Fruit-tree positioning map constructing device and method

Abstract

The invention belongs to the technical field of automatic measurement and control of agricultural mechanical equipment and relates to a fruit-tree precise positioning mobile vehicle-mounted device for an orchard, in particular to a fruit-tree positioning map constructing method, comprising a mobile platform, a GPS (global position system) positioning module, a laser detection module and a vulgar cruising module. According to the characteristics of the distribution of the fruit trees in the orchard, a wheeled mobile platform which can walk between the rows of fruit trees is adopted, and a laser distance measuring instrument, an inertial measurement device, the GPS positioning module, a radar speed measuring instrument and a measuring and controlling board card are combined together, thus the fruit trees are positioned and identified quickly and effectively in the low-speed cruising state, the information of the distribution of the fruit trees is obtained, the orchard positioning map is constructed in real time, the information of growth and distribution of the fruit trees are obtained accurately, and scientific technological means are provided for the accurate pesticide applying of the fruit trees, the scale operation of the orchard and the precision agriculture digital management.

Description

technical field [0001] The invention belongs to the technical field of automatic measurement and control of agricultural machinery and equipment, and relates to a mobile vehicle-mounted device for precise positioning of fruit trees in an orchard, and in particular to a method for constructing a fruit tree positioning map. Background technique [0002] In order to improve market competitiveness, the business model of my country's economic forest is developing in the direction of scale, systematization and digitization. Under this business model, fruit growers need to obtain accurate growth information of diverse fruit trees, such as actual growth location, trunk size, etc., based on which they can obtain the distribution of fruit trees and formulate reasonable orchard operation plans, such as tree-to-target application of pesticides, etc. In the past, fruit farmers used manual methods to obtain such information. This method was labor-intensive, extremely inefficient, and the ...

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Problems solved by technology

In the past, fruit farmers used manual methods to obtain such information. This method was labor-intensive, extremely inefficient, and the accuracy of the information was not high. Some fruit farmers even gave up obtaining this information because of this, which led to the slow development of large-scale economic forests in my country.

At present, many scholars and researchers at home and abroad use airborne surveying and mapping systems to draw agricultural and forestry information maps. This method is efficient and can obtain the distribution information of fruit tree crowns from the perspective of overlooking. It is suitable for large-scale forest areas and farmland, but the measurement accuracy is not good. High, and it is impossible to get more detailed information under the canopy (if the size and position of the tree trunk, etc.)

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