CN107830816B - A kind of 3 D laser scanning method applied to green plant - Google Patents
A kind of 3 D laser scanning method applied to green plant Download PDFInfo
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- CN107830816B CN107830816B CN201711237728.6A CN201711237728A CN107830816B CN 107830816 B CN107830816 B CN 107830816B CN 201711237728 A CN201711237728 A CN 201711237728A CN 107830816 B CN107830816 B CN 107830816B
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention discloses a kind of 3 D laser scanning methods applied to green plant.Since plant has a large amount of leaf, cause sharply to locate more, easily occurs bad point when conventional scanning device is scanned, scanning accuracy is lower.The scanning means that the present invention uses includes workbench, rack, the first turntable, the second turntable, sliding rail, sliding block, the first synchronous pulley, the first synchronous belt, laser sensor, scan table, first motor, driving assembly and third motor.First turntable, the second turntable are supported on the both ends of rack respectively.The axis collinear of first turntable and the second turntable and horizontally disposed.Scan table is fixed on the table.The concordant setting of the top surface of scan table and the axis of the first turntable and the second turntable.The present invention can be automatically performed potting scanning and model foundation, and the model established can be completely restored to the shape of potting, and the corresponding scan data of the sharp edge surrounding of potting is avoided a large amount of bad points occur.
Description
Technical field
The invention belongs to 3-D scanning technical fields, and in particular to a kind of 3 D laser scanning side applied to green plant
Method.
Background technique
At present for phytomorph detection device be largely it is some using nuclear magnetic resonance, CT be imaged the methods of obtain to
The tomoscan image of scanned position, then obtain by establishing threedimensional model the form of plant.But this part instrument
Cost is very high, and consumable material is expensive.There are also a kind of methods with camera vision calibration to obtain plant model, in appliance arrangement
It is slightly cheap in cost, but treatment process or relatively complicated, to be obtained by acquisition image, camera Calibration parameters in series,
It extracts image series profile, establish the processes such as point cloud model.Since plant has a large amount of leaf, lead to sharply to locate more, routine
Easily occurs bad point when scanning means is scanned, scanning accuracy is lower.
With the development of the three-dimensional measurements such as depth camera, laser ranging and technology for information acquisition, the application of laser sensor
More extensively.The characteristics of laser sensor ranging, can be applied to 3-D scanning technology.Be not in when laser sensor scanning
Conventional scanner easily leads to the problem of bad point in sharp position, can be improved plant scanning accuracy.
Summary of the invention
The purpose of the present invention is to provide a kind of 3 D laser scanning methods applied to green plant.
The scanning means that the present invention uses, including workbench, rack, the first turntable, the second turntable, sliding rail, sliding block, first
Synchronous pulley, the first synchronous belt, laser sensor, scan table, first motor, driving assembly and third motor.The rack
It fixes on the table.First turntable, the second turntable are supported on the both ends of rack respectively.First turntable and the second turntable
Axis collinear and horizontally disposed.First turntable is driven by first motor.Second turntable is driven by third motor
It is dynamic.One end of the sliding rail is fixed with the first turntable bias, and the other end is fixed with the second turntable bias.Sliding rail is horizontally disposed.The
One turntable, the second turntable opposite side side on be supported with shaft.The first synchronous pulley is respectively and fixedly provided in two shafts.Two
First synchronous pulley passes through the first synchronous band connection.One of them first synchronous pulley is driven by driving assembly.The sliding block
Sliding pair is constituted with sliding rail.Sliding block is fixed with the first synchronous belt.The laser sensor is fixed on sliding block.The scanning
Platform is fixed on the table.The top surface of scan table is horizontally disposed, and concordant with the axis of the first turntable and the second turntable is arranged.
Further, the model TIM510 of the laser sensor.
Further, the driving assembly includes the second synchronous pulley, the second synchronous belt and the second motor.Described
There are two two synchronous pulleys are total.One of them second synchronous pulley is fixed therein in a shaft, another second synchronous belt
It takes turns and is fixed with the output shaft of the second motor.Second motor is fixed with the first turntable or the second turntable.Two the second synchronous pulleys are logical
Cross the second synchronous band connection.
Further, the axis of the shaft and the length direction of sliding rail are vertical.
Further, Laser emission mouth the first turntable of direction of the laser sensor and the axis of the second turntable.It is described
Plane where the scan angle of laser sensor is vertical with the axis of the first turntable.
The 3 D laser scanning method for being applied to green plant is specific as follows:
Step 1: establishing absolute coordinate as coordinate origin using the position of laser sensor Laser emission mouth under original state
System.The positive direction of the x-axis of absolute coordinate system is the glide direction of sliding block when the second motor rotates forward, and z-axis positive direction is straight up
Direction.
Step 2: green plant to be scanned is placed on scan table.
Step 3: the second motor rotates forward, sliding block level sliding, until passing through above scan table.Laser sensor output
First cloud array.The information of any one discrete point is all by s in first cloud array1i、q1iAnd θ1iThree spatial positional informations
Composition.Wherein, s1iFor when the information of i-th of discrete point, laser sensor Laser emission mouth is exhausted in first cloud array of acquisition
To the x-axis coordinate value in coordinate system；q1iWhen to acquire the information of i-th of discrete point in first cloud array, laser sensor device
Laser emission mouth is at a distance from the discrete point；θ1iWhen to acquire the information of i-th of discrete point in first cloud array, laser sensing
The angle of line of the device Laser emission mouth to the discrete point and the vertical axis by laser sensor Laser emission mouth.
Step 4: the second motor reversal, so that sliding block resets.
Step 5: first motor and the synchronous rotating forward of third motor, so that sliding rail overturns 90 °, the laser hair of laser sensor
Loophole is towards positive direction of the y-axis.
Step 6: the second motor rotates forward, sliding block is with level sliding, until passing through from the side of scan table.Laser sensor
Export second point cloud array.The information of any one point is all by s in second point cloud array2i、q2iAnd θ2iThree spatial positional informations
Composition.Wherein, s2iFor when the information of i-th of discrete point, laser sensor Laser emission mouth is exhausted in acquisition second point cloud array
To the x-axis coordinate value in coordinate system；q2iFor when the information of i-th of discrete point, laser sensor swashs in acquisition second point cloud array
Light emitting mouth is at a distance from the discrete point；θ2iWhen to acquire the information of i-th of discrete point in second point cloud array, laser sensor
The angle of line of the Laser emission mouth to the discrete point and the vertical axes axis by laser sensor Laser emission mouth.
Step 7: the second motor reversal, so that laser sensor resets.
Step 8: first motor and the synchronous rotating forward of third motor, so that sliding rail overturns 180 °, the laser hair of laser sensor
Loophole is towards negative direction of the y-axis.
Step 9: the second motor rotates forward, sliding block level sliding, until passing through from the side of scan table.Laser sensor is defeated
Thirdly cloud array out.The information that thirdly any one is put in cloud array is all by s3i、q3iAnd θ3iThree spatial positional information groups
At.Wherein s3iWhen to acquire the information of i-th of discrete point in thirdly cloud array, laser sensor Laser emission mouth is absolutely being sat
X-axis coordinate value in mark system；q3iWhen to acquire the information of i-th of discrete point in thirdly cloud array, laser sensor laser hair
Loophole is at a distance from the discrete point；θ3iWhen to acquire the information of i-th of discrete point in thirdly cloud array, laser sensor laser
The angle of line of the emission port to the discrete point and the vertical axes axis by laser sensor Laser emission mouth.
Step 10: laser sensor is collected first cloud array, second point cloud array, thirdly space in cloud array
Location information is converted into corresponding rectangular co-ordinate information in rectangular coordinate system in space.Spatial positional information in first cloud array
It is converted into (x1i, y1i, z1i), wherein x1i=s1i, y1i=q1i·sinθ1i, z1i=-q1i·cosθ1i.In second point cloud array
Spatial positional information be converted into (x2i, y2i, z2i), wherein x2i=s2i, y2i=q2i·sinθ2i, z2i=-q2i·cosθ2i。
Thirdly the spatial positional information in cloud array is converted into (x3i, y3i, z3i), wherein x3i=s3i, y3i=q3i·sinθ3i, z3i
=-q3i·cosθ3i。
Step 11: being transformed into the rectangular co-ordinate information of all discrete points in first cloud array in absolute coordinate system
Coordinate (x '1i, y '1i, z '1i), x '1i=x1i, y '1i=y1i, z '1i=z1i.By in second point cloud array all discrete points it is straight
Angular position information is transformed into the coordinate (x ' in absolute coordinate system2i, y '2i, z '2i), x '2i=x2i, y '2i=| z2i|-R, z '2i
=| y2i|-R.The rectangular co-ordinate information of all discrete points in thirdly cloud array is transformed into the coordinate in absolute coordinate system
(x′3i, y '3i, z '3i), x '3i=x3i, y '3i=R- | z3i|, z '3i=| y3i|-R。
Step 12: first cloud array, second point cloud array and thirdly in cloud array all discrete points according to itself
Coordinate in absolute coordinate system is placed into the same space, obtains green plant model.
Further, after step 12 obtains green plant model, the discrete point in green plant model is successively carried out
Remove noise spot, data interpolation and data smoothing operation.The method for removing noise spot is as follows: if a discrete point is discrete with this
Point be in sphere that the radius of the centre of sphere is d there is no other discrete points, then the point is noise spot, and d=1mm is deleted and owned
Noise spot.Data interpolation uses mean value Shift Method.Data smoothing uses Moving Least.
Further, in step 2, need to measure the maximum dimension b of green plant to be scanned along the y-axis direction, along z
The maximum dimension c of axis direction.Green plant to be scanned along the y-axis direction upper outermost two points to x- in absolute coordinate system
The distance of z-plane is 0.5b.
In step 3, the scanning range of laser sensor is set asFor
Distance of the Laser emission mouth of laser sensor to the first turntable axis.
In step 6, the scanning range of laser sensor is set as
In step 9, the scanning range of laser sensor is set as
The invention has the advantages that:
1, the present invention can be automatically performed potting scanning and model foundation, and the model established can be completely restored to potting
Shape avoids the corresponding scan data of the sharp edge surrounding of potting from a large amount of bad points occur.
2, the present invention uses the so-called scanning element of laser sensor 6, for dust, smoky environment and the interference ring for interfering light
It can still be worked normally under border.
3, the present invention can still have good scanning effect for the plant of antiradar reflectivity.
4, the present invention to control scanning accuracy and scanning speed, and then can be adapted to not by the quantity of control scanning element
With the demand of occasion.
5, the present invention is at low cost, and scanning range is big, can operate with the detection of different size green plants, is suitble to indoor and outdoor each
The scanning of kind form.
6, overall process of the present invention realizes automatic operation, need to only control motor rotation, can be realized to plant to be scanned
The demand that potting different scanning face is scanned, does not need to move plant.
7, the present invention is safe and reliable, will not damage environment, harmless to sweep object.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the enlarged view of part A in Fig. 1.
Specific embodiment
Below in conjunction with attached drawing, the invention will be further described.
As illustrated in fig. 1 and 2, a kind of scanning means that the 3 D laser scanning method applied to green plant uses, including
Workbench 1, rack 2, the first turntable 3, the second turntable 4, sliding rail 5, sliding block 9, the first synchronous pulley, the first synchronous belt 8, second are same
Walk belt wheel, the second synchronous belt, laser sensor 6, scan table 7, first motor, the second motor and third motor.Laser sensor 6
Model TIM510.Rack 2 is fixed on workbench 1.First turntable 3, the second turntable 4 are supported on the both ends of rack 2 respectively.
The axis collinear of first turntable 3 and the second turntable 4 and horizontally disposed.First turntable 3 is driven by first motor.Second turntable 4
By third motor driven.One end and the first turntable 3 that the sliding rail 5 between the first turntable 3 and the second turntable 4 is arranged in are eccentric solid
Fixed, the other end and the second turntable 4 are eccentric fixed.Sliding rail 5 is horizontally disposed.First turntable, the second turntable opposite side side on
It is supported with shaft.The axis of shaft is vertical with the length direction of sliding rail 5.The first synchronous pulley is respectively and fixedly provided in two shafts.Two
A first synchronous pulley is connected by the first synchronous belt 8.There are two second synchronous pulley is total.One of them second synchronous pulley is solid
It is scheduled in a wherein shaft, the output shaft of another the second synchronous pulley and the second motor is fixed.Second motor and first turn
Disk 3 or the second turntable 4 are fixed.Two the second synchronous pulleys pass through the second synchronous band connection.Sliding block 9 and sliding rail 5 constitute sliding pair.
Sliding block 9 and the first synchronous belt 8 are fixed.Laser sensor 6 is fixed on sliding block 9.The Laser emission mouth of laser sensor 6 is towards the
When the axis of one turntable 3 and the second turntable 4, i.e. sliding rail 5 overturning to highest point, the Laser emission mouth of laser sensor 6 is towards just
Lower section.Plane where the scan angle of laser sensor 6 is vertical with the axis of the first turntable 3.Scan table 7 is fixed on workbench 1.
The top surface of scan table 7 is horizontally disposed, and concordant with the axis of the first turntable 3 and the second turntable 4 is arranged.That is the first turntable 3 and
The axis of two turntables 4 scan table 7 top surface institute planar.
Under original state, sliding block 9 is located at one end of sliding rail 5, and the Laser emission mouth of laser sensor 6 is straight down.
The 3 D laser scanning method for being applied to green plant is specific as follows:
Step 1: establishing absolute coordinate as coordinate origin using the position of 6 Laser emission mouth of laser sensor under original state
System.The positive direction of the x-axis of absolute coordinate system is the glide direction of sliding block 9 when the second motor rotates forward, and z-axis positive direction is straight up
Direction.
Step 2: green plant to be scanned is placed on scan table 7, and measure green plant to be scanned along the y-axis direction
Maximum dimension b, maximum dimension c along the z-axis direction.Green plant to be scanned along the y-axis direction upper outermost two
The distance of a point to x-z-plane in absolute coordinate system is 0.5b.
Step 3: the scanning range of setting laser sensor 6 isFor
The Laser emission mouth of laser sensor 6 is to the distance of 3 axis of the first turntable, and laser sensor 6 scans underface at this timeObject in angular range.Second motor rotates forward, and sliding block 9 is slided with the speed level of 1mm/s, until from
Pass through above scan table 7.So that the top of laser sensor 6 from green plant to be scanned is inswept.The output of laser sensor 6 first
Point cloud array.The position of each discrete point corresponds to the shape at the top of green plant to be scanned in first cloud array.First cloud number
The information of any one discrete point is all by s in group1i、q1iAnd θ1iThree spatial positional information compositions.Wherein, s1iFor acquisition first
In point cloud array when the information of i-th of discrete point, x-axis coordinate value of the 6 Laser emission mouth of laser sensor in absolute coordinate system；
q1iWhen to acquire the information of i-th of discrete point in first cloud array, 6 device Laser emission mouth of laser sensor and the discrete point
Distance；θ1iFor when the information of i-th of discrete point, 6 Laser emission mouth of laser sensor is discrete to this in first cloud array of acquisition
The angle of the vertical axis of the line and process 6 Laser emission mouth of laser sensor put is (if i-th of point in first cloud array
In the positive direction of the y-axis side of x-z-plane, then θ1i> 0, if the i-th point of y-axis losing side positioned at x-z-plane in first cloud array
To side, then θ1i< 0).
Step 4: the second motor reversal, so that sliding block 9 resets.
Step 5: first motor and the synchronous rotating forward of third motor, so that sliding rail 5 overturns 90 °, the laser of laser sensor 6
Emission port is towards positive direction of the y-axis.It is arranged at this point, the Laser emission mouth of laser sensor 6 is concordant with scan table.
Step 6: the scanning range of setting laser sensor 6 is
Second motor rotates forward, and sliding block 9 is slided with the speed level of 1mm/s, until passing through from the side of scan table 7.So that
Laser sensor 6 is inswept from green plant to be scanned.Laser sensor 6 exports second point cloud array.In second point cloud array
Each discrete point correspond to shape of the green plant to be scanned towards negative direction of the y-axis side.Any one point in second point cloud array
Information all by s2i、q2iAnd θ2iThree spatial positional information compositions.Wherein, s2iIt is discrete for i-th in acquisition second point cloud array
When the information of point, x-axis coordinate value of the 6 Laser emission mouth of laser sensor in absolute coordinate system；q2iTo acquire second point cloud number
In group when the information of i-th of discrete point, 6 Laser emission mouth of laser sensor is at a distance from the discrete point；θ2iTo acquire second point
In cloud array when the information of i-th of discrete point, the line of 6 Laser emission mouth of laser sensor to the discrete point with pass through laser
The angle of the vertical axes axis of 6 Laser emission mouth of sensor.
Step 7: the second motor reversal, so that laser sensor 6 resets.
Step 8: first motor and the synchronous rotating forward of third motor, so that sliding rail 5 overturns 180 °, the laser of laser sensor 6
Emission port is towards negative direction of the y-axis.It is arranged at this point, the Laser emission mouth of laser sensor 6 is concordant with scan table.
Step 9: the scanning range of setting laser sensor 6 is
Second motor rotates forward, and sliding block 9 is slided with the speed level of 1mm/s, until passing through from the side of scan table 7.So that
Laser sensor 6 is inswept from green plant to be scanned.Laser sensor 6 exports thirdly cloud array.Thirdly in cloud array
Each discrete point correspond to shape of the green plant to be scanned towards positive direction of the y-axis side.Thirdly any one point in cloud array
Information all by s3i、q3iAnd θ3iThree spatial positional information compositions.Wherein s3iIt is discrete for i-th in acquisition thirdly cloud array
When the information of point, x-axis coordinate value of the 6 Laser emission mouth of laser sensor in absolute coordinate system；q3iTo acquire thirdly cloud number
In group when the information of i-th of discrete point, 6 Laser emission mouth of laser sensor is at a distance from the discrete point；θ3iTo acquire thirdly
In cloud array when the information of i-th of discrete point, the line of 6 Laser emission mouth of laser sensor to the discrete point with pass through laser
The angle of the vertical axes axis of 6 Laser emission mouth of sensor.
Step 10: by laser sensor 6 collect first cloud array, second point cloud array, thirdly in cloud array it is empty
Between location information be converted into corresponding rectangular co-ordinate information in rectangular coordinate system in space.Space bit confidence in first cloud array
Breath is converted into (x1i, y1i, z1i), wherein x1i=s1i, y1i=q1i·sinθ1i, z1i=-q1i·cosθ1i.Second point cloud array
Interior spatial positional information is converted into (x2i, y2i, z2i), wherein x2i=s2i, y2i=q2i·sinθ2i, z2i=-q2i·cos
θ2i.Thirdly the spatial positional information in cloud array is converted into (x3i, y3i, z3i), wherein x3i=s3i, y3i=q3i·sinθ3i,
z3i=-q3i·cosθ3i。
Step 11: data are spliced: the rectangular co-ordinate information of all discrete points in first cloud array is transformed into exhausted
To the coordinate (x ' in coordinate system1i, y '1i, z '1i), x '1i=x1i, y '1i=y1i, z '1i=z1i.To own in second point cloud array
The rectangular co-ordinate information of discrete point is transformed into the coordinate (x ' in absolute coordinate system2i, y '2i, z '2i), x '2i=x2i, y '2i=|
z2i|-R, z '2i=| y2i|-R.The rectangular co-ordinate information of all discrete points in thirdly cloud array is transformed into absolute coordinate system
Interior coordinate (x '3i, y '3i, z '3i), x '3i=x3i, y '3i=R- | z3i|, z '3i=| y3i|-R。
Step 12: first cloud array, second point cloud array and thirdly in cloud array all discrete points according to itself
Coordinate in absolute coordinate system is placed into the same space, obtains green plant model.To discrete in green plant model
Point is successively removed noise spot, data interpolation and data smoothing operation, realizes the optimization of green plant model.Remove noise spot
Method it is as follows: if a point with this for the centre of sphere radius for other points are not present in the sphere of d, which is to make an uproar
Sound point, d=1mm.Delete all noise spots.Data interpolation uses mean value Shift Method.Data smoothing uses Moving Least.
Claims (7)
1. a kind of 3 D laser scanning method applied to green plant, it is characterised in that: the scanning means of use, including work
Platform, rack, the first turntable, the second turntable, sliding rail, sliding block, the first synchronous pulley, the first synchronous belt, laser sensor, scanning
Platform, first motor, driving assembly and third motor；The rack is fixed on the table；First turntable, second turn
Disk is supported on the both ends of rack respectively；The axis collinear of first turntable and the second turntable and horizontally disposed；First turntable
It is driven by first motor；Second turntable is by third motor driven；One end of the sliding rail is fixed with the first turntable bias,
The other end is fixed with the second turntable bias；Sliding rail is horizontally disposed；First turntable, the second turntable opposite side side on be supported with
Shaft；The first synchronous pulley is respectively and fixedly provided in two shafts；Two the first synchronous pulleys pass through the first synchronous band connection；Wherein one
A first synchronous pulley is driven by driving assembly；The sliding block and sliding rail constitutes sliding pair；Sliding block is fixed with the first synchronous belt；
The laser sensor is fixed on sliding block；The scan table is fixed on the table；The top surface of scan table is horizontally disposed,
And concordant with the axis of the first turntable and the second turntable it is arranged；
The 3 D laser scanning method for being applied to green plant is specific as follows:
Step 1: establishing absolute coordinate system as coordinate origin using the position of laser sensor Laser emission mouth under original state；Absolutely
Positive direction of the x-axis to coordinate system is the glide direction of sliding block when the second motor rotates forward, and z-axis positive direction is direction straight up；
Step 2: green plant to be scanned is placed on scan table；
Step 3: the second motor rotates forward, sliding block level sliding, until passing through above scan table；Laser sensor output first
Point cloud array；The information of any one discrete point is all by s in first cloud array1i、q1iAnd θ1iThree spatial positional information groups
At；Wherein, s1iFor when the information of i-th of discrete point, laser sensor Laser emission mouth is absolute in first cloud array of acquisition
X-axis coordinate value in coordinate system；q1iFor when the information of i-th of discrete point, laser sensor device swashs in first cloud array of acquisition
Light emitting mouth is at a distance from the discrete point；θ1iWhen to acquire the information of i-th of discrete point in first cloud array, laser sensor
The angle of line of the Laser emission mouth to the discrete point and the vertical axis by laser sensor Laser emission mouth；
Step 4: the second motor reversal, so that sliding block resets；
Step 5: first motor and the synchronous rotating forward of third motor, so that sliding rail overturns 90 °, the Laser emission mouth of laser sensor
Towards positive direction of the y-axis；
Step 6: the second motor rotates forward, sliding block is with level sliding, until passing through from the side of scan table；Laser sensor output
Second point cloud array；The information of any one point is all by s in second point cloud array2i、q2iAnd θ2iThree spatial positional information groups
At；Wherein, s2iFor when the information of i-th of discrete point, laser sensor Laser emission mouth is absolute in acquisition second point cloud array
X-axis coordinate value in coordinate system；q2iWhen to acquire the information of i-th of discrete point in second point cloud array, laser sensor laser
Emission port is at a distance from the discrete point；θ2iFor when the information of i-th of discrete point, laser sensor swashs in acquisition second point cloud array
The angle of line of the light emitting mouth to the discrete point and the vertical axes axis by laser sensor Laser emission mouth；
Step 7: the second motor reversal, so that laser sensor resets；
Step 8: first motor and the synchronous rotating forward of third motor, so that sliding rail overturns 180 °, the Laser emission mouth of laser sensor
Towards negative direction of the y-axis；
Step 9: the second motor rotates forward, sliding block level sliding, until passing through from the side of scan table；Laser sensor output the
3 cloud arrays；The information that thirdly any one is put in cloud array is all by s3i、q3iAnd θ3iThree spatial positional information compositions；
Wherein s3iWhen to acquire the information of i-th of discrete point in thirdly cloud array, laser sensor Laser emission mouth is in absolute coordinate
X-axis coordinate value in system；q3iWhen to acquire the information of i-th of discrete point in thirdly cloud array, laser sensor Laser emission
Mouth is at a distance from the discrete point；θ3iWhen to acquire the information of i-th of discrete point in thirdly cloud array, laser sensor laser hair
The angle of line of the loophole to the discrete point and the vertical axes axis by laser sensor Laser emission mouth；
Step 10: laser sensor is collected first cloud array, second point cloud array, thirdly spatial position in cloud array
Information is converted into corresponding rectangular co-ordinate information in rectangular coordinate system in space；Spatial positional information conversion in first cloud array
For (x1i, y1i, z1i), wherein x1i=s1i, y1i=q1i·sinθ1i, z1i=-q1i·cosθ1i；Sky in second point cloud array
Between location information be converted into (x2i, y2i, z2i), wherein x2i=s2i, y2i=q2i·sinθ2i, z2i=-q2i·cosθ2i；Third
Spatial positional information in point cloud array is converted into (x3i, y3i, z3i), wherein x3i=s3i, y3i=q3i·sinθ3i, z3i=-
q3i·cosθ3i；
Step 11: the rectangular co-ordinate information of all discrete points in first cloud array is transformed into the seat in absolute coordinate system
Mark (x '1i, y '1i, z '1i), x '1i=x1i, y '1i=y1i, z '1i=z1i；The right angle of all discrete points in second point cloud array is sat
Mark information is transformed into the coordinate (x ' in absolute coordinate system2i, y '2i, z '2i), x '2i=x2i, y '2i=| z2i|-R, z '2i=| y2i
|-R；The rectangular co-ordinate information of all discrete points in thirdly cloud array is transformed into the coordinate (x ' in absolute coordinate system3i,
y′3i, z '3i), x '3i=x3i, y '3i=R- | z3i|, z '3i=| y3i|-R；
Step 12: first cloud array, second point cloud array and thirdly in cloud array all discrete points according to from exhausted
Coordinate in coordinate system is placed into the same space, green plant model is obtained.
2. a kind of 3 D laser scanning method applied to green plant according to claim 1, it is characterised in that: described
Laser sensor model TIM510.
3. a kind of 3 D laser scanning method applied to green plant according to claim 1, it is characterised in that: described
Driving assembly include the second synchronous pulley, the second synchronous belt and the second motor；There are two second synchronous pulley is total；Its
In second synchronous pulley be fixed therein in a shaft, the output shaft of another second synchronous pulley and the second motor is solid
It is fixed；Second motor is fixed with the first turntable or the second turntable；Two the second synchronous pulleys pass through the second synchronous band connection.
4. a kind of 3 D laser scanning method applied to green plant according to claim 1, it is characterised in that: described
The axis of shaft and the length direction of sliding rail are vertical.
5. a kind of 3 D laser scanning method applied to green plant according to claim 1, it is characterised in that: described
Laser emission mouth the first turntable of direction of laser sensor and the axis of the second turntable；Where the scan angle of the laser sensor
Plane is vertical with the axis of the first turntable.
6. a kind of 3 D laser scanning method applied to green plant according to claim 1, it is characterised in that: step
After 12 obtain green plant model, to the discrete point in green plant model be successively removed noise spot, data interpolation and
Data smoothing operation；The method for removing noise spot is as follows: if a discrete point is being the ball of d by the radius of the centre of sphere of the discrete point
Other discrete points are not present within the scope of shape, then the point is noise spot, and d=1mm deletes all noise spots；Data interpolation is using equal
It is worth Shift Method；Data smoothing uses Moving Least.
7. a kind of 3 D laser scanning method applied to green plant according to claim 1, it is characterised in that: step
In two, need to measure the maximum dimension b of green plant to be scanned along the y-axis direction, maximum dimension c along the z-axis direction；
The distance of green plant to be scanned upper outermost two points to x-z-planes in absolute coordinate system along the y-axis direction is 0.5b；
In step 3, the scanning range of laser sensor is set asR is laser
Distance of the Laser emission mouth of sensor to the first turntable axis；
In step 6, the scanning range of laser sensor is set as
In step 9, the scanning range of laser sensor is set as
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| CN101118157A (en) * | 2007-08-30 | 2008-02-06 | 于复生 | Sandwich plate flatness inspection device |
| DE102008001321A1 (en) * | 2008-04-22 | 2009-10-29 | Robert Bosch Gmbh | Method for identifying three dimensional, transparent articles, particularly for recognizing transparent packing containers such as blister, involves moving articles on conveyor belt under illumination device |
| CN105737737A (en) * | 2016-05-12 | 2016-07-06 | 中国科学院植物研究所 | Indoor crop phenotype detection system |
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| US5955740A (en) * | 1997-12-16 | 1999-09-21 | Eastman Kodak Company | Inspection method and apparatus for determining the side-up orientation of an object resting on a flat surface |
| CN101118157A (en) * | 2007-08-30 | 2008-02-06 | 于复生 | Sandwich plate flatness inspection device |
| DE102008001321A1 (en) * | 2008-04-22 | 2009-10-29 | Robert Bosch Gmbh | Method for identifying three dimensional, transparent articles, particularly for recognizing transparent packing containers such as blister, involves moving articles on conveyor belt under illumination device |
| CN105737737A (en) * | 2016-05-12 | 2016-07-06 | 中国科学院植物研究所 | Indoor crop phenotype detection system |
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