Fruit tree profiling sprayer based on laser detecting and image processing technology and method

Abstract

The invention belongs to the field of fruit garden profiling spraying, and particularly relates to and provides a fruit tree profiling sprayer based on a laser detecting and image processing technology and a method. The fruit tree profiling sprayer comprises a vehicle body chassis, a pesticide applying device, an image collecting device, a laser detecting device and a data processing control system. Different profiling spraying modes are selected according to the death rate and morbidity rate of fruit trees in a fruit garden. When the death rate and morbidity rate of the fruit trees in the fruit garden are low, the real-time profiling spraying mode is selected; when the death rate and morbidity rate of the fruit trees in the fruit garden are high, the centered profiling spraying mode is selected. The profiling cost is low, variable detection is realized, and the profiling accuracy can be improved.

Description

technical field [0001] The invention belongs to the field of orchard profiling spraying, and in particular relates to providing a fruit tree profiling sprayer and method based on laser detection and image processing technology. Background technique [0002] The idea of ​​profiling spray is to adjust the spraying parameters in real time according to the canopy characteristics of the target crops. In order to obtain the characteristics of the target canopy, the sensor-based canopy detection technology is widely used as an important means of canopy information acquisition. Among them, the laser sensor has the advantages of high precision and strong anti-interference ability. The distance to the surface of the fruit tree is used to detect the outline of the target. [0003] "Research Status and Prospect Analysis of Orchard Variable Spray Technology" pointed out that in the existing technology, the use of multifunctional LIDAR sensors can accurately detect the structure of fruit...

AI Technical Summary

Problems solved by technology

However, the ultrasonic sensor measurement method requires the sensors arranged in an array to cover the entire measured object. This arrangement has the following problems in practical applications: first, the resolution and measurement accuracy of the ultrasonic sensor are low; second, the long strip arrangement When measuring, small vibrations at the bottom are likely to cause large measurement errors in the top sensor, and the volume is bloated, making it difficult to install and transport; third, for fruit trees of different types and different growth periods, the density of the canopy of the tree and the tree The degree is different. In the case of relatively sparse canopy, the sensor signal loss rate is relatively large, and the accuracy of measurement is reduced.

In the case of sparseness, the sensor signal loss rate is large, and the accuracy of canopy volume measurement is reduced

The 4th, in the orchard, there are often fruit trees that are sick and dead. For this class of fruit trees that need to be replanted, there is no need to carry out pesticide application. If you continue to spray this type of bad fruit trees, it will cause waste of medicinal liquid and environmental pollution

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