CN-122004022-A - Orchard fertilizing method and device based on drip line detection

CN122004022ACN 122004022 ACN122004022 ACN 122004022ACN-122004022-A

Abstract

The invention provides an orchard fertilization method and device based on drip line detection, and relates to the technical field of agricultural and forestry machinery, wherein the method comprises the steps of collecting position data and running azimuth angle data of a fertilizer applicator in the running process of an orchard; the method comprises the steps of collecting two-dimensional point cloud data of a target fruit tree through a two-dimensional laser radar, fusing the position data, the driving azimuth angle data and the two-dimensional point cloud data based on a timestamp of the two-dimensional point cloud data to obtain fused point cloud data, carrying out three-dimensional reconstruction on the target fruit tree based on the fused point cloud data to obtain target point cloud data, generating a drip line navigation path of the target fruit tree based on the target point cloud data, and controlling the fertilizer distributor to carry out ditching and/or fertilization according to the drip line navigation path. The orchard fertilization method and device based on the drip line detection provided by the invention realize automatic fertilization operation along the drip line, and improve the efficiency and precision of the orchard fertilization operation.

Inventors

ZOU WEI
Zhai changyuan
Wei Daochu
YANG SHUO
ZHAO XUEGUAN
LI SI

Assignees

北京市农林科学院智能装备技术研究中心

Dates

Publication Date: 20260512
Application Date: 20251212

Claims (10)

1. An orchard fertilization method based on drip line detection is characterized by comprising the following steps: Collecting position data and running azimuth angle data of the fertilizer applicator in the running process of an orchard; Acquiring two-dimensional point cloud data of a target fruit tree through a two-dimensional laser radar, wherein the two-dimensional laser radar is carried on the fertilizer applicator, and the target fruit tree is a fruit tree on two sides of the position of the fertilizer applicator; Based on the timestamp of the two-dimensional point cloud data, fusing the position data, the driving azimuth angle data and the two-dimensional point cloud data to obtain fused point cloud data; Performing three-dimensional reconstruction on the target fruit tree based on the fusion point cloud data to obtain target point cloud data; Generating a drip line navigation path of the target fruit tree based on the target point cloud data; and controlling the fertilizer distributor to conduct ditching and/or fertilizer distribution according to the water dripping navigation path.
2. The orchard fertilizing method based on water drip detection of claim 1, wherein the fusing of the position data, the driving azimuth data and the two-dimensional point cloud data based on the time stamp of the two-dimensional point cloud data to obtain fused point cloud data comprises: converting the position data from a world coordinate system to an orchard local coordinate system corresponding to the orchard to obtain local coordinate data; Using the timestamp as a time axis, and matching the driving azimuth angle data to the two-dimensional point cloud data according to the time axis through a nearest neighbor matching algorithm to obtain three-dimensional point cloud data; and fusing the local coordinate data and the three-dimensional point cloud data according to the time axis through a piecewise linear interpolation algorithm to obtain fused point cloud data.
3. The orchard fertilizing method based on drip line detection according to claim 2, wherein the three-dimensional reconstruction is performed on the target fruit tree based on the fusion point cloud data to obtain target point cloud data, comprising: carrying out statistical filtering on the fusion point cloud data to obtain filtered point cloud data; performing angle rotation on the filtered point cloud data to obtain standard point cloud data; and carrying out three-dimensional reconstruction on the target fruit tree based on the standard point cloud data to obtain the target point cloud data.
4. The method of claim 3, wherein the performing angular rotation on the filtered point cloud data to obtain standard point cloud data comprises: performing curve fitting on a running path of the fertilizer applicator to obtain a slope of the running path, wherein the running path is determined based on the local coordinate data; calculating an included angle between the running path and the straight line based on the slope; And performing angle rotation on the filtered point cloud data based on the included angle to obtain the standard point cloud data.
5. The method for orchard fertilization based on water drip detection of claim 1, wherein the generating a water drip navigation path of the target fruit tree based on the target point cloud data comprises: extracting a crown outline edge point set of the target fruit tree based on the target point cloud data; Performing concave fitting on the crown contour edge point set to generate a drip line boundary of the target fruit tree; and carrying out smoothing treatment on the discrete concave peaks in the drip line boundary to generate the drip line navigation path.
6. The orchard fertilizing method based on water drip detection as claimed in claim 5, wherein said extracting a set of crown contour edge points of said target fruit tree based on said target point cloud data, comprises: Performing principal component analysis on the target point cloud data, and extracting a point cloud normal vector; Extracting point cloud mutation characteristics based on the point cloud normal vector; and determining the crown contour edge point set based on the point cloud mutation characteristics.
7. Orchard fertilizer injection unit based on drip line detection, its characterized in that includes: The first acquisition module is used for acquiring position data and running azimuth angle data of the fertilizer applicator in the running process of the orchard; The second acquisition module is used for acquiring two-dimensional point cloud data of target fruit trees through a two-dimensional laser radar, wherein the two-dimensional laser radar is carried on the fertilizer applicator, and the target fruit trees are fruit trees on two sides of the position of the fertilizer applicator; The point cloud fusion module is used for fusing the position data, the running azimuth angle data and the two-dimensional point cloud data based on the time stamp of the two-dimensional point cloud data to obtain fusion point cloud data; The three-dimensional reconstruction module is used for carrying out three-dimensional reconstruction on the target fruit tree based on the fusion point cloud data to obtain target point cloud data; The generation module is used for generating a drip line navigation path of the target fruit tree based on the target point cloud data; And the control module is used for controlling the fertilizer distributor to conduct ditching and/or fertilizer application according to the water dripping navigation path.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and running on the processor, wherein the processor, when executing the computer program, implements the drip detection based orchard fertilizing method as claimed in any one of claims 1 to 6.
9. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the drip detection based orchard fertilizing method according to any one of claims 1 to 6.
10. A computer program product comprising a computer program which, when executed by a processor, implements the method for orchard fertilization based on water drip detection according to any one of claims 1 to 6.

Description

Orchard fertilizing method and device based on drip line detection Technical Field The invention relates to the technical field of agricultural and forestry machinery, in particular to an orchard fertilization method and device based on water dripping line detection. Background In the orchard fertilization operation, the edge line (namely the crown drip line) of vertical projection along the crown to the ground is ditched and fertilized, so that the utilization efficiency of fertilizer can be fully ensured, the effect of pruning root systems can be achieved, the growth of fruit trees is promoted, and the quality of fruits is improved. However, the existing orchard fertilization operation has lower automation level, and the fertilization method mainly depends on semi-mechanized equipment with single function and manual operation, so that the integrated efficient operation of ditching, fertilization and earthing is difficult to realize, and the problems of low efficiency and high labor intensity generally exist. In addition, the position of the water dripping line of the tree crown cannot be accurately positioned, so that the fertilization precision is low. Disclosure of Invention The invention provides an orchard fertilization method and device based on drip line detection, which are used for solving the technical problems of low fertilization efficiency and low fertilization precision in orchard fertilization operation in the prior art. The invention provides an orchard fertilization method based on drip line detection, which comprises the following steps: Collecting position data and running azimuth angle data of the fertilizer applicator in the running process of an orchard; Acquiring two-dimensional point cloud data of a target fruit tree through a two-dimensional laser radar, wherein the two-dimensional laser radar is carried on the fertilizer applicator, and the target fruit tree is a fruit tree on two sides of the position of the fertilizer applicator; Based on the timestamp of the two-dimensional point cloud data, fusing the position data, the driving azimuth angle data and the two-dimensional point cloud data to obtain fused point cloud data; Performing three-dimensional reconstruction on the target fruit tree based on the fusion point cloud data to obtain target point cloud data; Generating a drip line navigation path of the target fruit tree based on the target point cloud data; and controlling the fertilizer distributor to conduct ditching and/or fertilizer distribution according to the water dripping navigation path. According to the orchard fertilization method based on water drip detection provided by the invention, the time stamp based on the two-dimensional point cloud data fuses the position data, the driving azimuth angle data and the two-dimensional point cloud data to obtain fused point cloud data, and the method comprises the following steps: converting the position data from a world coordinate system to an orchard local coordinate system corresponding to the orchard to obtain local coordinate data; Using the timestamp as a time axis, and matching the driving azimuth angle data to the two-dimensional point cloud data according to the time axis through a nearest neighbor matching algorithm to obtain three-dimensional point cloud data; and fusing the local coordinate data and the three-dimensional point cloud data according to the time axis through a piecewise linear interpolation algorithm to obtain fused point cloud data. According to the orchard fertilization method based on drip line detection provided by the invention, the three-dimensional reconstruction is carried out on the target fruit tree based on the fusion point cloud data to obtain target point cloud data, and the method comprises the following steps: carrying out statistical filtering on the fusion point cloud data to obtain filtered point cloud data; performing angle rotation on the filtered point cloud data to obtain standard point cloud data; and carrying out three-dimensional reconstruction on the target fruit tree based on the standard point cloud data to obtain the target point cloud data. According to the orchard fertilization method based on water drip detection provided by the invention, the filtered point cloud data is subjected to angle rotation to obtain standard point cloud data, and the method comprises the following steps: performing curve fitting on a running path of the fertilizer applicator to obtain a slope of the running path, wherein the running path is determined based on the local coordinate data; calculating an included angle between the running path and the straight line based on the slope; And performing angle rotation on the filtered point cloud data based on the included angle to obtain the standard point cloud data. According to the orchard fertilization method based on drip line detection provided by the invention, the drip line navigation path of the target fruit tree is generated based on the