A system and method for constructing a three-dimensional map of a dwarf densely planted fruit tree canopy

Abstract

A dwarf and close planting fruit tree canopy three dimensional map construction system of the present invention comprises a trinocular vision camera, an industrial control computer and a GPS. The trinocular vision camera is arranged at the head of a plant protection machinery, a satellite antenna of the GPS is installed in the geometric center of the plant protection machinery, and the trinocular vision camera and the GPS are connected with the industrial control computer electrically and respectively via a 1394B interface and an RS232 interface. According to the present invention, by using two sets of long and short base line vision systems to detect and match the image feature points simultaneously, the space coordinates of a camera coordinate system are obtained; the industrial control computer acquires the information of the GPS and converts into a world coordinate system; the camera space coordinates are converted into the world coordinate system; the point cloud coordinates of the fruit tree canopy are obtained according to the same method by making a detour to the other side of a fruit tree; the point cloud data at the two sides are spliced, thereby constructing a three dimensional map. According to the present invention, the dwarf and close planting fruit tree canopy three dimensional map of higher precision can be created with the lower cost, the bases are provided for the works of the self-propelled plant protection machineries, the resource waste is avoided, and the intelligent levels of the agricultural machineries are improved.

Description

technical field [0001] The present invention relates to an intelligent agricultural machinery equipment, especially a system and method for constructing a three-dimensional map of the canopy of dwarf and densely planted fruit trees during the operation of the machine, specifically a construction of a three-dimensional map of the canopy of dwarf and densely planted fruit trees systems and methods. Background technique [0002] The self-navigating plant protection machinery with compound operation function can perform two or more operation tasks during the driving process, such as weeding, fertilization, spraying, etc., which can greatly improve the operation efficiency. However, fertilization and spraying operations need to measure accurate information such as the position and volume of the fruit tree canopy, and adjust the amount of fertilizer and fog accordingly to achieve variable operations and avoid waste of resources. [0003] At present, the commonly used canopy infor...

AI Technical Summary

Problems solved by technology

[0003] At present, the commonly used canopy information detection method is to use two-dimensional lidar periodic scanning, which can determine the canopy section, but it is difficult to determine the canopy volume

If the three-dimensional laser radar is used, it is expensive and increases the cost of use

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