A vehicle-mounted tree three-dimensional color imaging target spraying method

Abstract

The invention provides a vehicle-mounted tree three-dimensional color imaging target spraying method with high tree identification rate, fast speed and low cost, the steps of which are as follows: when the vehicle-mounted platform is moving, the two-dimensional laser radar scans the target on the side of the vehicle-mounted platform in the scanning plane Scan the measured object up and down to obtain the two-dimensional position data of the object to be measured in the scanning plane, and transmit the two-dimensional position data to the computer; the computer obtains the mobile position data of the vehicle-mounted platform according to the speed signal measured by the vehicle speed sensor, and sends the mobile position data Combined with the two-dimensional position data and converted into the three-dimensional position data of the object to be measured; the computer then maps and fuses the color image signal of the object to be measured obtained from the color CCD with the three-dimensional position data according to the geometric relationship to form a three-dimensional color cloud point of the object to be measured Data, and then the computer analyzes the three-dimensional color cloud point data to identify trees suitable for the target spraying operation, and controls the spraying device to carry out the target spraying operation.

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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