Fruit tree crown volume measurement method and system based on LiDAR point cloud data

Abstract

The present invention discloses a fruit tree crown volume measurement method and system based on LiDAR (Light Detection and Ranging) point cloud data. An LiDAR is arranged on a mounting support of a mobile platform, and the LiDAR is connected with an upper computer through a cable interface, wherein, the mobile platform goes forwards in a linear scanning path; the LiDAR scans fruit trees located in the same row; the upper computer operates the LiDAR scanning algorithm to control the LiDAR to perform scanning measurement operation; and the upper computer operates the reconstruction fruit tree three-dimensional model algorithm and a fruit tree feature identification algorithm to calculate the volume based on a volume element model and record and output the crown volume of the fruit trees. The fruit tree crown volume measurement method and system employ a linear scanning mode while ensuring measurement result accuracy, and can perform real-time measurement of the volume of the fruit treecrown so as to improve the measurement efficiency, and the application range is wide, and the applicability is high.

Description

technical field [0001] The invention relates to the technical field of agricultural information detection and algorithms, in particular to a method and system for measuring and calculating the crown volume of fruit trees based on LiDAR point cloud data. Background technique [0002] The canopy volume is a very important characteristic parameter of the canopy, which is closely related to the growth status of fruit trees, and is of great significance in the operation process of fruit tree breeding, yield estimation and pesticide variable spraying. Real-time detection of the canopy volume of fruit trees is a prerequisite for precise variable spraying, and it is the basis and basis for the later execution of spraying actions. [0003] The measurement of the crown volume of traditional fruit trees uses surveying and mapping tools such as tape measure and altimeter to obtain the size information such as crown diameter and tree height. Based on geometric principles, the crown volum...

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Problems solved by technology

[0007] In view of this, the object of the present invention is to propose a fruit tree crown volume measurement system and method based on LiDAR point cloud data for the problems of poor real-time performance and low measurement efficiency of the existing precision variable spraying method for fruit tree crown volume measurement.

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