Online detection method for corn plant morphology

A detection method and plant morphology technology, applied in the field of agricultural detection, can solve problems such as unfavorable engineering realization, online detection of corn plant morphology, complexity, etc., achieve high precision and reliability, improve accuracy and correctness of detection data. Effect

Pending Publication Date: 2020-08-04
ANHUI AGRICULTURAL UNIVERSITY
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Problems solved by technology

[0005] However, the above method is more complicated in the process of processing the point cloud, which is not conducive to the realization of the project, and it cannot better detect the shape of the corn plant online.

Method used

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  • Online detection method for corn plant morphology
  • Online detection method for corn plant morphology
  • Online detection method for corn plant morphology

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Embodiment Construction

[0041] The present invention will be described in detail below, and the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0042] The present invention provides a kind of online detection method of corn plant form here by improving, as Figure 1-Figure 7 shown, including the following steps:

[0043] Step S1: A three-dimensional laser radar point cloud collection system is composed of an industrial computer, a three-dimensional laser radar sensor 1 and an agricultural robot mobile platform 2 to obtain point cloud information of corn plants;

[0044] Such as figure 2 As shown, the industrial computer ...

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Abstract

The invention relates to the technical field of agricultural detection, in particular to an online detection method for corn plant morphology. The method comprises the following steps: S1, forming a three-dimensional laser radar point cloud collection system through an industrial personal computer, a three-dimensional laser radar sensor and an agricultural robot moving platform, and obtaining point cloud information of corn plants; S2, filtering out redundant noisy points and ground point clouds in the point cloud information; S3, selecting a proper distance threshold value through tests, andrecognizing corn crop row point clouds; S4, performing planar projection on the identified corn crop row point cloud, and separating out the point cloud of the single corn plant; S5, performing morphological detection on the corn plant according to the independently extracted point cloud of the single corn plant. According to the method, noise information irrelevant to the corn plant can be quickly and effectively filtered out when the point cloud data is processed; the online detection function of corn plants is realized; high precision and high reliability of detection are realized; the method can be widely applied to the field of agricultural crop detection.

Description

technical field [0001] The invention relates to the technical field of agricultural detection, in particular to an online detection method for corn plant morphology. Background technique [0002] The 3D lidar sensor is one of the important sensors to obtain 3D environmental information. It has the characteristics of high precision, good reliability and strong real-time performance, so it is widely used in the perception of 3D agricultural environment. The three-dimensional lidar sensor scans the environment at a certain frequency by emitting multiple laser beams. The discrete points obtained by scanning each beam can be expressed as P(x, y, z), where x, y, and z represent the The coordinate value in the three-dimensional lidar sensor perception coordinate system is also the distance from the three-dimensional lidar sensor, unit: meter, point cloud data is a large-scale discrete data set, which can perceive the basic characteristics and structural details of the actual object...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/89G06T7/521G06K9/62
CPCG01S17/89G06T7/521G06T2207/10028G06F18/23G06F18/24
Inventor 刘路李亚伟王玉伟潘艳娟奚冬冬
Owner ANHUI AGRICULTURAL UNIVERSITY
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