Vehicle-mounted type forest three-dimensional color image toward-target spraying method

Abstract

The invention provides a vehicle-mounted forest three-dimensional color image toward-target spraying method, which comprises following steps: when a vehicle-mounted platform moves, within the scanning plane, a two-dimensional laser radar vertically scans an object to be tested at a side portion of the vehicle-mounted platform; two-dimensional position datum of the object to be tested are acquired within the scanning plane and the two-dimensional position datum are sent to a computer; the computer receives the movable position datum of the vehicle-mounted platform according to speed signals measured by a vehicle speed sensor; the movable position datum and the two-dimensional position datum are transformed into three-dimensional position datum of the object to be tested in a combined way; the computer will map and fuse color image signals of the object to be tested acquired from a color CCD and the three-dimensional position datum according to the geometrical relationship, so that the three-dimensional color cloud point datum of the object to be tested is acquired; the computer then analyzes the three-dimensional color cloud point datum to recognize trees that are suitable for toward-target spraying work; and the spraying apparatus is controlled to perform toward-target spraying work.

Description

technical field [0001] The invention relates to a vehicle-mounted tree three-dimensional color imaging target spraying method. Background technique [0002] Vehicle-mounted target spraying is a concentrated expression of control technology and spraying technology in agricultural and forestry applications, and is a typical application of short-distance forestry remote sensing. The vehicle-mounted target sprayer is one of the pesticide spraying equipment widely used in orchards, street trees, ornamental forests and other trees. Generally, ultrasonic, microwave, optical imaging, infrared, laser ranging and other sensing methods are used to detect targets such as trees, and the control system realizes the application of pesticide spray for specific targets, so as to achieve target spraying. This method is also called precision spraying. In the case of achieving the same control effect, the target spraying technology reduces the use of pesticides, reduces environmental pollution...

AI Technical Summary

Problems solved by technology

However, due to the variability of tree outlines and the clutter among trees, especially the street trees in cities and towns, the vehicles and buildings on both sides of the road have affected the identification of trees by the target spray system, so most of the existing tree target spray technologies use Coarse target identification method to identify forest trees to match the relatively extensive characteristics of spray operations

The rough target identification method mainly uses simple features to identify the presence or absence of targets, and its misjudgment rate is high

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