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Fruit tree canopy target detection device and method, computing device, and storage medium

A detection device and detection method technology, which are applied to measurement devices, radio wave measurement systems, electromagnetic wave re-radiation and other directions, can solve the problem that single-point laser radar and two-dimensional line scan laser radar have few measurement points and cannot detect fruit tree canopy at the same time. Target, lack of real-time performance and other problems, to achieve the effect of simple structure, high real-time performance, easy to use

Active Publication Date: 2019-02-26
SOUTH CHINA AGRI UNIV
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AI Technical Summary

Problems solved by technology

[0002] The effective detection of orchard canopy targets is an important key technology to achieve precise pesticide application in orchards. Currently, the commonly used target detection methods include ultrasonic sensors, infrared sensors, spectral detection, single-point laser ranging sensors, two-dimensional line-scan lidar, image Sensors, of which single-point lidar, two-dimensional line-scan lidar and image sensors are the mainstream technologies currently used, but single-point lidar and two-dimensional line-scan lidar have fewer measurement points and cannot detect the entire fruit tree at the same time For canopy targets, although the image sensor can shoot the whole fruit tree at the same time, it needs complex graphics processing, and the real-time performance is not enough

Method used

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  • Fruit tree canopy target detection device and method, computing device, and storage medium
  • Fruit tree canopy target detection device and method, computing device, and storage medium
  • Fruit tree canopy target detection device and method, computing device, and storage medium

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Embodiment 1

[0051] like figure 1 As shown, the present embodiment provides a fruit tree canopy target detection device, which includes a housing 101, an area array laser radar 102, a nine-axis attitude sensor 103, a rotary encoder 104 and a processor 105, where the housing 101 is located The standard coordinate system is oxyz, the origin of which is the initial position of the casing 101, and the moving direction is the z-axis.

[0052] The area array laser radar 102 is a new type of laser sensor that uses area scanning for distance detection. It can detect the depth information of the entire fruit tree canopy at one time. Wherein one side, present embodiment is arranged on the right side of casing 101, is used for collecting the canopy depth information of fruit tree 106; The size of the array is M×N; wherein, M≥2, N≥2, with points as the unit, the measurement coordinate system where the area array laser radar 102 is located is o′x′y′z′, and the measurement angle of each collection poin...

Embodiment 2

[0094] This embodiment provides a computing device, such as image 3 As shown, the computing device is a computer comprising a processor 302 , memory, an input device 303 , a display 304 and a network interface 305 connected by a system bus 301 . Wherein, the processor 302 is used to provide computing and control capabilities, and can be used as the processor in Embodiment 1. The memory includes a non-volatile storage medium 306 and an internal memory 307. The non-volatile storage medium 306 stores an operating system, a computer Program and database, this internal memory 307 provides an environment for the operation of the operating system in the non-volatile storage medium 306 and the computer program, when the computer program is executed by the processor 302, realize the fruit tree canopy target detection method of the above-mentioned embodiment 1, as follows:

[0095] Obtain the depth information of the fruit tree canopy collected by the array lidar on the shell;

[009...

Embodiment 3

[0100] The present embodiment provides a kind of storage medium, and this storage medium is computer-readable storage medium, and it is stored with computer program, and when computer program is executed by processor, realizes the fruit tree canopy target detection method of above-mentioned embodiment 1, as follows:

[0101] Obtain the depth information of the fruit tree canopy collected by the array lidar on the shell;

[0102] Obtain the housing attitude angle collected by the nine-axis attitude sensor in the housing;

[0103] Obtain the moving distance of the housing collected by the rotary encoder;

[0104] According to the attitude angle of the shell and the moving distance of the shell, the data standardization processing algorithm is used to process the depth information of the fruit tree canopy, and the fruit tree canopy target discrimination algorithm is used to extract the target object of the fruit tree canopy.

[0105] The storage medium in this embodiment may be ...

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Abstract

The invention discloses a fruit canopy target detection device and method, a computing device, and a storage medium. The device comprises a housing, an area array laser radar, a nine-axis attitude sensor, a rotary encoder and a processor. The area array laser radar is arranged on the housing and is used for collecting the canopy depth information of a fruit tree, and the nine-axis attitude a sensor is disposed in the housing and is used for acquiring an attitude angle of the housing. The rotary encoder is configured to collect a moving distance of the housing, and the processor is connected with the area array laser radar, the nine-axis attitude sensor, and the rotary encoder, and is used for processing the canopy depth information of the fruit tree through a data normalization processingalgorithm according to the attitude angle of the housing and the moving distance of the housing, and extracting a canopy target object of the fruit tree through employing a fruit tree canopy target discrimination algorithm. The device combines the information collected by the area array laser radar, the rotary encoder and the nine-axis attitude sensor to realize accurate and rapid detection of thecanopy information of the whole fruit tree.

Description

technical field [0001] The invention relates to a fruit tree canopy target detection device, method, computing equipment and storage medium, belonging to the field of fruit tree canopy target recognition. Background technique [0002] The effective detection of orchard canopy targets is an important key technology to achieve precise pesticide application in orchards. Currently, the commonly used target detection methods include ultrasonic sensors, infrared sensors, spectral detection, single-point laser ranging sensors, two-dimensional line-scan lidar, image Sensors, of which single-point lidar, two-dimensional line-scan lidar and image sensors are the mainstream technologies currently used, but single-point lidar and two-dimensional line-scan lidar have fewer measurement points and cannot detect the entire fruit tree at the same time For the canopy target, although the image sensor can shoot the whole fruit tree at the same time, it needs complex graphics processing and the...

Claims

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Application Information

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IPC IPC(8): G01S17/08G01S17/88G01S7/481
CPCG01S7/481G01S17/08G01S17/88
Inventor 徐兴余孝福张志宏李君杨洲王慰组
Owner SOUTH CHINA AGRI UNIV
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