CN102881219B - Fruit-tree positioning map constructing device and method - Google Patents
Fruit-tree positioning map constructing device and method Download PDFInfo
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- CN102881219B CN102881219B CN201210350636.XA CN201210350636A CN102881219B CN 102881219 B CN102881219 B CN 102881219B CN 201210350636 A CN201210350636 A CN 201210350636A CN 102881219 B CN102881219 B CN 102881219B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
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Abstract
The invention belongs to the technical field of automatic measurement and control of agricultural mechanical equipment and relates to a fruit-tree precise positioning mobile vehicle-mounted device for an orchard, in particular to a fruit-tree positioning map constructing method, comprising a mobile platform, a GPS (global position system) positioning module, a laser detection module and a vulgar cruising module. According to the characteristics of the distribution of the fruit trees in the orchard, a wheeled mobile platform which can walk between the rows of fruit trees is adopted, and a laser distance measuring instrument, an inertial measurement device, the GPS positioning module, a radar speed measuring instrument and a measuring and controlling board card are combined together, thus the fruit trees are positioned and identified quickly and effectively in the low-speed cruising state, the information of the distribution of the fruit trees is obtained, the orchard positioning map is constructed in real time, the information of growth and distribution of the fruit trees are obtained accurately, and scientific technological means are provided for the accurate pesticide applying of the fruit trees, the scale operation of the orchard and the precision agriculture digital management.
Description
Technical field
The invention belongs to agricultural machinery equipment automatic measure control technical field, relate to a kind of vehicle-carried mobile device that is applied to the fruit tree precise positioning in orchard, relate in particular to the construction method of a planting fruit-trees positioning map.
Background technology
In order to improve the market competitiveness, the management mode of China economic forest is just towards scale, systematization, digitizing future development.Under this management mode, orchard worker need to obtain diversity fruit tree growth information accurately, as actual growth position, trunk size etc., obtains accordingly the regularity of distribution of fruit tree and formulates rational orchard operation plan, and if tree is to target dispenser etc.Orchard worker utilized manual type to obtain this type of information in the past, and which labor capacity is large, efficiency is extremely low, and accuracy of information is not high, and even therefore some orchard workers abandon obtaining these information, thereby cause China's economic forest large-scale development slow.At present, many Chinese scholars and researchist utilize airborne mapping system to draw agricultural information map, the method efficiency is high, from the angle of overlooking, obtain the distributed intelligence of top fruit sprayer, be applicable to large-area forest zone and farmland, but measuring accuracy is not high, and cannot obtain under tree crown compared with the information of details (size of if tree trunk and position etc.).Therefore, exploitation is applicable to the ground on-vehicle mapping system of economic forest operation, can obtain efficiently and accurately the diversity growth information of above-mentioned fruit tree, contribute to orchard worker to arrange the orchard operation of reasonable science, also for the digital management of following orchard provides scientific and technical means.
Summary of the invention
The object of this invention is to provide a kind of fruit tree positioning map construction device having compared with high automation level, be particularly useful for Real-time Obtaining fruit tree size and positional information, and create corresponding distribution map, for the digital management of following orchard provides technological means.
A planting fruit-trees positioning map construction device provided by the invention, is characterized in that: comprising:
Mobile platform: the mobile platform that employing can in the ranks be walked at fruit tree crop;
GPS locating module: for obtaining the parts of global positioning information, be arranged on the top of mobile platform;
Laser acquisition module: comprise a laser range finder and an inertial measuring unit, wherein laser range finder is used for obtaining the two-dimensional scan outline data of object around, and trunks of fruit trees is positioned to identification, it is capable that laser range finder is faced fruit tree crop, take the Laser emission center of laser range finder is initial point, set up the relative coordinate system of laser range finder, the median line that x axle is laser range finder, the working direction that y axle is mobile platform; Inertial measuring unit is closely fixed on laser range finder top, the angle of pitch, roll angle and course angle in order to real-time measurement laser range finder in mobile operating process;
Cruise control module: be mainly under≤10km/h speed, control the gait of march of mobile platform, make it keep stable, thereby avoid increasing because of caused each sensor element measuring error of gait of march fluctuation;
Main control unit: be the military version notebook computer that is applicable to using under rugged surroundings, be responsible for acquisition and processing from the data of GPS locating module, laser acquisition module and cruise control module, obtain trunks of fruit trees locating information and the control information etc. of cruising;
In addition, the present invention also provides the method that above-mentioned fruit tree positioning map construction device carries out trunks of fruit trees positioning map structure of applying.
Advantage of the present invention: the present invention proposes the new approaches that obtain trunks of fruit trees growth and locating information in a kind of moving process, special characteristic distributions and growth characteristics for orchard fruit tree, the wheel moving platform that employing can in the ranks be walked at fruit tree crop, by laser range finder, inertial measuring unit, GPS locating module, radar meter and observing and controlling board combine, realization under low speed cruising condition to fruit tree fast, effective location and identification, and the distributed intelligence of synchronously obtaining fruit tree, create real-time fruit tree positioning map, accurately obtain growth and the distributed intelligence of fruit tree, for fruit tree accuracy pesticide applying, orchard appropriate scale of operation and precision agriculture digital management provide scientific and technical means.
Accompanying drawing explanation
Below in conjunction with drawings and the embodiments, the present invention is further detailed explanation:
Fig. 1 is the integral layout vertical view of fruit tree positioning map element apparatus of the present invention;
Fig. 2 is the scheme of installation of radar meter of the present invention;
Fig. 3 is the control principle drawing of cruise control module of the present invention;
Fig. 4 is fruit tree positioning map construction method process flow diagram of the present invention.
Reference numeral:
1-mobile platform; 2-GPS locating module; 3-laser range finder; 4-support; 5-inertial measuring unit; 6-scanning area; 7-observing and controlling case; 8-radar meter; 9-bearing circle; 10-E-Gas; 11-motor driver; 12-control mode switch button; 13-motor; 14-gas pedal; 15-fruit tree; 16-RS232 turns USB interface; 17-USB interface; 18-RS422 turns USB interface; 19-median line; 20-main control unit; 21-observing and controlling board; 22-installed surface; 23-radar wave transmitting-receiving face; 24-is apart from floor level; The angle on 25-and ground; 26-artificial mode; 27-automatic mode.
Embodiment
The construction device of fruit tree positioning map of the present invention, preferably embodiment is as shown in Figures 1 to 4 for it:
As shown in Figure 1, the ingredient of the construction device of fruit tree positioning map of the present invention comprises: mobile platform, GPS locating module, laser acquisition module, cruise control module and main control unit etc.
In the present invention, wheeled electrical agricultural vehicle or the baby tractor of mobile platform 1 for can in the ranks walking in fruit tree, the mobile platform 1 of the present embodiment is selected wheeled electrical agricultural vehicle, in the present invention, all parts are installed on mobile platform 1, mobile platform 1 dead weight 450kg, full load max. speed 25km/h, max. climb slope≤25%, rated power 4.5kw, is furnished with 4 12V vehicular power-bottles, for whole fruit tree positioning map construction device provides power supply.
In the present invention, GPS (GPS) locating module 2 is arranged on mobile platform 1 ceiling centre position, for TrimbleSPS461 localizer beacon receiver, positioning precision reaches centimetre-sized, water proof and dust proof, data output turnover rate is 5Hz, turns usb 16 carry out data communication with main control unit 20 by RS232.
In the present invention, laser acquisition module comprises a laser range finder 3 and an inertial measuring unit 5, laser range finder 3 is arranged on 60cm place, distance ground, the anterior left side of mobile platform 1 by support 4, in the face of fruit tree 15 crop rows, the trunk of horizontal two-dimension scanning fruit tree 15, scanning angle resolution is 0.25 °, surface sweeping region 6 is arranged to 100 °, maximum measuring distance is 8m, by usb 17 and main control unit 20, carries out data communication, and data output renewal frequency is 18.7Hz; As shown in Figure 1, take the Laser emission center of laser range finder 3 is initial point, has set up the relative coordinate system of laser range finder 3, and x axle is the median line 19 of laser range finder 3, and y axle is the working direction of mobile platform 1; Inertial measuring unit 5 is closely fixed on laser range finder 3 tops, the angle of pitch, roll angle and course angle in order to real-time measurement laser range finder 3 in mobile operating process, by RS422, turn usb 18 with main control unit 20 and carry out data communication, data output renewal frequency is 100Hz.
In the present invention, the construction device of fruit tree positioning map is conventionally compared with (≤10km/h) operation under low velocity, cruise control module is mainly compared with under low velocity this, control the gait of march of mobile platform 1, make it keep stable, thereby avoid increasing because of caused each sensor element measuring error of gait of march fluctuation; Cruise control module is comprised of an observing and controlling case 7, radar meter 8, bearing circle 9, E-Gas 10, motor driver 11, control mode switch button 12, motor 13, a gas pedal 14; Wherein bearing circle 9, E-Gas 10, motor driver 11, motor 13 and gas pedal 14 are original accessory of mobile platform 1, E-Gas 10 is induction type electronic throttle, model is ipPDMG-B-5.0, motor 13 is for there being brush DC motor with separate excitation ZT3-48, rated power 3kW, rated speed 2800r/min.
Radar meter 8 is used for detecting the actual travel speed of mobile platform 1, as shown in Figure 2, the installed surface 22 of radar meter 8 is fixed on the afterbody centre position (as shown in Figure 1) of mobile platform 1 by special stand, radar wave transmitting-receiving face 23 centre distance floor levels 24 are 70cm, and the radar wave transmitting-receiving normal direction of face 23 and the angle on ground 25 are 35 °; Radar wave frequency is 24.125GHz ± 50MHz, and radar meter 8 measurement ranges are 0.53～107.8km/h, and output frequency is 27.45Hz/km/h.
As shown in Figure 3, cruise control module is divided into artificial mode 26 and automatic mode 27: under artificial mode, by driver, step on gas pedal 14, gas pedal 14 is controlled E-Gas 10 and to motor driver 11, is sent the voltage control signal of 0～5V, again by motor driver 11 drive motor 13, regulate motor 13 rotating speeds, thereby keep the gait of march of mobile platform 1 stable; Under automatic mode, by radar meter 8, detected the actual travel speed of mobile platform 1, by observing and controlling board 21 No. mono-counter passage, gather, and be transferred to main control unit 20, main control unit 20 converts the frequency signal of radar meter 8 to actual travel speed, again according to the difference amplitude of actual travel speed and expection gait of march, by observing and controlling board 21 mono-analog output channel, tunnel, to motor driver 11, send the voltage control signal of 0～5V, regulate the rotating speed of motor 13, thereby mobile platform 1 is remained in the gait of march of expection; Observing and controlling board 21 is ZTUSB-7660DN data collecting card, have 48 tunnels single-ended/24 road difference analogue input channels, 4 analog output channels, tunnel, No. 3 counter passages, 16 railway digital amount input channels and 16 railway digital amount output channels, by usb 17 and main control unit 20, carry out data communication.The artificial mode of cruise control module and automatic mode switch by control mode switch button 12, the normally off that Fig. 3 illustrates control mode switch button 12 is artificial mode, normally open is automatic mode, driver presses after control mode switch button 12, button glows, and cruise control module is switched to automatic mode, during sprung push buttons, button is not luminous, is switched to artificial mode simultaneously; Control mode switch button 12 is arranged on observing and controlling case 7 top covers, and observing and controlling case 7 is placed in the position (Fig. 1) that can touch easily on driver right side, facilitates driver's operation; Cruise control module is no matter under artificial mode or automatic mode, all need driver to pass through the direct of travel that bearing circle 9 is controlled mobile platform 1, in operation process, guarantee that mobile platform 1 is along straight line moving as far as possible, and keep the distance of laser range finder 3 and fruit tree 15 crop rows within the scope of 70～100cm.
In the present invention, the military version notebook computer of main control unit 20 for being applicable to using under rugged surroundings, CPU frequency is 2.4GHz dual core processor, inside saves as 3GB, hard disk is 250GB, can, in the rugged surroundings such as humidity, dust, pollution, vibrations, meet job requirements.Main control unit 20 is arranged on bearing circle 9 right positions by vehicle-mounted bracket, can adjust according to driver habit the position of vehicle-mounted bracket and main control unit 20, so that driver monitors the content that main control unit 20 shows in real time;
In the present invention, for avoiding being subject to the impact of operating environment humidity and dust, observing and controlling board 21 is placed in the observing and controlling case 7 of a water proof and dust proof; Main control unit 20 has also been equipped with specially 12V direct current and has turned 220V interchange vehicle-mounted inverter, by the 12V vehicular power-bottle on mobile platform 1, provides power supply, and this vehicle-mounted inverter is also placed in observing and controlling case 7; In addition, be also furnished with fuse group in observing and controlling case 7, vehicular power-bottle provides 12V direct supply to GPS locating module 2, laser range finder 3 and inertial measuring unit 5 respectively through fuse group.
Under the structure of fruit tree positioning map and automatic mode, cruising of mobile platform 1 controlled respectively independently carrying out in thread, below in conjunction with Fig. 4, fruit tree positioning map construction method specifically described:
(1) laser range finder 3 data acquisitions, trunk fixation and recognition and positioning map are created in main thread and complete.In Fig. 1, laser range finder 3 relative Laser emission centers are launched counterclockwise and are received scanning laser beam, complete after single pass, obtain one group of two-dimensional scan cloud data of object around, comprise under scanning angle and this angle that object is to the air line distance (being measuring distance) at laser range finder 3 Laser emission centers; First according to measuring distance, carry out filtering, the overrun cloud data point of A of measuring distance is rejected, avoid the interference of ground unrest, scope A is set as fruit tree 15 crop rows to 1.5 times of the vertical range of laser range finder 3; Then the saltus step distance between calculation level cloud data point, utilizes threshold value B to carry out sub-clustering to cloud data, and the data point that saltus step distance is no more than threshold value B is considered to the point on same fruit tree 15 trunks, is divided into same cluster label; Otherwise, belong to the point on different trunks, be divided into different bunches; Threshold value B is determined by scanning angle resolution, sweep time and the gait of march of laser range finder 3;
(2) transversal section of supposing fruit tree 15 trunks is standard round, standard diameter of a circle is the size of fruit tree 15 trunks, the home position of standard round is fruit tree 15 trunk positions, cloud data after sub-clustering is one section of circular arc of fruit tree 15 trunk transversal section standard rounds, utilize least square method to bunch cloud data point carry out standard round matching, obtain standard diameter of a circle and the center of circle, be size and the position of fruit tree 15 trunk transversal section, also record the system time of main control unit 20 simultaneously, be called laser collection constantly;
(3) being captured in another separate threads of GPS locator data carried out, and GPS locator data comprises system time (being called GPS gathers constantly), latitude and longitude information, gait of march and the course angle of main control unit 20; In another separate threads, active cell 20 is by the open and-shut mode of a railway digital amount input channel real-time inspection and control mode switch button 12 of observing and controlling board 21, when control mode switch button 12 being detected and press, program enters the control of cruising of mobile platform 1 under automatic mode, with the expection gait of march of setting, at the uniform velocity travels; When control mode switch button 12 being detected, upspring, be switched under manual mode, prompting driver controls the gait of march of mobile platform 1; The actual travel speed that gait of march in GPS locator data and course angle and radar meter 8 detect is respectively from lining up to be transferred to main thread by thread thread separately; Main control unit 20 carries out data fusion according to the actual travel speed of the gait of march in GPS locator data and course angle and radar meter 8 detections, finally determines gait of march and the course angle of mobile platform 1;
(4) laser range finder 3 provides fruit tree 15 trunk sizes and position data renewal frequency are 18.7Hz, gps data renewal frequency is 5Hz, for further improving positioning precision, before once upgrading in above-mentioned data, according to gait of march and the course angle of the mobile platform 1 obtaining after the fruit tree 15 trunk positions of laser range finder 3 current acquisitions, data fusion, with the interval reverse interpolation of 10ms, predict the mobile trend of fruit tree 15 trunks, obtain the relatively move predicted position of platform of some fruit tree 15 trunks, a laser collection of every interpolation increases 10ms constantly;
(5) some fruit trees 15 trunk predicted positions that calculating is obtained by step (4) are to the vertical range of the median line 19 of laser range finder 3, due to the just in time very difficult seizure constantly of this in the median line 19 of laser range finder 3 of trunk predicted position, therefore get the shortest trunk predicted position of its middle distance as the position over against laser range finder 3, according to the laser collection moment and GPS now, gather constantly, the latitude and longitude information of interpolation calculation in laser collection GPS locator data constantly, RS232 turns the data that USB interface reads inertial measuring unit 5 simultaneously, obtain the GPS locator data of inscribing when laser gathers, fruit tree 15 trunk sizes and predicted position information, the angle of pitch of laser range finder 3, roll angle and course angle,
(6) by the resulting fruit tree 15 trunk predicted positions of step (5), are the positions in the relative coordinate system of laser range finder 3, in GPS locator data, latitude and longitude information is the position of GPS locating module 2 in earth coordinates; According to GPS module 2 and laser range finder 3 position relationship each other, the GPS locator data of laser system under the time, fruit tree 15 trunk sizes and predicted position information, the angle of pitch of laser range finder 3, roll angle and course angle, fruit tree under relative coordinate 15 trunk predicted positions are carried out to coordinate conversion to earth coordinates, thereby obtain fruit tree 15 trunk physical locations;
(7) according to size and the physical location of fruit tree 15 trunks, generate in real time fruit tree positioning map, and be presented on the display screen of main control unit 20, simultaneously by the GPS locator data under laser system time, this system time, fruit tree 15 trunk sizes and predicted position information, the angle of pitch of laser range finder 3, roll angle and course angle store in database, and convenient operating personnel in the future carry out data management and map generates.
The above; be only the present invention's embodiment preferably, but protection scope of the present invention is not limited to this, is anyly familiar with those skilled in the art in technical scope disclosed by the invention; the variation that can expect easily or replacement, all should be encompassed in protection scope of the present invention.
Claims (5)
1. a planting fruit-trees positioning map construction device, is characterized in that: comprising:
Mobile platform: the mobile platform that employing can in the ranks be walked at fruit tree crop;
GPS locating module: for obtaining the parts of global positioning information, be arranged on the top of mobile platform;
Laser acquisition module: comprise a laser range finder and an inertial measuring unit, wherein laser range finder is used for obtaining the two-dimensional scan outline data of object around, and trunks of fruit trees is positioned to identification, it is capable that laser range finder is faced fruit tree crop, take the Laser emission center of laser range finder is initial point, set up the relative coordinate system of laser range finder, the median line that x axle is laser range finder, the working direction that y axle is mobile platform; Laser range finder completes after single pass, obtains one group of two-dimensional scan cloud data of object around, comprises under scanning angle and this angle that object is to the air line distance at laser range finder Laser emission center, i.e. measuring distance; First according to measuring distance, carry out filtering, the overrun cloud data point of A of measuring distance is rejected; Then the saltus step distance between calculation level cloud data point, utilizes threshold value B to carry out sub-clustering to cloud data, and the data point that saltus step distance is no more than threshold value B is considered to the point on same trunks of fruit trees, is divided into same cluster label; The transversal section of supposing trunks of fruit trees is standard round, standard diameter of a circle is the size of trunks of fruit trees, the home position of standard round is trunks of fruit trees position, the same bunch of cloud data point to described acquisition carries out standard round matching, obtain standard diameter of a circle and the center of circle, be size and the position of trunks of fruit trees transversal section; Inertial measuring unit is closely fixed on laser range finder top, the angle of pitch, roll angle and course angle in order to real-time measurement laser range finder in mobile operating process;
Cruise control module: be mainly under≤10km/h speed, control the gait of march of mobile platform, make it keep stable;
Main control unit: be the military version notebook computer that is applicable to using under rugged surroundings, be responsible for acquisition and processing from the data of GPS locating module, laser acquisition module and cruise control module, obtain trunks of fruit trees locating information and the control information etc. of cruising.
2. according to fruit tree positioning map construction device claimed in claim 1, it is characterized in that: cruise control module comprises observing and controlling case, radar meter, bearing circle, E-Gas, motor driver, control mode switch button, motor, gas pedal; Cruise control module is divided into artificial mode and automatic mode, under artificial mode, by driver, step on gas pedal, control E-Gas and send voltage control signal to motor driver, again by motor driver drive motor, thereby keep the gait of march of mobile platform stable; Under automatic mode, by radar meter, detected the actual travel speed of mobile platform, by an observing and controlling board, be transferred to main control unit, main control unit is the difference amplitude with expection gait of march according to actual travel speed, by observing and controlling board, to motor driver, send voltage control signal, regulate the rotating speed of motor, thereby mobile platform is remained in the gait of march of expection.
3. according to fruit tree positioning map construction device claimed in claim 2, it is characterized in that: control and testing board is placed in observing and controlling case, main control unit has been equipped with 12V direct current and has turned 220V interchange vehicle-mounted inverter, by the 12V vehicular power-bottle on mobile platform, provides power supply, and this vehicle-mounted inverter is also placed in observing and controlling case; In addition, be also furnished with fuse group in observing and controlling case, vehicular power-bottle provides 12V direct supply to GPS locating module, laser range finder and inertial measuring unit respectively through fuse group.
4. according to fruit tree positioning map construction device claimed in claim 2, it is characterized in that: GPS locating module turns USB interface by RS232 and main control unit carries out data communication; Laser range finder carries out data communication by USB interface and main control unit; Inertial measuring unit and main control unit turn USB interface by RS422 and carry out data communication; Control and testing board cartoon crosses USB interface and main control unit carries out data communication.
5. the fruit tree positioning map construction device described in application rights requirement 1 carries out a method for trunks of fruit trees positioning map structure, and laser range finder data acquisition, trunk fixation and recognition and positioning map are created in main thread and complete, and it is characterized in that:
(1) laser range finder completes after single pass, obtains one group of two-dimensional scan cloud data of object around, comprises under scanning angle and this angle that object is to the air line distance at laser range finder Laser emission center, i.e. measuring distance; First according to measuring distance, carry out filtering, the overrun cloud data point of A of measuring distance is rejected; Then the saltus step distance between calculation level cloud data point, utilizes threshold value B to carry out sub-clustering to cloud data, and the data point that saltus step distance is no more than threshold value B is considered to the point on same trunks of fruit trees, is divided into same cluster label;
(2) transversal section of supposing trunks of fruit trees is standard round, standard diameter of a circle is the size of trunks of fruit trees, the home position of standard round is trunks of fruit trees position, the same bunch of cloud data point that step (1) is obtained carries out standard round matching, obtain standard diameter of a circle and the center of circle, be size and the position of trunks of fruit trees transversal section, also record the system time of main control unit simultaneously, be called laser collection constantly;
(3) being captured in a separate threads of GPS locator data carried out, and GPS locator data comprises that the system time of main control unit is called GPS and gathers the moment, latitude and longitude information, gait of march and course angle; In another separate threads, main control unit is by the open and-shut mode of observing and controlling board real-time inspection and control mode switch button, when control mode switch button being detected and press, program enters the control of cruising of mobile platform under automatic mode, according to expection gait of march, at the uniform velocity travels; When control mode switch button being detected, upspring, be switched under manual mode, prompting driver controls the gait of march of mobile platform; Main control unit carries out data fusion according to the actual travel speed of the gait of march in GPS locator data and course angle and radar meter detection, finally determines gait of march and the course angle of mobile platform;
(4), according to gait of march and the course angle of the mobile platform obtaining after the trunks of fruit trees position of the current acquisition of laser range finder, data fusion, reverse interpolation prediction trunks of fruit trees, with respect to the mobile trend of mobile platform, obtains some trunks of fruit trees predicted positions;
(5) some trunks of fruit trees predicted positions that calculating is obtained by step (4) are to the vertical range of the median line of laser range finder, get the shortest trunk predicted position of its middle distance as the position over against laser range finder, according to the laser collection moment and GPS now, gather constantly, the latitude and longitude information of interpolation calculation in laser collection GPS locator data constantly, read the data of inertial measuring unit simultaneously, obtain the GPS locator data of inscribing when laser gathers, trunks of fruit trees size and predicted position information, the angle of pitch of laser range finder, roll angle and course angle;
(6) according to GPS module and laser range finder position relationship each other, laser collection GPS locator data constantly, trunks of fruit trees size and predicted position information, the angle of pitch of laser range finder, roll angle and course angle, trunk predicted position in relative coordinate is transformed in earth coordinates, thereby obtains trunks of fruit trees physical location;
(7) according to the size of trunks of fruit trees and physical location, generate in real time fruit tree positioning map, and be presented on the display screen of main control unit, by the GPS locator data under laser system time, this system time, trunks of fruit trees size and predicted position information, the angle of pitch of laser range finder, roll angle and course angle store in database simultaneously.
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| CN102085664A (en) * | 2011-01-04 | 2011-06-08 | 北京林业大学 | Autonomous operation forestry robot intelligent control system |
| CN102135766A (en) * | 2011-01-04 | 2011-07-27 | 北京林业大学 | Autonomous operation forestry robot platform |
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