The application relates to the technical field of
agricultural automation control, in particular to a
seedling tray falling speed self-adaptive adjusting method based on a
laser radar, which comprises the following steps: obtaining
point cloud data obtained by scanning a
seedling tray bottom surface by the
laser radar; wherein the
point cloud data comprises three-dimensional coordinates, distance values and echo intensities of a plurality of measuring points; performing confidence degree screening on the measuring points based on the
point cloud data to obtain an effective measuring
point set; according to the echo intensities of the measuring points in the effective measuring
point set, calibrating single-point confidence degree weights of the measuring points, and performing confidence degree weighting on the distance values of the measuring points to obtain confidence degree
weighted distance values of the measuring points. The application can automatically distinguish three regions of a convex edge, a concave groove and a flat bottom surface through partition identification of the
seedling tray bottom surface, and can perform self-checking and error correction on the partition result, so that the partition result is closer to the actual structure of the bottom surface, lays a foundation for subsequent differential
processing of the regions, and improves the accuracy of speed adjustment.