Continuous profiling variable spraying method based on laser scanning detection

Abstract

The invention relates to a continuous profiling variable spraying method based on laser scanning detection. The continuous profiling variable spraying method comprises the following steps that a laser scanning detection unit obtains polar coordinate data of scanning points; when the scanning detection period frequency T is smaller than 10, the first step is returned back; when the scanning detection period frequency T is larger than 10, the next step is carried out; the traveling position and the current speed v of a traveling vehicle body are read, and T is reset to be 0; the polar coordinate data of the scanning points are converted into straight coordinate scanning point data, the scanning points are divided into D1-DN partitions according to y coordinate values of the scanning point data, and the scanning points are stored into point cloud data matrixes of corresponding regions; and the canopy volume, the canopy leaf area density, the spraying positioning point and the spraying angle of the D1-DN regions are calculated, and the spraying flow and the spraying air volume and the inverse solution of a telescopic movement mechanism are calculated by using the canopy volume, the canopy leaf area density, the spraying positioning point and the spraying angle to realize real-time continuous tracking and profiling of the tree crown. The problems that an existing profiling spraying method is difficult to realize real-time continuous tracking and profiling, the spraying amount and the air amount are difficult to adjust practically, and the pesticide utilization rate is low can be effectively solved.

Description

technical field [0001] The invention relates to the technical field of profiling spraying, in particular to a continuous profiling variable spraying method based on laser scanning detection. Background technique [0002] Fruit tree profiling spraying is a new type of fruit tree pesticide spraying technology and method that has emerged with the development of modern precision agriculture. It detects the actual shape of fruit trees and automatically controls the sprinkler group at an ideal spraying distance to increase the droplet in the house. Uniformity of distribution within the fruit tree. In the precise spraying of fruit trees, it is often necessary to adjust the position of the nozzle and other spray parameters at any time according to the difference of fruit trees or crops, so as to realize variable spraying of pesticides. During the profiling spraying operation, in addition to obtaining the position parameters of the fruit trees, it is also necessary to obtain the sha...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a continuous profiling variable spraying method based on laser scanning detection, which can effectively solve the problem that existing profiling spraying methods are difficult to achieve real-time continuous tracking profiling, difficult to make practical adjustments to spray volume and air volume, and pesticide utilization. low rate problem

Images