基于超声波的果树冠层三维重构与体积测量  

3D-reconstruction and volume measurement of fruit tree canopy based on ultrasonic sensors

作　　者：俞龙[1] 洪添胜[1] 赵祚喜[1] 黄健[1] 张霖[1] 

机构地区：[1]华南农业大学南方农业机械与装备关键技术省部共建教育部重点实验室,广州510642

出　　处：《农业工程学报》2010年第11期204-208,共5页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家自然科学基金资助项目(30871450);教育部留学人员科研基金项目("适用于非360°机器人的改进BUG导航算法研究")

摘　　要：为了克服地面不平整和拖拉机非线性行驶对果树冠层参数测量的影响,该文在超声波传感器阵列测量果树冠层体积技术的基础上,使用RTK-DGPS空间定位技术和姿态航向参考系统,通过空间坐标的平移和旋转转换,直接获得以大地坐标表示的果树冠层的三维点阵云图数据,通过PC机后台处理重构果树冠层三维轮廓和计算果树冠层体积,并详细介绍了系统的结构与工作原理。以果园荔枝树为试验对象,采用该系统对15棵不同高度和体积的果树进行了3次重复试验,另对56棵树的测量结果与人工测量结果进行了对比分析,试验结果表明该方法具有较好的重复性(R2>0.9341,RMSE<1.22m3),并与人工测量结果相一致(R2=0.8972,RMSE=1.766m3),能够用于果树冠层三维重构和体积测量。To suppress the effects on orchard tree canopy measuring of uneven ground and deviation in driving path from the centerline between two rows,RTK-DGPS and AHRS（attitude heading reference system） were used with ultrasonic transducer array to obtain the three-dimension data in terms of the geodetic coordinates of each detected point on the tree canopy through rotations and translations of relevant coordinate system. 3-D reconstruction and volume measuring of fruit tree canopy were conducted on a PC with matlab software. The structure and work theory of the measuring system were introduced in detail. Experiments were conducted in lichee orchard,where 15 trees with different heights and canopy volumes were measured three times using the designed system. Another 56 trees were measured by the system and manual method separately and their results were compared. Experimental results showed that the repeatability of the system was high（R2=0.9341,RMSE=1.22 m3） ,and the calculated volume results were consistent with manual measurements（R2=0.8972,RMSE=1.766 m3） . The effectiveness of this method indicates that the designed system can be used in 3-D reconstruction and the canopy volume measurement of trees in orchard.

关 键 词：果树冠层 三维重构 体积测量 超声波传感器 姿态航向参考系统 

分 类 号：S24[农业科学—农业电气化与自动化]