A Continuous Profiling Variable Spray Method Based on Laser Scanning Detection

Abstract

The invention relates to a continuous profiling variable spraying method based on laser scanning detection, comprising the following steps: a laser scanning detection unit obtains scanning point polar coordinate data; when the number of scanning detection cycles T<10, return to the first step; when scanning When the number of detection cycles T is greater than 10, proceed to the next step; read the traveling position and current speed v of the traveling vehicle body, and reset T to 0; convert the polar coordinate data of the scanning point into direct coordinate scanning point data, and use the The y coordinate value divides the scanning points into D1~DN partitions and stores them in the point cloud data matrix of the corresponding area; calculates the canopy volume, canopy leaf area density, spray positioning point and spray angle of D1~DN partitions, and uses them to calculate spray The inverse solution of flow rate, spray air volume and telescopic motion mechanism realizes real-time continuous tracking and profiling of tree crowns. The invention can effectively solve the problems that the existing profiling spraying method is difficult to realize real-time continuous tracking profiling, it is difficult to make practical adjustments to spray volume and air volume, and the utilization rate of pesticide is low.

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...

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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

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