基于激光雷达的果园沟型测量平台设计与试验

Design and Experiment of Orchard Ditch Measuring Platform Based on Lidar

针对现有检测开沟质量效率低、精度差等问题,设计了一套由激光雷达、编码器、便携式计算机和支架等构成的非接触式果园开沟宽度深度监测平台,基于编码器获取测量平台前行方向位移,并与上位机软件形成整套采集系统,可快速获取果园沟型三维坐标。为了降低外部环境对点云数据处理的影响,采用直通滤波进行果园沟型的有效区域选取,借助MatLab获取其三维点云模型,实现对果园开沟沟形的重构与沟深、沟宽数据的监测。通过重构沟型参数与实测参数对比分析可知:两者宽度相关系数为0.83,均方根误差为0.008,相对误差为2.47%;深度相关系数为0.75,均方根误差为0.009,相对误差为2.76%。研究结果表明:重构沟型参数与实际沟型参数吻合度较高,可精确反映原有沟型形貌特征,为智慧农业果园开沟质量智能检测的构建提供了参考。

A platform for non-contact monitoring of trench width and depth in orchards,consisting of LIDAR,an encoder,a portable computer,and a mount,was developed to solve the existing problems of low quality efficiency and low accuracy in trench detection.Based on the encoder,the displacement of the measurement platform in the forward direction can be determined,and the whole acquisition system can be formed with the upper computer software,realizing the fast acquisition of the three-dimensional coordinates of the orchard furrow type.In order to reduce the influence of the external environment on the processing of the point cloud data,direct pass filtering is used to select the effective area of the orchard trench shape,and the three-dimensional point cloud model is built with MATLAB to realize the reconstruction of the orchard trench shape and the monitoring of the trench depth and width data.Through comparing the reconstructed parameters with measured parameters,the correlation coefficient of width is 0.83,root-mean-square error is 0.008,and the relative error is 2.47%.The correlation coefficient of depth is 0.75,root-mean-square error is 0.009,and the relative error is 2.76%.The research results show that the reconstructed trench parameters are in good agreement with the actual trench parameters and can accurately reflect the morphological characteristics of the original trench,which provides a reference for the construction of intelligent trench quality detection in intelligent agricultural orchards.