecting frame, a climbing mechanism, two open-close type clamping arm assemblies, a clamping and picking mechanism and a pruning mechanism, the two open-close type circular rails are distributed up and down in a spaced mode, and the two open-close type circular rails are both automatically opened or closed to form a whole ring; the connecting frame is installed between the non-opening-closing sides of the two sets of opening-closing type circular rails, the climbing mechanism is arranged on the inner side of the connecting frame and used for making contact with a tree trunk and climbing along the tree trunk, and the two sets of opening-closing type clamping arm assemblies are installed on the connecting frame and can be automatically opened or closed to hold the tree trunk. The lower end of the lower opening-closing type clamping arm assembly and the lower end of the connecting frame are jointly provided with a ground walking mechanism, and the clamping picking mechanism and the pruning mechanism are installed on the two sets of opening-closing type annular rails through a set of moving assemblies respectively and can move in the annular direction of the opening-closing type annular rails through the moving assemblies respectively. The robot has the advantages that automatic climbing, picking and transporting walking can be achieved, potential safety hazards are reduced, and picking and transporting efficiency is improved.

The invention discloses a tree diameter dynamic monitoring device and method, and relates to the technical field of plant growth monitoring, in particular to a method for constructing a tree trunk cross section model based on distance measurement of light emission and reflection time difference delta t, a radial feature vector V (t) is formed by obtaining multi-angle radius lengths r to rn, and the radial feature vector V (t) is obtained; the problem of elasticity weakening caused by long-term stretching of a traditional spring sensor is avoided; setting a monitoring period Gt, calculating a direction difference vector Iza, an average radial growth rate Izb and a radial growth variance Izc, normalizing to generate a comprehensive evaluation index Izh, and judging a growth state through thresholds I1 and I2; and if the Euclidean change delta V (t) is greater than a threshold value epsilon, a state correction and multi-source verification process is triggered, so that the precision and reliability of tree diameter monitoring are improved.

The invention provides an unmanned aerial vehicle laser obstacle clearance system and method for improving laser obstacle clearance efficiency, the obstacle clearance system comprises an unmanned aerial vehicle, an airborne computer carried on the unmanned aerial vehicle, a stability augmentation holder, a holder camera and a laser transmitter, and the unmanned aerial vehicle, the holder camera and the laser transmitter are all fixed on the stability augmentation holder; the pan-tilt camera is used for collecting a trunk swing video stream in real time and transmitting the video stream to the visual module of the airborne computer; the visual module extracts tree trunk skeleton tracking points in the video stream; a control module of the airborne computer generates a holder direction control instruction and a laser trigger signal according to the tracking point coordinate position; the stability augmentation holder carries out real-time attitude adjustment according to the holder direction control instruction; and the laser emitter performs laser cutting on the swing tree trunk after receiving the laser trigger signal. According to the invention, real-time tracking of the target local area of the swing tree trunk is realized by using the unmanned aerial vehicle and the tracking algorithm, and the laser obstacle removing precision and the temperature rising efficiency are improved.

The invention relates to the technical field of nursery stock transplanting, in particular to a garden landscape nursery stock transplanting device which comprises a vehicle body, an operation table is arranged at the front end of the vehicle body, a fixing seat is fixedly mounted at the front end of a rotating arm, a soil ball digging mechanism is arranged at the front end of the fixing seat, and an extension frame is fixedly mounted at the upper end of a stand; a tree crown wrapping mechanism is fixedly installed at the front end of the extending frame, a hydraulic pump is fixedly installed at the lower end of the stand, a movable frame is fixedly installed at the upper end of the hydraulic pump, a transverse moving rail is fixedly installed at the front end of the movable frame, a moving table is slidably installed at the upper end of the transverse moving rail, and a tree catching clamp mechanism is fixedly installed at the front end of the moving table. The crown is covered with the protective film, and moisture evaporation of leaves and branches can be remarkably reduced by covering the crown. In the seedling transplanting process, seedling trunks are clamped and fixed through the telescopic tree catching mechanism, and shaking caused by the influence of wind blowing and the like in the moving-out process is avoided.

The invention discloses a rotor unmanned aerial vehicle visual navigation method and system for an unknown forest region, and the method comprises the steps: firstly, combining a depth camera with a Sobel gradient filtering mechanism, and effectively eliminating interference information; secondly, pixel-level segmentation and three-dimensional positioning of the trunk are realized by segmenting a cascade model of a convolutional network and a residual network, visual information is accurately mapped to a world coordinate system, and the problem of positioning drift caused by similar textures in a forest scene is solved; based on starting point-target point-terminal point minimum jerk trajectory planning, a smooth trajectory is generated through polynomial optimization and quadratic programming, flight jitter is inhibited fundamentally, and the mechanical loss is reduced while the image acquisition quality is guaranteed; and finally, through real-time target point updating and trajectory dynamic correction of the depth camera, a sensing-planning-execution closed loop is formed, so that the unmanned aerial vehicle has dynamic obstacle avoidance and path online optimization capabilities, autonomous crossing is finally realized, and navigation safety and stability in a complex environment are significantly improved.

A fabricated decorative tree with insertable branches system is provided that includes a tree trunk configured with at least one limb stub that is configured to receive a branch. The trunk, stub, and branch all have internal supports and an external decorative skin. The stub internal support has a proximal end fixedly attached to the trunk internal support and has a stub distal end having a receptor with a channel cut at least through the internal support distal edge. Only the distal end of the branch internal support is covered with the external skin. The uncovered proximal end of the branch internal support is a male sleeve insert having an outwardly projecting alignment protuberance sized to fit within the stub's channel. Means to further secure the stub-branch joint and methods by which one set of interchangeable branches are replaced by a second set of branches are also provided.

The invention relates to a system for remote and / or autonomous holding at least a portion of a tree trunk, said system comprising: a remotely and / or autonomously controlled Unmanned Aerial Vehicle (100), UAV, at least one remotely and / or autonomously controlled means (105) for holding at least a portion of a tree trunk attachable to said UAV (100), means for detecting at least a portion of a tree, means for detecting at least one tree parameter of at least a portion of a tree and / or at least one growing condition of at least a portion of a tree, a base station for communication with said UAV (100), means configured for directing said means (105) for holding at least a portion of a tree trunk to a particular position of said tree trunk depending on said at least one detected tree parameter and / or said at least one detected growing condition.

The present application discloses a Christmas tree with an angle-adjustable trunk, which includes a carrying base; a supporting trunk which is provided on the carrying base, a plurality of first separated branches are provided on the supporting trunkat intervals, and a first light string is provided on a first separated branch of the plurality of first separated branches; a first connector which is provided on a top of the supporting trunk; a top trunk, wherein a plurality of second separated branches are provided on the top trunkat intervals, and a second light string is provided on a second separated branch of the plurality of second separated branches; a second connector provided on a bottom of the top trunk and rotatably connected to the first connector; wherein a trigger button is provided between the first connector and the second connector, and the trigger button is used to control rotation of the first connector and the second connector.

The invention discloses a tree climbing device with axial climbing and circumferential steering functions. The tree climbing device comprises a vertically symmetrical main trunk mechanism, an upper clamping and climbing mechanism and a lower clamping and climbing mechanism, wherein the upper clamping and climbing mechanism and the lower clamping and climbing mechanism are identical and bilaterally symmetrical. The main trunk mechanism is arranged in the middle of the robot, telescopic mechanisms are placed in an upper operation platform and a lower operation platform of the main trunk mechanism to control clamping and loosening of the clamping mechanisms, the clamping and climbing mechanisms are arranged on the upper portion and the lower portion of the main trunk and each composed of two grabbing clamps of the completely same structure, and universal wheels are carried in the clamping and climbing mechanisms to serve as execution ends. The rotor wings are carried outside to serve as a power mechanism, and climbing and circumferential movement of the robot on trees are achieved through driving of the auxiliary effect of the rotor wings. A turnover mechanism is arranged in the middle of the main trunk mechanism, the robot can be controlled to turn over through steering engine driving, and conversion of the robot from the trunk to the side trunk is achieved. Under the movement action of the main trunk mechanism, the upper clamping and climbing mechanism and the lower clamping and climbing mechanism, the tree climbing device is simple in structure, good in obstacle crossing ability and good in stability, and clamping force can be actively adjusted to adapt to continuous changes of the diameter of a tree; the self-locking device can move axially and circumferentially along a trunk, has a self-locking function and can stop at any position.

According to the light and simple crawler-type vibration harvester suitable for the steep mountain land, the triangular crawler belt is adopted for driving, the contact area with the ground is increased, the climbing performance is improved, maneuverability, flexibility and reliability are high, flexible connection is formed through the elastic coupler, and vibration transmission is stable. The device comprises a vehicle body, a suspension platform and a vibration clamping mechanism, wherein the vehicle body comprises an H-shaped bottom formed by two longitudinal beams and a cross beam; triangular driving tracks are arranged at the rear ends of the longitudinal beams; auxiliary wheels are arranged at the front ends of the longitudinal beams; the suspension platform is located above the position between the front portions of the two longitudinal beams, the rear portion of the suspension platform is fixed to the sliding frame, and the sliding frame is arranged on the guide rods in an up-down sliding mode. The lifting driving device for driving the suspension platform or the sliding frame to lift up and down relative to the guide rod is connected with the suspension platform or the sliding frame; the vibration clamping mechanism used for clamping a tree trunk and conducting excitation vibration on the tree trunk is hung on the driving hanging platform through a flexible rope.