CN108804854A - The tree management method for parameter estimation and its system that one planting fruit-trees machinery is pruned - Google Patents
The tree management method for parameter estimation and its system that one planting fruit-trees machinery is pruned Download PDFInfo
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Abstract
The tree management method for parameter estimation and its system pruned the invention discloses a planting fruit-trees machinery, including pretreatment；Trunk axis is extracted, and generates tree body reference axis；Detect the profile point of tree crown；And calculate dispersion degree of the profile point to tree body reference axis；The scan module for the tree management method for parameter estimation that the system is pruned using the fruit tree machinery is implemented, including, scan module is delivered to control module for emitting and receiving the first signal, and by the first signal received by data transmission module.The present invention passes through using trunk as reference axis, canopy edge key point is studied to its dispersion degree, reach the detailed estimation to tree management parameter, the tool position adjust automatically pruned for machinery provides reference information, it is time saving and energy saving to solve the problems, such as efficiency larger to tree management estimated bias around the fitting surface of tree body canopy, while being conducive to machinery pruning, and economize on resources, it satisfies the use demand.
Description
Technical field
It is of the present invention to belong to what orchard management machinery applied technical field more particularly to a planting fruit-trees machinery were pruned
Tree management method for parameter estimation and its system.
Background technology
China is the maximum apple production state in the whole world, and the half that yield accounts for global apple production is more.The nutrition of apple tree
Growth and reproductive growth connect each other, influence each other, will finally influence the height of yield and quality.In order to realize the vigor of fruit tree
Control, pruning become a rest period most important operation.The purpose is to carry out part by certain organs to plant to dredge
It deletes and cuts, obtain ideal canopy structure, to improve the efficiency of light energy utilization.Input labour when though this operation is unlike harvest
It is huge, and opportunity is also not important, but for grower, take very high.Mechanization pruning is to solve problem above
Effective way.
The cultivation mode in modern apple orchard develops towards simpler, fast, the accessible and more efficient direction of forming.Its
Middle high spindle tree body is that the preferred tree-like and apple production in the short anvil intensive style Efficient Cultivation pattern promoted at present is advanced
Country generally uses tree-like.It need to only cultivate it is strong and it is straight in it is dry, tree-like skeleton culture is just completed；And due to
Fruiter crown diameter is smaller, major branch length be less than or close to people arm length, people station all orchard operations can be completed in the ranks,
To realize that Machinery for orchard creates condition.
When typical machinery pruning operation, cutter is installed on tractor, and operating personnel will drive straight line as much as possible
It sails；However, the profile of tree crown usually will be according to tree crown during trimming in order to ensure the continuity pruned along tree row variation
Profile adjusts cutter.As the first step trimmed automatically, the structural parameters that fruit tree is estimated by NI Vision Builder for Automated Inspection are needed.
In the past, a variety of the relevant technologies are used to perceive tree management, such as stereoscopic vision, laser scanner and depth
Spend camera.One of which research carries out in vineyard, using in traveler car fusion vision and laser sweep
The induction system for retouching principle, scans the canopy of grape, and provides intensive canopy performance map.But this system is for scene
It is costly and complicated for data acquisition.Nielsen etc. explores a kind of mode of stereoscopic vision, rebuilds peach structure and is used for
Automate flower thinning.However, the technology also needs to further decrease the complexity of Stereo matching, algorithm in the environment of outdoor orchard is improved
Robustness.In recent years, depth camera is using bias light suppression technology and the range measurement principle based on the flight time, in agriculture field
Three-dimensional reconstruction in applied.In a business orchard, the depth image of high spindle apple tree is obtained using the camera, is opened
The method for having sent out automatic identification limb, and explore a kind of intelligent pruning system of structure；However, low-resolution image can be lost
Important details, the tool position adjust automatically that cannot be pruned for machinery provide reference information, to be unfavorable for machinery pruning
Efficiency takes time and effort, and is unsatisfactory for use demand.
Invention content
The purpose of this part is to summarize some aspects of the embodiment of the present invention and briefly introduce some preferably to implement
Example.It may do a little simplified or be omitted to avoid our department is made in this section and the description of the application and the title of the invention
Point, the purpose of abstract of description and denomination of invention it is fuzzy, and this simplification or omit and cannot be used for limiting the scope of the invention.
The tree management method for parameter estimation pruned in view of above-mentioned existing fruit tree machinery there are the problem of, it is proposed that this hair
It is bright.
Therefore, it is an object of the present invention to provide a planting fruit-trees machinery prune tree management method for parameter estimation, by with
Trunk is reference axis, and research canopy edge key point reaches the detailed estimation to tree management parameter, be to its dispersion degree
The tool position adjust automatically that machinery is pruned provides reference information, so as to solve the fitting surface around tree body canopy to tree body
The larger problem of structure estimated bias.
In order to solve the above technical problems, the present invention provides the following technical solutions：The tree management that one planting fruit-trees machinery is pruned
Method for parameter estimation, including pretreatment；Trunk axis is extracted, and generates tree body reference axis；Detect the profile point of tree crown；And meter
Calculate dispersion degree of the profile point to tree body reference axis.
As a kind of preferred embodiment for the tree management method for parameter estimation that fruit tree machinery of the present invention is pruned, wherein：
The pretreatment includes scanning tree body, determines reference axis and Limit of J-validity.
As a kind of preferred embodiment for the tree management method for parameter estimation that fruit tree machinery of the present invention is pruned, wherein：
The scanning tree body uses scan module.
As a kind of preferred embodiment for the tree management method for parameter estimation that fruit tree machinery of the present invention is pruned, wherein：
The determining reference axis and Limit of J-validity, which are all made of processing terminal, to carry out setting and shows.
As a kind of preferred embodiment for the tree management method for parameter estimation that fruit tree machinery of the present invention is pruned, wherein：
The reference axis is the space coordinates that 3D orthogonal intersection space reference axis X, Y, Z are constituted.
As a kind of preferred embodiment for the tree management method for parameter estimation that fruit tree machinery of the present invention is pruned, wherein：
The extraction trunk axis is using the algorithm searched for automatically；
Wherein, the algorithm steps searched for automatically：(1) point of interest region is determined；(2) cylinder accumulator is generated；(3) really
Determine trunk position；(4) it is fitted backbone.
As a kind of preferred embodiment for the tree management method for parameter estimation that fruit tree machinery of the present invention is pruned, wherein：
It is described fitting backbone predicted value use space line equation for：
Wherein, the point on (x, y, z) representation space straight line, a and c represent the slope of straight line, and b and d represents the intercept of straight line；
According to space principle of least square method, obtains between predicted value and actual value squared difference and be εx, εy：
As difference quadratic sum εx, εyFor minimum value when, εx, εyFollowing formula need to be met：
Optimal a, b, c, d can be acquired.
As a kind of preferred embodiment for the tree management method for parameter estimation that fruit tree machinery of the present invention is pruned, wherein：
The profile point of the detection tree crown utilizes convex closure principle.
As a kind of preferred embodiment for the tree management method for parameter estimation that fruit tree machinery of the present invention is pruned, wherein：
The profile point is (xki, yki, zki)。
The dispersion degree of the profile point to tree body reference axis is Li：
Wherein, x 'kiAnd y 'kiIndicate abscissa and ordinate with the point of profile point sustained height on reference axis.
A kind of system for the tree management parameter Estimation pruned suitable for fruit tree machinery, the system use the fruit tree machine
The scan module of tree management method for parameter estimation that tool is pruned is implemented, including, scan module, for emitting and receiving the
One signal, and the first signal received is delivered to control module by data transmission module；Control module reads reception
First signal is simultaneously decoded as second signal by the first signal, and is established and connected with processing module；Processing module, for receiving
The second signal of control module is simultaneously handled the second signal received, is formed scan data scene and is shown to display screen
On.
Beneficial effects of the present invention：The present invention by using trunk as reference axis, research canopy edge key point to its from
The degree of dissipating, reaches the detailed estimation to tree management parameter, and the tool position adjust automatically pruned for machinery provides reference information,
It is larger to tree management estimated bias around the fitting surface of tree body canopy to solve the problems, such as, while being conducive to mechanical pruning
Efficiency, it is time saving and energy saving, and economize on resources, satisfy the use demand.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without having to pay creative labor, it can also be obtained according to these attached drawings other
Attached drawing.Wherein：
Fig. 1 is the tree management method for parameter estimation that fruit tree machinery of the present invention is pruned and its system first and two embodiments
Overall structure diagram.
Fig. 2 is described in the tree management method for parameter estimation that fruit tree machinery of the present invention is pruned and its system one embodiment
Scan data scene graph.
Fig. 3 is the tree of the tree management method for parameter estimation that fruit tree machinery of the present invention is pruned and its system one embodiment
The 3D data display schematic diagrams of body.
Fig. 4 is the tree management method for parameter estimation that fruit tree machinery of the present invention is pruned and its packet of system one embodiment
Cylinder multi-accumulator structure schematic diagram containing most data points.
Fig. 5 is the tree management method for parameter estimation that fruit tree machinery of the present invention is pruned and its extraction of system one embodiment
Tree body trunk scatter plot.
Fig. 6 is the tree management method for parameter estimation of fruit tree machinery of the present invention pruning and its intending for system one embodiment
Close tree body backbone.
Fig. 7 is the tree management method for parameter estimation that fruit tree machinery of the present invention is pruned and its hat of system one embodiment
Layer key edge point extraction effect schematic diagram.
Fig. 8 is the pass of the tree management method for parameter estimation that fruit tree machinery of the present invention is pruned and its system one embodiment
Key marginal point reference projection axis effect diagram.
Fig. 9 is that tree management method for parameter estimation and its system second embodiment of fruit tree machinery of the present invention pruning is
System flow diagram.
Specific implementation mode
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, right with reference to the accompanying drawings of the specification
The specific implementation mode of the present invention is described in detail.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with
Implemented different from other manner described here using other, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by following public specific embodiment.
Secondly, " one embodiment " or " embodiment " referred to herein refers to that may be included at least one realization side of the present invention
A particular feature, structure, or characteristic in formula." in one embodiment " that different places occur in the present specification not refers both to
The same embodiment, nor the individual or selective embodiment mutually exclusive with other embodiment.
Thirdly, combination schematic diagram of the present invention is described in detail, when describing the embodiments of the present invention, for purposes of illustration only,
Indicate that the sectional view of device architecture can disobey general proportion and make partial enlargement, and the schematic diagram is example, herein not
The scope of protection of the invention should be limited.In addition, three-dimensional space that should be comprising length, width and depth in actual fabrication.
Referring to Fig.1~8, it is first embodiment of the invention, provides the tree management parameter of planting fruit-trees machinery pruning
The overall structure diagram of method of estimation, such as Fig. 1, the tree management method for parameter estimation that a planting fruit-trees machinery is pruned include pre- place
Reason；Trunk axis is extracted, and generates tree body reference axis；Detect the profile point of tree crown；And profile point is calculated to tree body reference axis
Dispersion degree.
Specifically, the method for the present invention includes pretreatment；Trunk axis is extracted, and generates tree body reference axis；Detect the wheel of tree crown
Wide point；And profile point is calculated to the dispersion degree of tree body reference axis, above method is incremental, can be effectively to tree management
Parameter is estimated, to be conducive to provide reference information for the tool position adjust automatically that machinery is pruned, and then is conducive to machine
The efficiency that tool is pruned, it is time saving and energy saving, and economize on resources, it satisfies the use demand.
Further, pretreatment includes scanning tree body, determines reference axis and Limit of J-validity, wherein scanning tree body is adopted
With scan module 100, preferably, scan module is VLP-16 scanners, and VLP-16 scanners are also known as VLP-16 laser radars biography
Sensor, with real time data, 360 ° of field angles, three-dimensional coordinate and calibration albedo measurement, and shape is small, low in energy consumption, cost
Rationally, as the capital equipment for generating high resolution 3 d model, in use, according to the plant height and spacing in the rows of high spindle tree body,
VLP-16 scanners are rotated by 90 ° by spy to be placed on the tripod apart from ground certain altitude (1.7 meters), and single plant tree body is carried out
Scanning, for the normal display suitable for processing environment, to determine that Y-axis is changed into Z axis by reference axis, spy, X-axis is changed into Y-axis, Z
Shaft rotation becomes X-axis, wherein X-axis represents the left and right displacement at scanning object distance scanner coordinate center, Y represent scanning object away from
Distance from scanner coordinate center, and Z represents the height at scanning object distance scanner coordinate center；Simultaneously according to VLP-16
The characteristics of scanner scan data, (can return within 100 meters, the data between upper and lower 30 degree), can adulterate ground and other tree bodies
Information, therefore by formulate Y value and Z value ranges constraints, constraints is the distance of target fruit tree range scanner
For range Y value at 0.5 meter to 2.5 meters, effective trunks of fruit trees starting point height Z values are more than -1.5 meters of (height that about 0.2 meter of ground weeds
Degree), automatic rejection invalid data, so that it is determined that Limit of J-validity；It should be noted that determining reference axis and valid data model
The setting enclosed is all made of processing terminal and is set and shown, processing terminal is notebook, computer, tablet or mobile phone etc.,
Its reference axis is the space coordinates that 3D orthogonal intersection space reference axis X, Y, Z are constituted.
Further, extraction trunk axis is using the algorithm searched for automatically；Wherein, the algorithm specific steps searched for automatically are such as
Under：
(1) point of interest region is determined
The point coordinates for meeting certain Z values is preserved, as point of interest region, in order to ensure that number of scan points is truly anti-
Trunk bottom is reflected, and avoids influence of the tree bottom weeds to identification.
(2) cylinder accumulator is generated
According to the size of Z values, the center of circle of the point of interest as cylinder bottom surface is extracted successively；It is big according to conventional tree body diameter
Small (0.05m) combines certain experience 0.01~0.05m of offset, and the appropriate threshold of cylinder radius is arranged；With reference to clear tree
Cylinder height is arranged in dry height (i.e. major branch growing point height below).
(3) trunk position is determined
Using a series of cylinder accumulators of generation, it is respectively compared the big of coordinate of interest points and cylinder accumulator coordinate range
It is small, coordinate points (x of the record inside cylinder accumulatori, yi, zi), and its number m is counted, extraction number of data points is most
Cylinder, to determine tree body trunk position (see Fig. 4).
(4) it is fitted backbone
Since space line is equivalent to the intersecting lens of two planes, therefore utilize space least square method will be inside cylinder
Data are fitted (shown in Fig. 5), be fitted backbone predicted value use space line equation for：
Wherein, the point on (x, y, z) representation space straight line, a and c represent the slope of straight line, and b and d represents the intercept of straight line；
But in actually carrying out scatterplot fitting, using above-mentioned space line equation calculation go out the result is that predicted value, in order to determine prediction
Squared difference and ε between value and actual valuex, εyFor minimum value, in the hope of a, b, c, d results.
According to space principle of least square method, obtains between predicted value and actual value squared difference and be εx, εy：
As difference quadratic sum εx, εyFor minimum value when, εx, εyFollowing formula need to be met：
Optimal a, b, c, d can be acquired.
Further, the point except cylinder accumulator is defined as profile point (xki, yki, zki), it is extracted using convex closure principle
Key edge point (as shown in Figure 7) in profile point, process：Since profile point left end point and right end point, with inverse
Clockwise scans other points respectively；If the point newly scanned and unchanged (the i.e. figure neighbour of the figure convexity that fixed point is constituted
0) the multiplication cross result that side corresponds to vector is more than, then keep in new scanning element as point is determined, continue to scan on subsequent point；Otherwise on leaving out
One determining point, preserves new scanning element, then scan other points, continues to compare convexity, until not changing；It will finally sweep
Two figures up and down retouched, merge, and determine that convex closure, key edge point are the vertex of convex closure thus；Due to most of
Major branch end is respectively positioned on the position of marginal point, can simplify post-processing with this, and greatly reduce run time；Then extend trunk
Fitting a straight line, in this, as reference axis, by all key edge points to reference to axial projection, effect branch close in canopy is empty
Between be distributed.
It should be noted that calculated profile point is to utilize space line equation calculation to the dispersion degree of tree body reference axis
On reference axis with profile point (xki, yki, zki) sustained height point (x 'ki, y 'ki, zki), if profile point to tree body reference axis from
The degree of dissipating is Li, according to following formula：
The variation tendency of canopy periphery curved surface can be reacted, and then completes the estimation to tree management parameter, the mould of completion
The tool position that type data transmitter tool is pruned is automatically adjusted offer reference information.
It is second embodiment of the invention referring to Fig.1 with 9, provides a kind of tree body knot pruned suitable for fruit tree machinery
The system flow structural schematic diagram of structure parameter Estimation, such as Fig. 9, a kind of tree management parameter Estimation pruned suitable for fruit tree machinery
System, which is implemented using the scan module 100 of tree management method for parameter estimation that fruit tree machinery is pruned, is wrapped
It includes, scan module 100, passes through data transmission module 200 for emitting and receiving the first signal, and by the first signal received
It is delivered to control module 300；Control module 300 reads the first signal of reception and the first signal is decoded as second signal, and
It establishes and connects with processing module 400；Processing module 400, the second signal for receiving control module 300 and to receiving
Binary signal is handled, and is formed scan data scene and is shown to display screen.
Specifically, this is suitable for the system for the tree management parameter Estimation that fruit tree machinery is pruned, for controlling in the present invention
The processes such as signal transmitting and receiving, signal processing, data transmission and the parameter Estimation modeling of scan module 100.
Further, the scan module 100 of the tree management method for parameter estimation of fruit tree machinery pruning is used to carry out reality
It applies, including, scan module 100 passes through data transmission mould for emitting and receiving the first signal, and by the first signal received
Block 200 is delivered to control module 300；Control module 300 reads the first signal of reception and the first signal is decoded as the second letter
Number, and establish and connect with processing module 400；Processing module 400, second signal for receiving control module 300 and to receiving
To second signal handled, formed scan data scene show to display screen.
Specifically, the scan module 100 in the present invention is used for the first signal of tree body surface emitting, since the first signal is met
Reflection will be generated to tree body, and scan module 100 can also receive reflected first signal, the first signal passes through data transmission
Module 200 is delivered to the relative distance that control module 300, control module 300 and processing module 400 calculate point by analyzing, and comes
The space coordinate for determining surface reflection point finally obtains tree body scan data, then establishes data model by matlab.
It should be noted that scan module 100 is fixed on A-frame comprising signal projector 101 and signal receive
Device 102.Wherein, signal projector 101 uses light pulses transmitter, emits the first signal to tree body, and connect by signal
It receives device 102 and captures reflected first signal, wherein the first signal is pulse signal.Signal projector 101 (swashs light
Light) it is cast out with high-frequency (ON/OFF), the surface of tested tree body is constantly projected, intensive pip is formed, is ensured
The required precision of measurement.
Further, cable may be used in data transmission module 200, and both ends are separately connected 102 He of signal receiver
Control module 300, for will the reception signal transmission from signal receiver 102 to control module 300, control module 300 is read
It takes the first signal of reception and the first signal is decoded as second signal, and processing mould is finally transmitted to by control module 300
Block 400 carries out Data Analysis Services,.
Control module 300 is mainly used for acquisition, conversion signal, and by the data transmission after conversion signal to processing module
400, it can case in order to control；Wherein, control module 300 can pass through data transmission module 200 or nothing with the transmission of processing module 400
Line communication mode transmission data.
Processing module 400 is set on processing terminal, processing module 400, the second signal for receiving control module 300
And the second signal received is handled, it forms scan data scene and shows to the display screen of processing terminal, wherein place
Reason module 400 is processor.
It is important that, it should be noted that the construction of the application shown in multiple and different exemplary implementation schemes and arrangement are only
It is illustrative.Although several embodiments are only described in detail in this disclosure, refering to the personnel of the displosure content
It should be easily understood that under the premise of substantially without departing from the novel teachings and advantage of the theme described in this application, many changes
Type is possible (for example, the size of various elements, scale, structure, shape and ratio and parameter value are (for example, temperature, pressure
Deng), mounting arrangements, the use of material, the variation etc. of color, orientation).It can be by more for example, being shown as integrally formed element
A part or element are constituted, and the position of element can be squeezed or change in other ways, and the property or number of discrete component
Or position can be altered or changed.Therefore, all such remodeling are intended to be comprised in the scope of the present invention.Can according to for
The embodiment in generation changes or the order or sequence of resequence any process or method and step.In the claims, any " dress
Set plus function " clause be intended to be covered in it is described herein execute the structure of the function, and it is equivalent to be not only structure
But also it is equivalent structure.Without departing from the scope of the invention, design, operation that can be in exemplary implementation scheme
Other are made in situation and arrangement to replace, remodeling, change and omit.Therefore, the present invention is not limited to specific embodiments, and
It is to extend to a variety of remodeling still fallen within the scope of the appended claims.
In addition, in order to provide the terse description of exemplary implementation scheme, all spies of actual implementation scheme can not be described
Sign (that is, those incoherent features of optimal mode with the execution present invention currently considered, or it is of the invention incoherent in realizing
Those features).
It should be understood that in the development process of any actual implementation mode, it, can such as in any engineering or design object
A large amount of specific implementation mode is made to determine.Such development effort may be complicated and time-consuming, but for those benefits
For the those of ordinary skill of the displosure content, need not excessively test, the development effort will be one design, manufacture and
The routine work of production.
It should be noted that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although with reference to preferable
Embodiment describes the invention in detail, it will be understood by those of ordinary skill in the art that, it can be to the technology of the present invention
Scheme is modified or replaced equivalently, and without departing from the spirit of the technical scheme of the invention and range, should all be covered in this hair
In bright right.
Claims (10)
1. the tree management method for parameter estimation that a planting fruit-trees machinery is pruned, it is characterised in that：Including,
Pretreatment；
Trunk axis is extracted, and generates tree body reference axis；
Detect the profile point of tree crown；And
Calculate dispersion degree of the profile point to tree body reference axis.
2. the tree management method for parameter estimation that fruit tree machinery as described in claim 1 is pruned, it is characterised in that：The pre- place
Reason includes scanning tree body, determines reference axis and Limit of J-validity.
3. the tree management method for parameter estimation that fruit tree machinery as claimed in claim 2 is pruned, it is characterised in that：The scanning
Tree body uses scan module (100).
4. the tree management method for parameter estimation that fruit tree machinery as claimed in claim 3 is pruned, it is characterised in that：The determination
Reference axis and Limit of J-validity are all made of processing terminal and are set and shown.
5. the tree management method for parameter estimation that the fruit tree machinery as described in claim 2~4 is any is pruned, it is characterised in that：
The reference axis is the space coordinates that 3D orthogonal intersection space reference axis X, Y, Z are constituted.
6. the tree management method for parameter estimation that fruit tree machinery as claimed in claim 5 is pruned, it is characterised in that：The extraction
Trunk axis is using the algorithm searched for automatically；
Wherein, the algorithm steps searched for automatically：(1) point of interest region is determined；(2) cylinder accumulator is generated；(3) master is determined
Dry position；(4) it is fitted backbone.
7. the tree management method for parameter estimation that fruit tree machinery as claimed in claim 6 is pruned, it is characterised in that：The fitting
The predicted value of backbone use space line equation for：
Wherein, the point on (x, y, z) representation space straight line, a and c represent the slope of straight line, and b and d represents the intercept of straight line；
According to space principle of least square method, obtains between predicted value and actual value squared difference and be εx, εy：
As difference quadratic sum εx, εyFor minimum value when, εx, εyFollowing formula need to be met：
Optimal a, b, c, d can be acquired.
8. the tree management method for parameter estimation that fruit tree machinery as claimed in claims 6 or 7 is pruned, it is characterised in that：It is described
The profile point for detecting tree crown utilizes convex closure principle.
9. the tree management method for parameter estimation that fruit tree machinery as claimed in claim 8 is pruned, it is characterised in that：The profile
Point is (xki, yki, zki)；
Wherein, the dispersion degree of the profile point to tree body reference axis is Li：
Wherein, x 'kiWith y 'kiIndicate abscissa and ordinate with the point of profile point sustained height on reference axis.
10. a kind of system for the tree management parameter Estimation pruned suitable for fruit tree machinery, it is characterised in that：The system uses
The scan module (100) for the tree management method for parameter estimation that the fruit tree machinery is pruned is implemented, including,
Scan module (100) passes through data transmission module for emitting and receiving the first signal, and by the first signal received
(200) it is delivered to control module (300)；
Control module (300) reads the first signal of reception and first signal is decoded as second signal, and with processing mould
Block (400) establishes connection；
Processing module (400), at the second signal for receiving control module (300) and the second signal to receiving
Reason forms scan data scene and shows to display screen.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110702028A (en) * | 2019-09-04 | 2020-01-17 | 中国农业机械化科学研究院 | Three-dimensional detection positioning method and device for orchard trunk |
| CN113985438A (en) * | 2021-11-12 | 2022-01-28 | 河北农业大学 | Plant three-dimensional model reconstruction system and method |
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