CN205390106U - Fruit tree target detection system - Google Patents
Fruit tree target detection system Download PDFInfo
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- CN205390106U CN205390106U CN201620124801.3U CN201620124801U CN205390106U CN 205390106 U CN205390106 U CN 205390106U CN 201620124801 U CN201620124801 U CN 201620124801U CN 205390106 U CN205390106 U CN 205390106U
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Abstract
The utility model discloses a fruit tree target detection system, including two -dimensional laser radar scan sensor LIDAR, real time kinematic differential global positioning system RTK -DGPS, inertia measuring unit IMU and data processing unit, the data processing unit is the PC, and the PC passes through the ether net gape and connects two -dimensional laser radar scan sensor LIDAR, and real time kinematic differential global positioning system RTK -DGPS and inertia measuring unit IMU are connected respectively through 2 RS232 serial portss to the PC. The utility model discloses can realize carrying out accurate detection to the fruit tree target to variable spraying for the fruit tree provides the data basis.
Description
Technical field
This utility model relates to agricultural Detection Techniques field, more particularly relates to a planting fruit-trees target detection system.
Background technology
The pest and disease damage of current China fruit tree is still based on chemical pesticide spraying preventing and treating, but pesticide utilization rate is generally on the low side, rough formula dispenser causes pesticide loss, drift or is directly sprayed onto in soil, water body and air, cause crop phytotoxicity outside environmental pollution, ecological balance destruction, person poultry poisoning and target zones, have a strong impact on Environmental security, ecological safety, agricultural product quality and safety and its people healthy.It is reduce one of Pesticide use amount, raising pesticide utilization rate, the preventive effect that improves, the necessary means reducing ecological environmental pollution that difference according to fruit tree target geometric properties carries out the on-demand dispenser of variable.The basis that this variable rate spray technology realizes is fruit tree target precisely to be detected.
Utility model content
The purpose of this utility model is in that to provide a planting fruit-trees target detection system, it is possible to fruit tree target is precisely detected.
This utility model is realized in, one planting fruit-trees target detection system, including two-dimensional laser radar scanning sensor LIDAR, real time dynamic differential global positioning system RTK-DGPS, Inertial Measurement Unit IMU and data processing unit, data processing unit is PC, PC connects two-dimensional laser radar scanning sensor LIDAR by Ethernet interface, and PC connects real time dynamic differential global positioning system RTK-DGPS and Inertial Measurement Unit IMU respectively by 2 RS232 serial ports.
Feature of the present utility model also resides in, and also includes travelling platform, and two-dimensional laser radar scanning sensor LIDAR, real time dynamic differential global positioning system RTK-DGPS, Inertial Measurement Unit IMU and PC are installed on travelling platform.
The beneficial effects of the utility model are as follows:
This utility model provides a planting fruit-trees target detection system, including two-dimensional laser radar scanning sensor LIDAR, real time dynamic differential global positioning system RTK-DGPS, Inertial Measurement Unit IMU and data processing unit, it is capable of fruit tree target is precisely detected, thus the variable rate spray for fruit tree provides data basis.
Accompanying drawing explanation
The planting fruit-trees target detection system schematic diagram that Fig. 1 provides for this utility model embodiment.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is clearly and completely described, it is clear that described embodiment is only a part of embodiment of this utility model, rather than whole embodiments.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of this utility model protection.
As shown in Figure 1, the planting fruit-trees target detection system that this utility model embodiment provides, including two-dimensional laser radar scanning sensor LIDAR, real time dynamic differential global positioning system RTK-DGPS, Inertial Measurement Unit IMU and data processing unit, data processing unit is PC, PC connects two-dimensional laser radar scanning sensor LIDAR by Ethernet interface, and PC connects real time dynamic differential global positioning system RTK-DGPS and Inertial Measurement Unit IMU respectively by 2 RS232 serial ports.
The fruit tree target detection system of this utility model embodiment also includes travelling platform, and two-dimensional laser radar scanning sensor LIDAR, real time dynamic differential global positioning system RTK-DGPS, Inertial Measurement Unit IMU and PC are installed on travelling platform.
The fruit tree target detection system of this utility model embodiment in use, utilizes travelling platform to carry target detection system and travels to fruit tree, by being perpendicular to laser scanning plane motion, dynamically obtain the three-dimensional geometry feature of top fruit sprayer.When carrying out the detection of fruit tree target, two-dimensional laser radar scanning sensor LIDAR continuous emission excimer laser impulse wave in a scanning plane, return one group of distance value within the scope of scanning angle；The location data that RTK-DGPS measures are for being mapped to the LIDAR data in each two dimensional laser scanning face in a global coordinate system through geometric transformation；There is, for compensating, the lever arm effect that distance causes in the lateral attitude data that IMU measures, for improving the RTK-DGPS positioning precision at roughness pavement between gps antenna phase center and platform particle.
Although having been described for preferred embodiment of the present utility model, but those skilled in the art are once know basic creative concept, then these embodiments can be made other change and amendment.So, claims are intended to be construed to include preferred embodiment and fall into all changes and the amendment of this utility model scope.
Obviously, this utility model can be carried out various change and modification without deviating from spirit and scope of the present utility model by those skilled in the art.So, if these amendments of the present utility model and modification belong within the scope of this utility model claim and equivalent technologies thereof, then this utility model is also intended to comprise these change and modification.
Claims (2)
1. a planting fruit-trees target detection system, it is characterized in that, including two-dimensional laser radar scanning sensor LIDAR, real time dynamic differential global positioning system RTK-DGPS, Inertial Measurement Unit IMU and data processing unit, shown data processing unit is PC, described PC connects two-dimensional laser radar scanning sensor LIDAR by Ethernet interface, and described PC connects real time dynamic differential global positioning system RTK-DGPS and Inertial Measurement Unit IMU respectively by 2 RS232 serial ports.
2. a planting fruit-trees target detection system as claimed in claim 1, it is characterized in that, also including travelling platform, described two-dimensional laser radar scanning sensor LIDAR, real time dynamic differential global positioning system RTK-DGPS, Inertial Measurement Unit IMU and PC are installed on travelling platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620124801.3U CN205390106U (en) | 2016-02-16 | 2016-02-16 | Fruit tree target detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620124801.3U CN205390106U (en) | 2016-02-16 | 2016-02-16 | Fruit tree target detection system |
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| CN205390106U true CN205390106U (en) | 2016-07-27 |
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| CN201620124801.3U Active CN205390106U (en) | 2016-02-16 | 2016-02-16 | Fruit tree target detection system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105557672A (en) * | 2016-02-16 | 2016-05-11 | 江苏省农业科学院 | Fruit tree target detection system |
| CN108782507A (en) * | 2018-05-02 | 2018-11-13 | 江苏大学 | A kind of short target detection system and method |
| CN109116373A (en) * | 2018-07-17 | 2019-01-01 | 江苏省农业科学院 | A kind of droplet drift detection system based on two-dimensional laser radar scanning sensor |
| CN112868623A (en) * | 2020-12-30 | 2021-06-01 | 安徽农业大学 | Plant protection machine navigation control method and system based on multiple sensors |
-
2016
- 2016-02-16 CN CN201620124801.3U patent/CN205390106U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105557672A (en) * | 2016-02-16 | 2016-05-11 | 江苏省农业科学院 | Fruit tree target detection system |
| CN108782507A (en) * | 2018-05-02 | 2018-11-13 | 江苏大学 | A kind of short target detection system and method |
| CN108782507B (en) * | 2018-05-02 | 2021-02-12 | 江苏大学 | Low target detection system and method |
| CN109116373A (en) * | 2018-07-17 | 2019-01-01 | 江苏省农业科学院 | A kind of droplet drift detection system based on two-dimensional laser radar scanning sensor |
| CN109116373B (en) * | 2018-07-17 | 2022-12-09 | 江苏省农业科学院 | Droplet drift detection system based on two-dimensional laser radar scanning sensor |
| CN112868623A (en) * | 2020-12-30 | 2021-06-01 | 安徽农业大学 | Plant protection machine navigation control method and system based on multiple sensors |
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