CN109407112A - Top fruit sprayer volume measuring method and system based on LiDAR point cloud data - Google Patents
Top fruit sprayer volume measuring method and system based on LiDAR point cloud data Download PDFInfo
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- CN109407112A CN109407112A CN201811198886.XA CN201811198886A CN109407112A CN 109407112 A CN109407112 A CN 109407112A CN 201811198886 A CN201811198886 A CN 201811198886A CN 109407112 A CN109407112 A CN 109407112A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0035—Measuring of dimensions of trees
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
Abstract
A kind of top fruit sprayer volume measuring method and system based on LiDAR point cloud data disclosed by the invention, is arranged LiDAR on the carry bracket of mobile platform, LiDAR connects host computer by cable interface；Wherein, mobile platform at the uniform velocity advances on linear scanning path；LiDAR is scanned the fruit tree to be measured in same row；Host computer runs LiDAR scanning algorithm, and control LiDAR is scanned measuring and calculating operation；Fruit tree threedimensional model algorithm, fruit tree feature recognition algorithms are rebuild in host computer operation, are calculated volume based on volume meta-model, are recorded and export the Tree Crown Volume of fruit tree.The present invention is while guaranteeing measurement result accuracy, using rectilinear scan pattern, can real-time perfoming top fruit sprayer cubing, improve measurement efficiency, have a wide range of application, strong applicability.
Description
Technical field
It is the present invention relates to Agricultural Information detection and algorithmic technique field, in particular to a kind of based on LiDAR point cloud data
Top fruit sprayer volume measuring method and system.
Background technique
Tree Crown Volume is very important a tree crown characteristic parameter, closely bound up with fruit tree growth situation, educates in fruit tree
It is of great significance in the operation process such as kind, the yield by estimation and pesticide variable rate spray.Real-time detection to top fruit sprayer volume is accurate
The precondition of variable rate spray, it is basis and the foundation for executing spray action the later period.
The measurement of traditional top fruit sprayer volume obtains crown diameter, tree higher size letter using surveying and mapping tools such as tape measure, altitude meters
Breath, by geometry principle, the Tree Crown Volume of fruit tree is acquired according to the geometry calculation formula of volume.Although the measurement method cost is not
Height, principle are simple, but expend more manpower and time, and there are the subjective error of gauger, are not easy to that fruit tree is understood quickly
Growing state, be unfavorable for the efficiency of management of orchard production, be not able to satisfy variable and spray equal automated jobs to the need of timeliness
It asks.
There is scholar's application image processing technique to carry out the analysis and measuring and calculating of top fruit sprayer volume in recent years.Based on digital picture
Measurement of the research of processing for the two and three dimensions parameter of plant can improve measurement accuracy by multiple model optimization,
It is also higher to calculate efficiency, but is constrained to the time of image post-processing, is limited to Digital Image Processing to arithmetic processor
It is required that being difficult to meet the application demand in actual production rapidly and efficiently.
Sensor Detection Techniques are widely applied Detection Techniques during variable rate spray.Currently, domestic and foreign scholars are common
Infrared photoelectric sensor, ultrasonic distance-measuring sensor, laser range sensor and LiDAR (Light Detection
AndRanging, laser radar) detection sensor carrys out the characteristic parameter of real-time detection fruit tree.Wherein, scholar passes with ultrasonic wave
Sensor carries out the measurement of Tree Crown Volume, but ultrasonic wave, due to the diffraction phenomena in communication process, the angle of divergence is larger, and intensity of acoustic wave
With the proportional decrease of variation of measurement distance, lead to low measurement accuracy.Some scholars reach higher using three-dimensional laser technology
Measurement accuracy, but its traditional scanning mode needs multiple repairing weld, and data volume to be treated is huge, and treatment effeciency is lower,
Also it is difficult to be widely used in orchard management.Microwave radar, EO-1 hyperion instrument etc. carry out the information collection of tree crown, due to real-time
It is poor, the less use in actual spraying system；LiDAR sensor (LiDAR, LightDetection and Ranging)
It is a kind of multidimensional distance measuring sensor using laser pulse Scanning Detction as basic functional principle, compares infrared sensor, ultrasonic wave
Sensor etc., LiDAR have higher detection accuracy, faster scanning speed, the information content of acquisition richer and can be round-the-clock
The advantages of work, LiDAR have a wide range of applications scene in fields such as mapping, detections.
Therefore, how under the premise of guaranteeing general agricultural operation precision, a kind of fast and efficiently Tree Crown Volume survey is provided
System and method is measured, the needs of waiting automated jobs is sprayed to meet accurate variable, is always urgently to be resolved in agricultural production
Technical problem.
Summary of the invention
In view of this, it is an object of the invention to real for top fruit sprayer volume measuring method in existing accurate variable rate spray
The problems such as when property is poor, measurement efficiency is lower, propose a kind of top fruit sprayer volume calculating system based on LiDAR point cloud data and
Method.Its concrete scheme is as follows to achieve the above object:
The invention discloses a kind of top fruit sprayer volume calculating system based on LiDAR point cloud data, including LiDAR, hang
Carry bracket, host computer and mobile platform；
Wherein, the carry bracket is installed on the mobile platform；The LiDAR is set on the carry bracket；It is described
Host computer is located at the accommodation space of the mobile platform；
The LiDAR is connect with the host computer by cable interface, and the host computer runs LiDAR scanning algorithm, control
LiDAR processed carries out fruit tree scanning measuring and calculating operation, obtains scan data；The host computer is according to scan data reconstruction fruit tree three-dimensional mould
Type, and fruit tree feature is identified, volume is calculated based on volume meta-model, records and export the Tree Crown Volume of fruit tree.
It preferably, further include the synchronizing device and power supply being arranged on the carry bracket；The power supply and described
LiDAR and the upper mechatronics；The synchronizing device connects the LiDAR, for calculating the synchronization in operation, comprising:
The synchronization between scan data and data processing is received, and executes LiDAR scanning algorithm and rebuilds fruit tree threedimensional model algorithm
Between synchronization.
The present invention also provides a kind of top fruit sprayer volume measuring method based on LiDAR point cloud data, which is characterized in that
Include the following steps:
The mobile platform for being equipped with LiDAR, host computer is placed into the starting point of scanning operation by step 1, determines scanning
The parameter of operation；
Step 2 starts the mobile platform along the scanning operation of progress path measuring and calculating top fruit sprayer volume；
Step 3 executes LiDAR scanning algorithm, obtains point cloud data；The LiDAR scanning algorithm is, on described
Control of the position machine to the LiDAR scanning operation, and the point cloud data of LiDAR scanning is stored, analyzed and handled；It is described
The communication of host computer and the LiDAR are carried out based on Transmission Control Protocol；
Step 4 rebuilds fruit tree threedimensional model；Based on the point cloud data that step 3 is stored, fruit tree threedimensional model is carried out
It rebuilds；The scan frequency of known fixed and motion state in known speed；According in point cloud data include angle and distance
Information reconstruction fruit tree threedimensional model；
Step 5 runs fruit tree feature recognition algorithms；The identification to trunk is realized by scale-localization algorithm, extracts needs
Calculate the main body of the tree crown of volume；
Step 6 calculates volume based on volume meta-model；The CV appraising model based on dynamic height volume element is established, is passed through
Volume meta-model integral, which is asked, calculates top fruit sprayer volume；Calculate adjusted coefficient Kcv, carry out volume estimation model optimization；After calculation optimization
Tree Crown Volume Vcanopy；
Step 7 records and exports Tree Crown Volume Vcanopy。
Preferably, the step 1 specifically includes:
1) place the mobile platform to scanning measuring and calculating operation starting point, the mobile platform have carry LiDAR with
The installation space of host computer, the covering of the fan that installation space meets the formation of LiDAR scanning light beam are vertically to big ground level, and the width scanned
The region of angle covering fruit tree Tree Crown Volume to be measured；
2) mount point on the LiDAR to the mobile platform is installed, disposes the host computer to the mobile platform
On accommodation space；Determine the height and setting angle of LiDAR mount point；
3) it determines the progress path of the mobile platform, that is, determines the straight line path of the LiDAR scanning, the path is flat
Row is in the straight line where the same upper several fruit trees of arrangement；Mobile platform from the direction of starting point be from first to be measured
Fruit tree is to the direction of next fruit tree；Determine mobile platform forward speed v and the LiDAR scan position and fruit tree where it is straight
The horizontal distance RS/2 of line；
4) rectangular coordinate system in space of scanning measuring and calculating operation is established, is original with the position where LiDAR described in step 1)
Point O；O point is crossed to be vertically to earth reference system upwardly direction as z-axis positive direction；The straight line scanned with LiDAR described in step 3)
The direction in path is positive direction of the x-axis；O point is crossed perpendicular to x-axis, establishes y-axis as positive direction to be directed toward fruit tree side to be measured, y-axis is hung down
Directly in the straight line where fruit tree in same arrangement；
5) scanning density and working method for determining measuring and calculating operation, describe to scan using the scanning times in unit distance
Density spm；The LiDAR selectes a fixed scan frequency fscanAnd the movement speed of mobile platform, i.e. LiDAR are at the uniform velocity
The numerical value spm of scanning density is calculated in the speed v of linear movement:
Determine the working method of the LiDAR, including angular resolution and continuous scanning mode.
Preferably, the step 3 specifically includes:
1) the host computer transmission scan instruction to the LiDAR and starts synchronizing device, starts the LiDAR scanning；
The scan instruction that the host computer is sent, the starting scan instruction including the LiDAR, LiDAR parameter setting refer to
It enables, stops scan instruction；
Host computer receives the scanning message that the LiDAR is returned, and judges the validity of message；If message is invalid, hold
Row step 3)；If message is effective, then follow the steps 4)；
The message that the LiDAR passes the host computer back includes: facility information, control information and data information, wherein counting
It is believed that breath includes distance and reflectivity information；
The validity for judging message includes: whether the message that receives of judgement is complete, and whether the format of message is abnormal, if
Include effective data information, if miscommunication has occurred；If the message received is invalid, need not carry out at message decoding
Reason；
3) scan instruction of host computer is initialized, and returns to step 1)；
4) message is decoded, and stores point cloud data；
The point cloud data extracted from message；One message is in the LiDAR single pass, and laser beam is formed by
The result that one detection plane is detected；The point cloud data that one message extracts, the information comprising n point in space, each
Point has a distance values and reflectivity values；The n point is using the LiDAR as origin, in the side etc. of fruit tree to be measured
Angle is spaced apart, and the range of distribution is using y-axis as zero angle benchmark, to turn to the minimum angle increment of z-axis positive direction as positive direction,
From -45 ° to 225 °；
The host computer needs the point cloud data stored to contain i LiDAR scanning result, i.e. i detection plane detection
The result arrived；If the maximum value of the scan path long L, k of primary complete scanning measuring and calculating operation are [Lspm] round numbers, i
Value 1,2 ..., [Lspm]；The index of n point is indicated with k；
If completing scanning operation or generating to interrupt to need to stop, terminating the operation of this measuring and calculating scanning algorithm；If scanning
Operation does not complete, and generates without interrupting, then continues to execute LiDAR scanning, and jump to step 2).
Preferably, the step 4 specifically includes:
1) information conversion is carried out to the polar coordinates in the space characterized in point cloud data, rebuilds rectangular coordinate system in space；
Each point is indicated with P (i, k)；In i-th scanning, the corresponding distance value in the angle θ is indicated with ρ (θ)；ρ (θ) directly maps
It is converted into polar coordinate system, and by polar data；Point P (ρ, θ) on polar coordinates is mapped to yoz plane right-angle coordinate
Relational expression be
Using the position LiDAR as coordinate origin, initial sweep angle be -45 °, scanning range be -45 °~
225 °, angular resolution is 0.33 °, and scanning each time includes n point cloud data, and the angle of k-th of measured value of note is θ (k), then
θ (k) is indicated are as follows:
θ (k)=0.33 (k-1) -45, k=1,2 ..., n (3)
Therefore, i-th of point cloud data is expressed as ρ [θ (k)], then corresponds to i-th of y value and z under yoz plane right-angle coordinate
The calculation expression of value is shown below:
2) point cloud data under memory space rectangular coordinate system rebuilds fruit tree threedimensional model.
Preferably, the step 5 specifically includes:
1) environmental information unrelated with fruit tree is removed；The scanning angle for limiting the LiDAR, by rectangular coordinate system
Line-spacing RS, maximal tree height remove non-fruit tree part point cloud data between setting fruit tree；
2) it identifies trunk, extracts tree crown information；Using scale-localization algorithm, trunk characteristic area is chosen, if in trunk feature
The number of available point in region meets fixed proportion, then is identified as trunk, and by present scan in trunk characteristic area with
Interior point cloud data is removed.
Preferably, the step 6 specifically includes:
1) based on the CV appraising model of dynamic height volume element；
It calculates top fruit sprayer volume element V (i, k), k-th of scanning element after V (i, k) indicates i-th scanning, sorts by height
The volume of corresponding volume element；
In formula, z (i, k) indicate i-th scanning, by height sort after k-th of scanning element apart from the LiDAR it is vertical away from
From h is the difference in height of two neighboring scanning element；
Y (i, k) is that i-th scans horizontal distance of k-th of scanning element apart from the LiDAR；
L is distance of the scanning element apart from trunk, and half of the l equal to fruit tree line-spacing RS subtracts y (i, k)；
V is the movement speed of the mobile platform；
Δ t is the sweep spacing of the LiDAR, the i.e. inverse of scan frequency；
2) volume element integrates；The volume that CV appraising model based on dynamic height volume element calculates, is shown below；
3) Tree Crown Volume appraising model optimizes, and calculates correction factor kcv；
Introduce correction factor kcv,
In formula,
P is scale factor；
H is the average height of fruit tree；
z(i)maxFor i-th scanning, using the LiDAR as origin, the maximum value of z after coordinate is converted；
4) the Tree Crown Volume V after calculation optimizationcanopy；
Volume element V (i, k) is modified,
CV (i, k)=kcv·V(i,k) (8)
Calculate the Tree Crown Volume V after being optimizedcanopy,
Compared with the prior art the present invention has the advantages that
The present invention is based on LiDAR scanning technique, the scanning mode in real time, efficiently measuring top fruit sprayer volume is devised,
The general mobile job platform suitable for agricultural production；According to the fruit tree point cloud data that scanning obtains, devise based on volume
The calculation method of the top fruit sprayer volume of member realizes the reconstruction and the identification of fruit tree feature of fruit tree threedimensional model, realizes low mistake
The volume of difference calculates, and provides theoretical foundation and data supporting for the estimation of crown parameters.Compared with prior art, the present invention has
Following advantage:
1) LiDAR sensor technology is used, the accuracy of measurement result is increased；
2) rectilinear scan pattern is used, it is easily operated, it is adaptable；
3) data, storage and analysis are handled using host computer, be widely used；
4) the top fruit sprayer volume measuring method processing speed provided by the invention based on LiDAR point cloud data is fast, in real time
Property is good, is able to satisfy the spraying demand of orchard real-time variable.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is provided by the invention based on LiDAR point cloud data measuring and calculating top fruit sprayer volume method flow chart；
Fig. 2 is to calculate top fruit sprayer volume system the present invention is based on LiDAR point cloud data to calculate Tree Crown Volume operation totality
Schematic diagram；
Fig. 3 is LiDAR of the present invention and host computer connection schematic diagram；
Fig. 4 is polar data transition diagram of the present invention；
Fig. 5 is fruit tree threedimensional model effect picture of the present invention；
Fig. 6 is that the present invention removes independent environment information effect comparison diagram；
Fig. 7 is present invention separation trunk and tree crown main body effect picture；
Fig. 8 is that the present invention is based on the CV appraising model schematic diagrames of dynamic height volume element；
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Be illustrated in figure 2 the present invention is based on LiDAR point cloud data measuring and calculating top fruit sprayer volume system measuring and calculating Tree Crown Volume make
Industry general illustration, LiDAR1 selects the TIM561 type LiDAR biography of SICK company, Germany production in specific embodiments of the present invention
Sensor；Host computer 3 selects PC machine, and the algorithm routine that the operation present invention designs is write based on C# and MATLAB language；Mobile platform
4 select direct current drive double track transport machine；Fruit tree 6 to be measured, which is selected, tests dedicated emulation mandarin tree, in the fruit tree arrangement at place altogether
There are 3 fruit trees, embodiment has carried out the continuous measuring and calculating operation for three fruit trees；Fruit tree equidistant arrangement d=3m, fruit tree line-spacing RS
=3.5m, RS/2=1.75m.
As shown in Figure 1 for the present invention is based on the top fruit sprayer volume measuring methods of LiDAR point cloud data, in mobile platform
LiDAR is set on carry bracket, and LiDAR connects host computer by cable interface；Wherein, mobile platform is on linear scanning path
At the uniform velocity advance；LiDAR is scanned the fruit tree to be measured in same row；Host computer runs LiDAR scanning algorithm, control
LiDAR is scanned measuring and calculating operation；Fruit tree threedimensional model algorithm is rebuild in host computer operation, and fruit tree feature recognition algorithms are based on body
Product meta-model calculates volume, records and export the Tree Crown Volume of fruit tree；
Method includes the following steps:
S1 installs equipment, determines the parameter of scanning operation；
It is scanned the equipment installation and arrangement of measuring and calculating operation, including LiDAR1, carry bracket 2, host computer 3, mobile flat
Platform 4, LiDAR scanning light beam forms covering of the fan 5, on the basis of the earth reference level surface 7, carries out laser scanning to fruit tree 6 to be measured, to
Survey 6 equidistant arrangement d of fruit tree, unit m, fruit tree line-spacing RS, unit m；
Specific steps are as follows: the 1) starting point of holding movable platform to scanning measuring and calculating operation, selected mobile platform have
The ability that controllable uniform rectilinear advances；Has the installation space of carry LiDAR and host computer, installation space meets LiDAR and sweeps
The covering of the fan for retouching light beam formation is vertically to big ground level, and the argument scanned can effectively cover the area of fruit tree Tree Crown Volume to be measured
Domain；Have and meet LiDAR and host computer and be electrically connected, the component of power supply connection requirement or extends out interface；LiDAR is connected in turn
Synchronizing device 8 and delay-action fuse 9, delay-action fuse 9 are connected on DC power supply, play the protective effect to circuit system.
2) mount point on LiDAR to mobile platform is installed, the accommodation space on host computer to mobile platform is placed；Really
Determine the height and setting angle of LiDAR mount point；Selected LiDAR has Ethernet ability to communicate and cable interface；It is chosen
Position equipment has Ethernet cable interface for the ability of quick data processing and Communication Control；Pass through Ethernet cable
Interface connects LiDAR and host computer；It completes LiDAR and host computer works normally required basic electrical connection, including synchronous dress
Set 8 and power supply；
3) it determines the progress path of mobile platform, that is, determines the straight line path of LiDAR scanning, which is parallel to same row
Arrange the straight line where several fruit trees；Mobile platform from the direction of starting point be from first fruit tree to be measured to next
The direction of fruit tree；It determines the forward speed of mobile platform, is at the uniform velocity v, unit m/s；Determine LiDAR scan position and fruit tree
The horizontal distance RS/2 of place straight line；
4) rectangular coordinate system in space of scanning measuring and calculating operation is established, as shown in Figure 2；With the position where LiDAR in step 1)
It is set to origin O；O point is crossed to be vertically to earth reference system upwardly direction as z-axis positive direction；With the straight of step 3) LiDAR scanning
The direction of thread path is positive direction of the x-axis；O point is crossed perpendicular to x-axis, establishes y-axis, y-axis as positive direction to be directed toward fruit tree side to be measured
Perpendicular to the straight line where fruit tree in same arrangement；The minimum unit scale of each axis of the rectangular coordinate system established is mm；
5) scanning density for determining measuring and calculating operation, determines the scan frequency and working method of LiDAR；Using in unit distance
Scanning times scanning density is described, indicated with symbol spm (scans permeter), unit scans/m；LiDAR choosing
A fixed fixed scan frequency fscanAnd the movement speed of step 3) mobile platform, i.e. the mobile speed of LiDAR uniform rectilinear
Together, according to spm calculating formula (1), the numerical value spm (scans/m) of scanning density is calculated in v；Scanning density spm can be equivalent to
Scanning density of the frequency when travel speed is 1m/s is retouched with same numerical value；
Determine the working method of LiDAR, angular resolution=0.33 °, continuous scanning mode；
The intrinsic scan frequency f of LiDAR is setscanFor 15Hz；
The speed that mobile platform double track transport machine at the uniform velocity advances is set, 1m/s, 0.5m/s can be chosen,
Tetra- kinds of 0.33m/s, 0.25m/s different at the uniform velocity forward speeds；
S2 starts mobile platform, starts the scanning operation for calculating volume；
It should be noted that needing to carry out communication setting to LiDAR before S2:
(1) IP address of LiDAR is set；The IP address and port numbers of host computer are set；
(2) starting host computer and LiDAR are communicated；
(3) it if communicating successfully, performs the next step；If communication is unsuccessful, step (1) is returned to；
(4) according to the LiDAR parameter determined in step S1, parameter setting is carried out to LiDAR.
S3 executes LiDAR scanning algorithm, obtains point cloud data；
The LiDAR scanning algorithm realizes the control to LiDAR scanning operation using host computer, realizes that LiDAR scans number
According to storage, realize analysis and processing of the algorithm to LiDAR scan data；The communication of host computer and LiDAR be based on Transmission Control Protocol into
Row；
The specific steps of LiDAR scanning algorithm are as follows:
1) host computer transmission scan instruction to LiDAR and starts synchronizing device, and synchronizing device uses timer, starting
LiDAR scanning；
The scan instruction that host computer is sent, may include the starting scan instruction of LiDAR, LiDAR parameter setting instruction stops
Only scan instruction；Timer is used to calculate the synchronization in operation, receives the synchronization between scan data and data processing, guarantees to connect
In continuous measuring and calculating operation, executes LiDAR scanning algorithm and rebuild the synchronization between fruit tree threedimensional model algorithm；
2) host computer receives the scanning message that LiDAR is returned, and judges the validity of message；If message is invalid, execute
Step (3)；If message is effective, (4) are thened follow the steps；
LiDAR pass back host computer data be ASCII form message segment, include facility information, control information and data
Information etc., wherein the content of the field of data information is the hexadecimal values separated with space, required for can therefrom reading
Distance and reflectivity information；The length of message can be varied according to the difference of actual object measured in scanning；
The validity for judging message judges whether the message received is complete, and whether the format of message is abnormal, if includes
Effective data information, if miscommunication has occurred；If the message received is invalid, message decoding process need not be carried out；
3) scan instruction of host computer is initialized, and returns to step (1)；
4) message is decoded, and stores point cloud data；
The point cloud data extracted from message；One message is in LiDAR single pass, and laser beam is formed by one
The result that detection plane is detected；The point cloud data that one message extracts, the information comprising 811 points in space, Mei Gedian
There are a distance values and reflectivity values；This 811 points using LiDAR as origin, the side of fruit tree to be measured angularly between
Every distribution, angular resolution is 0.3333 degree；The range of these point distributions is using y-axis as zero angle benchmark, to turn to z-axis positive direction
Minimum angle increment be positive direction, from -45 ° to 225 °；
The point cloud data is angular resolution transmitting laser pulse of the LiDAR by setting, when according to TOF laser flying
Between method, in order the measurement angled corresponding distance value of institute and reflectivity (Receive SignalStrength Indicator,
RSSI), it can be used for describing the data acquisition system of space sampling point；LiDAR point cloud data contain these angles, distance and reflectivity
The point of information；
Primary complete scanning measuring and calculating operation, according to the scanning density spm determined in step S1, what host computer needed to store
Point cloud data contains the scanning result of i LiDAR, the i.e. result that i detection plane detects；If primary complete scanning is surveyed
It can be regarded as the long L of scan path (rice) of industry, then the maximum value of k is [Lspm] round numbers, the value 1,2 ... of i, [Lspm]；
The index of 811 points indicates that the value of k is 1,2 ... with k, 811；
Point cloud data is stored, each point is indicated with P (i, k)；In i-th scanning, the corresponding distance value of angle, with ρ (θ) table
Show the angle θ respective distances ρ；θ (k)=0.33 (k-1) -45, k=1,2 ..., 811；ρ (θ) can map directly to polar coordinate system
In.The length unit of original point cloud data record is mm, and angular unit is °；
If 5) complete scanning operation or generate to interrupt to need to stop, then terminating the operation of this measuring and calculating scanning algorithm；If
Scanning operation does not complete, and generates without interrupting, then continues to execute LiDAR scanning, and jump to step (2)；
S4 rebuilds fruit tree threedimensional model；
Based on the point cloud data that S3 is stored, the reconstruction of fruit tree threedimensional model is carried out；In point cloud data comprising angle and away from
From information；The scan frequency of known fixed, the motion state in known speed；
Specific step is as follows:
1) the polar coordinates information in the space characterized in point cloud data is converted, rebuilds rectangular coordinate system in space；Original point cloud
The length unit of data is mm, and angular unit is °；
ρ (θ) indicates that the angle θ respective distances ρ, ρ (θ) can be mapped directly in polar coordinate system.Polar data is converted；Such as figure
Shown in 4, the point P (ρ, θ) on polar coordinates is mapped to shown in the relational expression such as formula (2) of yoz plane right-angle coordinate；
With the position LiDAR coordinate origin, initial sweep angle is -45 °, and scanning range is -45 °~225 °, angle
Resolution ratio is 0.33 °, and scanning each time includes 811 point cloud datas, and the angle of k-th of measured value of note is θ (k), then θ (k) can
As formula (3) indicate.
θ (k)=0.33 (k-1) -45, k=1,2 ..., 811 (3)
Therefore, i-th of point cloud data is represented by ρ [θ (k)], then correspond under yoz plane right-angle coordinate i-th of y value and
Shown in the calculation expression of z value such as formula (4).
2) point cloud data under memory space rectangular coordinate system rebuilds fruit tree threedimensional model；
According to point cloud data rebuild carry out fruit tree threedimensional model reconstruction, can the effect picture that host computer is simulated such as
Shown in Fig. 5；
S5 fruit tree feature recognition algorithms；
Specific step is as follows:
1) environmental information unrelated with fruit tree is removed；
A large amount of external interference information is contained in the resulting point cloud data of laser radar scanning, so needing to remove point cloud
The point cloud information of non-fruit tree in data.Due to the symmetry of LiDAR scanning angle, so only processing scanning degree is at -45 °~90 °
Point cloud data in range corresponds to first 405 of 811 angles in single pass result.
After limiting scanning angle, non-fruit tree portion is removed by setting line-spacing RS, maximal tree height in rectangular coordinate system
Divide laser point cloud data.For various orchards, it is high that different line-spacing RS and maximal tree can be set.The point cloud data of single fruit tree is former
Three-dimensional figure difference after beginning three-dimensional figure and removing environmental information is as shown in figures 6 a and 6b.Figure straight section is divided into where LiDAR
Deformation trace.After the algorithm process of design, the point cloud data removal effect of non-fruit tree part is obvious, reaches expection and sets
Think.
2) it identifies trunk, extracts tree crown information；
After the information and environment desultory point for eliminating non-fruit tree, it is also necessary to the tree crown major part of fruit tree point cloud data
Trunk below is identified, is constructed so that the major part that sub-argument goes out tree crown carries out more accurately crown parameters detection model.
The present invention devises the scale-localization algorithm of identification trunk point cloud data, point cloud data below for 60cm, if in trunk feature
The number of available point in region meets certain proportion, then is identified as trunk, and by this time scanning from the ground height 60cm with
Interior point cloud data is removed.In programming, which is set to 20%；
The identification to trunk is realized by scale-localization algorithm, and the effect of trunk part and tree crown main body is isolated in program operation
Fruit figure is as shown in Figure 7.
S6 is based on volume meta-model and calculates volume；
Specific step is as follows:
1) based on the CV appraising model of dynamic height volume element；
CV appraising model based on dynamic height volume element is as shown in Figure 8.
According to Fig. 8, the volume V (i, k) of the volume element is calculated using formula (5), V (i, k) indicates i-th scanning, by height
The volume of the corresponding volume element of k-th of scanning element after degree sequence；
In formula (5), after z (i, k) indicates i-th scanning, sorts by height k-th scanning element distance LiDAR it is vertical away from
From h is the difference in height of adjacent two o'clock.
Y (i, k) is the horizontal distance that i-th scans k-th of scanning element distance LiDAR；
L is distance of the scanning element apart from trunk, and half of the l equal to line-spacing RS subtracts y (i, k)；
V is the movement speed of LiDAR on a mobile platform；
Δ t is the sweep spacing of LiDAR, the inverse of scan frequency；
2) it identifies trunk, extracts tree crown information；
The volume that operation obtains is carried out to the point cloud in i-th scanning to sum from k=1 to k=m；Again to scanning each time
Resulting volume is calculated to sum from i=1 to i=n.The volume that the CV appraising model based on dynamic height volume element calculates is obtained,
As shown in formula (6)；
3) Tree Crown Volume appraising model optimizes, and calculates correction factor kcv；
The optimization of Tree Crown Volume appraising model；
It is advanced optimized to based on dynamic height volume element CV detection model, reduces the error of absolute method of measurement of the model.Draw
Enter correction factor kcv, kcvShown in expression formula such as formula (7).
In formula (7),
P is scale factor, and this paper value is 1.5；
H is the average height of fruit tree；
z(i)maxFor i-th scanning, using LiDAR as origin, the maximum value of z after coordinate is converted.
4) it sums, the Tree Crown Volume V after calculating optimizationcanopy；
Shown in revised volume element calculation formula such as formula (8)；Shown in Tree Crown Volume calculating formula such as formula (9) after optimization
CV (i, k)=kcv·V(i,k) (8)
S7 is recorded and is exported Tree Crown Volume；The final calculation result of the volume of top fruit sprayer based on LiDAR point cloud data
It can be shown in the output window of program interface.The present invention provides the output example of three top fruit sprayer volumes: 1 Tree Crown Volume of fruit tree:
5.823609m3；2 Tree Crown Volume of fruit tree: 9.336577m3；3 Tree Crown Volume of fruit tree: 8.980164m3.The present invention is guaranteeing to measure
As a result it while accuracy, more easily operates, it is adaptable, and the top fruit sprayer cubing based on LiDAR point cloud data
Method processing speed is fast, and real-time is good, is able to satisfy the spraying demand of orchard real-time variable.
Above to a kind of top fruit sprayer volume measuring method and system based on LiDAR point cloud data provided by the present invention
It is described in detail, used herein a specific example illustrates the principle and implementation of the invention, the above reality
The explanation for applying example is merely used to help understand method and its core concept of the invention；Meanwhile for the general technology of this field
Personnel, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this theory
Bright book content should not be construed as limiting the invention.
Herein, relational terms such as first and second and the like be used merely to by an entity or operation with it is another
One entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this reality
Relationship or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
Claims (8)
1. a kind of top fruit sprayer volume calculating system based on LiDAR point cloud data, it is characterised in that: including LiDAR (1), hang
Carry bracket (2), host computer (3) and mobile platform (4)；
Wherein, the carry bracket (2) is installed on the mobile platform (4)；The LiDAR is set on the carry bracket (2)
(1)；The host computer (3) is located at the accommodation space of the mobile platform (4)；
The LiDAR (1) is connect with the host computer (3) by cable interface, and host computer (3) the operation LiDAR scanning is calculated
Method, control LiDAR (1) carry out fruit tree scanning measuring and calculating operation, obtain scan data；The host computer (3) is according to scan data weight
Fruit tree threedimensional model is built, and fruit tree feature is identified, volume is calculated based on volume meta-model, records and export the tree of fruit tree
It is preced with volume.
2. a kind of top fruit sprayer volume calculating system based on LiDAR point cloud data according to claim 1, feature exist
In further including the synchronizing device (8) and power supply being arranged on the carry bracket；The power supply and the described LiDAR (1) and
Host computer (3) electrical connection；The synchronizing device connects the LiDAR (1), for calculating the synchronization in operation, comprising: connect
Receive the synchronization between scan data and data processing, and execute LiDAR scanning algorithm and rebuild fruit tree threedimensional model algorithm it
Between synchronization.
3. a kind of top fruit sprayer volume measuring and calculating side based on LiDAR point cloud data according to any one of claim 1 to 2
Method, which comprises the steps of:
The mobile platform (4) for being equipped with LiDAR (1), host computer (3) is placed into the starting point of scanning operation by step 1, is determined
The parameter of scanning operation；
Step 2 starts the mobile platform (4) along the scanning operation of progress path measuring and calculating top fruit sprayer volume；
Step 3 executes LiDAR scanning algorithm, obtains point cloud data；The LiDAR scanning algorithm is, using the host computer
(3) to the control of the LiDAR (1) scanning operation, and the point cloud data of LiDAR scanning is stored, analyzed and is handled；Institute
The communication for stating host computer (3) and the LiDAR (1) is carried out based on Transmission Control Protocol；
Step 4 rebuilds fruit tree threedimensional model；Based on the point cloud data that step 3 is stored, the weight of fruit tree threedimensional model is carried out
It builds；The scan frequency of known fixed and motion state in known speed；Believe according in point cloud data comprising angle and distance
Breath rebuilds fruit tree threedimensional model；
Step 5 runs fruit tree feature recognition algorithms；The identification to trunk is realized by scale-localization algorithm, is extracted and is needed to calculate
The main body of the tree crown of volume；
Step 6 calculates volume based on volume meta-model；The CV appraising model based on dynamic height volume element is established, volume is passed through
Meta-model integral, which is asked, calculates top fruit sprayer volume；Calculate adjusted coefficient Kcv, carry out volume estimation model optimization；Tree after calculation optimization
It is preced with volume Vcanopy；
Step 7 records and exports Tree Crown Volume Vcanopy。
4. a kind of top fruit sprayer volume measuring method based on LiDAR point cloud data according to claim 3, feature exist
In the step 1 specifically includes:
1) mobile platform (4) is placed to the starting point of scanning measuring and calculating operation, and the mobile platform (4) is with carry LiDAR
(1) and the installation space of host computer (3), the covering of the fan that installation space meets the formation of LiDAR scanning light beam are vertically to big ground level, and
The region of the argument covering fruit tree Tree Crown Volume to be measured of scanning；
2) mount point of the LiDAR (1) to the mobile platform (4) is installed, disposes the host computer (3) to the movement
Accommodation space on platform (4)；Determine the height and setting angle of LiDAR mount point；
3) it determines the progress path of the mobile platform (4), that is, determines the straight line path of the LiDAR (1) scanning, the path
The straight line being parallel to where the same upper several fruit trees of arrangement；Mobile platform from the direction of starting point be to be measured first
Fruit tree is to the direction of next fruit tree；Determine forward speed v and the LiDAR (1) scan position and the fruit tree of mobile platform
The horizontal distance RS/2 of place straight line；
4) rectangular coordinate system in space for establishing scanning measuring and calculating operation, using the position where LiDAR described in step 1) (1) as origin
O；O point is crossed to be vertically to earth reference system upwardly direction as z-axis positive direction；The straight line scanned with LiDAR described in step 3) (1)
The direction in path is positive direction of the x-axis；O point is crossed perpendicular to x-axis, establishes y-axis as positive direction to be directed toward fruit tree side to be measured, y-axis is hung down
Directly in the straight line where fruit tree in same arrangement；
5) scanning density and working method for determining measuring and calculating operation, describe scanning density using the scanning times in unit distance
spm；The LiDAR (1) selectes a fixed scan frequency fscanAnd the movement speed of mobile platform (4), i.e. LiDAR are even
The speed v of speed linear movement, is calculated the numerical value spm of scanning density:
Determine the working method of (1) the LiDAR, including angular resolution and continuous scanning mode.
5. a kind of top fruit sprayer volume measuring method based on LiDAR point cloud data according to claim 4, feature exist
In the step 3 specifically includes:
1) host computer (3) sends scan instruction and to the LiDAR (1) and starts synchronizing device (8), starts the LiDAR
(1) it scans；
The scan instruction that the host computer (3) sends, the starting scan instruction including the LiDAR (1), LiDAR parameter setting
Instruction stops scan instruction；
Host computer receives the scanning message that the LiDAR (1) returns, and judges the validity of message；If message is invalid, execute
Step 3)；If message is effective, then follow the steps 4)；
The message that the LiDAR (1) passes the host computer (3) back includes: facility information, control information and data information, wherein
Data information includes distance and reflectivity information；
The validity for judging message includes: whether the message that receives of judgement is complete, and whether the format of message is abnormal, if includes
Effective data information, if miscommunication has occurred；If the message received is invalid, message decoding process need not be carried out；
3) scan instruction of host computer is initialized, and returns to step 1)；
4) message is decoded, and stores point cloud data；
The point cloud data extracted from message；One message is in the LiDAR (1) single pass, and laser beam is formed by
The result that one detection plane is detected；The point cloud data that one message extracts, the information comprising n point in space, each
Point has a distance values and reflectivity values；The n point with the LiDAR (1) be origin, in the side of fruit tree to be measured
Equiangularly spaced distribution, the range of distribution is using y-axis as zero angle benchmark, to turn to the minimum angle increment of z-axis positive direction as pros
To from -45 ° to 225 °；
The host computer (3) needs the point cloud data stored to contain i LiDAR scanning result, i.e. i detection plane detects
Result；If the maximum value of the scan path long L, k of primary complete scanning measuring and calculating operation are [Lspm] round numbers, i's
Value 1,2 ..., [Lspm]；The index of n point is indicated with k；
If completing scanning operation or generating to interrupt to need to stop, terminating the operation of this measuring and calculating scanning algorithm；If scanning operation
It does not complete, and is generated without interrupting, then continue to execute LiDAR scanning, and jump to step 2).
6. a kind of top fruit sprayer volume measuring method based on LiDAR point cloud data according to claim 5, feature exist
In the step 4 specifically includes:
1) information conversion is carried out to the polar coordinates in the space characterized in point cloud data, rebuilds rectangular coordinate system in space；
Each point is indicated with P (i, k)；In i-th scanning, the corresponding distance value in the angle θ is indicated with ρ (θ)；ρ (θ) maps directly to pole
In coordinate system, and polar data is converted；Point P (ρ, θ) on polar coordinates is mapped to the pass of yoz plane right-angle coordinate
It is that formula is
Using (1) position the LiDAR as coordinate origin, initial sweep angle is -45 °, and scanning range is -45 °~225 °,
Angular resolution is 0.33 °, and scanning each time includes n point cloud data, and the angle of k-th of measured value of note is θ (k), then θ (k)
It indicates are as follows:
θ (k)=0.33 (k-1) -45, k=1,2 ..., n (3)
Therefore, i-th of point cloud data is expressed as ρ [θ (k)], then corresponds to i-th of y value and z value under yoz plane right-angle coordinate
Calculation expression is shown below:
2) point cloud data under memory space rectangular coordinate system rebuilds fruit tree threedimensional model.
7. a kind of top fruit sprayer volume measuring method based on LiDAR point cloud data according to claim 3, feature exist
In the step 5 specifically includes:
1) environmental information unrelated with fruit tree is removed；The scanning angle for limiting (1) the LiDAR, by rectangular coordinate system
Line-spacing RS, maximal tree height remove non-fruit tree part point cloud data between setting fruit tree；
2) it identifies trunk, extracts tree crown information；Using scale-localization algorithm, trunk characteristic area is chosen, if in trunk characteristic area
The number of interior available point meets fixed proportion, then is identified as trunk, and by present scan in trunk characteristic area within
Point cloud data is removed.
8. a kind of top fruit sprayer volume measuring method based on LiDAR point cloud data according to claim 3, feature exist
In the step 6 specifically includes:
1) based on the CV appraising model of dynamic height volume element；
It calculates top fruit sprayer volume element V (i, k), k-th of scanning element is corresponding after V (i, k) indicates i-th scanning, sorts by height
Volume element volume；
In formula, z (i, k) indicate i-th scanning, by height sort after k-th of scanning element apart from the LiDAR (1) it is vertical away from
From h is the difference in height of two neighboring scanning element；
Y (i, k) is that i-th scans horizontal distance of k-th of scanning element apart from (1) the LiDAR；
L is distance of the scanning element apart from trunk, and half of the l equal to fruit tree line-spacing RS subtracts y (i, k)；
V is the movement speed of the mobile platform (4)；
Δ t is the sweep spacing of the LiDAR (1), the i.e. inverse of scan frequency；
2) volume element integrates；The volume that CV appraising model based on dynamic height volume element calculates, is shown below；
3) Tree Crown Volume appraising model optimizes, and calculates correction factor kcv；
Introduce correction factor kcv,
In formula,
P is scale factor；
H is the average height of fruit tree；
z(i)maxFor i-th scanning, with the LiDAR (1) for origin, the maximum value of z after coordinate is converted；
4) the Tree Crown Volume V after calculation optimizationcanopy；
Volume element V (i, k) is modified,
CV (i, k)=kcv·V(i,k) (8)
Calculate the Tree Crown Volume V after being optimizedcanopy,
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