CN109814126A - A kind of Mobile plane laser radar phytomorph measuring device - Google Patents
A kind of Mobile plane laser radar phytomorph measuring device Download PDFInfo
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- CN109814126A CN109814126A CN201811641122.3A CN201811641122A CN109814126A CN 109814126 A CN109814126 A CN 109814126A CN 201811641122 A CN201811641122 A CN 201811641122A CN 109814126 A CN109814126 A CN 109814126A
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- laser radar
- sliding block
- block pedestal
- shifting sledge
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Abstract
The embodiment of the present invention provides a kind of Mobile plane laser radar phytomorph measuring device, and including shifting sledge and the planar laser radar module being mounted on the shifting sledge, the planar laser radar module is connected with console；The shifting sledge is placed vertically set on plant side；The console is moved up and down for controlling the planar laser radar module along the shifting sledge；The planar laser radar module for sending laser to the plant, and measures the distance and Reflection intensity information in Laser emission orientation in moving process, obtains the spatial point cloud data of plant.Overcome existing three-dimensional laser radar at high price, post-process time-consuming and laborious situation, solve the technical problems such as larger volume present in the prior art, heavier-weight, more demanding to operating environmental condition, plant phenotype measurement work is set to become handy, accurately obtain measurement data, measurement efficiency is improved, the efficiency of related fields plant phenotype acquisition of information is effectively improved.
Description
Technical field
The present embodiments relate to ecological monitoring technical fields, more particularly, to a kind of Mobile plane laser radar
Phytomorph measuring device.
Background technique
The lag of plant phenotype measuring technique development has become the development bottleneck in current breeding field, high-throughput accurate table
Type measurement helps speed up breeding process.Laser radar is a kind of emerging active remote sensing technology, can accurately obtain crop
Spatial shape data have broad prospect of application in the monitoring of high-throughput crop phenotype.However, China is based on laser radar skill at present
There are still larger blank for the crop phenotype monitoring of art.High-throughput plant phenotype measures compared with traditional crop phenotype measuring technique,
Advantage be can flux synchronously to each growth period of crop carry out multi-source phenotypic data acquisition and extract plant height, strain
The parameters such as width, leaf length, leaf width, Leaf inclination and leaf area can provide data and support for phytobiology and genomics analysis.
Remote sensing technology can detect object under conditions of far from testee, can be very good to use plant
Come in object phenotype measuring technique, laser radar, can be fast and accurately high-throughput as a kind of emerging active remote sensing technology
The surface three dimension point cloud data of object is obtained, but existing three-dimensional laser radar system operatio is complicated, expensive, is unfavorable for
Popularization and application of large area, and two-dimensional laser radar can only obtain the point on plane profile, the information dimension of acquisition is low, in performance
Hold few.Therefore, there is an urgent need to a kind of low cost, moderate accuracy, lidar measurements easy to operate for plant phenotype research field
Device and data acquisition technology scheme.
The Chinese invention patent application that application publication number is 108303043 A of CN proposes a kind of multi-sensor information and melts
The plant leaf area index detection method and system of conjunction (number of patent application: 201711474613.9), are sensed using laser radar
Device scans plant canopy side, obtains the two-dimentional point cloud data of plant canopy section profile；It is obtained and is swashed using Inertial Measurement Unit
The attitude angle of optical radar sensor, and two-dimensional laser point cloud data is corrected according to attitude angle.Using satellite navigation and positioning
System obtains the positioning coordinate of laser radar sensor, calculates the distance between laser scanning point twice according to positioning coordinate, melts
Two-dimensional laser Surface Reconstruction from Data Cloud plant canopy three-dimensional laser point cloud atlas after closing positioning coordinate and correction；To obtain plant
Leaf area index.Application publication number is that the Chinese invention patent application of 108279420 A of CN proposes that a kind of synchronous atural object that obtains is believed
Breath laser scanning multidimensional low coverage remote sensing system and method (number of patent application: 201810121327.2), by two-dimensional laser radar,
Rotatory polarization mirror, high-precision pulse turntable, image data acquiring unit are integrated, for obtaining atural object three-dimensional space simultaneously
Between in polarization information, reflected intensity and three-dimensional colour point clouds, have developed low cost, moderate accuracy, low coverage, can multidimensional information obtain
The laser radar apparatus taken.Above-mentioned laser radar system, complicated for operation, at high price, the survey based on three-dimensional laser radar research and development
Device is measured, at high price, equipment volume is larger, point cloud registering low precision, is unfavorable for the popularization and application of large area, to limit
The universality of laser radar extraction plant phenotypic characteristics.
Summary of the invention
The embodiment of the present invention provides a kind of a kind of movement for overcoming the above problem or at least being partially solved the above problem
Formula planar laser radar phytomorph measuring device.
The embodiment of the present invention provide a kind of Mobile plane laser radar phytomorph measuring device, including shifting sledge with
And it is mounted on the planar laser radar module on the shifting sledge, the planar laser radar module is connected with console；
The shifting sledge is placed vertically set on plant side；
The console is moved up and down for controlling the planar laser radar module along the shifting sledge；
The planar laser radar module for sending laser to the plant, and measures Laser emission in moving process
The distance and Reflection intensity information in orientation, obtain the spatial point cloud data of plant.
Preferably, slidably connecting sliding block pedestal on the shifting sledge, the planar laser radar module is fixed
On the sliding block pedestal；The sliding block pedestal is electrically connected the console, control of the sliding block pedestal in the console
Shifting sledge described in lower edge at the uniform velocity moves up and down.
Preferably, being fixedly connected with sliding block pedestal on the shifting sledge, the planar laser radar module is fixed
On the sliding block pedestal；The shifting sledge is electrically connected the console, control of the shifting sledge in the console
It is lower that the sliding block pedestal is driven at the uniform velocity to move up and down.
Preferably, the planar laser radar module includes photoelectricity active measuring unit, scanning driving device and sweeps
Retouch mirror；The photoelectricity active measuring unit is for emitting laser；The driving device is for driving the scanning mirror around a level
360 ° of axis rotations, to realize laser scanning measurement, obtain the spatial point cloud data of plant.
Preferably, the console includes planar laser radar control unit and shifting sledge control unit；
The shifting sledge control unit is at the uniform velocity moved for controlling the sliding block pedestal along the sliding rail up and down；
The planar laser radar control unit is surveying area's unlatching scanning for controlling the planar laser radar module,
And scanning is completed in exposure range, it is carried out in exposure range with controlling the planar laser radar module according to mobile route
Data acquisition.
Preferably, the shifting sledge control unit is also used to control the movement speed of the sliding block pedestal, and remember
Record the displacement data and velocity information of the sliding block pedestal.
Preferably, the installation relation and position orientation relation of the planar laser radar module and the sliding block pedestal pass through
Calibration is completed in advance, and is flattened, to orientation is neutralized, to realize the planar laser radar module under global coordinate system
Orientation and positioning.
Preferably, the console further includes storage unit, the storage unit is used to store the spatial point of plant
Cloud data and sliding block pedestal displacement data.
The embodiment of the present invention proposes a kind of Mobile plane laser radar phytomorph measuring device, overcomes existing three-dimensional
Laser radar is at high price, post-processes time-consuming and laborious situation, solve larger volume present in the prior art, heavier-weight,
The technical problems such as more demanding to operating environmental condition, so that plant phenotype measurement work is made to become handy, accurate
To measurement data, measurement efficiency is improved；The device is highly integrated, light-weight, can realize three-dimensional laser point under unified coordinate system
The acquisition of cloud obtains high-precision, high-resolution cloud under global coordinate system, to effectively improve the acquisition of plant phenotypic characteristics
Efficiency；It is compact integrated, small in size, light-weight, to effectively improve the efficiency of related fields plant phenotype acquisition of information.
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 this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the Mobile plane laser radar phytomorph measuring device schematic diagram according to the embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
It is complicated for operation due to existing laser radar system, at high price, the measurement dress based on three-dimensional laser radar research and development
It sets, at high price, equipment volume is larger, point cloud registering low precision, is unfavorable for the popularization and application of large area, to limit laser
The universality of radar extraction plant phenotypic characteristics.Therefore various embodiments of the present invention provide a kind of low cost, high-precision, low coverage acquisition
Laser radar apparatus, can effectively ensure that the extraction of plant phenotypic characteristics, thus accelerate push breeding and precision agriculture development.
Expansion explanation and introduction will be carried out by multiple embodiments below.
Fig. 1 is a kind of Mobile plane laser radar phytomorph measuring device provided in an embodiment of the present invention, including is moved
Dynamic sliding rail 3 and the planar laser radar module 1 being mounted on the shifting sledge 3, the planar laser radar module 1 connect
There is console 4；
The shifting sledge 3, is placed vertically set on plant side；
The console 4 is moved up and down for controlling the planar laser radar module 1 along the shifting sledge 3；
The planar laser radar module 1 for sending laser to the plant, and measures Laser emission in moving process
The distance and Reflection intensity information in orientation, obtain the spatial point cloud data of plant.
In the present embodiment, measuring device is constituted by planar laser radar module 1, shifting sledge 3 and console 4, led to
It crosses the control planar laser radar module 1 of console 4 at the uniform velocity to move up and down on shifting sledge 3, to realize traverse measurement, plane swashs
Optical radar module 1 sends laser to plant, and measures the distance and Reflection intensity information in Laser emission orientation in moving process, obtains
Take the spatial point cloud data of plant.
Specifically, laser point cloud obtained by 1 scanning survey of planar laser radar module is sat by the way that coordinate conversion is unified to device
In mark system, and the orientation and positioning realized under global coordinate system are at the uniform velocity moved by the shifting sledge 3, finally obtains the overall situation
Three-dimensional space measurement data under coordinate system.
On the basis of the above embodiments, sliding block pedestal 2, the planar laser are slidably connected on the shifting sledge 3
Radar module 1 is fixed on the sliding block pedestal 2；The sliding block pedestal 2 is electrically connected the console 4, and the sliding block pedestal 2 exists
About 3 shifting sledge described in the control lower edge of the console 4 at the uniform velocity moves.
In the present embodiment, it as an alternative embodiment, slidably connecting sliding block pedestal 2 on shifting sledge 3, puts down
Face laser radar module 1 is then mounted on sliding block pedestal 2, and sliding block pedestal 2 is electrically connected console 4；Shifting sledge 3 is fixed
In the case of, console 4 controls sliding block pedestal 2 and at the uniform velocity moves up and down on shifting sledge 3, to realize that the three-dimensional space to plant is surveyed
Amount.
On the basis of the various embodiments described above, sliding block pedestal 2 is fixedly connected on the shifting sledge 3, the plane swashs
Optical radar module 1 is fixed on the sliding block pedestal 2；The shifting sledge 3 is electrically connected the console 4, the shifting sledge 3
About the 2 sliding block pedestal is driven at the uniform velocity to move under the control of the console 4.
In the present embodiment, it as an alternative embodiment, being fixedly connected with sliding block pedestal 2 on shifting sledge 3, puts down
Face laser radar module 1 is then mounted on sliding block pedestal 2, and sliding block pedestal 2 is electrically connected console 4；Shifting sledge 3 and sliding block pedestal
In the case where 2 relative movements, console 4 controls shifting sledge 3 and moves up and down, to realize the three-dimensional space measurement to plant.
On the basis of the various embodiments described above, the sliding block pedestal 2 is realized to planar laser radar module 1 and shifting sledge
3 rigid attachment.
On the basis of the various embodiments described above, the planar laser radar module 1 includes photoelectricity active measuring unit, scanning
Driving device and scanning mirror；The photoelectricity active measuring unit is for emitting laser；The driving device is for driving described sweep
It retouches mirror to rotate around 360 ° of a trunnion axis, to realize laser scanning measurement, obtains the spatial point cloud data of plant.
In the present embodiment, scanning driving device drives the scanning to rotate around 360 ° of a trunnion axis, is swept with carrying out laser
Measurement is retouched, so that the distance in Laser emission orientation, angle and reflection are strong in photoelectricity active measuring unit measurement moving process
Information is spent, spatial point cloud data is obtained.
On the basis of the various embodiments described above, the console 4 includes planar laser radar control unit and shifting sledge
Control unit；
The shifting sledge control unit is at the uniform velocity moved for controlling the sliding block pedestal 2 along the sliding rail up and down；
The planar laser radar control unit is surveying area's unlatching scanning for controlling the planar laser radar module 1,
And in exposure range complete scanning, with control the planar laser radar module 1 according to mobile route in exposure range into
The acquisition of row data.
In the present embodiment, console 4 includes planar laser radar control unit and shifting sledge control unit；Plane swashs
Optical radar control unit controls planar laser radar module 1 and is surveying the unlatching of area's completion scanning, and completes to sweep in exposure range
It retouches, to control the acquisition that planar laser radar module 1 carries out data according to mobile route in exposure range；Shifting sledge control
Unit control sliding block pedestal 2 processed is at the uniform velocity moved up and down, and laser acquired in the control storage of 4 module of the console is swept
Retouch the displacement data of point cloud data, sliding block pedestal 2.
On the basis of the various embodiments described above, the shifting sledge control unit is also used to control the sliding block pedestal 2
Movement speed, and record the displacement data and velocity information of the sliding block pedestal 2.
In the present embodiment, console 4 from high-performance board computer to its setting command, receive the planar laser thunder
The data acquired up to module 1；Shifting sledge control unit is also used to control the movement of sliding block pedestal 2, such as speed, acceleration and rotation
Turn, and the displacement and velocity information of record sliding block pedestal 2.
On the basis of the various embodiments described above, the installation relation of the planar laser radar module 1 and the sliding block pedestal 2
And position orientation relation is completed by calibration in advance, and is flattened, to orientation is neutralized, to realize the planar laser radar module 1
Orientation and positioning under global coordinate system.
In the present embodiment, the placement relationship between the planar laser radar module 1 and sliding block pedestal 2 and position orientation relation are logical
Equipment calibration completion is crossed, is oriented by leveling, to neutralization, big mesh-density, the high-precision cloud under global coordinate system are obtained
Data.
On the basis of the various embodiments described above, the console 4 further includes storage unit, and the storage unit is for storing
2 displacement data of spatial point cloud data and sliding block pedestal of plant.
In conclusion a kind of Mobile plane laser radar phytomorph measuring device provided in an embodiment of the present invention, gram
Take that existing three-dimensional laser radar is at high price, post-process time-consuming and laborious situation, solve volume present in the prior art it is larger,
The technical problems such as heavier-weight, more demanding to operating environmental condition, so that plant phenotype measurement work is made to become handy,
It is accurately obtained measurement data, improves measurement efficiency；The device is highly integrated, light-weight, can realize three under unified coordinate system
The acquisition for tieing up laser point cloud obtains high-precision, high-resolution cloud under global coordinate system, to effectively improve plant phenotype
The acquisition efficiency of shape；It is compact integrated, small in size, light-weight, to effectively improve the effect of related fields plant phenotype acquisition of information
Rate.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (8)
1. a kind of Mobile plane laser radar phytomorph measuring device, which is characterized in that including shifting sledge and installation
Planar laser radar module on the shifting sledge, the planar laser radar module are connected with console；
The shifting sledge is placed vertically set on plant side；
The console is moved up and down for controlling the planar laser radar module along the shifting sledge；
The planar laser radar module for sending laser to the plant, and measures Laser emission orientation in moving process
Distance and Reflection intensity information, obtain the spatial point cloud data of plant.
2. Mobile plane laser radar phytomorph measuring device according to claim 1, which is characterized in that the shifting
Sliding block pedestal is slidably connected on dynamic sliding rail, the planar laser radar module is fixed on the sliding block pedestal；The sliding block
Pedestal is electrically connected the console, and sliding block pedestal shifting sledge described in the control lower edge of the console at the uniform velocity moves up and down
It is dynamic.
3. Mobile plane laser radar phytomorph measuring device according to claim 1, which is characterized in that the shifting
It is fixedly connected with sliding block pedestal on dynamic sliding rail, the planar laser radar module is fixed on the sliding block pedestal；The movement
Sliding rail is electrically connected the console, and the shifting sledge drives the sliding block pedestal up and down at the uniform velocity under the control of the console
It is mobile.
4. Mobile plane laser radar phytomorph measuring device according to claim 1, which is characterized in that described flat
Face laser radar module includes photoelectricity active measuring unit, scanning driving device and scanning mirror；The photoelectricity active measuring unit
For emitting laser；The driving device is for driving the scanning mirror to rotate around 360 ° of trunnion axis, to realize that laser scanning is surveyed
Amount, obtains the spatial point cloud data of plant.
5. Mobile plane laser radar phytomorph measuring device according to claim 2, which is characterized in that the control
Platform processed includes planar laser radar control unit and shifting sledge control unit；
The shifting sledge control unit is at the uniform velocity moved for controlling the sliding block pedestal along the sliding rail up and down；
The planar laser radar control unit, for controlling the planar laser radar module in the unlatching scanning of survey area, and
Scanning is completed in exposure range, and data are carried out in exposure range to control the planar laser radar module according to mobile route
Acquisition.
6. Mobile plane laser radar phytomorph measuring device according to claim 5, which is characterized in that the shifting
Dynamic sliding rail control unit is also used to control the movement speed of the sliding block pedestal, and record the sliding block pedestal displacement data and
Velocity information.
7. Mobile plane laser radar phytomorph measuring device according to claim 2, which is characterized in that described flat
The installation relation and position orientation relation of face laser radar module and the sliding block pedestal are completed by calibration in advance, and flattened,
It is oriented to neutralizing, to realize orientation and positioning of the planar laser radar module under global coordinate system.
8. Mobile plane laser radar phytomorph measuring device according to claim 2, which is characterized in that the control
Platform processed further includes storage unit, and the storage unit is used to store the spatial point cloud data and sliding block pedestal displacement data of plant.
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| CN201811641122.3A CN109814126A (en) | 2018-12-29 | 2018-12-29 | A kind of Mobile plane laser radar phytomorph measuring device |
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| CN201811641122.3A CN109814126A (en) | 2018-12-29 | 2018-12-29 | A kind of Mobile plane laser radar phytomorph measuring device |
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Cited By (6)
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| CN111508008A (en) * | 2020-04-08 | 2020-08-07 | 达闼机器人有限公司 | Point cloud registration method, electronic equipment and storage medium |
| CN111862242A (en) * | 2020-07-29 | 2020-10-30 | 北京轻威科技有限责任公司 | Calibration system and method for optical inertial hybrid motion capture device |
| CN111948666A (en) * | 2020-07-21 | 2020-11-17 | 苏州玖物互通智能科技有限公司 | Security radar system |
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| CN112346077A (en) * | 2019-08-08 | 2021-02-09 | 杭州海康威视系统技术有限公司 | Ship superelevation detection method and device, electronic equipment and storage medium |
| CN112595243A (en) * | 2020-12-02 | 2021-04-02 | 中国科学院空天信息创新研究院 | Automatic vegetation plant height measuring method and system suitable for field continuous observation |
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| CN112034484A (en) * | 2020-09-02 | 2020-12-04 | 亿嘉和科技股份有限公司 | Modeling system and method based on hemispherical laser radar |
| CN112595243A (en) * | 2020-12-02 | 2021-04-02 | 中国科学院空天信息创新研究院 | Automatic vegetation plant height measuring method and system suitable for field continuous observation |
| CN112595243B (en) * | 2020-12-02 | 2022-05-17 | 中国科学院空天信息创新研究院 | Automatic vegetation plant height measuring method and system suitable for field continuous observation |
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