52 results about "Trunk structure" patented technology

A system for dehydration of organic material comprises a housing structure having an interior chamber, a supply duct, a dual trunk structure, a dry air intake, a central recirculation duct, and a plurality of side recirculation ducts. The side recirculation ducts each have a return plenum extending downward from a top recirculation duct and are configured to recirculate interior air contained in the chamber. The interior air enters the side recirculation ducts through the return plenums and is pushed upward and outward through the top recirculation ducts and back into the interior chamber. The interior chamber has a plurality of exhaust vents positioned in the upper region of its walls. A plurality of portable platforms positioned inside the interior chamber are configured to hold the organic material. The floor of the housing structure can include a plurality of tracks for loading, unloading and positioning the portable platforms.

Disclosed is a customizable decorative tree, a customizable decorative tree is provided, which includes a trunk, a base, and a top section. The trunk is formed from a plurality of individual tree sections that are designed for selective sectional assembly and disassembly. Adjacent tree sections are connected using a shared mechanical connector and a corresponding electrical connector. This integrated system facilitates both robust structural connection and the simultaneous transmission of electrical power through the assembled trunk and base. The tree sections may have varying heights and diameters, allowing a user to customize the trunk to achieve a natural appearance or a unique style. By integrating the electrical power transmission within the structure of the trunk, the design eliminates the need for external wiring, thereby enhancing safety and aesthetics.

The utility model provides a robot trunk structure and a robot, and relates to the technical field of robots. The robot trunk structure comprises a trunk assembly and a battery box arranged on the trunk assembly, the trunk assembly comprises a main plate and two opposite side plates arranged on the main plate, the battery box is fixed between the two side plates, the battery box is provided with a first surface, a second surface and a third surface, the second surface and the third surface are opposite, the first surface is attached to the main plate, and the third surface is attached to the main plate. The second surface and the third surface are attached to the two side plates respectively. In the robot trunk structure, the three outer surfaces of the battery box are attached to the main plate and the two side plates of the trunk assembly correspondingly, then the battery box can play a role in resisting deformation of the trunk assembly and enhancing the rigidity of the trunk assembly, and therefore the weight of the whole robot is reduced. Meanwhile, the trunk assembly also supports and protects the battery box, and a structure for supporting and protecting the battery box does not need to be additionally arranged, so that the weight of the whole machine is further reduced, and the structure of the whole machine is simplified.

The invention discloses an intelligent wheeled humanoid robot as a home-based care appliance, and relates to the technical field of robots. The robot specifically comprises a wheel type chassis walking mechanism and a robot upper body structure arranged on the wheel type chassis walking mechanism, and the robot upper body structure comprises a robot trunk structure and at least one robot arm mechanism arranged on the robot trunk structure; the robot further comprises a height adjusting mechanism, and the height adjusting mechanism is arranged between the wheel type chassis walking mechanism and the robot trunk structure and used for adjusting the vertical height of the robot trunk structure. A clamping jaw is installed at the tail end of the robot arm mechanism, a multi-mode touch sensor is integrated on the clamping jaw, and the multi-mode touch sensor is used for detecting physical characteristics of an object when the clamping jaw makes contact with the object. The invention aims to enable the wheeled robot to keep efficient moving ability and to adapt to multi-height operation requirements in a family environment.

Provided in the present invention is a rapid growth and early fruiting method for cocktail grapefruit. The method comprises: selecting a site and building a greenhouse, i.e., selecting a planting area, and building a rain shelter greenhouse; determining planting points, i.e., on the basis of the plant row spacing requirement of 3 m×2.7 m, determining the planting points in the greenhouse, and setting 78 planting points per Chinese acre; performing root-limiting cultivation, i.e., providing a composite root limiter at each planting point, and filling each composite root limiter with formulated substrate soil so as to cultivate cocktail grapefruit seedlings; cultivating a near-trunk fruiting tree form, i.e., during the transplanting of each cocktail grapefruit seedling, pruning the trunk of the cocktail grapefruit seedling 30-40 cm above a graft union, and selecting and retaining robust branches year after year so as to form a multi-layer trunk structure; and performing precise fertilization, i.e., using annular drip-irrigation pipes of the composite root limiters to replenish water and apply a formulated fertilizer. By means of using a composite structure where the composite root limiter is combined with an annular drip-irrigation device, the present invention solves problems in the prior art, such as the low utilization rate of a fertilizer caused by conventional fertilizer application during the planting process of cocktail grapefruit seedlings, and the poor quality of cocktail grapefruits produced by initial-fruited trees.

The utility model relates to the technical field of earthquake rescue, and discloses an earthquake module detection rescue mechanical device, which is characterized in that a searchlight and a sensor are arranged at the front end of a mainframe box, a lifting rear arm is rotationally arranged in the middle of the front end of the mainframe box, and the lifting rear arm is connected with a lifting front arm through a hinge structure; a first electric cylinder connected with the lifting front arm is arranged on a shell at the lower end of the lifting rear arm; the lifting front arm is connected with a mechanical front arm through a hinge structure, a second electric cylinder connected with the mechanical front arm is arranged on a front arm upper bracket at the upper end of the lifting front arm, an on-arm searchlight is installed outside the middle section of the mechanical front arm, and the free end of the mechanical front arm is rotationally connected with a mechanical gripper. A trunk structure internally provided with a movement control system is rotationally installed on the lower portion of the center of the main machine box through a steering head, steering engine connecting positions are arranged at the positions, close to the four corners, of the edge of the trunk structure, first supporting legs are connected into the steering engine connecting positions through hip knee joints, and ankle joints connected with second supporting legs are installed at the tail ends of the first supporting legs.

The application provides a four-legged crawling gecko robot and a control system thereof. The four-legged crawling gecko robot comprises a trunk structure, four symmetrically distributed leg structures, and four foot suction cups. The four-legged crawling gecko robot further comprises a motor driving system. A damping turntable is used as a waist joint for connecting a front trunk and a rear trunk of the trunk structure, so that the robot swings left and right. A longitudinal servo steering engine is used as a shoulder joint for connecting the trunk structure and the leg structure, so as to control the lifting and falling of the leg structure. A first transverse servo steering engine is used as an elbow joint for connecting the longitudinal servo steering engine and the leg structure, so as to drive the movement of the leg structure. A second transverse servo steering engine is used as a wrist joint for connecting the leg structure and the foot suction cup, so as to adjust the foot landing point position of the foot suction cup. The four-legged crawling gecko robot can realize flexible movement in a complex environment and maintain the stability of movement in a vertical plane.

The utility model relates to the technical field of wiring trunkings, and discloses a fire-fighting strong and weak current bridge wiring trunking structure, a lapping box is movably connected between supporting boxes, a clamping block is slidably installed at the joint of the supporting boxes and the lapping box, and rapid installation and clamping connection are achieved through the arrangement of the structures such as the supporting boxes, the lapping box and the clamping block. After the spring is stressed and contracted, the lapping box is inserted, the position of a square groove in the middle of the clamping plate B is overlapped with the position of the clamping block, the spring releases elastic force, the clamping block is ejected out, and the position between the supporting box and the lapping box is fixed, so that under the condition that the connection strength is not reduced, the installation time of an installation worker is shortened, and the installation speed of the installation worker is increased; and the effect of quick installation is achieved.

The invention discloses a quadruped robot, and belongs to the field of robots. Comprising a trunk structure and four leg structures, the trunk structure comprises a top cover shell, a first supporting plate piece, a second supporting plate piece, a connecting rod assembly and a bottom cover shell, the first supporting plate piece and the second supporting plate piece are distributed at intervals in the first direction, and the connecting rod assembly is located between the first supporting plate piece and the second supporting plate piece; the two opposite ends, in the first direction, of the connecting rod assembly are connected with the first supporting plate and the second supporting plate correspondingly, the top cover shell and the bottom cover shell are distributed in the third direction, and the top cover shell and the bottom cover shell are connected with the first supporting plate and the second supporting plate correspondingly. A mounting space is defined by the top cover shell, the bottom cover shell, the first supporting plate and the second supporting plate, and the connecting rod assembly is located in the mounting space; the first supporting plate and the second supporting plate are each connected with two leg structures, the two leg structures are distributed in the second direction in a spaced mode, and the leg structures are located outside the installation space.

The invention provides a single wood volume nondestructive measurement method based on a foundation laser radar, belongs to the field of single wood volume, and focuses on feature extraction of trunk structures in different forms and calculation of the trunk volume. According to the method, masson pine is taken as a research object, 52 individual trees are taken as samples, true values of different height diameters are acquired, the volume of the individual trees is calculated, and meanwhile, a high-density three-dimensional laser point cloud is scanned by using a foundation laser radar system. The method comprises the following steps: firstly, sampling original point cloud data, constraining growth of seed points by using normal vectors and angles, and accurately extracting trunk point clouds; simulating interception of a real disc through point cloud slices, and calculating a single-layer point cloud area by using an improved convex hull algorithm; in the shielded region, constructing a fitting circle by using the local point cloud to calculate the area of the layer; and finally, the single wood volume is obtained through the thought of an infinitesimal method. The correlation R2 between the calculated wood volume and the real calculation reaches 0.995, the RMSE is 0.017 m < 3 >, and the nRMSE is 2.38%, which indicates that the tree trunk can be accurately extracted and the single wood volume can be calculated under the non-contact condition.

The present invention belongs to the technical field of automobile trunks, and specifically relates to a trunk structure and vehicle. The trunk structure comprises: a trunk body; a connecting assembly disposed on the trunk body and fixedly connected to a front frame and a front crossbeam of the vehicle body; and a first support assembly disposed on the back of the trunk body, with its bottom surface contacting a support profile disposed on the front frame and its rear side surface providing a gap with a buffer surface disposed on the front frame. The purpose of the present invention is to address the issue of low trunk structural strength in electric vehicles.

The invention provides a lifting mechanism and a mobile robot. The lifting structure is applied to the mobile robot, the mobile robot comprises a trunk structure and a bottom structure, the lifting mechanism comprises a base, a driving system and a lifting arm, the base is installed on the bottom structure, and the lifting arm comprises a first arm structure and a second arm structure; the first arm structure is mounted on the base and can rotate relative to the base; one end of the second arm structure is rotatably connected to the first arm structure, and the other end is provided with the trunk structure; the driving system is connected with the lifting arm and configured to drive the lifting arm to be folded or unfolded so as to drive the trunk structure to ascend and descend in the first direction; when the lifting arm is folded to the lowest position, the first arm structure and the second arm structure are both located on a plane defined by the intersection of the second direction and the third direction. The lifting mechanism can be completely folded, so that the lifting mechanism can descend to a lower position, the overall size of the device is smaller, transportation is convenient, and a mobile robot can conveniently grab objects on the ground.

The invention discloses a robot, and relates to the technical field of robots, the robot comprises a head structure; the trunk structure comprises a trunk part and a plurality of folding units connected in sequence, the adjacent folding units can be rotationally folded, so that the trunk structure has a folded state and an unfolded state, in the unfolded state, folding rotating shafts of the adjacent folding units are located on the two opposite sides of the central axis of the trunk part in a staggered mode, and the folding rotating shafts of the adjacent folding units are located on the two opposite sides of the central axis of the trunk part. In the folding state, the multiple folding units are arranged in a stacked mode, and the trunk part is connected with the head structure and the folding units; the mechanical arms are arranged on the two sides of the main part; and the walking structure is connected with the folding units deviating from the trunk part. The robot provided by the technical scheme of the invention occupies a small space after being folded, and can adapt to deployment and use in a space-limited environment.

The invention relates to a trunk structure of a quadruped robot, and the trunk structure comprises a machine body assembly, an upper layer assembly and a lower layer assembly. The machine body assembly comprises an upper shell, a middle shell and a lower shell which are sequentially stacked from top to bottom, the upper shell and the middle shell are connected to form an upper-layer cavity, and the middle shell and the lower shell are connected to form a lower-layer cavity. And the upper-layer assembly is mounted in the upper-layer cavity. And the lower-layer assembly is mounted in the lower-layer cavity. When the upper shell is in an open state, the upper-layer cavity is communicated with the outside, and the upper-layer assembly is exposed to the outside. According to the trunk structure, the upper-layer assembly can be maintained or replaced only by opening the upper-layer cavity, when the upper-layer cavity is in the open state, the lower-layer cavity is in the closed state, and the lower-layer assembly cannot make direct contact with the outside, so that the maintenance difficulty and time cost are reduced, unnecessary damage to the lower-layer assembly is reduced, and the service life of the trunk structure is prolonged. The service life of the lower layer assembly is prolonged, and meanwhile the stability and reliability of the trunk structure can be improved.

The present application relates to the technical field of robots, and especially relates to a trunk structure and a robot thereof, which comprises a trunk body, a shoulder assembly, a first driving assembly and a second driving assembly; the shoulder assembly comprises a mounting seat and a movable joint connected between the mounting seat and the trunk body; the first driving assembly is arranged on the trunk body and is drivingly connected with the mounting seat to drive the mounting seat to rotate around a first axis; the second driving assembly is arranged on the trunk body and is drivingly connected with the mounting seat to drive the mounting seat to rotate around a second axis. The first driving assembly and the second driving assembly are respectively drivingly connected with the shoulder assembly, and the first driving assembly and the second driving assembly are orthogonally arranged, so that the structure is compact, the movement of the shoulder assembly in a three-dimensional space can be controlled, the compound action of a human shoulder joint can be simulated, and the mechanical arm has a larger space coverage range.

The invention discloses a liftable front spare box structure, which belongs to the technical field of automobile movable front spare boxes and comprises a front spare box body, a front spare box guide rail plate, a front spare box guide groove assembly, a front spare box lifting actuator assembly and a sliding support plate. Front spare box guide rail plates are fixedly connected to the side walls of the two sides of the front spare box body. The front spare box body is connected to the front spare box guide groove assembly in a sliding mode through the front spare box guide rail plate. A sliding support plate is installed on the rear wall of the front spare box body through an installation structure. The sliding support plate moves up and down through the front spare box lifting actuator assembly. The front spare box has the advantages that the front spare box body can be lifted and fall back, articles of the front spare box body can be taken more conveniently, and therefore the practicability of the front spare box body is improved.

The application provides a body intelligent humanoid robot playing a mouth organ and a man-machine interactive playing method thereof, and comprises a body intelligent robot and a mouth organ. The body intelligent humanoid robot comprises a wheeled chassis walking mechanism, a lifting column leg mechanism is arranged above the wheeled chassis walking mechanism, and a robot trunk structure of a bionic upper body of a human is arranged on the lifting column leg mechanism. A touch display screen for man-machine interaction is arranged on the front of the trunk structure, and a flow valve, a gas pump, a driver and a gas path control circuit are arranged in the trunk structure. A robot head mechanism is arranged at the top of the robot trunk mechanism, the head mechanism is provided with a gas path pipeline connected with the chest, a camera and a sound box. Robot arm mechanisms are arranged on both sides of the robot trunk mechanism, and a five-fingered dexterous hand is arranged at the end of the mechanical arm of each robot arm mechanism. The mouth organ is provided with a double-row key structure, a gas path control valve, two gas pipes connected with the robot and another gas pipe for a user.

The invention discloses a vehicle trunk structure and a vehicle, and belongs to the technical field of vehicles. In the vehicle trunk structure, a first reinforcing part and a second reinforcing part are arranged on the lower surface of a panel body, and a first reinforcing cavity and a second reinforcing cavity are formed respectively; and meanwhile, the third reinforcing piece is arranged on the upper surface of the panel body to form a plurality of third reinforcing cavities, and the cavities are matched with one another, so that the overall rigidity of the panel is enhanced, the stress distribution is improved, the structural stability is improved, the weight is controlled, and the collision safety is improved.

The present invention discloses a decorated tree connecting device, a quick-connect decorated tree bracket and a wiring method therefor, which are used in the trunk structure of a decorated tree, comprising an upper connecting socket and a lower connecting socket; and when the upper connecting socket and the lower connecting socket are fitted by insertion, the connection point of an elastic copper connecting piece is in contact with a corresponding copper connecting piece, realizing the electrical connection fit of the upper connecting socket and the lower connecting socket.

The invention belongs to the technical field of robots, and discloses an accompanying robot with multiple degrees of freedom and a dynamic form conversion function and a control method. The robot adopts a bionic appearance design, comprises a trunk structure, a head structure, an arm structure and a leg structure, and realizes abundant dynamic interaction actions through a multi-degree-of-freedom driving mechanism. The head is driven by double steering engines, and left-right head shaking and front-back nodding can be completed; the arms are controlled by double steering engines to swing back and forth and unfold up and down; the legs are innovatively combined with an electric hub mechanism and a connecting rod type lifting mechanism, stable movement can be achieved, and sitting and standing postures can be rapidly switched or jumping actions can be completed. The limitation that a traditional accompanying robot is single in action is broken through, anthropomorphic actions such as sitting and standing switching, jumping and swinging are achieved, the robot is particularly suitable for family child accompanying scenes, and the emotional expressive force and interaction interestingness of the robot are remarkably enhanced.

The invention discloses a visual navigation image splicing method for an orchard operation robot, and relates to the technical field of image splicing, and the method comprises the steps: S1, collecting image sequences covering a fruit tree central axis region and a ground path region at the front part and two sides of an operation robot, and extracting a fruit tree trunk central axis in each frame of image through a fruit tree structure recognition module; s2, connecting each frame of fruit tree trunk central axis in the image sequence to generate a structural skeleton curve; and S3, by taking the central axis of the trunk of the fruit tree as a central axis, expanding a preset pixel distance in the image to form a structure fusion zone region, and limiting extraction and matching of feature points. According to the method, the central axes of the fruit tree trunks in the continuous image frames are extracted and connected, the structural skeleton curve is constructed and serves as a space leading path for image splicing, image splicing is converted from image content driving to structural line driving, and the consistency and geometric consistency of the fruit tree trunk structures in the spliced images are remarkably improved.

The invention relates to the technical field of vehicles, in particular to a trunk cover plate, a trunk structure and a vehicle, the trunk cover plate comprises a trunk cover plate body, the trunk cover plate body is provided with an upper end face used for supporting articles, and a mounting hole or a mounting groove is formed in the upper end face; the antiskid piece is movably arranged on the trunk cover plate body; the decorating part is movably arranged on the trunk cover plate body; the anti-skid parts and the decorating parts can be alternately located in the mounting holes or the mounting grooves, and when the anti-skid parts are located in the mounting holes or the mounting grooves, the anti-skid parts protrude relative to the upper end face or are flush with the upper end face. The anti-skid performance of the trunk cover plate can be improved, potential safety hazards are eliminated, and meanwhile the attractiveness of a trunk can be considered.

The application discloses a kind of orchard operation robot visual navigation image splicing methods, it is related to image splicing technical field, comprising: S1: the image sequence of the central axis area of the trunk of fruit tree in the coverage fruit tree of the front and both sides of operation robot with ground path area is collected, and the trunk center axis in each frame image is extracted using fruit tree structure identification module;S2: the trunk center axis of each frame in image sequence is connected, and the structure skeleton curve is generated;S3: with the trunk center axis of fruit tree as the central axis, the structure fusion band region is formed by expanding preset pixel distance in image, and the extraction and matching of feature points are limited.The application extracts and connects the trunk center axis of fruit tree in continuous image frame, constructs structure skeleton curve, as the space leading path of image splicing, realizes the change of image splicing from "image content drive" to "structure line drive", significantly improves the coherence and geometric consistency of the trunk structure in spliced image.

The present invention discloses a three-chain crawling-operating integrated configuration variable space manipulator, comprising a manipulator structure, a quick-locking structure, a three-chain manipulator arm structure, a base plate structure, and an external manipulator arm structure. The three-chain manipulator arm structure comprises three manipulator arms of identical models and a base connection device; the base plate structure comprises several identical connection devices and a manipulator arm storage device; the quick-locking structure comprises a quick locking device, a spring buffer device, and an information transmission module; the manipulator structure comprises a connection device and a grasping device; and the external manipulator arm structure comprises a trunk structure and a connection locking device. The present invention fixes the three-chain manipulator arm to several quick-locking devices on the base plate, enabling the manipulator arm to crawl on the base plate. Depending on the requirements of the task to be performed, the manipulator can select between two-arm fixed single-arm operation or single-arm fixed two-arm collaboration. Furthermore, the number of branch joints can be increased to increase the range of motion. The invention has the characteristics of high adaptability, high flexibility, and a large operating range.

Some embodiments of the disclosure relate to the technical field of lights and disclose an LED string light with a branch-trunk structure, including a power supply assembly and multiple wire groups. A light source assembly is arranged between every two wire groups, and an end of the first wire group is electrically connected to the power supply assembly; every two wire groups are at least partially bent and combined to form a branch-trunk structure used for supporting the light source assembly. The disclosure may have the following advantages: 1, the string light in this technical solution is small in overall size, low in weight, easier to install and low in installation difficulty; 2, the light is mainly formed by columnar transparent light beads, such that the internal structure of the light is effectively simplified, and the use cost of the string light is reduced.

The present application belongs to the technical field of bionic robots, and particularly relates to a mechanism for realizing curve motion through multi-link differential motion, which comprises a hip joint frame, two waist driving power sources are installed on the hip joint frame, an output end of the waist driving power source is connected with a swing assembly, the hip joint frame is rotationally connected with a main shaft, the main shaft is fixedly connected with a shaft sleeve, one end of the swing assembly away from the waist driving power source is connected with the shaft sleeve, the main shaft is rotationally connected with a swing rod, and the other end of the swing rod is rotationally connected with the hip joint frame; the other end of the main shaft is fixedly provided with a support fixed fork, the support fixed fork is rotationally connected with a cross ring, the two sides of the cross ring are rotationally connected with trunk rotating power sources, a support assembly is rotationally connected between the output end of the trunk rotating power source and the support fixed fork, and a trunk structure is connected between the housings of the two trunk rotating power sources. The present application provides a mechanism for simulating human waist action through multi-link differential motion.

The utility model provides an elephant trunk structure of a bionic elephant robot. The elephant trunk structure comprises a body, the front end of the body is provided with an elephant trunk mechanism, the elephant trunk mechanism comprises a flexible shell and a plurality of soft body units, each soft body unit is provided with an inertia measurement module, each soft body unit is provided with four SMA spring drivers, and each SMA spring driver is provided with an SMA spring. When the service object exceeds the monitored electronic fence area, the whole mechanism moves to the vicinity of the service object and drives the trunk mechanism, so that the trunk mechanism straightens and blocks the service object to prevent the service object from crossing the electronic fence area, thereby preventing the service object from being caught in a dangerous environment, and reducing the probability of safety accidents. And the whole robot adapts to the requirements of different service objects, the combination of science and technology and humanistic care is promoted, and the popularization value is high.

The invention provides an intelligent humanoid robot with a body for playing a melodica and a man-machine interaction playing method.The intelligent humanoid robot comprises the intelligent humanoid robot body and the melodica, the intelligent humanoid robot body comprises a wheel type chassis walking mechanism, and a lifting stand column leg mechanism is arranged above the wheel type chassis walking mechanism; a robot trunk structure simulating the upper body of the human body is installed on the lifting stand column leg mechanism. A man-machine interaction touch control display screen is installed in front of the trunk structure, and a flow valve, an air pump, a driver and an air path control circuit are arranged in the trunk structure. A robot head mechanism is arranged at the top end of the robot trunk mechanism, and an air channel pipeline connected with the chest, a camera and a sound box are arranged in the head mechanism. The robot arm mechanisms are installed on the two sides of the robot trunk mechanism, and the five-finger dexterous hand is installed at the tail end of a mechanical arm of each robot arm mechanism of the robot trunk mechanism. The melodica is of a double-row key structure and is provided with an air path control valve, two air pipes are connected with the robot respectively, and the other air pipe can be used by a user.

The embodiment of the invention provides a trunk structure and a robot, and the trunk structure comprises a trunk body which is internally provided with a containing space; the arm parts are movably connected with the trunk body; and the driving part is arranged in the accommodating space, is in transmission connection with the arm part, and drives the arm part to rotate relative to the trunk body by taking the first shaft as the axis, and / or drives the arm part to rotate relative to the trunk body by taking the second shaft as the axis. Compared with the limited arm lifting action of a traditional'desktop-level 'robot, the trunk structure can drive the arm parts to rotate with the first shaft as the axis through the driving parts so as to simulate the arm swinging action of human beings, further, the trunk structure can drive the arm parts to rotate with the second shaft as the axis through the driving parts so as to simulate the arm lifting action of human beings, and the robot can be understood; the arm lifting action and the arm swinging action can be carried out at the same time, so that the movement space of the arms is increased, and interaction experience is good.

A system comprises a display system and a control system communicatively coupled to the display system. The control system is configured to receive anatomic image data for an anatomic tree structure and generate an initial segmentation of the anatomic image data. The initial segmentation includes a trunk structure and a branched structure unconnected to the trunk structure. The control system is also configured to determine whether to connect the branched structure to the trunk structure based on an assessment of a shape of the branched structure and an assessment of a relationship between the trunk structure and the branched structure.