苹果园区自走式冠层测量系统的设计与研究

Design and research of self-propelled canopy measurement system in apple garden

针对苹果园区冠层相关数据测量时存在的测量周期长、人工成本高、人为操作导致的偶然误差大等问题,设计了园区内自主行进、准确定位目标果树、连续测量的冠层测量系统。系统通过鱼眼镜头拍摄大范围景物,应用单片机构建立体定位系统,准确定位目标果树;通过控制底部舵机、垂直水平舵机和光照度传感器实现果树冠层顶部、中部、下部的多角度光照强度的数据采集;利用程序去除数据的粗大误差,进而对光合有效辐射(PAR)和叶面积指数(LAI)进行推算,同时通过GPRS模块实时上传到用户终端。本系统通过与TRAC-plus冠层分析仪的对比实验,结果表明:两测量结果无显著差异(P>0.05),系统稳定,误差范围小于±3%,数据可靠,可为果树修剪提供数据基础。

Aiming at the problems of long measurement period,high labor cost and large accidental error caused by human operation in the measurement of canopy related data in apple garden,this paper designs a canopy measurement system for apple trees.This system could autonomous travel,accurate position and continuous measure parameters in the garden.The system captures a large range of scenes through the fisheye lens,and locate objects of interest in this garden with the single-chip microcomputer accurately.The multi-angle light intensity data of the top,middle and lower canopy of the fruit tree can be collected by controlling the bottom steering gear,the vertical horizontal steering gear and the light intensity sensor.The gross error of the data is removed by computer program,and then the photosynthetic effective radiation and leaf area index are calculated.Meanwhile,the photosynthetic effective radiation and leaf area index are uploaded to the user terminal in real time through GPRS module.Compared with TRAC-plus canopy analyzer,the results of this system shows that there is no significant difference between the two measurement results(P>0.05),the system is stable,the error range is less than±3%,and the data is reliable,which can provide data basis for fruit tree pruning.