CN107194913A - A kind of most suitable Research scale detection method and device of crop groups - Google Patents
A kind of most suitable Research scale detection method and device of crop groups Download PDFInfo
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- CN107194913A CN107194913A CN201710264957.0A CN201710264957A CN107194913A CN 107194913 A CN107194913 A CN 107194913A CN 201710264957 A CN201710264957 A CN 201710264957A CN 107194913 A CN107194913 A CN 107194913A
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Abstract
The invention provides a kind of most suitable Research scale detection method and device of crop groups, method includes：Obtain the three dimensional point cloud C of target crop colony；Uniform resampling, the three dimensional point cloud after being sampled are carried out to the three dimensional point cloud C of acquisitionThree dimensional point cloud after statistic samplingNumber of data points in each default voxel, and according to the three dimensional point cloud after samplingNumber of data points in each default voxel determines most suitable line number and often capable most suitable plant number, and by most suitable line number and often capable most suitable plant number determines the most suitable Research scale scope of target crop colony.The crop groups three-dimensional point cloud with hiding relation that the present invention is obtained by three-dimensional data acquisition device, the most suitable Research scale scope of crop groups can be obtained, and then is played an important roll for improving the service efficiency of crop groups experimental plot, improving computational efficiency that crop groups light distribution is simulated etc. on the premise of computational accuracy is ensured.
Description
Technical field
The present invention relates to agricultural technology field, and in particular to a kind of most suitable Research scale detection method of crop groups and dress
Put.
Background technology
Crop groups intercept and capture energy as the organizational framework for fulfiling photosynthesis and material production function, its morphosis to light
Power, canopy photosynthesis efficiency and crop yield are respectively provided with material impact.Meanwhile, group structure also embodies the heredity of crop varieties
Characteristic and its adaptedness to environment, under the influence of h and E factor, space-variant when crop groups morphosis has
The opposite sex, up to the present, crop groups morphological feature are always human knowledge, analysis and the most basic mode for evaluating crop.
In arable farming and breeding research, many crop groups on a large scale of plantation can reflect that the population characteristic of crop is one
Individual important the problem of, that is, ensure that crop central area part has typical population characteristic, it is to avoid edge effect.For example exist
In the maize population light interception rate research of certain new varieties different densities, intend photosynthetic the having of measurement colony central area different height
Imitate radiation profiles situation to characterize the light interception rate of the kind, colony's planting range is too small to reduce the screening of periphery plant pair light
Gear causes measurement result without representativeness；The too conference of colony's planting range dramatically increases input and experimental work amount.This feelings
Condition is equally existed in virtual crop groups light intercepts and captures experiment, and virtual Crop informative population scope is too small can not to characterize periphery group
Body is significantly increased geometrical model bin quantity to the blocking of middle plant light, the too conference of virtual Crop informative population scope and reduced
The efficiency that crop canopies light distribution is calculated.
There are two kinds of solutions in practical study, one kind is to ensure core by expanding planting range as far as possible
The population characteristic of crop plant；Another is limited planting range so that the edge effect of central area plant is as small as possible,
Reduction input and experimental work amount.The practical problem of both schemes is that the crop groups that can not find most suitable yardstick plant close
Degree, ensures that planting area core tree has typical population characteristic on the premise of ensureing that planting area is minimum.
The content of the invention
For defect of the prior art, the invention provides a kind of most suitable Research scale detection method of crop groups and dress
Put, the present invention can obtain the most suitable Research scale scope of crop groups.
Specifically, the invention provides following technical scheme：
In a first aspect, the invention provides a kind of most suitable Research scale detection method of crop groups, including：
Default specified location in target crop colony obtains the three dimensional point cloud C of target crop colony；Described three
The center for tieing up the three-dimensional system of coordinate residing for cloud data C is the default specified location, three residing for the three dimensional point cloud C
The Z axis of dimension coordinate system represents that plant height direction, X-axis represent that crop row is represented perpendicular to crop row to direction to direction, Y-axis
Strain is to direction；
Uniform resampling, the three dimensional point cloud after being sampled are carried out to the three dimensional point cloud C of acquisition
Three dimensional point cloud after statistic samplingNumber of data points in each default voxel, and according to sampling after
Three dimensional point cloudThe most suitable plant number that number of data points in each default voxel determines most suitable line number and often gone, and by
Most suitable line number and the most suitable plant number often gone determine the most suitable Research scale scope of target crop colony；
Wherein, each described default voxel is by the three dimensional point cloud after samplingResiding three-dimensional system of coordinate carries out empty
Between divide after obtained multiple separate rectangular parallelepiped spaces.
Further, the three dimensional point cloud C of described pair of acquisition carries out uniform resampling, the three-dimensional point cloud after being sampled
DataSpecifically include：
Resampling distance parameter L and threshold number parameter Q is set；
By a cloud uniformly subdivision into cube of the length, width and height all for L, if three dimensional point cloud C falls into some cubical point
Number be more than or equal to Q, then using the cubical central point as the resampling point in the cubic space, to three-dimensional point cloud
Data C is after such uniform resampling, the three dimensional point cloud after being sampled
Further, the three dimensional point cloud according to after samplingNumber of data points in each default voxel is true
Fixed most suitable line number and the often most suitable plant number of row, are specifically included：
Space division is carried out to the XOY plane of three-dimensional system of coordinate, X-axis is divided into M isometric pixel fragments successively, by Y
Axle is divided into N number of isometric pixel fragment successively；
Count three dimensional point cloudIn default voxel VmnThe quantity of interior data point, wherein, preset voxel VmnRepresent by
M-th pixel fragment in X-direction, voxel determined by whole pixels in nth pixel section and Z-direction in Y direction,
1≤m≤M, 1≤n≤N；
If VmnThe quantity of interior data point≤default contiguous pixels point number s0, it is determined that default voxel VmnCorresponding X
To preset distance in the pixel fragment n in the farthest pixel of specified location and Y direction pre- for distance in pixel fragment m on direction of principal axis
If the farthest pixel of specified location is not have influential position coordinates to default specified location, refer to according to determining to default
Positioning is put and is not had influential position coordinates, with reference to the spacing in the rows and line-spacing of crop groups, obtains the most suitable of most suitable line number and every row
Plant number.
Further, the three dimensional point cloud C for obtaining target crop colony, is specifically included：
The three-dimensional point of target crop colony is obtained using the crop groups yardstick measurement apparatus for being arranged on default specified location
Cloud data C；
Wherein, the crop groups yardstick measurement apparatus includes：Three-dimensional point cloud acquisition device, arrangement for adjusting height and three pin
Rack supporting device；The lower end of the three-dimensional point cloud acquisition device is connected with the arrangement for adjusting height, the arrangement for adjusting height
Lower end be connected with the tripod support meanss；
Wherein, the three-dimensional point cloud acquisition device is the spatial digitizer or total powerstation of laser form, the three-dimensional point cloud
The measurement radius of acquisition device is more than or equal to 40m；The arrangement for adjusting height includes being carved with expansion link, the expansion link
Degree, the expansion link is used for the height for adjusting three-dimensional point cloud acquisition device, realizes the accurate control of three-dimensional point cloud acquisition device height
System；The tripod support meanss include the top structure and tripod set gradually up and down, and the tripod can including three
Level tune bubble is provided with flexible support bar, the top structure；One is provided with the hollow structure of the tripod
Telescopic rod is used for the vertical range for measuring tripod and earth's surface；
Correspondingly, it is described that target crop group is obtained using the crop groups yardstick measurement apparatus for being arranged on default specified location
The three dimensional point cloud C of body, is specifically included：
The tripod support meanss are positioned over to the default specified location in target crop colony, Level tune gas is utilized
Tripod support meanss are adjusted to level by bubble；
The height of the arrangement for adjusting height is adjusted successively so that the three-dimensional point cloud acquisition device obtains target crop group
Body is located at the three dimensional point cloud without height；Wherein, the three-dimensional point cloud acquisition device obtain three dimensional point cloud when
Acquisition scope is 360 degree of horizontal direction, and vertical direction is more than 135 degree；When adjusting the height of the arrangement for adjusting height so that
The height constant gradient increase of arrangement for adjusting height, and highest point is no more than the height H of target crop colony.
Further, methods described also includes：
According to the most suitable Research scale scope of target crop colony, the calculating analysis of target crop canopy light distribution is carried out.
Second aspect, present invention also offers a kind of most suitable Research scale detection means of crop groups, including：
Acquisition module, the three-dimensional point cloud of target crop colony is obtained for the default specified location in target crop colony
Data C；The center of three-dimensional system of coordinate residing for the three dimensional point cloud C is the default specified location, the three-dimensional point cloud
The Z axis of three-dimensional system of coordinate residing for data C represent plant height direction, X-axis represent crop row to direction, Y-axis represent perpendicular to
Crop row is to the strain in direction to direction；
Sampling module, uniform resampling, the three-dimensional point cloud after being sampled are carried out for the three dimensional point cloud C to acquisition
Data
Determining module, for the three dimensional point cloud after statistic samplingNumber of data points in each default voxel,
And according to the three dimensional point cloud after samplingNumber of data points in each default voxel determines most suitable line number and often row
Most suitable plant number, and by most suitable line number and often capable most suitable plant number determines the most suitable Research scale scope of target crop colony；
Wherein, each described default voxel is by the three dimensional point cloud after samplingResiding three-dimensional system of coordinate carries out empty
Between divide after obtained multiple separate rectangular parallelepiped spaces.
Further, the sampling module includes setting unit and sampling unit；Wherein：
The setting unit is used to set resampling distance parameter L and threshold number parameter N；
The sampling unit is used for a cloud uniformly subdivision into cube of the length, width and height all for L, if three dimensional point cloud C falls
The number for entering some cubical point is more than or equal to N, then regard the cubical central point as the weight in the cubic space
Sampled point, to three dimensional point cloud C after such uniform resampling, the three dimensional point cloud after being sampled
Further, three dimensional point cloud of the determining module after according to samplingNumber in each default voxel
When strong point quantity determines most suitable line number and the often most suitable plant number of row, specifically for：
Space division is carried out to the XOY plane of three-dimensional system of coordinate, X-axis is divided into M isometric pixel fragments successively, by Y
Axle is divided into N number of isometric pixel fragment successively；
Count three dimensional point cloudIn default voxel VmnThe quantity of interior data point, wherein, preset voxel VmnRepresent by
M-th pixel fragment in X-direction, voxel determined by whole pixels in nth pixel section and Z-direction in Y direction,
1≤m≤M, 1≤n≤N；
If VmnThe quantity of interior data point≤default contiguous pixels point number s0, it is determined that default voxel VmnCorresponding X
To preset distance in the pixel fragment n in the farthest pixel of specified location and Y direction pre- for distance in pixel fragment m on direction of principal axis
If the farthest pixel of specified location is not have influential position coordinates to default specified location, refer to according to determining to default
Positioning is put and is not had influential position coordinates, with reference to the spacing in the rows and line-spacing of crop groups, obtains the most suitable of most suitable line number and every row
Plant number.
Further, the acquisition module specifically for：Surveyed using the crop groups yardstick for being arranged on default specified location
Measure the three dimensional point cloud C that device obtains target crop colony；
Wherein, the crop groups yardstick measurement apparatus includes：Three-dimensional point cloud acquisition device, arrangement for adjusting height and three pin
Rack supporting device；The lower end of the three-dimensional point cloud acquisition device is connected with the arrangement for adjusting height, the arrangement for adjusting height
Lower end be connected with the tripod support meanss；
Wherein, the three-dimensional point cloud acquisition device is the spatial digitizer or total powerstation of laser form, the three-dimensional point cloud
The measurement radius of acquisition device is more than or equal to 40m；The arrangement for adjusting height includes being carved with expansion link, the expansion link
Degree, the expansion link is used for the height for adjusting three-dimensional point cloud acquisition device, realizes the accurate control of three-dimensional point cloud acquisition device height
System；The tripod support meanss include the top structure and tripod set gradually up and down, and the tripod can including three
Level tune bubble is provided with flexible support bar, the top structure；One is provided with the hollow structure of the tripod
Telescopic rod is used for the vertical range for measuring tripod and earth's surface；
Correspondingly, the acquisition module specifically for：
The tripod support meanss are positioned over to the default specified location in target crop colony, Level tune gas is utilized
Tripod support meanss are adjusted to level by bubble；
The height of the arrangement for adjusting height is adjusted successively so that the three-dimensional point cloud acquisition device obtains target crop group
Body is located at the three dimensional point cloud without height；Wherein, the three-dimensional point cloud acquisition device obtain three dimensional point cloud when
Acquisition scope is 360 degree of horizontal direction, and vertical direction is more than 135 degree；When adjusting the height of the arrangement for adjusting height so that
The height constant gradient increase of arrangement for adjusting height, and highest point is no more than the height H of target crop colony.
Further, described device also includes：Light distribution analyzes computing module；
The light distribution analyzes computing module, for the most suitable Research scale scope according to target crop colony, carries out mesh
Mark the calculating analysis of crop canopies light distribution.
As shown from the above technical solution, the most suitable Research scale detection method of crop groups that the present invention is provided, with reference to the modern times
Three-dimensional point cloud obtain and treatment technology, by obtain with analysis crop groups in each plant, each organ hiding relation, detection make
The most suitable scope of experiment of thing colony or virtual community build scope.The present invention can be used for instructing Different Crop, different densities to make
The optimal scope of experiment of thing colony；Optimal structure scope for instructing crop virtual community, the present invention is for improving crop group
The service efficiency of body experimental plot, computational efficiency of raising crop groups light distribution simulation etc. on the premise of computational accuracy is ensured
Play an important roll.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawings.
Fig. 1 is a kind of flow chart for the most suitable Research scale detection method of crop groups that one embodiment of the invention is provided；
Fig. 2 is the three-dimensional point that the crop groups yardstick measurement apparatus that one embodiment of the invention is provided obtains target crop colony
The acquisition principle schematic of cloud data；
Fig. 3 and Fig. 4 are the originals for the most suitable Research scale scope that one embodiment of the invention provides the crop groups that set the goal really
Manage schematic diagram；
Fig. 5 is another flow chart for the most suitable Research scale detection method of crop groups that one embodiment of the invention is provided；
Fig. 6 is a kind of structural representation for the most suitable Research scale detection means of crop groups that another embodiment of the present invention is provided
Figure；
Fig. 7 is that another structure for the most suitable Research scale detection means of crop groups that another embodiment of the present invention is provided is shown
It is intended to.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, clear, complete description is carried out to the technical scheme in the embodiment of the present invention, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Fig. 1 shows the flow chart for the most suitable Research scale detection method of crop groups that one embodiment of the invention is provided.Ginseng
See Fig. 1, the most suitable Research scale detection method of crop groups that the present embodiment is provided comprises the following steps：
Step 101：Default specified location in target crop colony obtains the three dimensional point cloud of target crop colony
C；The center of three-dimensional system of coordinate residing for the three dimensional point cloud C is the default specified location, the three dimensional point cloud C
The Z axis of residing three-dimensional system of coordinate represents that plant height direction, X-axis represent that crop row is represented perpendicular to crop row to direction, Y-axis
To the strain in direction to direction.
In this step, target can be obtained using the crop groups yardstick measurement apparatus for being arranged on default specified location to make
The three dimensional point cloud C of thing colony.
Here, referring to Fig. 2, the crop groups yardstick measurement apparatus includes：Three-dimensional point cloud acquisition device, height regulation dress
Put and tripod support meanss；The lower end of the three-dimensional point cloud acquisition device is connected with the arrangement for adjusting height, the height
The lower end of adjusting means is connected with the tripod support meanss；
Wherein, the three-dimensional point cloud acquisition device is the spatial digitizer or total powerstation of laser form, the three-dimensional point cloud
The measurement radius of acquisition device is more than or equal to 40m；The arrangement for adjusting height includes being carved with expansion link, the expansion link
Degree, the expansion link is used for the height for adjusting three-dimensional point cloud acquisition device, realizes the accurate control of three-dimensional point cloud acquisition device height
System；The tripod support meanss include the top structure and tripod set gradually up and down, and the tripod can including three
Level tune bubble is provided with flexible support bar, the top structure；One is provided with the hollow structure of the tripod
Telescopic rod is used for the vertical range for measuring tripod and earth's surface；
Correspondingly, it is described that target crop group is obtained using the crop groups yardstick measurement apparatus for being arranged on default specified location
The three dimensional point cloud C of body, is specifically included：
The tripod support meanss are positioned over to the default specified location in target crop colony, Level tune gas is utilized
Tripod support meanss are adjusted to level by bubble；
The height of the arrangement for adjusting height is adjusted successively so that the three-dimensional point cloud acquisition device obtains target crop group
Body is located at the three dimensional point cloud without height；Wherein, the three-dimensional point cloud acquisition device obtain three dimensional point cloud when
Acquisition scope is 360 degree of horizontal direction, and vertical direction is more than 135 degree；When adjusting the height of the arrangement for adjusting height so that
The height constant gradient increase of arrangement for adjusting height, and highest point is no more than the height H of target crop colony.For example, remembering each height
Acquired point, which converges, is combined into Chi, wherein h represents the height value acquired in current point cloud.When adjusting arrangement for adjusting height, make h
For constant gradient increase, highest point is no more than the height H of target crop colony.
For example, in this step, it is assumed that the height of lowest part is h1, times of acquisition are n, and acquisition highest point is H-h1, then it is high
Spending increased gradient is
It is understood that the default specified location is generally crop groups growing state normally, positioned at crop groups
The position at center.In addition, when obtaining three dimensional point cloud C, preferably calm weather is carried out.
In addition, when obtaining three dimensional point cloud C, due to there is the problem of mutually blocking between plant, it is therefore desirable to
Several location points set target ball, the registration for later stage cloud data.For example, being converged in the point for obtaining each height and position
Close ChiAfterwards, by the target ball position set in advance, using three dimensional point cloud method for registering carry out point cloud registering, obtain compared with
For complete and accurate three dimensional point cloud C.
Step 102：Uniform resampling, the three dimensional point cloud after being sampled are carried out to the three dimensional point cloud C of acquisition
In this step, resampling distance parameter L and threshold number parameter Q is set first, cloud uniformly subdivision then will be put
All it is L cube into length, width and height, will if the number that three dimensional point cloud C falls into some cubical point is more than or equal to Q
The cubical central point is as the resampling point in the cubic space, to three dimensional point cloud C by such uniform weight
After sampling, the three dimensional point cloud after being sampled
Step 103：Three dimensional point cloud after statistic samplingNumber of data points in each default voxel, and according to
Three dimensional point cloud after samplingNumber of data points in each default voxel determines most suitable line number and the often most suitable plant of row
Strain number, and by most suitable line number and often capable most suitable plant number determines the most suitable Research scale scope of target crop colony.
In this step, each described default voxel is by the three dimensional point cloud after samplingResiding three-dimensional system of coordinate
Carry out the multiple separate rectangular parallelepiped spaces obtained after the division of space.It is understood that (default to refer to positioned at center
Positioning is put) if three-dimensional point cloud acquisition device be pointed to the point cloud that crop groups in a certain voxel (cubic space) are obtained
Data point is less (to be for example just less than or equal to preset critical but more than a minimum predetermined value, as obtained in a certain voxel
The number of data point is 6, just less than or equal to preset critical 6 but more than a minimum predetermined value 4), then it represents that the voxel institute
Corresponding highest distance position point hardly causes shadow to ring the center point, therefore can determine therefrom that most suitable line number and every
Capable most suitable plant number, and then determine most suitable Research scale scope.
Therefore this step can be with the three dimensional point cloud after statistic samplingNumber of data points in each default voxel, and
According to the three dimensional point cloud after samplingNumber of data points in each default voxel determines most suitable line number and often gone most
Suitable plant number, and by most suitable line number and often capable most suitable plant number determines the most suitable Research scale scope of target crop colony；Its
In, each described default voxel is by the three dimensional point cloud after samplingResiding three-dimensional system of coordinate obtained after the division of space
The multiple separate rectangular parallelepiped spaces arrived.
In this step, the three dimensional point cloud according to after samplingNumber of data points in each default voxel
It is determined that most suitable line number and the often most suitable plant number of row, are specifically included：
Space division is carried out to the XOY plane of three-dimensional system of coordinate, X-axis is divided into M isometric pixel fragments successively, by Y
Axle is divided into N number of isometric pixel fragment successively；
Count three dimensional point cloudIn default voxel VmnThe quantity of interior data point, wherein, preset voxel VmnRepresent by
M-th pixel fragment in X-direction, voxel determined by whole pixels in nth pixel section and Z-direction in Y direction,
1≤m≤M, 1≤n≤N；
If VmnThe quantity of interior data point≤default contiguous pixels point number s0, it is determined that default voxel VmnCorresponding X
To preset distance in the pixel fragment n in the farthest pixel of specified location and Y direction pre- for distance in pixel fragment m on direction of principal axis
If the farthest pixel of specified location is not have influential position coordinates to default specified location, refer to according to determining to default
Positioning is put and is not had influential position coordinates, with reference to the spacing in the rows and line-spacing of crop groups, obtains the most suitable of most suitable line number and every row
Plant number.
Referring to the principle schematic shown in Fig. 3 and Fig. 4, wherein, Fig. 3 is light occlusion effect schematic diagram, and Fig. 4 unites for data point
Count design sketch.Whether the assessment position that the measurement position in Fig. 3 is in default specified location, Fig. 3 is to need that investigates can
To presetting the position that specified location (namely measurement position) causes shadow to ring.Active position in Fig. 4 is meeting to presetting specific bit
Put the position that (namely measurement position) causes light to block influence.
Wherein, after most suitable line number and the often most suitable plant number of row is obtained, the most suitable plant that can be gone by most suitable line number and often
Strain number determines the most suitable Research scale scope of target crop colony, and colony's explanation outside the scope to current location (
I.e. preset specified location) plant be do not have it is influential.
It can be seen that, the embodiment of the present invention obtains the three-dimensional structure shape information of crop groups using three-dimensional data acquisition device,
Whether the processing methods such as registration, resampling further combined with three-dimensional point cloud, obtain the crop groups of different range in colony
The influential conclusion of plant of current location.
In a kind of optional embodiment, referring to Fig. 3, methods described also includes：
Step 104：According to the most suitable Research scale scope of target crop colony, the meter of target crop canopy light distribution is carried out
Point counting is analysed.
In the present embodiment, the conclusion (most suitable line number, the often most suitable plant number of row) that can be obtained according to previous step, structure
Crop virtual community is built, the calculating for crop canopies light distribution is analyzed.
From the scheme recorded above, the most suitable Research scale detection method of crop groups provided in an embodiment of the present invention,
Obtained with reference to Modern three-dimensional point cloud and treatment technology, pass is blocked with each plant, each organ in analysis crop groups by obtaining
System, the detection most suitable scope of experiment of crop groups or virtual community build scope.The embodiment of the present invention can be used for instructing different
Crop, the optimal scope of experiment of different densities crop groups；Optimal structure scope for instructing crop virtual community, the present invention
Embodiment is for improving the service efficiency of crop groups experimental plot, crop groups light being improved on the premise of computational accuracy is ensured
Computational efficiency of distribution simulation etc. plays an important roll.
Another embodiment of the present invention provides a kind of most suitable Research scale detection means of crop groups, referring to Fig. 4, the device
Including：Acquisition module 21, sampling module 22 and determining module 23；Wherein：
Acquisition module 21, the three-dimensional point of target crop colony is obtained for the default specified location in target crop colony
Cloud data C；The center of three-dimensional system of coordinate residing for the three dimensional point cloud C is the default specified location, the three-dimensional point
The Z axis of three-dimensional system of coordinate residing for cloud data C represents that plant height direction, X-axis represent that crop row represents vertical to direction, Y-axis
In crop row to the strain in direction to direction；
Sampling module 22, uniform resampling, the three-dimensional point after being sampled are carried out for the three dimensional point cloud C to acquisition
Cloud data
Determining module 23, for the three dimensional point cloud after statistic samplingData points in each default voxel
Amount, and according to the three dimensional point cloud after samplingNumber of data points in each default voxel determines most suitable line number and often gone
Most suitable plant number, and by most suitable line number and often the most suitable plant number of row determines the most suitable Research scale model of target crop colony
Enclose；
Wherein, each described default voxel is by the three dimensional point cloud after samplingResiding three-dimensional system of coordinate carries out empty
Between divide after obtained multiple separate rectangular parallelepiped spaces.
In a kind of optional embodiment, the sampling module 22 includes setting unit 221 and sampling unit 222；Wherein：
The setting unit 221 is used to set resampling distance parameter L and threshold number parameter Q；
The sampling unit 222 is used for a cloud uniformly subdivision into cube of the length, width and height all for L, if three dimensional point cloud
The number that C falls into some cubical point is more than or equal to Q, then using the cubical central point as in the cubic space
Resampling point, to three dimensional point cloud C after such uniform resampling, the three dimensional point cloud after being sampled
In a kind of optional embodiment, three dimensional point cloud of the determining module 23 after according to samplingAt each
When number of data points in default voxel determines most suitable line number and the often most suitable plant number of row, specifically for：
Space division is carried out to the XOY plane of three-dimensional system of coordinate, X-axis is divided into M isometric pixel fragments successively, by Y
Axle is divided into N number of isometric pixel fragment successively；
Count three dimensional point cloudIn default voxel VmnThe quantity of interior data point, wherein, preset voxel VmnRepresent by
M-th pixel fragment in X-direction, voxel determined by whole pixels in nth pixel section and Z-direction in Y direction,
1≤m≤M, 1≤n≤N；
If VmnThe quantity of interior data point≤default contiguous pixels point number s0, it is determined that default voxel VmnCorresponding X
To preset distance in the pixel fragment n in the farthest pixel of specified location and Y direction pre- for distance in pixel fragment m on direction of principal axis
If the farthest pixel of specified location is not have influential position coordinates to default specified location, refer to according to determining to default
Positioning is put and is not had influential position coordinates, with reference to the spacing in the rows and line-spacing of crop groups, obtains the most suitable of most suitable line number and every row
Plant number.
The acquisition module 23 described in a kind of optional embodiment specifically for：Using the work for being arranged on default specified location
Thing population measure measurement apparatus obtains the three dimensional point cloud C of target crop colony；
Wherein, the crop groups yardstick measurement apparatus includes：Three-dimensional point cloud acquisition device, arrangement for adjusting height and three pin
Rack supporting device；The lower end of the three-dimensional point cloud acquisition device is connected with the arrangement for adjusting height, the arrangement for adjusting height
Lower end be connected with the tripod support meanss；
Wherein, the three-dimensional point cloud acquisition device is the spatial digitizer or total powerstation of laser form, the three-dimensional point cloud
The measurement radius of acquisition device is more than or equal to 40m；The arrangement for adjusting height includes being carved with expansion link, the expansion link
Degree, the expansion link is used for the height for adjusting three-dimensional point cloud acquisition device, realizes the accurate control of three-dimensional point cloud acquisition device height
System；The tripod support meanss include the top structure and tripod set gradually up and down, and the tripod can including three
Level tune bubble is provided with flexible support bar, the top structure；One is provided with the hollow structure of the tripod
Telescopic rod is used for the vertical range for measuring tripod and earth's surface；
Correspondingly, the acquisition module 23 specifically for：
The tripod support meanss are positioned over to the default specified location in target crop colony, Level tune gas is utilized
Tripod support meanss are adjusted to level by bubble；
The height of the arrangement for adjusting height is adjusted successively so that the three-dimensional point cloud acquisition device obtains target crop group
Body is located at the three dimensional point cloud without height；Wherein, the three-dimensional point cloud acquisition device obtain three dimensional point cloud when
Acquisition scope is 360 degree of horizontal direction, and vertical direction is more than 135 degree；When adjusting the height of the arrangement for adjusting height so that
The height constant gradient increase of arrangement for adjusting height, and highest point is no more than the height H of target crop colony.
In a kind of optional embodiment, referring to Fig. 5, described device also includes：Light distribution analyzes computing module 24；
The light distribution analyzes computing module 24, for the most suitable Research scale scope according to target crop colony, carries out
The calculating analysis of target crop canopy light distribution.
The most suitable Research scale detection means of crop groups that the present embodiment is provided can be used for performing described in above-described embodiment
The most suitable Research scale detection method of crop groups, its principle is similar with beneficial effect, is no longer described in detail herein.
In the description of the invention, it is necessary to explanation, the orientation or position relationship of the instruction such as term " on ", " under " are base
In orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than indicate or imply
Signified device or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to this
The limitation of invention.Unless otherwise clearly defined and limited, term " installation ", " connected ", " connection " should be interpreted broadly, example
Such as, can be fixedly connected or be detachably connected, or be integrally connected；Can mechanically connect or be electrically connected
Connect；Can be joined directly together, can also be indirectly connected to by intermediary, can be the connection of two element internals.For this
For the those of ordinary skill in field, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
It should also be noted that, herein, such as first and second or the like relational terms are used merely to one
Entity or operation make a distinction with another entity or operation, and not necessarily require or imply between these entities or operation
There is any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to contain
Lid nonexcludability is included, so that process, method, article or equipment including a series of key elements not only will including those
Element, but also other key elements including being not expressly set out, or also include being this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there is other identical element in process, method, article or equipment including the key element.
Above example is merely to illustrate technical scheme, rather than its limitations；Although with reference to the foregoing embodiments
The present invention is described in detail, it will be understood by those within the art that：It still can be to foregoing each implementation
Technical scheme described in example is modified, or carries out equivalent substitution to which part technical characteristic；And these are changed or replaced
Change, the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a kind of most suitable Research scale detection method of crop groups, it is characterised in that including：
Default specified location in target crop colony obtains the three dimensional point cloud C of target crop colony；The three-dimensional point
The center of three-dimensional system of coordinate residing for cloud data C is the default specified location, the three-dimensional seat residing for the three dimensional point cloud C
Mark system Z axis represent plant height direction, X-axis represent crop row to direction, Y-axis represent perpendicular to strain from crop row to direction to
Direction；
Uniform resampling, the three dimensional point cloud after being sampled are carried out to the three dimensional point cloud C of acquisition
Three dimensional point cloud after statistic samplingNumber of data points in each default voxel, and according to the three-dimensional after sampling
Cloud dataNumber of data points in each default voxel determines most suitable line number and the often most suitable plant number of row, and by most suitable
Line number and the most suitable plant number often gone determine the most suitable Research scale scope of target crop colony；
Wherein, each described default voxel is by the three dimensional point cloud after samplingResiding three-dimensional system of coordinate carries out space and drawn
The multiple separate rectangular parallelepiped spaces obtained after point.
2. according to the method described in claim 1, it is characterised in that the three dimensional point cloud C of described pair of acquisition is uniformly weighed
Sampling, the three dimensional point cloud after being sampledSpecifically include：
Resampling distance parameter L and threshold number parameter N is set；
By a cloud uniformly subdivision into cube of the length, width and height all for L, if three dimensional point cloud C falls into of some cubical point
Number is more than or equal to N, then using the cubical central point as the resampling point in the cubic space, to three dimensional point cloud
C is after such uniform resampling, the three dimensional point cloud after being sampled
3. according to the method described in claim 1, it is characterised in that the three dimensional point cloud according to after samplingAt each
Number of data points in default voxel determines most suitable line number and the often most suitable plant number of row, specifically includes：
Space division is carried out to the XOY plane of three-dimensional system of coordinate, X-axis is divided into M isometric pixel fragments successively, by Y-axis according to
It is secondary to be divided into N number of isometric pixel fragment；
Count three dimensional point cloudIn default voxel VmnThe quantity of interior data point, wherein, preset voxel VmnRepresent by X-axis side
Voxel, 1≤m determined by whole pixels in nth pixel section and Z-direction on upward m-th of pixel fragment, Y direction
≤ M, 1≤n≤N；
If VmnThe quantity of interior data point≤default contiguous pixels point number s0, it is determined that default voxel VmnCorresponding X-axis side
Distance presets the default finger of distance in the pixel fragment n in the farthest pixel of specified location and Y direction in upward pixel fragment m
It is not have influential position coordinates to default specified location that farthest pixel is put in positioning, according to determining to presetting specific bit
Put and do not have influential position coordinates, with reference to the spacing in the rows and line-spacing of crop groups, obtain most suitable line number and the often most suitable plant of row
Number.
4. according to the method described in claim 1, it is characterised in that the three dimensional point cloud C for obtaining target crop colony,
Specifically include：
The three-dimensional point cloud number of target crop colony is obtained using the crop groups yardstick measurement apparatus for being arranged on default specified location
According to C；
Wherein, the crop groups yardstick measurement apparatus includes：Three-dimensional point cloud acquisition device, arrangement for adjusting height and tripod branch
Support arrangement；The lower end of the three-dimensional point cloud acquisition device is connected with the arrangement for adjusting height, under the arrangement for adjusting height
End is connected with the tripod support meanss；
Wherein, the three-dimensional point cloud acquisition device is the spatial digitizer or total powerstation of laser form, and the three-dimensional point cloud is obtained
The measurement radius of device is more than or equal to 40m；The arrangement for adjusting height includes being carved with scale on expansion link, the expansion link,
The expansion link is used for the height for adjusting three-dimensional point cloud acquisition device, realizes the accurate control of three-dimensional point cloud acquisition device height；
The tripod support meanss include the top structure and tripod set gradually up and down, and the tripod is scalable including three
Support bar, be provided with Level tune bubble on the top structure；One is provided with the hollow structure of the tripod to stretch
Contracting bar is used for the vertical range for measuring tripod and earth's surface；
Correspondingly, it is described that target crop colony is obtained using the crop groups yardstick measurement apparatus for being arranged on default specified location
Three dimensional point cloud C, is specifically included：
The tripod support meanss are positioned over to the default specified location in target crop colony, will using Level tune bubble
Tripod support meanss are adjusted to level；
The height of the arrangement for adjusting height is adjusted successively so that the three-dimensional point cloud acquisition device obtains target crop colony position
In the three dimensional point cloud without height；Wherein, acquisition of the three-dimensional point cloud acquisition device when obtaining three dimensional point cloud
Scope is 360 degree of horizontal direction, and vertical direction is more than 135 degree；When adjusting the height of the arrangement for adjusting height so that height
The height constant gradient increase of adjusting means, and highest point is no more than the height H of target crop colony.
5. the method according to any one of Claims 1 to 4, it is characterised in that methods described also includes：
According to the most suitable Research scale scope of target crop colony, the calculating analysis of target crop canopy light distribution is carried out.
6. a kind of most suitable Research scale detection means of crop groups, it is characterised in that including：
Acquisition module, the three dimensional point cloud of target crop colony is obtained for the default specified location in target crop colony
C；The center of three-dimensional system of coordinate residing for the three dimensional point cloud C is the default specified location, the three dimensional point cloud C
The Z axis of residing three-dimensional system of coordinate represents that plant height direction, X-axis represent that crop row is represented perpendicular to crop row to direction, Y-axis
To the strain in direction to direction；
Sampling module, uniform resampling, the three dimensional point cloud after being sampled are carried out for the three dimensional point cloud C to acquisition
Determining module, for the three dimensional point cloud after statistic samplingNumber of data points in each default voxel, and root
According to the three dimensional point cloud after samplingNumber of data points in each default voxel determines the most suitable of most suitable line number and every row
Plant number, and by most suitable line number and often capable most suitable plant number determines the most suitable Research scale scope of target crop colony；
Wherein, each described default voxel is by the three dimensional point cloud after samplingResiding three-dimensional system of coordinate carries out space and drawn
The multiple separate rectangular parallelepiped spaces obtained after point.
7. device according to claim 6, it is characterised in that the sampling module includes setting unit and sampling unit；
Wherein：
The setting unit is used to set resampling distance parameter L and threshold number parameter Q；
The sampling unit is used for a cloud uniformly subdivision into cube of the length, width and height all for L, if three dimensional point cloud C falls into certain
The number of individual cubical point is more than or equal to Q, then regard the cubical central point as the resampling in the cubic space
Point, to three dimensional point cloud C after such uniform resampling, the three dimensional point cloud after being sampled
8. device according to claim 6, it is characterised in that three-dimensional point cloud number of the determining module after according to sampling
According toWhen number of data points in each default voxel determines most suitable line number and the often most suitable plant number of row, specifically for：
Space division is carried out to the XOY plane of three-dimensional system of coordinate, X-axis is divided into M isometric pixel fragments successively, by Y-axis according to
It is secondary to be divided into N number of isometric pixel fragment；
Count three dimensional point cloudIn default voxel VmnThe quantity of interior data point, wherein, preset voxel VmnRepresent by X-axis side
Voxel, 1≤m determined by whole pixels in nth pixel section and Z-direction on upward m-th of pixel fragment, Y direction
≤ M, 1≤n≤N；
If VmnThe quantity of interior data point≤default contiguous pixels point number s0, it is determined that default voxel VmnCorresponding X-axis side
Distance presets the default finger of distance in the pixel fragment n in the farthest pixel of specified location and Y direction in upward pixel fragment m
It is not have influential position coordinates to default specified location that farthest pixel is put in positioning, according to determining to presetting specific bit
Put and do not have influential position coordinates, with reference to the spacing in the rows and line-spacing of crop groups, obtain most suitable line number and the often most suitable plant of row
Number.
9. device according to claim 6, it is characterised in that the acquisition module specifically for：
The three-dimensional point cloud number of target crop colony is obtained using the crop groups yardstick measurement apparatus for being arranged on default specified location
According to C；
Wherein, the crop groups yardstick measurement apparatus includes：Three-dimensional point cloud acquisition device, arrangement for adjusting height and tripod branch
Support arrangement；The lower end of the three-dimensional point cloud acquisition device is connected with the arrangement for adjusting height, under the arrangement for adjusting height
End is connected with the tripod support meanss；
Wherein, the three-dimensional point cloud acquisition device is the spatial digitizer or total powerstation of laser form, and the three-dimensional point cloud is obtained
The measurement radius of device is more than or equal to 40m；The arrangement for adjusting height includes being carved with scale on expansion link, the expansion link,
The expansion link is used for the height for adjusting three-dimensional point cloud acquisition device, realizes the accurate control of three-dimensional point cloud acquisition device height；
The tripod support meanss include the top structure and tripod set gradually up and down, and the tripod is scalable including three
Support bar, be provided with Level tune bubble on the top structure；One is provided with the hollow structure of the tripod to stretch
Contracting bar is used for the vertical range for measuring tripod and earth's surface；
Correspondingly, the acquisition module specifically for：
The tripod support meanss are positioned over to the default specified location in target crop colony, will using Level tune bubble
Tripod support meanss are adjusted to level；
The height of the arrangement for adjusting height is adjusted successively so that the three-dimensional point cloud acquisition device obtains target crop colony position
In the three dimensional point cloud without height；Wherein, acquisition of the three-dimensional point cloud acquisition device when obtaining three dimensional point cloud
Scope is 360 degree of horizontal direction, and vertical direction is more than 135 degree；When adjusting the height of the arrangement for adjusting height so that height
The height constant gradient increase of adjusting means, and highest point is no more than the height H of target crop colony.
10. the device according to any one of claim 6~9, it is characterised in that described device also includes：Light distribution is analyzed
Computing module；
The light distribution analyzes computing module, for the most suitable Research scale scope according to target crop colony, carries out target work
The calculating analysis of thing canopy light distribution.
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