CN108804854B - Tree body structure parameter estimation method and system for mechanical fruit tree pruning - Google Patents
Tree body structure parameter estimation method and system for mechanical fruit tree pruning Download PDFInfo
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Abstract
The invention discloses a method and a system for estimating tree structure parameters of mechanical fruit tree pruning, wherein the method comprises the following steps of preprocessing; extracting trunk axes and generating tree body reference axes; detecting contour points of the crown; calculating the dispersion degree of the contour points to the tree reference axis; the system is implemented by adopting a scanning module of the tree structure parameter estimation method for mechanical pruning of the fruit trees, and comprises the scanning module, a data transmission module and a control module, wherein the scanning module is used for transmitting and receiving a first signal and transmitting the received first signal to the control module through the data transmission module. According to the method, the tree trunk is used as a reference shaft, the dispersion degree of the key points of the canopy edges is researched, the detailed estimation of the tree structure parameters is achieved, and the reference information is provided for the automatic adjustment of the cutter position of the mechanical pruning, so that the problem that the deviation of the fitting curve surrounding the tree canopy on the estimation of the tree structure is large is solved, meanwhile, the efficiency of the mechanical pruning is facilitated, the time and the labor are saved, the resources are saved, and the use requirements are met.
Description
Technical Field
The invention relates to the technical field of orchard management mechanized application, in particular to a tree structure parameter estimation method and a tree structure parameter estimation system for mechanical pruning of fruit trees.
Background
China is the biggest world apple producing country, and the yield accounts for more than half of the global apple yield. The vegetative growth and reproductive growth of apple trees are interrelated and mutually influenced, and finally the yield and the quality are influenced. In order to realize the vitality control of fruit trees, pruning becomes one of the most important operations in the dormancy stage. The method aims to obtain an ideal canopy structure by partially thinning and cutting certain organs of the plant so as to improve the utilization rate of light energy. This operation is not as labor intensive as harvesting and timing is not critical, but it is time consuming for the grower. Mechanized pruning is an effective way to solve the above problems.
Modern apple orchard modes of cultivation are moving towards simpler, faster, more accessible and more efficient forms. Wherein, the tree body with high spindle shape is the preferred tree shape in the short stock intensive type high-efficiency cultivation mode popularized at present, and is also the tree shape commonly adopted by advanced apple production countries. It only needs to culture strong and straight stem, and the culture of the tree-shaped skeleton is completed; moreover, because the crown of the fruit tree is small, the length of the main branch is smaller than or close to the length of the arm of a person, all orchard operations can be completed by the person standing in the row, and conditions are created for realizing orchard mechanization.
In a typical mechanical pruning operation, the cutter is mounted on a tractor, and the operator is required to drive as straight as possible; however, the contour of the crown generally varies along the rows of trees, and in order to ensure the continuity of pruning, the cutters are adjusted according to the crown contour during pruning. As a first step of automatic pruning, the structural parameters of the fruit tree need to be estimated by the machine vision system.
In the past, people have used a variety of related techniques to perceive tree structures, such as stereo vision, laser scanners, and depth cameras. One of these studies was conducted in vineyards, using a sensing system incorporating vision and laser scanning principles mounted on a travelling vehicle to scan the canopy of grapes and provide a dense canopy performance map. However, such systems are expensive and complex for on-site data acquisition. Nielsen et al explored a stereoscopic vision approach to reconstruct the peach tree structure for automated flower thinning. However, there is a need for further reducing the complexity of stereo matching and improving the robustness of the algorithm in outdoor orchard environments. In recent years, depth cameras have been applied to three-dimensional reconstruction in the agricultural field by using a background light suppression technology and a time-of-flight-based distance measurement principle. In a commercial orchard, the camera is used for acquiring a depth image of a high spindle apple tree, a method for automatically identifying branches is developed, and an intelligent pruning system is explored and constructed; however, the low-resolution image may lose some important details, and cannot provide reference information for automatic adjustment of the position of the cutter for mechanical pruning, so that the efficiency of mechanical pruning is not good, time and labor are consumed, and the use requirement is not met.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and title of the application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The invention is provided in view of the problems of the existing tree structure parameter estimation method for mechanical fruit tree pruning.
Therefore, the invention aims to provide a tree structure parameter estimation method for mechanical pruning of fruit trees, which achieves detailed estimation of tree structure parameters by taking a trunk as a reference axis and researching the dispersion degree of key points at the edges of a canopy to provide reference information for automatic adjustment of the position of a cutter for mechanical pruning, thereby solving the problem that the deviation of a fitting curve surrounding the tree canopy on the estimation of the tree structure is large. .
In order to solve the technical problems, the invention provides the following technical scheme: a tree structure parameter estimation method for mechanical pruning of fruit trees comprises the steps of preprocessing; extracting trunk axes and generating tree reference axes; detecting contour points of the crown; and calculating the dispersion degree of the contour points to the tree reference axis.
As a preferred scheme of the tree structure parameter estimation method for mechanical pruning of fruit trees, the method comprises the following steps: the preprocessing comprises scanning the tree body, determining a coordinate axis and an effective data range.
As a preferred scheme of the tree structure parameter estimation method for mechanical pruning of fruit trees, the method comprises the following steps: the scanning module is adopted for scanning the tree body.
As a preferred scheme of the tree structure parameter estimation method for mechanical pruning of fruit trees, the method comprises the following steps: and setting and displaying the coordinate axis and the effective data range by adopting a processing terminal.
As a preferred scheme of the tree structure parameter estimation method for mechanical pruning of fruit trees, the method comprises the following steps: the coordinate axis is a space coordinate system formed by three-dimensional (3D) orthogonal space coordinate axes X, Y and Z.
As a preferred scheme of the tree structure parameter estimation method for mechanical pruning of fruit trees, the method comprises the following steps: the extraction main axis adopts an automatic searching algorithm;
wherein, the algorithm step of the automatic search comprises: determining a point of interest region; (2) generating a cylindrical accumulator; (3) determining a trunk position; and (4) fitting the main line.
As a preferable scheme of the method for estimating tree structure parameters for mechanical pruning of fruit trees of the present invention, wherein: the predicted value of the fitting trunk line adopts a space linear equation as follows:
wherein (x, y, z) represents a point on a spatial straight line, a and c represent the slope of the straight line, and b and d represent the intercept of the straight line;
according to the principle of the space least square method, the sum of squares of the difference between the predicted value and the true value is obtained as epsilon x ，ε y ：
When sum of squared differences ε x ，ε y At minimum value of epsilon x ，ε y The following formula needs to be satisfied:
the optimal values a, b, c and d can be obtained.
As a preferable scheme of the method for estimating tree structure parameters for mechanical pruning of fruit trees of the present invention, wherein: the contour points of the detected crown utilize the convex hull principle.
As a preferred scheme of the tree structure parameter estimation method for mechanical pruning of fruit trees, the method comprises the following steps: the contour point is (x) ki ，y ki ，z ki )。
The discrete degree from the contour point to the reference axis of the tree body is L i ：
Wherein, x' ki And y' ki The abscissa and ordinate of a point on the reference axis at the same height as the contour point are shown.
A system for estimating tree structure parameters suitable for mechanical pruning of fruit trees is implemented by adopting a scanning module of a tree structure parameter estimation method for mechanical pruning of fruit trees, and comprises the scanning module, a control module and a data transmission module, wherein the scanning module is used for transmitting and receiving a first signal and transmitting the received first signal to the control module; the control module reads the received first signal, decodes the first signal into a second signal and establishes connection with the processing module; and the processing module is used for receiving the second signal of the control module and processing the received second signal to form a scanning data scene to be displayed on the display screen.
The invention has the beneficial effects that: according to the method, the tree trunk is used as a reference shaft, the dispersion degree of the key points of the canopy edges is researched, the detailed estimation of the tree structure parameters is achieved, and the reference information is provided for the automatic adjustment of the cutter position of the mechanical pruning, so that the problem that the deviation of the fitting curve surrounding the tree canopy on the estimation of the tree structure is large is solved, meanwhile, the efficiency of the mechanical pruning is facilitated, the time and the labor are saved, the resources are saved, and the use requirements are met.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor. Wherein:
FIG. 1 is a schematic diagram of the overall structure of the first and second embodiments of the method and system for estimating tree structure parameters for mechanical pruning of fruit trees.
Fig. 2 is a scene diagram of the scan data according to the first embodiment of the method and system for estimating tree structure parameters of mechanical pruning of fruit trees of the present invention.
Fig. 3 is a schematic diagram showing 3D data of a tree body according to a first embodiment of the method and system for estimating tree body structure parameters for mechanical pruning of a fruit tree of the present invention.
Fig. 4 is a schematic structural diagram of a cylindrical accumulator including the most data points according to a first embodiment of the method and system for estimating tree structure parameters for mechanical pruning of fruit trees.
FIG. 5 is a scatter diagram of the trunk and the trunk extracted according to the first embodiment of the method and system for estimating the parameters of the tree structure for mechanical pruning of fruit trees.
Fig. 6 is a fitting tree trunk line of the first embodiment of the method and system for estimating tree structure parameters for mechanical pruning of fruit trees of the present invention.
Fig. 7 is a schematic diagram of the tree structure parameter estimation method for mechanical fruit tree pruning and the crown layer key edge point extraction effect of the first embodiment of the system thereof in the present invention.
Fig. 8 is a schematic diagram of the effect of the key edge point projection reference axis in the first embodiment of the method and system for estimating tree structure parameters for mechanical pruning of fruit trees of the present invention.
FIG. 9 is a schematic view of a system flow of a second embodiment of the method and system for estimating tree structure parameters for mechanical pruning of fruit trees of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanying figures of the present invention are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, the references herein to "one embodiment" or "an embodiment" refer to a particular feature, structure, or characteristic that may be included in at least one implementation of the present invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Furthermore, the present invention is described in detail with reference to the drawings, and in the detailed description of the embodiments of the present invention, the cross-sectional view illustrating the structure of the device is not enlarged partially according to the general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Referring to fig. 1 to 8, a schematic overall structure diagram of a method for estimating tree structure parameters of mechanical fruit tree pruning according to a first embodiment of the present invention is provided, and as shown in fig. 1, the method for estimating tree structure parameters of mechanical fruit tree pruning includes preprocessing; extracting trunk axes and generating tree body reference axes; detecting contour points of the crown; and calculating the dispersion degree of the contour points to the tree body reference axis.
Specifically, the method comprises the steps of pretreatment; extracting trunk axes and generating tree reference axes; detecting contour points of the crown; and calculating the discrete degree of the contour points to the tree body reference axis, and the method can effectively estimate the tree body structure parameters step by step, thereby being beneficial to providing reference information for the automatic adjustment of the cutter position of mechanical pruning, further being beneficial to the efficiency of mechanical pruning, saving time and labor, saving resources and meeting the use requirements.
Further, the preprocessing comprises scanning a tree body, determining a coordinate axis and an effective data range, wherein the scanning tree body adopts a scanning module 100, preferably, the scanning module is a VLP-16 scanner, the VLP-16 scanner is also called a VLP-16 lidar sensor, has real-time data, a 360-degree field angle, three-dimensional coordinates and calibrated reflectivity measurement, is small in shape, low in power consumption and reasonable in cost, and is used as a main device for generating a high-resolution 3D model, when the VLP-16 scanner is used, the VLP-16 scanner is rotated by 90 degrees and placed on a tripod with a certain height (1.7 meters) away from the ground according to the height and the planting distance of a high spindle-shaped tree body, and scanning of a single tree body is carried out, in order to be suitable for normal display of a processing environment, the coordinate axis is determined, the Y axis is converted into the Z axis, the X axis is converted into the Y axis, the Z axis is converted into the X axis, wherein the X axis represents the left-right displacement of a scanning object from the coordinate center of the scanner, and the Z represents the distance from the coordinate of the scanning object to the scanner, and the center of the scanner; meanwhile, according to the characteristics of data scanned by the VLP-16 scanner (data within 100 meters and between the upper and lower 30 degrees can be returned), the information of the ground and other trees can be doped, so that by formulating the constraint conditions of Y value and Z value ranges, the constraint conditions are that the Y value of a far and near range of a target fruit tree from the scanner is 0.5 to 2.5 meters, the Z value of the height of the starting point of the trunk of an effective fruit tree is more than-1.5 meters (the height of the weed on the ground is about 0.2 meter), invalid data are automatically removed, and the effective data range is determined; it should be noted that, the setting for determining the coordinate axis and the valid data range is set and displayed by using a processing terminal, where the processing terminal is a notebook, a computer, a tablet or a mobile phone, and the coordinate axis is a spatial coordinate system formed by 3D orthogonal spatial coordinate axes X, Y, and Z.
Further, extracting a main axis and adopting an automatic searching algorithm; the automatic searching algorithm comprises the following specific steps:
(1) Determining a point of interest region
The point coordinates meeting a certain Z value are stored as an interest point area, the scanning points reflect the bottom of the trunk truly, and the influence of the weeds at the bottom of the trunk on identification is avoided.
(2) Generating a cylindrical accumulator
According to the Z value, sequentially extracting interest points as the circle center of the bottom surface of the cylinder; setting a proper threshold value of the radius of the cylinder according to the diameter (0.05 m) of a conventional tree body and a certain empirical offset of 0.01-0.05 m; the cylinder height is set with reference to the clear trunk height (i.e. the height below the main branch growing point).
(3) Determining trunk position
Utilizing a series of cylindrical accumulators to respectively compare the coordinate of the interest point with the coordinate range of the cylindrical accumulators, and recording the coordinate point (x) in the cylindrical accumulators i ，y i ，z i ) And counting the number m, and extracting the cylinder with the largest number of data points to determine the trunk position of the tree (see fig. 4).
(4) Fitting trunk line
Since the spatial straight line is equivalent to the intersection line of two planes, the data (shown in fig. 5) inside the cylinder is fitted by using a spatial least square method, and the predicted value of the fitted trunk line adopts a spatial straight line equation as follows:
wherein (x, y, z) represents a point on a spatial straight line, a and c represent the slope of the straight line, and b and d represent the intercept of the straight line; however, in the actual process of performing the scattered point fitting, the result calculated by using the above-mentioned space linear equation is a predicted value, and in order to determine the square sum epsilon of the difference between the predicted value and the true value x ，ε y The minimum value is used to obtain the results of a, b, c and d.
According to the principle of the space least square method, the sum of squares of the difference between the predicted value and the true value is obtained as epsilon x ，ε y ：
When sum of squared differences ε x ，ε y At minimum value of epsilon x ，ε y The following formula needs to be satisfied:
the optimal values a, b, c and d can be obtained.
Further, points outside the cylindrical accumulator are defined as contour points (x) ki ，y ki ，z ki ) The method extracts key edge points in the contour points by using the convex hull principle (as shown in fig. 7), and the process is as follows: scanning other points in a counterclockwise direction from the leftmost end point and the rightmost end point in the contour points respectively; if the convexity of the graph formed by the newly scanned point and the determined point is not changed (namely the cross product result of the corresponding vector of the adjacent side of the graph is greater than 0), temporarily storing the newly scanned point as the determined point and continuously scanning the next point; otherwise, deleting the last determined point, storing the new scanning point, scanning other points, and continuously comparing the convexity until no change occurs; finally, combining the scanned upper graph and the scanned lower graph together to determine a convex hull, wherein the key edge point is the peak of the convex hull; the tail ends of most of the main branches are positioned at the edge points, so that the post-processing can be simplified, and the running time is greatly reduced; and then extending the trunk fitting straight line, taking the trunk fitting straight line as a reference axis, and projecting all key edge points to the reference axis, wherein the effect of the projection is close to the spatial distribution of branches in the canopy.
It should be noted that the calculated contour points are referred to as tree bodyThe discrete degree of the reference axis is calculated by using a space straight line equation to calculate the point (x) on the reference axis and the contour point ki ，y ki ，z ki ) Point of the same height (x' ki ，y’ ki ，z ki ) Let the dispersion degree of the contour point to the reference axis of the tree be L i According to the following formula:
the method can reflect the change trend of the peripheral curved surface of the canopy, further finish the estimation of the tree structure parameters, and the finished model data is sent to the cutter position of mechanical pruning to automatically adjust and provide reference information.
Referring to fig. 1 and 9, for a second embodiment of the present invention, there is provided a schematic flow chart structure of a system for estimating tree structure parameters suitable for mechanical pruning of fruit trees, as shown in fig. 9, a system for estimating tree structure parameters suitable for mechanical pruning of fruit trees, which is implemented by using a scanning module 100 of a method for estimating tree structure parameters for mechanical pruning of fruit trees, and includes the scanning module 100, configured to transmit and receive a first signal, and transmit the received first signal to a control module 300 through a data transmission module 200; the control module 300 reads the received first signal, decodes the first signal into a second signal, and establishes a connection with the processing module 400; the processing module 400 is configured to receive the second signal from the control module 300 and process the received second signal to form a scanned data scene, and display the scanned data scene on the display screen.
Specifically, the system for estimating the tree structure parameters suitable for mechanical pruning of the fruit trees is used for controlling the processes of signal receiving and transmitting, signal processing, data transmission, parameter estimation modeling and the like of the scanning module 100 in the invention.
Further, the scanning module 100 of the method for estimating the tree structure parameters of mechanical pruning of the fruit tree is used for implementation, and comprises the scanning module 100, which is used for transmitting and receiving the first signal, and transmitting the received first signal to the control module 300 through the data transmission module 200; a control module 300 for reading the received first signal and decoding the first signal into a second signal, and establishing a connection with the processing module 400; the processing module 400 is configured to receive the second signal from the control module 300 and process the received second signal to form a scanned data scene, and display the scanned data scene on the display screen.
Specifically, the scanning module 100 in the present invention is configured to transmit a first signal to the surface of a tree, and since the first signal is reflected when encountering the tree, the scanning module 100 can also receive the reflected first signal, the first signal is transmitted to the control module 300 through the data transmission module 200, the control module 300 and the processing module 400 determine the spatial coordinates of the surface reflection point by analyzing the relative distance between the calculation points, and finally obtain the tree scanning data, and then establish a data model through matlab.
It should be noted that the scanning module 100 is fixed on a triangular bracket, and includes a signal transmitter 101 and a signal receiver 102. The signal transmitter 101 is a light pulse transmitter, and transmits a first signal to the tree, and captures the reflected first signal through the signal receiver 102, where the first signal is a pulse signal. The signal transmitter 101 projects light (laser line) at high frequency (on/off), and the light is continuously projected to the surface of the measured tree to form dense reflection points, so that the measurement precision requirement is ensured.
Further, the data transmission module 200 may adopt a cable, two ends of which are respectively connected to the signal receiver 102 and the control module 300, and configured to transmit the received signal from the signal receiver 102 to the control module 300, and the control module 300 reads the received first signal, decodes the first signal into a second signal, and finally transmits the second signal to the processing module 400 through the control module 300 for data analysis and processing.
The control module 300 is mainly used for acquiring and converting signals, and transmitting data after the signals are converted to the processing module 400, which may be a control box; the control module 300 and the processing module 400 can transmit data through the data transmission module 200 or wireless communication.
The processing module 400 is disposed on the processing terminal, and the processing module 400 is configured to receive the second signal of the control module 300 and process the received second signal to form a scanned data scene, and display the scanned data scene on a display screen of the processing terminal, where the processing module 400 is a processor.
It is important to note that the construction and arrangement of the present application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperatures, pressures, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present inventions. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications that nevertheless fall within the scope of the appended claims.
Moreover, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those unrelated to the presently contemplated best mode of carrying out the invention, or those unrelated to enabling the invention).
It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, without undue experimentation.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (2)
1. A tree structure parameter estimation method for mechanical pruning of fruit trees is characterized by comprising the following steps: comprises the steps of (a) preparing a substrate,
pre-treating;
extracting trunk axes and generating tree body reference axes;
detecting contour points of the crown; and the number of the first and second groups,
calculating the dispersion degree of the contour points to the tree reference axis;
the preprocessing comprises scanning a tree body, determining a coordinate axis and an effective data range;
the scanning tree body adopts a scanning module;
setting and displaying the determined coordinate axis and the effective data range by adopting a processing terminal;
the coordinate axis is a space coordinate system formed by three-dimensional (3D) orthogonal space coordinate axes X, Y and Z;
the extraction of the main axis adopts an automatic search algorithm;
wherein, the algorithm step of the automatic search comprises: determining a point of interest area; (2) generating a cylindrical accumulator; (3) determining a trunk position; (4) fitting the trunk line;
the predicted value of the fitting trunk line adopts a space linear equation as follows:
wherein (x, y, z) represents a point on a spatial straight line, a and c represent the slope of the straight line, and b and d represent the intercept of the straight line;
record the coordinate point (x) inside the cylindrical accumulator i ，y i ，z i ) And counting the number m;
according to the principle of space least square method, the sum of squares of the difference between the predicted value and the true value is epsilon x ，ε y ：
When sum of squared differences ε x ，ε y At minimum value of epsilon x ，ε y The following formula needs to be satisfied:
the optimal a, b, c and d can be obtained;
the contour points of the detected crown utilize a convex hull principle;
the contour point is (x) ki ，y ki ，z ki )；
Wherein the discrete degree of the contour points to the tree reference axis is L i ：
Wherein,x’ ki and y' ki The abscissa and ordinate of a point on the reference axis at the same height as the contour point are indicated.
2. A system for estimating tree structure parameters for mechanical fruit tree pruning, which is applied to the method for estimating tree structure parameters for mechanical fruit tree pruning according to claim 1, and is characterized in that: the system is implemented by adopting a scanning module of the tree structure parameter estimation method for mechanical pruning of the fruit tree, and comprises the following steps of,
the scanning module is used for transmitting and receiving a first signal and transmitting the received first signal to the control module through the data transmission module;
the control module reads the received first signal, decodes the first signal into a second signal and establishes connection with the processing module;
and the processing module is used for receiving the second signal of the control module and processing the received second signal to form a scanning data scene to be displayed on the display screen.
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