CN102907406B - 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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- CN102907406B CN102907406B CN201210350648.2A CN201210350648A CN102907406B CN 102907406 B CN102907406 B CN 102907406B CN 201210350648 A CN201210350648 A CN 201210350648A CN 102907406 B CN102907406 B CN 102907406B
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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 target device for administration of drugs.
Background technology
Fruit tree root turion be grow from fruit tree root can not result spray, tendril or branch, generally send from the resting bud of trunks of fruit trees root, nutrition that an is important part for plant can be converted into useless growth.For ensureing that the useful growth of 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 of fruit tree, root turion can constantly grow, and therefore also requires repeatedly to remove root turion.
Tradition root turion removal method is artificial removal, utilizes the edge tools such as pocket knife that root turion is removed from trunk training.Although the method can be removed root turion completely, and tree body is not caused to any damage, more consuming time, labour intensity is large, cost is high, cannot meet the needs of large-scale production; Another kind method is that machinery is removed, higher than manual type efficiency, but the instrument that is similar to whip is installed on swivel head is struck off root turion owing to adopting, very large to young plant damage, the bark on trunk can be wiped off, even tiny trunk is interrupted.In addition, part root turion cannot be removed completely, and having is completely cured remains in tree pole-footing portion, 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, conventionally adopt banded insecticide-applying way to continue to spray chemical agent at trunk root.Because root turion can only send from fruit tree root, between plant, there will not be, and the quantity that each plant grows root turion is with big or small different, utilizes said method to spray medicament and can cause the excessive dispenser of neutral gear between plant, cost increase, contaminated environment.Adopt precisely to target pesticide application technology, decide dispenser opportunity and formulation rate according to the concrete condition (size and position) of single plant root turion growth, not only can reduce agricultural chemicals usage amount, reduce environmental pollution, also can liberate labour, enhance productivity.At present, accuracy pesticide applying technology correlative study for farmland weed is a lot, but 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 technical requirement of target dispenser.Therefore, need to and carry out technical research to target pesticide application technology to fruit tree root turion fixation and recognition 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, orchard worker need to obtain diversity fruit tree growth information accurately, as actual growth position, trunk size, the size of growing root turion and position and repeatedly grow the number of times etc. of root turion in season a growth, obtain accordingly the regularity of distribution of fruit tree root turion and formulate rational orchard operation plan, as root turion etc. is removed in dispenser.Orchard worker utilized manual type to obtain this type of information in the past, and which amount of labour 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 researcher utilize airborne mapping system to draw agricultural information map, and the method efficiency is high, are applicable to large-area forest zone and farmland, but certainty of measurement is not high, and cannot obtain the information (growth size and the position etc. of if tree root turion) compared with details.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 and a kind ofly have compared with the fruit tree root turion of high automation level precisely to 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 target device for administration of drugs, and it comprises:
System carrying platform: comprise portal frame platform and vehicle-carried mobile platform, portal frame platform is equipped with two portal frames in left and right;
Fixation and recognition subsystem: fruit tree and root turion thereof are positioned and identified for realizing, comprise central computation unit, gps antenna, scanning type laser rangefinder and CCD colour imagery shot, scanning type laser rangefinder is in order to location and identify trunk, and obtains picture depth information; Under the mode that CCD colour imagery shot triggers at software, gather root turion image; 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 is positioned and is identified, and control target dispenser subsystem is moved;
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 dispenser operation process, relative position according to the relative position relation of GPS locating information, scanning type laser rangefinder and gps antenna and root turion with corresponding trunk center, by the locating information of trunks of fruit trees, root turion and corresponding formulation rate stores synchronized in database; After target dispenser operation is completed, finally generate actual trunks of fruit trees, root turion and formulation rate distribution map;
In addition, the invention allows for that application is above-mentioned precisely to be carried out precisely target dispenser and generate the method for fruit tree, root turion and formulation rate distribution map thereof target device for administration of drugs.
Beneficial effect of the present invention is: according to the growth characteristic of fruit tree root turion, adopt gantry frame type mobile platform, by scanning type laser rangefinder, machine vision and GPS navigation system combine, realization is quick to fruit tree root turion, effective location and identification, thereby controlling many shower nozzles dispenser system completes target dispenser operation, and synchronously obtain fruit tree, the distributed intelligence of root turion and formulation rate thereof, create fruit tree, root turion and formulation rate distribution map thereof, realize for fruit tree root turion precisely to target dispenser, can effectively reduce agricultural chemicals usage amount, improve liquid availability, reduce environmental pollution, liberation labour, also for the digital management of following orchard provides scientific and technical means.
Brief description of the drawings
Below in conjunction with the drawings and the specific embodiments, the present invention is further detailed explanation:
Fig. 1 (a) and Fig. 1 (b) are respectively precisely integral layout front view and the end view to target dispenser system of fruit tree root turion of the present invention;
Fig. 2 is the partial top view of a side portal frame of the present invention along 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; 2-portal frame; 3-support; 4-background blank; 5-electric cabinet; 6-scanning type laser rangefinder; 7-CCD colour imagery shot; 8-shower nozzle; 9-GPS antenna; 10-vehicle-carried mobile platform; 11-central computation unit; 12-fruit tree; 13-root turion; 14-liquid crystal touch screen; 15-pump control mechanism; 16-membrane pump; 17-medicine-chest; 18-USB turns CAN bus; 19-USB interface; 20-RS232 serial ports; 21-gigabit Ethernet; 22-dispenser direction; 23-center line; 24-median line.
Embodiment
Fruit tree root turion of the present invention is precisely to target device for administration of drugs, and preferably embodiment is as shown in Figures 1 to 5 for it:
As depicted in figs. 1 and 2, fruit tree root turion of the present invention is precisely a portal frame platform 1 to the system carrying platform of target device for administration of drugs, its two portal frames 2 in total left and right, in dispenser operation process, fruit tree 12 can pass in the middle of portal frame 2, operating personnel can, according to fruit tree line position, regulate the translation position of portal frame 2 by the hydraulic system on portal frame platform 1, to keep fruit tree to pass from portal frame 2 middles.Portal frame platform 1 is arranged on vehicle-carried mobile platform 10 front portions by trifilar suspension, the wheel tractor of vehicle-carried mobile platform 10 for can in the ranks walking in fruit tree.
In the present invention, the layout that is provided with 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 is symmetrical with the center line 23 of vehicular platform 10.Illustrate the layout type of scanning type laser rangefinder 6, CCD colour imagery shot 7 and shower nozzle 8 as an example of right side portal frame in Fig. 1 (a) example: portal frame 2 has been installed a scanning type laser rangefinder 6 near 60cm place, a lateral extent ground level of vehicle-carried mobile platform 10, face fruit tree crop capable, 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;
In the present invention, adopt a CCD colour imagery shot 7 to gather the image of root turion 13, its installation site on portal frame 2 is 18cm place under scanning type laser rangefinder 6 homonymies are vertical, the resolution of CCD colour imagery shot 7 is 1280 × 960, frame rate is 32.8 fps, and the camera lens of installation is 3.5mm camera lens, and the longitudinal and lateral angles of scene is respectively 52.7 ° and 66.9 °, imaging pattern is set to 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 each other by gigabit Ethernet 21;
In 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 background, weeds or other noise.
In the present invention, in portal frame platform 1 crown center position, a GPS (global positioning system) antenna 9 is installed, has been carried out data communication with central computation unit 11 by RS232 serial ports 20.
In 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, and by high-speed electromagnetic valve control, it opens and closes, and shower nozzle 8 is connected with pump control mechanism 15, membrane pump 16, medicine-chest 17 by rubber hose and forms 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 dispenser flow system flow.
As shown in Figure 2, scanning type laser rangefinder 6, CCD colour imagery shot 7 and shower nozzle 8 are to be all arranged on portal frame 2 by support 3, and its position each other can regulate within the specific limits, and support 3 also can slide up and down on portal frame.CCD colour imagery shot 7 (not shown in Fig. 2) be arranged on scanning type laser rangefinder 6 under, and relative with background blank 4.In Fig. 2, 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, the shower nozzle 8 of portal frame 2 both sides with respect to direction of advance be placed on respectively scanning type laser rangefinder 6, CCD colour imagery shot 7 and background blank 4 after, and two shower nozzles are relative.
In the present invention, central computation unit 11 adopts the military version notebook computer that is applicable to use under adverse circumstances, and CPU frequency is 2.4GHz dual core processor, inside save as 3GB, hard disk is 250GB, can, in the adverse circumstances such as humidity, dust, pollution, vibrations, meet the requirement of operation.Central computation unit 11 is an external liquid crystal touch screen 14, handled easily personnel, to target dispenser system is monitored and arranged, are transmitted data by USB between the two.Central computation unit 11 and liquid crystal touch screen 14 are arranged in the driver's cabin of vehicle-carried mobile platform 10.
As shown in Figure 3, the impact on equipment for fear of droplet and dust, controller of multi-path valve is arranged 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 the 1st, 2,3,4 relays, by the corresponding high speed electromagnetic valve events of Control, realize target dispenser; In addition,, with the usb 19 of scanning type laser rangefinder 6 communications on the portal frame 2 of two of left and right, gather rear and central computation unit 11 interfaces via a usb hub; 12VDC Vehicular accumulator cell on 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 fuse group; The all joints that are connected with electric cabinet are water joint.
Scanning type laser rangefinder 6 on two portal frames 2, the collection of CCD colour imagery shot 7, analysis and identical to target dispenser control strategy, and respectively independently completing in thread, even if wherein the equipment on a side portal frame 2 breaks down, the equipment on 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 specifically described target application method:
(1) scanning type laser rangefinder 6 completes after single pass, first carry out data pretreatment, according to the geomery of portal frame 2, the data point that measuring distance is greater than to portal frame width dimensions is rejected, then analysis scan data point spacing, utilizing threshold value A to judge whether number of scans strong point belongs to same trunk, only have and be less than threshold value A when data point spacing, is the data point on same trunk; Otherwise, belong to the data point on 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 distance between the first and last data point on same trunk and be considered as the size of trunk, the mid point of first and last data point line is considered as trunk center;
(3) calculate the vertical range of trunk center to the median line 24 of scanning type laser rangefinder 6, because this vertical range is 1 o'clock, be that just in time this moment in the median line 24 of scanning type laser rangefinder 6 is difficult to catch in trunk center, therefore when above-mentioned vertical range hour, think that scanning type laser rangefinder 6 is honest in trunk center, software triggers CCD colour imagery shot 7 and gathers a root turion image, by trunk center is to the distance of scanning type laser rangefinder 6 this moment, picture depth information recording gets off simultaneously.
(4), before carrying out target dispenser operation, first gather a two field picture in order to determine the ROI (area-of-interest) in image.Determine ROI by left and right and the upper edge of searching for background blank 4 in this two field picture, its objective is the hunting zone in order to limit image, shorten the consuming time of image processing.In ROI, utilize super green partitioning algorithm to root turion Image Segmentation Using and extraction, by root turion Region Segmentation out; According to root turion 13 from weeds different on form and texture, the blade area of setting 20mm × 20mm is that actual segmentation threshold is to cut apart weeds noise, corresponding with actual segmentation threshold in root turion image is pixel threshold B, when the root turion area pixel value splitting is less than pixel threshold B, think weeds noise and reject, then the border that obtains root turion region forms a root turion window, and obtains the Pixel Dimensions of root turion window;
(5) the picture depth information obtaining 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 known scanning type laser rangefinder 6 position in root turion image, determine trunk center line present position in root turion image that scanning type laser rangefinder 6 detects, thereby obtain the relativeness of border, root turion window left and right and trunk center;
(6) when the border of root turion window and the dispenser direction 22 of shower nozzle 8 are when tangent, central computation unit 11 is sent control instruction to controller of multi-path valve, controlling corresponding shower nozzle unlatching carries out target dispenser, the dispenser duration is determined by width and the operating speed of root turion window, 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 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 specifically described:
(1) scanning type laser rangefinder 6 completes after single pass, obtain trunk size and trunk center by scanning type laser rangefinder 6, central computation unit 11 synchronously reads gps data, comprises starter system time, latitude and longitude information, translational speed and course angle; The trunk center obtaining 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 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; In gps data, latitude and longitude information is the position of gps antenna 9 in earth coordinates; According to gps antenna 9 and scanning type laser rangefinder 6 position relationship each other, the trunk center in relative coordinate is transformed in earth coordinates, thereby obtains current trunk physical location;
(2) scanning type laser rangefinder 6 provides trunk size and center Data Update frequency are 30Hz, and gps data renewal frequency is 5Hz.For further improving positioning precision, until before 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, the starter system time of every prediction increases 10ms;
(3) some trunk predicted positions that calculating is obtained by step (2) are to the vertical range of the median line 24 of scanning type laser rangefinder 6, due to trunk predicted position, just in time this moment in the median line 24 of scanning type laser rangefinder 6 is difficult to catch, therefore get wherein the shortest trunk predicted position of distance as the position to scanning type laser rangefinder 6 just, trunk locating information this moment, comprises that trunk predicted position and the gps data in trunk size and earth coordinates stores in database;
(4) when obtaining after 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 database;
(5) when after the dispenser end of job, operating personnel manually click generation map, by distribution map generate subsystem by with the interface routine of Matlab, the trunk locating information of storing in 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 database according to date and time, and convenient operating personnel in the future carry out data management and map generates.
The above; only for preferably embodiment of the present invention, 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 (6)
1. a planting fruit-trees root turion, precisely to target device for administration of drugs, is characterized in that: comprising:
System carrying platform: comprise portal frame platform and vehicle-carried mobile platform, portal frame platform is equipped with two portal frames in left and right;
Fixation and recognition subsystem: fruit tree and root turion thereof are positioned and identified for realizing, comprise central computation unit, gps antenna, scanning type laser rangefinder and CCD colour imagery shot, scanning type laser rangefinder is in order to location and identify trunk, and obtains picture depth information; Under the mode that CCD colour imagery shot triggers at software, gather root turion image; 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 is positioned and is identified, and control target dispenser subsystem is moved; Wherein, for further improving positioning precision, before the Data Update obtaining at scanning type laser rangefinder and gps antenna, according to current trunk physical location, translational speed and course angle, mobile trend with the interval interpolative prediction trunk of 10ms in earth coordinates, obtains some trunk predicted positions; Some trunk predicted positions of gained, to the vertical range of the median line of scanning type laser rangefinder, are got the wherein the shortest trunk predicted position of distance, as trunk locating information;
To target dispenser subsystem: formed by controller of multi-path valve, high-speed electromagnetic valve, relay, shower nozzle, medicine-chest, membrane pump and pump control mechanism, central computation unit turns CAN bus by USB and controller of multi-path valve carries out communication, controller of multi-path valve sends separately control signal according to the control decision of central computation unit to the the 1st, 2,3,4 relays, by the corresponding high speed electromagnetic valve events of Control, realize target dispenser;
Distribution map generates subsystem: in dispenser operation process, relative position according to the relative position relation of GPS locating information, scanning type laser rangefinder and gps antenna and root turion with corresponding trunk center, by the actual location information of trunks of fruit trees, root turion and corresponding formulation rate stores synchronized in database; After target dispenser operation is completed, finally generate actual trunks of fruit trees, root turion and formulation rate distribution map.
2. fruit tree root turion according to claim 1, precisely to target device for administration of drugs, is characterized in that: central computation unit and controller of multi-path valve turn CAN bus by USB and carry out communication; The USB interface of two scanning type laser rangefinders is connected 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, precisely to target device for administration of drugs, is characterized in that: controller of multi-path valve, usb hub, relay and fuse group are all arranged in the electric cabinet of waterproof; 12V DC Vehicular accumulator cell on 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 fuse group; The all joints that are connected with electric cabinet are water joint.
4. fruit tree root turion according to claim 1, precisely to target device for administration of drugs, is characterized in that: the layout of scanning type laser rangefinder, CCD colour imagery shot and shower nozzle on the portal frame of two of left and right is symmetrical with the center line of vehicle-carried mobile platform.
5. application rights requires the fruit tree root turion described in 1 precisely target device for administration of drugs to be carried out to the precisely method to target dispenser, it is characterized in that:
(1) scanning type laser rangefinder completes after single pass, first carries out data pretreatment, determines that in the data point obtaining, which is to belong to same trunk;
(2) according to the obtained size and the center that belong to the data point estimation trunk on same trunk;
(3) when trunk center to the vertical range of the median line of scanning type laser rangefinder hour, software triggers CCD colour imagery shot and gathers a root turion image, by trunk center is to the distance of scanning type laser rangefinder this moment, picture depth information recording gets off simultaneously.
(4) to the root turion Image Segmentation Using and the extraction that gather, root turion Region Segmentation is out formed to a root turion window, and obtain the Pixel Dimensions of root turion window;
(5) the picture depth information obtaining in conjunction with 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, root turion window left and right and trunk center;
(6) when the border of root turion window and the dispenser direction of shower nozzle are when tangent, central computation unit is sent control instruction to controller of multi-path valve, controls corresponding shower nozzle and opens and carry out target dispenser, and the dispenser duration is determined by width and the operating speed of root turion window.
6. application rights requires the precisely method to target device for administration of drugs generation fruit tree, root turion and formulation rate distribution map thereof of fruit tree root turion described in 1, it is characterized in that:
(1) obtained behind trunk size and trunk center by scanning type laser rangefinder, central computation unit synchronously reads gps data, comprises starter system time, latitude and longitude information, translational speed and course angle; The trunk center being obtained by scanning type laser rangefinder is the position in the relative coordinate system of scanning type laser rangefinder, and in gps data, latitude and longitude information is the position of gps antenna in earth coordinates; According to gps antenna and scanning type laser rangefinder position relationship each other, the trunk center in relative coordinate is transformed in earth coordinates, thereby obtains current trunk physical location;
(2) gps data renewal frequency is slower than the Data Update frequency of scanning type laser rangefinder, for further improving positioning precision, before above-mentioned Data Update, according to current trunk physical location, translational speed and course angle, mobile trend with the interval interpolative prediction trunk of 10ms in geodetic coordinates, obtains some trunk predicted positions;
(3) calculate the vertical range to the median line of scanning type laser rangefinder by some trunk predicted positions of step (2) gained, get the wherein the shortest trunk predicted position of distance, trunk locating information this moment, comprises that trunk size and trunk predicted position store in database;
(4) the actual two-dimensional of data acquisition root turion window being recorded by scanning type laser rangefinder and CCD colour imagery shot and root turion window border and trunk center relativeness, and obtain after formulation rate in conjunction with the operating pressure of operating speed and dispenser, store actual root turion window two-dimensional and root turion window border into trunk locating information place corresponding in database with trunk center relativeness and formulation rate information;
(5) by the trunk locating information of storing in database, the actual two-dimensional of root turion window and root turion window border with trunk center relativeness with formulation rate information is corresponding is superimposed, generate fruit tree, root turion and formulation rate distribution map thereof.
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| CN201210350648.2A CN102907406B (en) | 2012-09-20 | 2012-09-20 | Accurately targeted drug applying device and method for fruit tree rootstock |
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| CN201210350648.2A CN102907406B (en) | 2012-09-20 | 2012-09-20 | Accurately targeted drug applying device and method for fruit tree rootstock |
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