农机化研究2024，Vol.46Issue(3)：62-69,75,9.
基于激光雷达的果园沟型测量平台设计与试验
Design and Experiment of Orchard Ditch Measuring Platform Based on Lidar
摘要
Abstract
A platform for non-contact monitoring of trench width and depth in orchards,consisting of LIDAR,an en-coder,a portable computer,and a mount,was developed to solve the existing problems of low quality efficiency and low accuracy in trench detection.Based on the encoder,the displacement of the measurement platform in the forward direction can be determined,and the whole acquisition system can be formed with the upper computer software,realizing the fast ac-quisition of the three-dimensional coordinates of the orchard furrow type.In order to reduce the influence of the external environment on the processing of the point cloud data,direct pass filtering is used to select the effective area of the orchard trench shape,and the three-dimensional point cloud model is built with MATLAB to realize the reconstruction of the or-chard trench shape and the monitoring of the trench depth and width data.Through comparing the reconstructed parameters with measured parameters,the correlation coefficient of width is 0.83,root-mean-square error is 0.008,and the relative error is 2.47%.The correlation coefficient of depth is 0.75,root-mean-square error is 0.009,and the relative error is 2.76%.The research results show that the reconstructed trench parameters are in good agreement with the actual trench parameters and can accurately reflect the morphological characteristics of the original trench,which provides a reference for the construction of intelligent trench quality detection in intelligent agricultural orchards.关键词
果园/激光雷达/沟型测量/三维重建/点云Key words
orchard/LIDAR/measurement of trench/three-dimensional reconstruction/point cloud分类
农业科技引用本文复制引用
吴岩峰,坎杂,戚江涛,周馨曌,李亚萍..基于激光雷达的果园沟型测量平台设计与试验[J].农机化研究,2024,46(3):62-69,75,9.基金项目
国家自然科学基金项目(32060417) （32060417）
兵团科技攻关项目(2018BB042) （2018BB042）
石河子大学校级高层次人才项目(RCZK2018C35) （RCZK2018C35）
