CN102907406A - Accurately targeted drug applying device and method for fruit tree rootstock - Google Patents
Accurately targeted drug applying device and method for fruit tree rootstock Download PDFInfo
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Abstract
The invention relates to an agricultural drug applying device, in particular to an accurately targeted drug applying device for fruit tree rootstock. The device comprises a system carrying platform, a locating and identifying subsystem, a targeted drug applying subsystem and a distribution map generating subsystem. According to growing characteristics of the fruit tree rootstock, a portal frame type moving platform is adopted; a scanning type laser range finder, machine vision and GPS (global positioning system) are combined together to quickly and effectively locate and identify the fruit tree rootstock, therefore a multi-nozzle drug applying system is controlled to finish the targeted drug applying operation, and meanwhile the distribution map of the fruit, the rootstock and the drug applying amount is generated. The accurately targeted drug application to the fruit tree rootstock can be implemented; the pesticide usage amount is effectively reduced; the drug liquid utilization ratio is improved; the environment pollution is reduced; and scientific skills can be provided for the orchard digital management in the future.
Description
Technical field
The present invention relates to a kind of agriculture dispenser apparatus for work, relate in particular to a planting fruit-trees root turion precisely to the target device for administration of drugs.
Background technology
The fruit tree root turion be from fruit tree root grow can not the result spray, tendril or branch, generally send from the resting bud of trunks of fruit trees root, the important nutrition of the part of plant can be converted into useless growth.For the useful growth of assurance fruit tree obtains enough nutrition, and avoid affecting other orchard operation, the root turion of going out is very necessary.In the whole season of growth, root turion can constantly grow in fruit tree, therefore also requires repeatedly to remove root turion.
Tradition root turion removal method is the artificial removal, utilizes the edge tool such as pocket knife that root turion is removed from the trunk training.Although the method can be removed root turion fully, and the tree body is not caused any damage, more consuming time, labour intensity is large, cost is high, can't satisfy the needs of large-scale production; Another kind method is that machinery is removed, and is higher than manual type efficient, but strikes off root turion owing on the employing swivel head instrument that is similar to whip is installed, very large to young plant damage, can wipe the bark on the trunk off, even tiny trunk is interrupted.In addition, the part root turion can't be removed fully, and having is completely cured remains in tree pole-footing section, and root turion also can be from being completely cured continued growth out.At present, utilize chemical agent control root turion to become a kind of effective means, and progressively substitute artificial and mechanical means, usually adopt banded insecticide-applying way to continue to spray chemical agent at the trunk root.Because root turion can only send from fruit tree root, between plant, can not occur, and the quantity that each plant grows root turion is utilized said method to spray medicament and can be caused the excessive dispenser of neutral gear between plant, cost increase, contaminated environment with big or small different.Adopt precisely to the target pesticide application technology, the concrete condition (size and position) of growing according to single plant root turion decides dispenser opportunity and formulation rate, not only can reduce the agricultural chemicals usage amount, reduce environmental pollution, also can liberate the labour, enhance productivity.At present, accuracy pesticide applying technology correlative study for farmland weed is a lot, but the fruit tree root turion is not weeds in field, but the assorted branch of trunks of fruit trees, it is all completely different with weeds from growth characteristics, form and distribution, it is carried out precisely also different to the specification requirement of target dispenser.Therefore, need to carry out technical research to fruit tree root turion fixation and recognition technology with to the target pesticide application technology.
In addition, in order to improve the market competitiveness, the management mode of China economic forest is just towards scale, systematization, digitlization future development.Under this management mode, the orchard worker need to obtain accurately diversity fruit tree growth information, such as actual growth position, trunk size, the size of growing root turion and position and the number of times etc. that repeatedly grows root turion in a growth season, obtain accordingly the regularity of distribution of fruit tree root turion and formulate rational orchard operation plan, remove root turion etc. such as dispenser.The orchard worker utilized manual type to obtain this type of information in the past, and this mode amount of labour is large, efficient is extremely low, and accuracy of information is not high, even therefore some orchard workers abandon obtaining these information, thereby caused China's economic forest large-scale development slow.At present, many Chinese scholars and researcher utilize airborne mapping system to draw the agricultural information map, and the method efficient is high, are fit to large-area forest zone and farmland, but certainty of measurement is not high, and can't obtain the information (the growth size of if tree root turion and position etc.) than details.Therefore, exploitation is fit 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, help the orchard worker to arrange the orchard operation of reasonable science, also provide scientific and technical means for the digital management of following orchard.
Summary of the invention
The purpose of this invention is to provide and a kind ofly have fruit tree root turion than the high automation level precisely to the target device for administration of drugs, be particularly useful for Real-time Obtaining fruit tree, root turion and formulation rate distributed intelligence thereof, and create corresponding distribution map, for the digital management of following orchard provides technological means.
Technical scheme provided by the present invention is to propose a planting fruit-trees root turion precisely to the target device for administration of drugs, and it comprises:
System's carrying platform: comprise portal frame platform and vehicle-carried mobile platform, two portal frames about the portal frame platform is equipped with;
Fixation and recognition subsystem: be used for realizing fruit tree and root turion thereof are positioned and identify, comprise central computation unit, gps antenna, scanning type laser rangefinder and CCD colour imagery shot, the scanning type laser rangefinder is in order to location and identification trunk, and acquisition picture depth information; The CCD colour imagery shot gathers the root turion image under the mode that software triggers; Gps antenna obtains starter system time, latitude and longitude information, translational speed and course angle in real time; Central computation unit is the data message of acquisition scans formula laser range finder, CCD colour imagery shot and gps antenna simultaneously, by respective algorithms and control strategy fruit tree and root turion thereof are positioned and identify, and control is moved to target dispenser subsystem;
To target dispenser subsystem: formed by controller of multi-path valve, high-speed electromagnetic valve, shower nozzle, medicine-chest, membrane pump and pump control mechanism;
Distribution map generates subsystem: in the dispenser operation process, according to the relative position relation of GPS locating information, scanning type laser rangefinder and gps antenna and the root turion relative position with corresponding trunk center, with the locating information of trunks of fruit trees, root turion and corresponding formulation rate stores synchronized in database; After target dispenser operation finished, finally generate actual trunks of fruit trees, root turion and formulation rate distribution map;
In addition, the invention allows for to use and above-mentionedly precisely carry out precisely the target dispenser to the target device for administration of drugs and generate the method for fruit tree, root turion and formulation rate distribution map thereof.
Beneficial effect of the present invention is: according to the growth characteristic of fruit tree root turion, adopt the gantry frame type mobile platform, with the scanning type laser rangefinder, machine vision and GPS navigation system combine, realization is quick to the fruit tree root turion, effective location and identification, thereby controlling many shower nozzles dispenser system finishes target dispenser operation, and obtain synchronously fruit tree, the distributed intelligence of root turion and formulation rate thereof, create fruit tree, root turion and formulation rate distribution map thereof, realization for the fruit tree root turion precisely to the target dispenser, can effectively reduce the agricultural chemicals usage amount, improve the liquid availability, reduce environmental pollution, the liberation labour also provides scientific and technical means for the digital management of following orchard.
Description of drawings
The present invention is further detailed explanation below in conjunction with the drawings and the specific embodiments:
Fig. 1 (a) and Fig. 1 (b) are respectively fruit tree root turion of the present invention precisely to integral layout front view and the end view of target dispenser system;
Fig. 2 is that a side portal frame of the present invention is along the partial top view of A-A direction;
Fig. 3 is electric cabinet cut-away view of the present invention;
Fig. 4 is that fruit tree root turion of the present invention is precisely to target application method flow chart;
Fig. 5 is that fruit tree of the present invention, root turion and formulation rate distribution map generate method flow diagram.
Reference numeral:
1-portal frame platform; The 2-portal frame; The 3-support; 4-background blank; The 5-electric cabinet; 6-scanning type laser rangefinder; The 7-CCD colour imagery shot; The 8-shower nozzle; The 9-GPS antenna; 10-vehicle-carried mobile platform; The 11-central computation unit; The 12-fruit tree; The 13-root turion; The 14-liquid crystal touch screen; The 15-pump control mechanism; The 16-membrane pump; The 17-medicine-chest; 18-USB turns the CAN bus; The 19-USB interface; The 20-RS232 serial ports; The 21-gigabit Ethernet; 22-dispenser direction; The 23-center line; The 24-median line.
Embodiment
Fruit tree root turion of the present invention is precisely to the target device for administration of drugs, and the embodiment that it is better such as Fig. 1 are to shown in Figure 5:
As depicted in figs. 1 and 2, fruit tree root turion of the present invention is a portal frame platform 1 to system's carrying platform of target device for administration of drugs precisely, two portal frames 2 about it is total, in the dispenser operation process, fruit tree 12 can pass in the middle of portal frame 2, operating personnel can be according to the fruit tree line position, regulates the translation position of portal frame 2 by the hydraulic system on the portal frame platform 1, passes from portal frame 2 middles to keep fruit tree.Portal frame platform 1 is installed in vehicle-carried mobile platform 10 front portions by trifilar suspension, vehicle-carried mobile platform 10 wheel tractor for can in the ranks walking fruit tree.
Among the present invention, be provided with the layout of scanning type laser rangefinder 6, CCD (charge-coupled image sensor) colour imagery shot 7 and 8, two portal frame 2 above-mentioned parts of shower nozzle on two portal frames 2 of portal frame platform 1 with center line 23 left-right symmetry of vehicular platform 10.Specify the layout type of scanning type laser rangefinder 6, CCD colour imagery shot 7 and shower nozzle 8 as example take the right side portal frame of Fig. 1 (a): portal frame 2 has been installed a scanning type laser rangefinder 6 near 60cm place, the lateral extent ground level of vehicle-carried mobile platform 10, it is capable to face fruit tree crop, the trunk of horizontal two-dimension scanning fruit tree 12, scanning angle resolution is 0.36 °, and scanning area is arranged to 100 °.Scanning type laser rangefinder 6 carries out data communication (Fig. 1 (b)) with central computation unit 11 by usb 19;
Among the present invention, adopt a CCD colour imagery shot 7 to gather the image of root turion 13, its in the installation site on the portal frame 2 under scanning type laser rangefinder 6 homonymies are vertical the 18cm place, the resolution of CCD colour imagery shot 7 is 1280 * 960, frame rate is 32.8 fps, and the camera lens of installation is the 3.5mm camera lens, and the vertical and lateral angles of scene is respectively 52.7 ° and 66.9 °, imaging pattern is set to the software trigger mode, and other parameters keep default setting.CCD colour imagery shot 7 forms image acquisition and processing system with central computation unit 11, carries out data communication by gigabit Ethernet 21 each other;
Among the present invention, install a background blank 4 additional at opposite side and the CCD colour imagery shot 7 right opposite places of portal frame 2, be used for stopping tree crown in the background, weeds or other noise.
Among the present invention, in portal frame platform 1 crown center position a GPS (global positioning system) antenna 9 has been installed, has been carried out data communication with central computation unit 11 by RS232 serial ports 20.
Among the present invention, portal frame 2 both sides are separately installed with shower nozzle 8, and the shower nozzle of every side can be one or more, controls its switching by high-speed electromagnetic valve, and shower nozzle 8 links to each other with pump control mechanism 15, membrane pump 16, medicine-chest 17 by rubber hose and consists of spray medicine system.Central computation unit 11 turns CAN (controller zone network) bus 18 by USB and a controller of multi-path valve carries out communication, and the high-speed electromagnetic valve of controlling corresponding shower nozzle carries out self contained function.Pump control mechanism 15 is controlled membrane pump 16 to keep operating pressure stable according to the dispenser flow system flow.
As shown in Figure 2, scanning type laser rangefinder 6, CCD colour imagery shot 7 and shower nozzle 8 all are to be installed on the portal frame 2 by support 3, and its position each other can be regulated within the specific limits, and support 3 also can slide up and down at portal frame.CCD colour imagery shot 7 (not shown among Fig. 2) be arranged on scanning type laser rangefinder 6 under, and relative with background blank 4.The y direction of principal axis of the relative coordinate system of scanning type laser rangefinder 6 represents the direction of advance of vehicle-carried mobile platform 10 among Fig. 2, the shower nozzle 8 of portal frame 2 both sides is placed on respectively the back of scanning type laser rangefinder 6, CCD colour imagery shot 7 and background blank 4 with respect to direction of advance, and two shower nozzles are relative.
Among the present invention, central computation unit 11 adopts the military version notebook computer that is applicable to use under the adverse circumstances, and CPU frequency is the 2.4GHz dual core processor, in save as 3GB, hard disk is 250GB, can in the adverse circumstances such as humidity, dust, pollution, vibrations, satisfy the requirement of operation.Central computation unit 11 is external liquid crystal touch screen 14, the handled easily personnel are to monitoring and arrange target dispenser system, between the two by the USB the transmission of data.Central computation unit 11 and liquid crystal touch screen 14 are installed in the driver's cabin of vehicle-carried mobile platform 10.
As shown in Figure 3, for fear of the impact on equipment of droplet and dust, controller of multi-path valve is installed in the electric cabinet 5 of waterproof, central computation unit 11 turns CAN bus 18 by USB and carries out communication with controller of multi-path valve, controller of multi-path valve sends separately control signal according to the control decision of central computation unit 11 to the 1st, 2,3,4 relays, by the corresponding high speed electromagnetic valve events of Control, realize the target dispenser; In addition, with about the usb 19 of scanning type laser rangefinder 6 communications on two portal frames 2, after gathering via a usb hub and central computation unit 11 interfaces; 12VDC Vehicular accumulator cell on the vehicle-carried mobile platform 10 is given respectively controller of multi-path valve, scanning type laser rangefinder 6, CCD colour imagery shot 7, gps antenna 9 and high-speed electromagnetic valve power supply through the fuse group; All joints that are connected with electric cabinet are water joint.
Scanning type laser rangefinder 6, the collection of CCD colour imagery shot 7, analysis and identical to target dispenser control strategy on two portal frames 2, and independently finish in the thread respectively, even wherein the equipment on the side portal frame 2 breaks down, the equipment on the opposite side portal frame 2 still can work on.Below in conjunction with Fig. 4, the fruit tree root turion of a side portal frame 2 is precisely done specific descriptions to the target application method:
(1) after scanning type laser rangefinder 6 is finished single pass, at first carry out the data preliminary treatment, geomery according to portal frame 2, measuring distance is rejected greater than the data point of portal frame width dimensions, then distance between the analysis scan data point, utilizing threshold value A to judge whether the number of scans strong point belongs to same trunk, only have when between data point distance less than threshold value A, then is the data point on the same trunk; Otherwise, belong to the data point on the different trunks; Threshold value A is determined by the distance between scanning angle resolution, sweep time and the trunk of scanning type laser rangefinder 6 and operating speed.
(2) utilize size and the position of trunk fixation and recognition algorithm estimation trunk: calculate the size that distance between the first and last data point on the same trunk is considered as trunk, the mid point of first and last data point line is considered as the trunk center;
(3) calculate the trunk center to the vertical range of the median line 24 of scanning type laser rangefinder 6, because when this vertical range is zero, it is the just in time constantly very difficult seizure of this on the median line 24 of scanning type laser rangefinder 6 of trunk center, therefore when above-mentioned vertical range hour, think that scanning type laser rangefinder 6 is honest in the trunk center, software triggers CCD colour imagery shot 7 and gathers a root turion image, the trunk center is to the distance of scanning type laser rangefinder 6 this moment simultaneously, and namely the picture depth information recording/gets off.
(4) before carrying out target dispenser operation, at first gather a two field picture in order to determine the ROI (area-of-interest) in the image.By determining ROI with upper edge about search background blank 4 in this two field picture, its objective is in order to limit the hunting zone of image, shorten the consuming time of image processing.In ROI, utilize super green partitioning algorithm to root turion Image Segmentation Using and extraction, with the root turion Region Segmentation out; According to different on form and texture of root turion 13 and weeds, the blade area of setting 20mm * 20mm is that actual segmentation threshold is to cut apart the weeds noise, corresponding with actual segmentation threshold in the root turion image is pixel threshold B, when the root turion area pixel value that splits less than pixel threshold B, think weeds noise and rejecting, then the border that obtains the root turion zone forms a root turion window, and obtains the Pixel Dimensions of root turion window;
(5) the picture depth information that obtains in conjunction with scanning type laser rangefinder 6, the actual two-dimensional of root turion window is calculated, and according to the installation site of CCD colour imagery shot 7 and scanning type laser rangefinder 6, the two-dimension scanning laser bundle of scanning type laser rangefinder 6 position in the root turion image as can be known, determine trunk center line present position in the root turion image that scanning type laser rangefinder 6 detects, thereby obtain the relativeness of border, the root turion window left and right sides and trunk center;
(6) when the dispenser direction 22 of the border of root turion window and shower nozzle 8 is tangent, central computation unit 11 is sent control instruction to controller of multi-path valve, controlling corresponding shower nozzle unlatching carries out the target dispenser, width and the operating speed of dispenser duration by the root turion window determines, calculates formulation rate according to spraying time and operating pressure.
Fruit tree, root turion and formulation rate information thereof obtain and the generation of distribution map is in thread independently, precisely the target dispenser is carried out simultaneously with root turion.In conjunction with Fig. 5, fruit tree, root turion and formulation rate distribution map generation method thereof are done specific descriptions:
(1) after scanning type laser rangefinder 6 is finished single pass, obtain trunk size and trunk center by scanning type laser rangefinder 6, central computation unit 11 reads gps data synchronously, comprises starter system time, latitude and longitude information, translational speed and course angle; Resulting trunk center is the position in the relative coordinate system of scanning type laser rangefinder 6, and the x axle of relative coordinate system is median line 24, and the y axle is the direction of advance of vehicle-carried mobile platform 10, and initial point is the center of scanning type laser rangefinder 6; Latitude and longitude information is the position of gps antenna 9 in earth coordinates in the gps data; According to gps antenna 9 and scanning type laser rangefinder 6 position relationship each other, the trunk center in the relative coordinate is transformed in the earth coordinates, thereby obtains current trunk physical location;
(2) the trunk size and the center Data Update frequency that provide of scanning type laser rangefinder 6 is 30Hz, and the gps data renewal frequency is 5Hz.For further improving positioning accuracy, until before the above-mentioned Data Update, according to current trunk physical location, translational speed and course angle, predict the mobile trend of trunk with the interval of 10ms, i.e. trunk predicted position in earth coordinates, starter system time of every prediction increases 10ms;
(3) calculate some trunk predicted positions of being obtained by step (2) to the vertical range of the median line 24 of scanning type laser rangefinder 6, because trunk predicted position just in time this on the median line 24 of scanning type laser rangefinder 6 is difficult to catch constantly, therefore get the shortest trunk predicted position of its middle distance as the position over against scanning type laser rangefinder 6, the trunk locating information comprises that trunk predicted position and the gps data in trunk size and the earth coordinates stores in the database this moment;
(4) after obtaining the actual two-dimensional of root turion window and root turion window border and trunk center relativeness and formulation rate, store above-mentioned root turion locating information and formulation rate information into trunk locating information place corresponding in the database;
(5) after the dispenser end of job, operating personnel manually click the generation map, by distribution map generate subsystem by with the interface routine of Matlab, the trunk locating information of storing in the database, root turion locating information and formulation rate communication in Matlab, and above-mentioned three category information correspondences are superimposed, generate fruit tree, root turion and formulation rate distribution map thereof; If operating personnel do not think to generate immediately map, the above-mentioned information of this dispenser operation will be stored in the database according to date and time, and convenient in the future operating personnel carry out data management and map generates.
The above; only for the better embodiment of the present invention, but protection scope of the present invention is not limited to this, anyly is 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 (6)
1. a planting fruit-trees root turion is characterized in that: comprising precisely to the target device for administration of drugs:
System's carrying platform: comprise portal frame platform and vehicle-carried mobile platform, two portal frames about the portal frame platform is equipped with;
Fixation and recognition subsystem: be used for realizing fruit tree and root turion thereof are positioned and identify, comprise central computation unit, gps antenna, scanning type laser rangefinder and CCD colour imagery shot, the scanning type laser rangefinder is in order to location and identification trunk, and acquisition picture depth information; The CCD colour imagery shot gathers the root turion image under the mode that software triggers; Gps antenna obtains starter system time, latitude and longitude information, translational speed and course angle in real time; Central computation unit is the data message of acquisition scans formula laser range finder, CCD colour imagery shot and gps antenna simultaneously, by respective algorithms and control strategy fruit tree and root turion thereof are positioned and identify, and control is moved to target dispenser subsystem;
To target dispenser subsystem: formed by controller of multi-path valve, high-speed electromagnetic valve, shower nozzle, medicine-chest, membrane pump and pump control mechanism;
Distribution map generates subsystem: in the dispenser operation process, according to the relative position relation of GPS locating information, scanning type laser rangefinder and gps antenna and the root turion relative position with corresponding trunk center, with the actual location information of trunks of fruit trees, root turion and corresponding formulation rate stores synchronized in database; After target dispenser operation finished, finally generate actual trunks of fruit trees, root turion and formulation rate distribution map.
2. fruit tree root turion according to claim 1 is characterized in that precisely to the target device for administration of drugs: central computation unit and controller of multi-path valve turn the CAN bus by USB and carry out communication; The USB interface of two scanning type laser rangefinders links to each other with central computation unit after gathering by a usb hub; Two CCD colour imagery shots are by gigabit Ethernet and central computation unit communication; Gps antenna is by RS232 serial ports and central computation unit communication; The external liquid crystal touch screen of central computation unit carries out data communication by USB.
3. fruit tree root turion according to claim 2 is characterized in that precisely to the target device for administration of drugs: controller of multi-path valve, usb hub, relay and fuse group all are installed in the electric cabinet of waterproof; 12V DC Vehicular accumulator cell on the vehicle-carried mobile platform is given respectively controller of multi-path valve, scanning type laser rangefinder, CCD colour imagery shot, gps antenna and high-speed electromagnetic valve power supply through the fuse group; All joints that are connected with electric cabinet are water joint.
4. fruit tree root turion according to claim 1 is characterized in that precisely to the target device for administration of drugs: about the layout of scanning type laser rangefinder, CCD colour imagery shot and shower nozzle on two portal frames with the center line left-right symmetry of vehicle-carried mobile platform.
5. an application rights requires 1 described fruit tree root turion precisely the target device for administration of drugs to be carried out accurate method to the target dispenser, it is characterized in that:
(1) after the scanning type laser rangefinder is finished single pass, at first carries out the data preliminary treatment, determine which is to belong to same trunk in the resulting data point;
(2) according to resulting size and the position that belongs to the data point estimation trunk on the same trunk;
(3) when the trunk center to the vertical range of the median line of scanning type laser rangefinder hour, software triggers the CCD colour imagery shot and gathers a root turion image, the trunk center is to the distance of scanning type laser rangefinder this moment simultaneously, and namely the picture depth information recording/gets off.
(4) root turion Image Segmentation Using and the extraction to gathering out forms a root turion window with the root turion Region Segmentation, and obtains the Pixel Dimensions of root turion window;
(5) the picture depth information that obtains in conjunction with the scanning type laser rangefinder, the actual two-dimensional of root turion window is calculated, and according to the installation site of CCD colour imagery shot and scanning type laser rangefinder, can obtain the relativeness of border, the root turion window left and right sides and trunk center;
(6) when the dispenser direction of the border of root turion window and shower nozzle was tangent, central computation unit was sent control instruction to controller of multi-path valve, controlled corresponding shower nozzle and opened and carry out the target dispenser, and width and the operating speed of dispenser duration by the root turion window determines.
6. an application rights requires 1 described fruit tree root turion precisely the target device for administration of drugs to be generated the method for fruit tree, root turion and formulation rate distribution map thereof, it is characterized in that:
(1) obtain trunk size and trunk center by the scanning type laser rangefinder after, central computation unit reads gps data synchronously, comprises starter system time, latitude and longitude information, translational speed and course angle; The trunk center that is obtained by the scanning type laser rangefinder is the position in the relative coordinate system of scanning type laser rangefinder, and latitude and longitude information is the position of gps antenna in earth coordinates in the gps data; According to gps antenna and scanning type laser rangefinder position relationship each other, the trunk center in the relative coordinate is transformed in the earth coordinates, thereby obtains current trunk physical location;
(2) the gps data renewal frequency is slower than the Data Update frequency of scanning type laser rangefinder, for further improving positioning accuracy, before above-mentioned Data Update, according to current trunk physical location, translational speed and course angle, the mobile trend of interpolative prediction trunk in geodetic coordinates obtains some trunk predicted positions;
(3) calculate by some trunk predicted positions of step (2) gained vertical range to the median line of scanning type laser rangefinder, get the shortest trunk predicted position of its middle distance, the trunk locating information comprises that trunk size and trunk predicted position store in the database this moment;
(4) the actual two-dimensional of data acquisition root turion window and root turion window border and the trunk center relativeness that are recorded by scanning type laser rangefinder and CCD colour imagery shot, and behind the operating pressure acquisition formulation rate in conjunction with operating speed and dispenser, store above-mentioned root turion locating information and formulation rate information into trunk locating information place corresponding in the database;
(5) trunk locating information, root turion locating information and the formulation rate information correspondence of storing in the database is superimposed, generates fruit tree, root turion and formulation rate distribution map thereof.
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