Vision-based design method for precise inter-row positioning and operation of intelligent orchard agricultural machinery

Abstract

The invention relates to a vision-based intelligent orchard agricultural machine inter-row accurate positioning and operation design method, which comprises the following steps of (1) defining different color rings to be wound on a fruit tree, labeling the fruit tree and labeling growth vigor information, (2) when a visual sensor identifies that the fruit tree is provided with the color rings, extracting information, and (3) determining whether the fruit tree is provided with the color rings or not; (3) the shape of the intelligent orchard is regular and the fruit trees are arranged in order, (4) the information of the two fruit trees between the rows obtained in the step (3) is in one-to-one correspondence with the fruit tree numbers, and a fruit tree information database is established; (5) when the agricultural machine goes straight between rows of the orchard, identifying the color circle by means of a visual sensor to obtain corresponding position information in the database in real time; and (6) during precise operation, the visual sensor can identify the color circle according to the step (2), and when a target tree is identified, the vehicle is stopped and pesticide is applied as required according to the identified tree growth information. According to the scheme, a color circle coding idea is introduced, and the method has the advantages of high recognition rate and omnibearing recognition.

Description

technical field [0001] The invention relates to a design method, in particular to a vision-based design method for precise positioning and operation of agricultural machinery in intelligent orchards between rows, and belongs to the technical field of automatic navigation in orchards. Background technique [0002] Agriculture is the foundation of the state, and the foundation is solid. my country is the largest fruit-producing country in the world, and the annual output value of the fruit industry has become the third largest planting industry after grain and vegetables. Traditional orchard planting relies on manual operation, which has the disadvantages of low production efficiency and poor economic benefits. Therefore, for traditional orchards, it is necessary to introduce advanced management methods and intelligent products to achieve precise operations. In the precise management of orchards, orchard farmers need to obtain the growing position of fruit trees for fixed-po...

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Problems solved by technology

[0005] The present invention is aimed at the problems existing in the prior art, and provides a vision-based design method for the precise positioning and operation of agricultural machinery in an orchard. Dosage information solves the problem of serious fruit and environmental pollution caused by inaccurate visual navigation and positioning in orchards in complex environments and serious waste of traditional Chinese medicine in fruit tree planting

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