Fruit tree canopy density detection method

Abstract

The invention relates to a fruit tree canopy density detection method, which comprises the following steps of: installing a single-line laser radar on pesticide application equipment moving along fruit tree rows, and scanning fruit tree canopies through the laser radar; then, a canopy contour envelope line is established through the laser measurement points, the laser measurement points are compared with a set value, the proportion of the number of semi-penetration points and the number of full penetration points in the total laser measurement points is calculated, and then the single-side canopy density percentage of the current position is estimated; and finally, combining RTK satellite positioning data, establishing fruit tree row canopy density spatial distribution, and sending spatial distribution information to an intelligent pesticide spraying device to provide a basis for realizing variable pesticide application.

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