The invention provides a fruit tree canopy intelligent detection and precise pesticide application control method and system, and aims to solve the problem of inaccurate pesticide liquid spraying in the prior art. The method comprises the following specific steps: S1, collecting image data of the side surface and the top of a fruit tree canopy; s2, calculating the areas and the closeness of the side surfaces and the top of the fruit tree canopy; s3, calculating a ground pesticide application decision coefficient Kg and an air pesticide application decision coefficient Ks according to the areas and the closeness of the side surfaces and the tops of the fruit tree canopies, and respectively calculating the ground pesticide application amount and the air pesticide application amount according to the pesticide application decision coefficients; and S4, accurately controlling the pipeline pressure and flow of the pesticide application equipment on the ground and in the air by adopting a fuzzy self-adaptive control algorithm based on ESO. The pesticide application amount calculation model is constructed by calculating the areas and the closeness of the side faces and the top of the fruit tree canopies, the pesticide application amount of a single fruit tree is reduced, meanwhile, the pipeline pesticide amount is accurately controlled through an ESO-based fuzzy self-adaptive control algorithm, and the utilization rate of variable spraying pesticide liquid is increased.
本申请提供一种果树冠层智能检测与精准施药控制方法及系统,用于解决现有技术中药液喷洒不准确的问题。方法具体步骤为:S1采集果树冠层侧面和果树冠层顶部的图像数据;S2计算果树冠层侧面和果树冠层顶部的面积和疏密度;S3通过果树冠层侧面和顶部的面积和疏密度计算地面施药决策系数Kg和空中施药决策系数Ks,并根据施药决策系数分别计算地面和空中施药量;S4采用基于ESO的模糊自适应控制算法分别对地面和空中施药设备的管道压力和流量进行准确控制。本申请通过计算果树冠层侧面和顶部的面积和疏密度构建施药量计算模型,降低了单棵果树施药剂量,同时采用基于ESO的模糊自适应控制算法对管道药量进行准确控制,提高了变量喷雾药液利用率。
Fruit tree canopy intelligent detection and precise pesticide application control method and system
一种果树冠层智能检测与精准施药控制方法及系统
2024-06-14
Patent
Electronic Resource
Chinese
European Patent Office | 2021
|Pesticide applying-fruit picking dual-system intelligent device
European Patent Office | 2023
|Precise pesticide application mechanism for forestry pest control
European Patent Office | 2023
|Precise pesticide application device for forestry pest control
European Patent Office | 2024
|