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树木尺寸、形状等特征信息的获取,是现代化农业中重要的环节,为农林管理中的变量精密喷雾提供依据。为了实现对树木靶标信息的精确测量,搭建了基于UTM-30LX型激光传感器的室内滑台靶标检测系统,实现对规则物体、仿真树的扫描检测,通过编写的C++程序,实时读取数据信息并存储于控制计算机中。利用MATLAB软件对存储的数据信息进行后期的离线分析,重构物体三维图像,通过最大相对误差、轮廓相似度两个参数,分析激光传感器检测得到靶标目标尺寸、重构目标三维图像的精确度。以长方体柜子、圆柱体泡沫、2棵仿真树为试验对象,按照选取的3个检测距离和4个检测速度分别对4个试验对象进行检测与数据分析。试验结果显示,多次试验下,与人工测量尺寸比较而言,激光传感器测得的长方体柜子长度、宽度和高度尺寸最大相对误差分别为6.76%、6.86%和3.92%,圆柱体泡沫的高度、直径尺寸最大相对误差分别为4.25%和7.33%,仿真树1高度、宽度尺寸最大相对误差分别为4.06%和5.91%,仿真树2高度、宽度尺寸最大相对误差分别为3.24%和4.00%;仿真树1、2的激光扫描重构图像与对应实物轮廓相似度最小值分别为0.928 8和0.932 6。研究表明,UTM-30LX型激光传感器在各种试验条件下对多种试验靶标特征检测均具有较好的精确性和准确性,可以担负变量喷雾检测的任务,具有应用到农业生产中的前景。
The acquisition of characteristic information such as tree size and shape is an important link in modern agriculture and provides the basis for variable precision spraying in agriculture and forestry management. In order to achieve accurate measurement of tree target information, an indoor slide target detection system based on UTM-30LX laser sensor is set up to detect and scan regular objects and simulation trees. The compiled C ++ program real-time reads data information Stored in the control computer. After MATLAB software was used to analyze the stored data and information offline, the three-dimensional image of the object was reconstructed. The maximum relative error and the contour similarity were used to analyze the target size and the accuracy of the target three-dimensional image. Taking cuboid cupboard, cylinder foam and two artificial trees as test objects, four test objects were tested and analyzed according to the selected three detection distances and four detection velocities respectively. The experimental results show that the maximum relative errors of length, width and height of cuboid cabinet measured by laser sensor are 6.76%, 6.86% and 3.92%, respectively. Compared with the manual measurement, the height, The maximum relative errors of diameter and height are 4.25% and 7.33% respectively. The maximum relative errors of height and width of simulation tree 1 are 4.06% and 5.91% respectively. The maximum relative errors of height and width of simulation tree 2 are 3.24% and 4.00% respectively. The minimum values of the similarities between the reconstructed images of the tree and the corresponding ones of the tree 1,2 are 0.928 8 and 0.932 6, respectively. The research shows that the UTM-30LX laser sensor has good accuracy and accuracy in testing various target characteristics under various test conditions, and can perform the task of variable spray detection with the prospect of application in agricultural production.