The invention relates to the field of intelligent pruning of fruit trees, in particular to intelligent pruning equipment for trunk-shaped fruit trees and an operation method thereof. A high-definition unmanned aerial vehicle is adopted to obtain fruit tree group information and individual information based on a low-altitude oblique photogrammetry technology, and the high-definition unmanned aerial vehicle sends the fruit tree group information to an automatic driving system through wireless data transmission and sends the fruit tree individual information to a visual identification system; after the automatic driving system obtains fruit tree group information in an orchard, coordinates of the fruit tree group information in the orchard are obtained, an autonomous walking path is planned, orchard path information is obtained, and the industrial personal computer controls the movable chassis to achieve the autonomous walking function. After a visual identification system obtains individual information of fruit trees in an orchard, training a fruit tree individual information sample database through a deep learning algorithm to obtain cloud depth information of to-be-pruned points of the fruit trees; and the pruning device moves up and down and back and forth in real time according to an instruction sent by the lower controller, so that layered branch thinning and pruning operation of the fruit trees is completed.

    本发明涉及果树智能修剪领域,具体涉及一种主干形果树智能修剪装备及其作业方法。本发明采用高清无人机基于低空倾斜摄影测量技术,获取果树群体信息与个体信息,高清无人机通过无线数据传输将果树群体信息发送给自动驾驶系统,将果树个体信息发送给视觉识别系统;自动驾驶系统获得果园中果树群体信息后,获得果园中果树群体信息的坐标,规划自主行走路径,获取果园路径信息,工控机控制移动底盘实现自主行走功能;视觉识别系统获得果园中果树个体信息后,通过深度学习算法对果树个体信息样本数据库进行训练,获取果树待剪枝点云深度信息;修剪装置根据下位控制器发送的指令,三组修剪刀盘总成实时上下、前后移动,完成果树分层疏枝修剪作业。


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    Title :

    Intelligent pruning equipment for trunk-shaped fruit trees and operation method of intelligent pruning equipment


    Additional title:

    一种主干形果树智能修剪装备及其作业方法


    Contributors:
    ZHANG HUIMING (author) / ZHANG BIN (author) / FU WEI (author) / SHEN CONGJU (author) / FU YUXING (author) / FU MENG (author) / XIA YUYANG (author) / WANG YONG (author) / YOON SUNG-HAE (author)

    Publication date :

    2023-05-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    A01G Gartenbau , HORTICULTURE / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / B64U / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



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