CN112970706A - Continuous profiling variable spraying method based on laser scanning detection - Google Patents

Continuous profiling variable spraying method based on laser scanning detection Download PDF

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CN112970706A
CN112970706A CN202110160105.3A CN202110160105A CN112970706A CN 112970706 A CN112970706 A CN 112970706A CN 202110160105 A CN202110160105 A CN 202110160105A CN 112970706 A CN112970706 A CN 112970706A
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spraying
scanning
profiling
tau
spray
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CN112970706B (en
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南玉龙
张慧春
郑加强
杨琨琪
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Yancheng Institute of Technology
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Yancheng Institute of Technology
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0025—Mechanical sprayers
    • A01M7/0032—Pressure sprayers
    • A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas

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  • Engineering & Computer Science (AREA)
  • Insects & Arthropods (AREA)
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Abstract

The invention relates to a continuous profiling variable spraying method based on laser scanning detection, which comprises the following steps: the laser scanning detection unit obtains scanning point polar coordinate data; when the number of scanning detection periods T is less than 10, returning to the first step; when the number of times T of the scanning detection period is more than 10, the next step is carried out; reading the traveling position and the current speed v of the traveling vehicle body, and resetting T to 0; converting the polar coordinate data of the scanning points into scanning point data of a straight coordinate, dividing the scanning points into D1-DN partitions according to the y coordinate value of the scanning point data, and storing the scanning points into a point cloud data matrix of a corresponding area; and calculating the volume of the canopy, the area density of canopy leaves, a spray positioning point and a spray angle in the D1-DN partition, calculating the spray flow and the spray air volume by using the volume, and calculating the inverse solution of a telescopic motion mechanism to realize real-time continuous tracking and profiling of the tree crown. The invention can effectively solve the problems that the prior profiling spraying method is difficult to realize real-time continuous tracking profiling, is difficult to make practical adjustment on the spraying amount and the air quantity, and has lower pesticide utilization rate.

Description

Continuous profiling variable spraying method based on laser scanning detection
Technical Field
The invention relates to the technical field of profiling spraying, in particular to a continuous profiling variable spraying method based on laser scanning detection.
Background
The fruit tree profiling spraying is a novel fruit tree pesticide spraying technology and method which appear along with the development of modern fine agriculture, and the fruit tree profiling spraying is carried out by detecting the actual shape of a fruit tree and automatically controlling a spray head group at an ideal spraying distance so as to improve the distribution uniformity of roof drops in the fruit tree. In the accurate spraying of fruit trees, the position of a spray head and other spraying parameters are usually required to be adjusted at any time according to the difference of the fruit trees or crops, so that variable spraying of pesticides is realized. During the profiling spraying operation, besides the position parameters of the fruit trees, morphological and structural parameters such as the shapes, the relative densities and the like of the fruit trees are obtained in real time, the parameters such as the spraying time, the spraying pressure and the like are controlled in time according to the obtained parameters, and the shapes, the positions and the like of the mechanisms are adjusted according to the conditions of different tree species, different densities and the like.
At present, methods such as image processing, ultrasonic distance detection, infrared photoelectric distance measurement and the like are mainly adopted for detecting and identifying the shape of a fruit tree, and a virtual model is established for simulation during simulation of the shape of the fruit tree and research of a profiling spraying device so as to realize profiling spraying. The method is complex, real-time continuous tracking and profiling are difficult to realize, meanwhile, the applicability adjustment of the spray volume and the air volume is difficult to realize, and the deposition characteristic of the fog drops and the pesticide utilization rate are low. Therefore, it is necessary to design a new technical solution to comprehensively solve the problems in the prior art.
Disclosure of Invention
The invention aims to provide a continuous profiling variable spraying method based on laser scanning detection, which can effectively solve the problems that the prior profiling spraying method is difficult to realize real-time continuous tracking profiling, difficult to make practical adjustment on the spraying amount and the air volume and low in pesticide utilization rate.
In order to solve the technical problems, the invention adopts the following technical scheme:
a continuous profiling variable spraying method based on laser scanning detection is implemented on the basis of a folding profiling spraying machine;
the foldable profiling sprayer comprises a walking vehicle body, a laser scanning detection unit for detecting a tree crown and a profiling spraying mechanism for spraying pesticides; the walking vehicle body comprises a carriage and a walking chassis, wherein an electric control unit, a spray liquid supply unit and a power supply unit are arranged in the carriage; the electric control unit comprises a laser scanning detection control system for controlling the laser scanning detection unit, a walking chassis control system for controlling the walking chassis, a spraying control system for controlling the spraying liquid supply unit, an air volume control system and a mechanism profiling control system for controlling the main folding unit and the telescopic sliding unit;
the profiling spraying mechanism comprises: the folding device comprises a plurality of main folding units and a plurality of telescopic sliding units, wherein the main folding units are symmetrically arranged on two sides of a compartment, the telescopic sliding units are arranged on a folding main rod at intervals, the main folding units comprise the folding main rod, one end of the folding main rod is hinged with the compartment, and sensing equipment is arranged at the other end of the folding main rod; the telescopic sliding units comprise fixed rods and moving rods, one ends of the fixed rods are arranged on the folding main rods in a sliding mode, the fixed rods move along the rod length direction of the folding main rods, the moving rods are parallel to the fixed rods, and the moving rods slide along the rod length direction of the fixed rods; one end of the movable rod, which is far away from the fixed rod, is provided with a spraying assembly, and the spraying assembly comprises an air injection cover and a spray head;
the continuous profiling variable spraying control method based on laser scanning detection comprises the following steps:
(1) the laser scanning detection unit detects the tree canopy to obtain scanning point polar coordinate data;
(2) jumping to the step (1) when the scanning detection period number T is less than 10; jumping to the step (3) when the number of scanning detection period T is larger than 10;
(3) reading the traveling position X1 and the current speed v of the walking vehicle body, and resetting the number T of scanning detection cycles to 0;
(4) converting polar coordinate data of scanning points into scanning point data of a straight coordinate, dividing the scanning points into D1-DN partitions by using a y coordinate value of the scanning point data, and storing the scanning points into a point cloud data matrix of a corresponding area, wherein N is the number of single-side telescopic sliding units;
(5) calculating various parameters of D1-DN partition as follows:
51) calculating the volume of a canopy, the area density of canopy leaves, a spray positioning point and a spray angle according to the point cloud data of each partition;
52) calculating spray flow and spray air volume according to the parameters of the volume of the canopy and the area density of the canopy blades, and carrying out inverse solution on the telescopic sliding mechanism;
53) converting the spray flow into a spray control quantity Ptrl; converting the spray air quantity into fan control quantity Fctrl; converting the inverse solution value of the telescopic sliding mechanism into a mechanism motion control quantity Jctrl;
54) storing the spraying control quantity Ptrl, the fan control quantity Fctrl and the mechanism motion control quantity Jctrl of each area into DCtrl, namely DCtrl _ (tau) ([ Fctrl (tau) Ptrl (tau) Jctrl (tau) ] (tau) ═ 1-N);
55) the traveling position X1 of the traveling vehicle body and the control amount DCtrl _ (τ) (τ 1 to N) for each zone are stored in ζi；
56) Will ζiSequentially storing the data into an array delta;
57) reading the traveling position X2 of the traveling vehicle body, and searching for delta i +1 which is more than or equal to X2 and more than or equal to delta i; extracting a vector delta [ i ] of the ith row in the array delta;
58) control information in the vector delta [ i ] is respectively sent to a spraying control system, an air quantity control system and a mechanism profiling control system; the spraying control system controls and adjusts spraying flow according to received Pctrl (tau) (tau is 1-N), the air volume control system adjusts air volume according to received Fctrl (tau) (tau is 1-N), the mechanism profiling control system adjusts the corresponding telescopic sliding mechanism according to received Jctrl (tau) (tau is 1-N) to profile the tree crown;
(6) updating the vehicle body position value X0 to X1;
(7) and (5) repeating the step (1-6).
The method for calculating the spray flow comprises the following steps:
solving the volume of the canopy partitioned from D1 to DN:
Figure BDA0002935131450000031
Figure BDA0002935131450000032
Figure BDA0002935131450000033
in the formula: m is the laser scanning acquisition times in the x direction; n is the number of laser scanning acquisition times in the y direction; c0For the laser scanning the distance, V, of the detection unit to the center of the tree rowDThe volume of the canopy corresponding to each subarea of the tree crown scanning point is taken as tau, and the serial number corresponding to the subarea of the tree crown scanning point is taken as tau; x0 is the previous vehicle body travel position, X1 is the current vehicle body travel position;
the number omega of effective points of tree crown scanning points is mn-Calnan(PData)
In the formula: cal (Calla)nanCalculating the number of NAN in the matrix;
Figure BDA0002935131450000034
Figure BDA0002935131450000035
in the formula: k is a radical ofDIs the point density of the crown scanning point partition; rhosLeaf area Density, (m)2m-3)；kmidIs ρsIs 2.6m2m-3The density of the corresponding scanning points is measured, and w is the number of effective points of the tree crown scanning points;
Figure BDA0002935131450000036
Figure BDA0002935131450000037
in the formula: puIs leaf surface unit m2Volume of drug in the drug container (L/m)2) σ is the droplet size (mm), and β is the droplet coverage density (pieces/cm)2)，PDThe effective proportion of the actual spraying target deposition is phi spray volume (L) corresponding to the tree crown scanning point partition.
The method for calculating the spray air volume comprises the following steps:
obtaining the air volume F of the canopy area corresponding to the division of the crown scanning points D1-DN according to the air volume replacement principleD：
Figure BDA0002935131450000038
Figure BDA0002935131450000039
Figure BDA0002935131450000041
In the formula: h is0Is the diameter of the jet hood, h1Is the height corresponding to the canopy region corresponding to each subarea of the tree crown scanning point, v is the advancing speed of the crawler, kaCoefficient of wind loss, kbAnd the area density coefficient of the leaves of the canopy region corresponding to each subarea of the tree crown scanning point.
The continuous tracking profiling variable spraying method based on laser scanning detection is implemented on the basis of the folding profiling spraying machine, wherein the laser scanning detection unit of the folding profiling spraying machine is used for detecting point cloud data obtained by a tree canopy, so that the spraying amount and the pesticide application amount are accurately calculated in real time, the continuous profiling control amount of the profiling mechanism is controlled, the tree canopy is continuously tracked and profiled in real time by the profiling mechanism of the folding profiling spraying machine, and meanwhile, the tree canopy is sprayed by variable flow and variable air supply amount, so that the deposition characteristic of fog drops in the tree canopy and the pesticide utilization rate are improved.
Drawings
FIG. 1 is a schematic view of the construction of a foldaway profiling sprayer of the present invention;
FIG. 2 is a schematic view of the foldaway form of the invention;
FIG. 3 is a schematic view of the interior of the compartment of the present invention;
FIG. 4 is a schematic view of a laser scanning sensor of the present invention detecting a tree canopy;
FIG. 5 is a flow chart of a continuous profiling variable spraying method based on laser scanning detection according to the present invention;
FIG. 6 is a schematic diagram of a double-sided mechanical profiling spray of the foldable profiling sprayer of the invention;
fig. 7 is a schematic diagram of the single-sided mechanism profile spray of the foldaway profile sprayer of the invention.
In the figure: 100. a traveling vehicle body; 110. a walking chassis; 120. a carriage; 130. a mechanism profiling control system; 140. a spray control system; 150. a spray liquid supply unit; 160. a walking chassis control system; 170. a laser scanning detection control system; 180. a power supply unit; 200. a main folding unit; 210. a first folding bar; 220. a second folding bar; 300. a telescopic sliding unit; 310. fixing the rod; 320. a travel bar; 321. an air blast hood; 322. a spray head; 400. a laser scanning detection unit; 410. a sensor support frame; 420. a laser scanning sensor; 500. and (4) crown.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the following description is given in conjunction with the accompanying examples. It is to be understood that the following text is merely illustrative of one or more specific embodiments of the invention and does not strictly limit the scope of the invention as specifically claimed.
The technical scheme adopted by the invention is as shown in figures 1-5, and the continuous profiling variable spraying method based on laser scanning detection is implemented on the basis of a folding profiling spraying machine;
as shown in fig. 1 to 3, the foldable profiling sprayer comprises a walking vehicle body 100, a laser scanning detection unit 400 for detecting a tree crown, and a profiling spraying mechanism for spraying a pesticide; the laser scanning detection unit comprises a sensor support frame 410 and a laser scanning sensor 420, wherein the laser scanning sensor 420 is fixed on a carriage of the walking vehicle body through the sensor support frame 410; the walking vehicle body 100 comprises a vehicle box 120 and a walking chassis 110, wherein an electric control unit, a spray liquid supply unit 150 and a power supply unit 180 are arranged in the vehicle box 120; the electrical control unit comprises a laser scanning detection control system 170 for controlling the laser scanning detection unit 400, a walking chassis control system 160 for controlling the walking chassis 110, a spraying control system 140 for controlling the spraying liquid supply unit 150, an air volume control system and a mechanism profiling control system 130 for controlling the main folding unit 200 and the telescopic sliding unit 300; the profile modeling spraying mechanism includes: the folding device comprises a plurality of main folding units 200 symmetrically arranged on two sides of a compartment 120 and a plurality of telescopic sliding units 300 arranged on a folding main rod at intervals, wherein each main folding unit 200 comprises a folding main rod consisting of a first folding rod 210 and a second folding rod 220, one end of each first folding rod 210 is hinged with the compartment 120, the other end of each first folding rod is hinged with one end of each second folding rod 220, and sensing equipment is arranged at the other end of each second folding rod 220; the telescopic sliding units 300 each include a fixed bar 310 and a movable bar 320, one end of the fixed bar 310 is slidably disposed on the folding main bar, the fixed bars 310 all move along the bar length direction of the folding main bar, the movable bar 320 is parallel to the fixed bar 310, and the movable bar 320 slides along the bar length direction of the fixed bar 310; the end of the movable rod 320 far from the fixed rod 310 is provided with a spraying assembly, which comprises an air cap 321 and a spray head 322.
The continuous profiling variable spraying control method based on laser scanning detection comprises the following steps:
(1) detecting the tree canopy by a laser scanning sensor to obtain scanning point polar coordinate data;
(2) jumping to the step (1) when the scanning detection period number T is less than 10; jumping to the step (3) when the number of scanning detection period T is larger than 10;
(3) reading the traveling position X1 and the current speed v of the walking vehicle body, and resetting the number T of scanning detection cycles to 0;
(4) converting polar coordinate data of scanning points into scanning point data of straight coordinates, dividing the scanning points into D1-D4 partitions by using y coordinate values of the scanning point data, and storing the partitions into point cloud data matrixes of corresponding areas, wherein N is the number of the single-side telescopic sliding units;
(5) calculating various parameters of the D1-D4 partitions as follows:
51) calculating the volume of a canopy, the area density of canopy leaves, a spray positioning point and a spray angle according to the point cloud data of each partition;
52) calculating spray flow and spray air volume according to the parameters of the volume of the canopy and the area density of the canopy blades, and carrying out inverse solution on the telescopic sliding mechanism;
53) converting the spray flow into a spray control quantity Ptrl; converting the spray air quantity into fan control quantity Fctrl; converting the inverse solution value of the telescopic sliding mechanism into a mechanism motion control quantity Jctrl;
54) storing the spraying control quantity Ptrl, the fan control quantity Fctrl and the mechanism motion control quantity Jctrl of each area into DCtrl, namely DCtrl _ (tau) ([ Fctrl (tau) Ptrl (tau) Jctrl (tau) ] (tau ═ 1-4);
55) the travel position X1 of the traveling vehicle body and the control quantity DCtrl (tau) (tau is 1-4) of each zone are stored in zetai；
56) Will ζiSequentially storing the data into an array delta;
57) reading the traveling position X2 of the traveling vehicle body, and searching for delta i +1 which is more than or equal to X2 and more than or equal to delta i; extracting a vector delta [ i ] of the ith row in the array delta;
58) control information in the vector delta [ i ] is respectively sent to a spraying control system, an air quantity control system and a mechanism profiling control system; the spraying control system controls and adjusts spraying flow according to received Pctrl (tau) (tau is 1-4), the air volume control system adjusts air supply volume according to received Fctrl (tau) (tau is 1-4), and the mechanism profiling control system adjusts the corresponding telescopic sliding mechanism to profile the tree crown according to received Jctrl (tau) (tau is 1-4);
(6) updating the vehicle body position value X0 to X1;
(7) and (5) repeating the step (1-6).
The method for calculating the spray flow comprises the following steps:
solving the volume of the canopy of the D1-D4 subareas:
Figure BDA0002935131450000061
Figure BDA0002935131450000062
Figure BDA0002935131450000063
in the formula: m is the laser scanning acquisition times in the x direction; n is the number of laser scanning acquisition times in the y direction; c0For the laser scanning the distance, V, of the detection unit to the center of the tree rowDThe volume of the canopy corresponding to each subarea of the tree crown scanning point is taken as tau, and the serial number corresponding to the subarea of the tree crown scanning point is taken as tau; x0 is the previous vehicle body travel position, X1 is the current vehicle body travel position;
the number omega of effective points of tree crown scanning points is mn-Calnan(PData)
In the formula: cal (Calla)nanCalculating the number of NAN in the matrix;
Figure BDA0002935131450000064
Figure BDA0002935131450000065
in the formula: k is a radical ofDIs the point density of the crown scanning point partition; rhosLeaf area Density, (m)2m-3)；kmidIs ρsIs 2.6m2m-3Time-corresponding scanning point density; w is the number of effective points of the tree crown scanning points;
Figure BDA0002935131450000066
Figure BDA0002935131450000067
in the formula: puIs leaf surface unit m2Volume of drug in the drug container (L/m)2) σ is the droplet size (mm), and β is the droplet coverage density (pieces/cm)2)，PDThe effective proportion of the actual spraying target deposition is phi spray volume (L) corresponding to the tree crown scanning point partition.
The method for calculating the spray air volume comprises the following steps:
obtaining the air volume F of the canopy region corresponding to the tree crown scanning points D1-D4 according to the air volume replacement principleD：
Figure BDA0002935131450000071
Figure BDA0002935131450000072
Figure BDA0002935131450000073
In the formula: h is0Is the diameter of the jet hood, h1Is the height corresponding to the canopy region corresponding to each subarea of the tree crown scanning point, v is the advancing speed of the crawler, kaCoefficient of wind loss, kbAnd the area density coefficient of the leaves of the canopy region corresponding to each subarea of the tree crown scanning point.
The continuous tracking profiling variable spraying method based on laser scanning detection comprises the steps of firstly, obtaining scanning point polar coordinate data by using a laser scanning sensor of a folding profiling spraying machine, then converting the scanning point polar coordinate data into straight coordinate scanning point data, dividing scanning points into partitions of a tree crown by using a y coordinate value of the scanning point data, storing the scanning points into a point cloud data matrix of a corresponding region, calculating a canopy volume, canopy leaf area density, a spraying positioning point and a spraying angle by using point cloud data of each partition, and calculating a spraying flow rate, a spraying air volume and an inverse solution of a telescopic motion mechanism by using parameters of the canopy volume and the canopy leaf area density; then by converting the spray flow rate into a spray control amount Pctrl for controlling the opening degree of the battery valve; converting the spray air volume into a fan control quantity Fctrl for controlling the rotating speed of the centrifugal brushless fan; converting the inverse solution value of the telescopic motion mechanism into a mechanism motion control quantity Jctrl; the final spraying control system controls and adjusts spraying flow according to received Pctrl (tau) (tau is 1-4), the air volume control system adjusts air supply volume according to received Fctrl (tau) (tau is 1-4), the mechanism control system adjusts corresponding telescopic sliding mechanisms according to received Jctrl (tau) (tau is 1-4) to profile the tree crown, real-time continuous tracking and profiling of the tree crown are achieved, meanwhile, variable flow and variable air supply volume are carried out to spray the tree crown, and accordingly deposition characteristics of fog drops in the tree crown are improved and pesticide utilization rate is improved.
The present invention is not limited to the above embodiments, and those skilled in the art can make various equivalent changes and substitutions without departing from the principle of the present invention after learning the content of the present invention, and these equivalent changes and substitutions should be considered as belonging to the protection scope of the present invention.

Claims (3)

1. A continuous profiling variable spraying method based on laser scanning detection is characterized in that: the method is implemented on the basis of a folding profiling sprayer;
the foldable profiling sprayer comprises a walking vehicle body, a laser scanning detection unit for detecting a tree crown and a profiling spraying mechanism for spraying pesticides; the walking vehicle body comprises a carriage and a walking chassis, wherein an electric control unit, a spray liquid supply unit and a power supply unit are arranged in the carriage; the electric control unit comprises a laser scanning detection control system for controlling the laser scanning detection unit, a walking chassis control system for controlling the walking chassis, a spraying control system for controlling the spraying liquid supply unit, an air volume control system and a mechanism profiling control system for controlling the main folding unit and the telescopic sliding unit;
the profiling spraying mechanism comprises: the folding device comprises a plurality of main folding units and a plurality of telescopic sliding units, wherein the main folding units are symmetrically arranged on two sides of a compartment, the telescopic sliding units are arranged on a folding main rod at intervals, the main folding units comprise the folding main rod, one end of the folding main rod is hinged with the compartment, and sensing equipment is arranged at the other end of the folding main rod; the telescopic sliding units comprise fixed rods and moving rods, one ends of the fixed rods are arranged on the folding main rods in a sliding mode, the fixed rods move along the rod length direction of the folding main rods, the moving rods are parallel to the fixed rods, and the moving rods slide along the rod length direction of the fixed rods; one end of the movable rod, which is far away from the fixed rod, is provided with a spraying assembly, and the spraying assembly comprises an air injection cover and a spray head;
the continuous profiling variable spraying control method based on laser scanning detection comprises the following steps:
(1) the laser scanning detection unit detects the tree canopy to obtain scanning point polar coordinate data;
(2) jumping to the step (1) when the scanning detection period number T is less than 10; jumping to the step (3) when the number of scanning detection period T is larger than 10;
(3) reading the traveling position X1 and the current speed v of the walking vehicle body, and resetting the number T of scanning detection cycles to 0;
(4) converting polar coordinate data of scanning points into scanning point data of a straight coordinate, dividing the scanning points into D1-DN partitions by using a y coordinate value of the scanning point data, and storing the scanning points into a point cloud data matrix of a corresponding area, wherein N is the number of single-side telescopic sliding units;
(5) calculating various parameters of D1-DN partition as follows:
51) calculating the volume of a canopy, the area density of canopy leaves, a spray positioning point and a spray angle according to the point cloud data of each partition;
52) calculating spray flow and spray air volume according to the parameters of the volume of the canopy and the area density of the canopy blades, and carrying out inverse solution on the telescopic sliding mechanism;
53) converting the spray flow into a spray control quantity Ptrl; converting the spray air quantity into fan control quantity Fctrl; converting the inverse solution value of the telescopic sliding mechanism into a mechanism motion control quantity Jctrl;
54) storing the spraying control quantity Ptrl, the fan control quantity Fctrl and the mechanism motion control quantity Jctrl of each area into DCtrl, namely DCtrl _ (tau) ([ Fctrl (tau) Ptrl (tau) Jctrl (tau) ] (tau) ═ 1-N);
55) the traveling position X1 of the traveling vehicle body and the control amount DCtrl _ (τ) (τ 1 to N) for each zone are stored in ζi；
56) Will ζiSequentially storing the data into an array delta;
57) reading the traveling position X2 of the traveling vehicle body, and searching for delta i +1 which is more than or equal to X2 and more than or equal to delta i; extracting a vector delta [ i ] of the ith row in the array delta;
58) control information in the vector delta [ i ] is respectively sent to a spraying control system, an air quantity control system and a mechanism profiling control system; the spraying control system controls and adjusts spraying flow according to received Pctrl (tau) (tau is 1-N), the air volume control system adjusts air volume according to received Fctrl (tau) (tau is 1-N), the mechanism profiling control system adjusts the corresponding telescopic sliding mechanism according to received Jctrl (tau) (tau is 1-N) to profile the tree crown;
(6) updating the vehicle body position value X0 to X1;
(7) and (5) repeating the step (1-6).
2. The continuous profiling variable spraying method based on laser scanning detection as claimed in claim 1, wherein the spraying flow calculation method comprises the following steps:
solving the volume of the canopy partitioned from D1 to DN:
Figure FDA0002935131440000021
Figure FDA0002935131440000022
Figure FDA0002935131440000023
in the formula: m is the laser scanning acquisition times in the x direction; n is the number of laser scanning acquisition times in the y direction; c0For the laser scanning the distance, V, of the detection unit to the center of the tree rowDThe volume of the canopy corresponding to each subarea of the tree crown scanning point is taken as tau, and the serial number corresponding to the subarea of the tree crown scanning point is taken as tau; x0 is the previous vehicle body travel position, X1 is the current vehicle body travel position;
the number omega of effective points of tree crown scanning points is mn-Calnan(PData)
In the formula: cal (Calla)nanCalculating the number of NAN in the matrix;
Figure FDA0002935131440000024
Figure FDA0002935131440000025
in the formula: k is a radical ofDIs the point density of the crown scanning point partition; rhosIs the leaf area density, (m)2m-3)；kmidIs ρsIs 2.6m2m-3The density of the corresponding scanning points is measured, and w is the number of effective points of the tree crown scanning points;
Figure FDA0002935131440000026
Figure FDA0002935131440000031
in the formula: puIs leaf surface unit m2Volume of drug in the drug container (L/m)2) σ is the droplet size (mm), and β is the droplet coverage density (pieces/cm)2)，PDThe effective proportion of the actual spraying target deposition is phi spray volume (L) corresponding to the tree crown scanning point partition.
3. The continuous profiling variable spraying method based on laser scanning detection as claimed in claim 2, wherein the method for calculating the spraying air volume comprises the following steps:
obtaining the air volume F of the canopy area corresponding to the division of the crown scanning points D1-DN according to the air volume replacement principleD：
Figure FDA0002935131440000032
Figure FDA0002935131440000033
Figure FDA0002935131440000034
In the formula: h is0Is the diameter of the jet hood, h1Is the height corresponding to the canopy region corresponding to each subarea of the tree crown scanning point, v is the advancing speed of the crawler, kaCoefficient of wind loss, kbAnd the area density coefficient of the leaves of the canopy region corresponding to each subarea of the tree crown scanning point.
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