基于不规则三棱柱分割法实时测算果树冠层体积

doi:10.3864/j.issn.0578-1752.2019.24.005

摘要/Abstract

摘要：

【目的】果树冠层体积、结构的精准测量可以为药、肥的变量施用和果树估产等提供重要的参考依据。针对植株冠层枝叶空间分布不规则的特点,现有的果树冠层体积实时测量方法测量精度较差,难以准确量化柑橘果树冠层体积及结构,为了实现对果树冠层体积的精准测量,搭建了基于SICK LMS111-10100型激光传感器的果树冠层扫描检测平台,并提出了一种基于不规则三棱柱模块的果树冠层体积测算方法。【方法】研究以5株冠形规则的球形景观树、10株冠形不规则的柑橘树为靶标,分别在0.5、1.0和1.5 m·s ^-1 3个行进速度下使用常用的长方体分割法、不规则三棱柱分割法等2种方法测算冠层体积,并以人工测量为基准进行误差分析。【结果】长方体分割法测量景观树误差范围分别为4.17%—6.59%、4.56%—7.42%和4.17%—9.86%;不规则三棱柱分割法测量景观树误差范围分别为2.37%—4.63%、3.18%—5.00%和4.10%—5.73%,2种方法测算果树冠层体积相对误差差值范围-0.28%—4.22%,平均差值1.78%。长方体分割法测量柑橘树误差范围分别为11.63%—31.02%、11.88%—33.23%和13.28%—33.30%;不规则三棱柱分割法测量柑橘树误差范围分别为3.25%—6.69%、4.50%—8.31%和5.66%—11.55%,2种方法测算果树冠层体积相对误差差值范围6.43%—26.20%,平均差值13.04%。【结论】不规则三棱柱分割法测算误差明显小于长方体分割法,精度更高;对于同一靶标,当速度为0.5 m·s ^-1时,2种方法的测量精度最高,随着速度的增加,激光采样点密度下降,相对误差有增大的趋势。当扫描规则靶标时,2种方法精度差异较小;当扫描不规则靶标时,长方体分割法误差较大。长方体分割法处理单帧数据的平均时间为2.86 ms,不规则三棱柱分割法处理单帧数据的平均时间为4.73 ms,均小于激光传感器的扫描周期20 ms,可以达到实时获取并处理数据的目的。

关键词: 树冠体积, 激光扫描, 不规则三棱柱分割法, 实时检测, 树干识别

Abstract:

【Objective】Accurate measurement of volume and structure of fruit tree canopy can provide important reference for variable application of pesticide and fertilizer, as well as yield estimation. In order to accurately measure the canopy volume, a scanning platform based on laser sensor (LMS111-10100, SICK) was built. Aiming at the problem of irregular canopy shape, the poor accuracy of the existing real-time measurement methods of canopy volume and difficult to measure and estimate the canopy volume, a new estimation method based on irregular triangular prism modules was proposed in this work. 【Method】Five spherical landscape trees with regular canopy and ten citrus trees with irregular canopy were scanned by the laser sensor at the speeds of 0.5, 1.0 and 1.5 m·s ^-1, respectively. The canopy volume was measured by two methods: cuboid module method (CMM) and irregular triangular prism module method (ITPMM), and the error analysis was conducted based on manual measurement. 【Result】 The results showed that the error ranges of CMM for measuring landscape trees at the different speeds of 0.5, 1.0 and 1.5 m·s ^-1were 4.17%-6.59%, 4.56%-7.42% and 4.17%-9.86%, respectively, while the error ranges of the ITPMM for measuring landscape trees were 2.37%-4.63%, 3.18%-5.00% and 4.10%-5.73%, respectively. The distance range of the relative error of the two methods for measuring citrus trees was -0.28%-4.22%%, and the average difference was 1.78%. The error ranges of CMM for measuring citrus trees at the different speeds of 0.5, 1.0 and 1.5 m·s ^-1 were 11.63%-31.02%, 11.88%-33.23% and 13.28%-33.30%, respectively. The error ranges by ITPMM for measuring citrus trees were 3.25%-6.69%, 4.50%-8.31% and 5.66%-11.55%, respectively. The distance range of the relative error of the two methods for measuring citrus trees was 6.43%-26.20%, and the average difference was 13.04%. 【Conclusion】 The research showed that the estimation error of the ITPMM was significantly smaller than the CMM. For the same target, when the speed was 0.5 m·s ^-1, both of the estimation accuracy for the two methods were the highest. As the sensor speed increased, laser scanning points on the canopy decreased. So, the relative error of volume estimation increased with increase of advance speed of the laser sensor. When scanning the regular target, the accuracy difference between the two methods was small; when scanning the irregular target, the error of the CMM was larger. The processing time of a frame laser data by the CMM was 2.86 ms, and the processing time by the ITPMM was 4.73 ms, which were less than the scanning period of 20 ms of the laser sensor. The data processing time could match the acquirement of real-time collection and processing of laser data.

Key words: canopy volume, laser scanning, irregular triangular prism module method, real-time detection, trunk recognition

李鹏,张明,戴祥生,王腾,郑永强,易时来,吕强. 基于不规则三棱柱分割法实时测算果树冠层体积[J]. 中国农业科学, 2019, 52(24): 4493-4504.

Peng LI,Ming ZHANG,XiangSheng DAI,Teng WANG,YongQiang ZHENG,ShiLai YI,Qiang LÜ. Real-Time Estimation of Citrus Canopy Volume Based on Laser Scanner and Irregular Triangular Prism Module Method[J]. Scientia Agricultura Sinica, 2019, 52(24): 4493-4504.

0
/ / 推荐

导出引用管理器 EndNote|Reference Manager|ProCite|BibTeX|RefWorks

链接本文: https://www.chinaagrisci.com/CN/10.3864/j.issn.0578-1752.2019.24.005

https://www.chinaagrisci.com/CN/Y2019/V52/I24/4493

图/表 11

图1

图2

图3

图4

图5

图6

图7

表1

图8

表2

图9

参考文献 31

[1]	王万章, 洪添胜, 李捷, 张富贵, 陆永超 . 果树农药精确喷雾技术. 农业工程学报, 2004,20(6):98-101.
	WANG W Z, HONG T S, LI J, ZHANG F G, LU Y C . Review of the pesticide precision orchard spraying technologies. Transactions of the Chinese Society of Agricultural Engineering, 2004,20(6):98-101. (in Chinese)
[2]	周良富, 薛新宇, 周立新, 张玲, 丁素明, 常春, 张学进, 陈晨 . 果园变量喷雾技术研究现状与前景分析. 农业工程学报, 2017,33(23):80-92.
	ZHOU L F, XUE X Y, ZHOU L X, ZHANG L, DING S M, CHANG C, ZHANG X J, CHEN C . Research situation and progress analysis on orchard variable rate spraying technology. Transactions of the Chinese Society of Agricultural Engineering, 2017,33(23):80-92. (in Chinese)
[3]	FOX R D, DERKSEN R C, ZHU H, BRAZEE R D, SVENSSON S A . A history of air-blast sprayer development and future prospects. Transactions of the ASABE, 2008,51(2):405-410.
[4]	冯仲科, 罗旭, 马钦彦, 郝星耀, 陈晓雪, 赵利果 . 基于三维激光扫描成像系统的树冠生物量研究. 北京林业大学学报, 2007,29(S2):52-56.
	FENG Z K, LUO X, MA Q Y, HAO X Y, CHEN X X, ZHAO L G . An estimation of tree canopy biomass based on 3D laser scanning imaging system. Journal of Beijing Forestry University, 2007,29(S2):52-56. (in Chinese)
[5]	邱威, 顾家冰, 丁为民, 吕晓兰, 孙诚达, 陆江 . 果园风送式喷雾机防治效果试验. 农业机械学报, 2015,46(1):94-99.
	QIU W, GU J B, DING W M, LÜ X L, SUN C D, LU J . Experiment on control effect of different pesticide concentration using air-assisted sprayer. Transactions of the Chinese Society for Agricultural Machinery, 2015,46(1):94-99. (in Chinese)
[6]	邱白晶, 闫润, 马靖, 管贤平, 欧鸣雄 . 变量喷雾技术研究进展分析. 农业机械学报, 2015,46(3):59-72.
	QIU B J, YAN R, MA J, GUAN X P, OU M X . Research progress analysis of variable rate sprayer technology. Transactions of the Chinese Society for Agricultural Machinery, 2015,46(3):59-72. (in Chinese)
[7]	翟长远, 赵春江, WANG N, JOHN L, 王秀, PAUL W, 张海辉 . 果园风送喷雾精准控制方法研究进展. 农业工程学报, 2018,34(10):1-15.
	ZHAI C Y, ZHAO C J, WANG N, JOHN L, WANG X, PUAL W, ZHANG H H . Research progress on precision control methods of air-assisted spraying in orchards. Transactions of the Chinese Society of Agricultural Engineering, 2018,34(10):1-15. (in Chinese)
[8]	刘慧, 夏伟, 沈跃, 李宁, 徐慧 . 基于实时传感器的精密变量喷雾发展概况. 中国农机化学报, 2016,37(3):238-244.
	LIU H, XIA W, SHEN Y, LI N, XU H . Development overview of precision variable spraying based on real-time sensor technology. Journal of Chinese Agricultural Mechanization, 2016,37(3):238-244. (in Chinese)
[9]	俞龙, 黄健, 赵祚喜, 张霖, 孙道宗 . 丘陵山地果树冠层体积激光测量方法与试验. 农业机械学报, 2013,44(8):224-228.
	YU L, HUANG J, ZHAO Z X, ZHANG L, SUN D Z . Laser measurement and experiment of hilly fruit tree canopy volume. Transactions of the Chinese Society for Agricultural Machinery, 2013,44(8):224-228. (in Chinese)
[10]	BERK P, HOČEVAR M, STAJNKO D, BELSAK A, HOCEVAR M . Development of alternative plant protection product application techniques in orchards, based on measurement sensing systems: A review. Computers and Electronics in Agriculture, 2016,124:273-288.
[11]	GIL E, ARNÓ J, LLORENS J, SANZ R, LLOP J, ROSELL-POLO J R, GALLART M, ESCOLÀ A . Advanced technologies for the improvement of spray application techniques in Spanish viticulture: An overview. Sensors, 2014,14(1):691-708.
[12]	SOLANELLES F, ESCOLÀ A, PLANAS S, ROSELL J R, CAMP F, GRÀCIÀ F . An electronic control system for pesticide application proportional to the canopy width of tree crops. Biosystems Engineering, 2006,95(4):473-481.
[13]	王万章, 洪添胜, 陆永超, 岳学军, 张智刚, 蒋国良 . 基于超声波传感器和DGPS的果树冠径检测. 农业工程学报, 2006,22(8):158-161.
	WANG W Z, HONG T S, LU Y C, YUE X J, ZHANG Z G, JIANG G L . Performance of tree canopy diameter measurement based on ultrasonic sensor and DGPS. Transactions of the Chinese Society of Agricultural Engineering, 2006,22(8):158-161. (in Chinese)
[14]	何雄奎, 严苛荣, 储金宇, 汪健, 曾爱军, 刘亚佳 . 果园自动对靶静电喷雾机设计与试验研究. 农业工程学报, 2003,19(6):78-80.
	HE X K, YAN K R, CHU J Y, WANG J, ZENG A J, LIU Y J . Design and testing of the automatic target detecting, electrostatic, air assisted, orchard sprayer. Transactions of the Chinese Society of Agricultural Engineering, 2003,19(6):78-80. (in Chinese)
[15]	李丽, 李恒, 何雄奎 ANDREAS H . 红外靶标自动探测器的研制及试验. 农业工程学报, 2012,28(12):159-163.
	LI L, LI H, HE X K, ANDREAS H . Development and experiment of automatic detection device for infrared target. Transactions of the Chinese Society of Agricultural Engineering, 2012,28(12):159-163. (in Chinese)
[16]	丁为民, 赵思琪, 赵三琴, 顾家冰, 邱威, 郭彬彬 . 基于机器视觉的果树树冠体积测量方法研究. 农业机械学报, 2016,47(6):1-10.
	DING W M, ZHAO S Q, ZHAO S Q, GU J B, QIU W, GUO B B . Measurement methods of fruit tree canopy volume based on machine vision. Transactions of the Chinese Society for Agricultural Machinery, 2016,47(6):1-10. (in Chinese)
[17]	SANZ R, ROSELL J R, CALVERAS J L, GIL E MARTÍ S P , Relationship between tree row LIDAR-volume and leaf area density for fruit orchards and vineyards obtained with a LIDAR 3D dynamic measurement system. Agricultural & Forest Meteorology, 2013,171/172(3):153-162.
[18]	韦雪花, 王永国, 郑君, 王萌, 冯仲科 . 基于三维激光扫描点云的树冠体积计算方法. 农业机械学报, 2013,44(7):235-240.
	WEI X H, WANG Y G, ZHENG J, WANG M, FENG Z K . Tree crown volume calculation based on 3-D laser scanning point clouds data. Transactions of the Chinese Society for Agricultural Machinery, 2013,44(7):235-240. (in Chinese)
[19]	OSTERMAN A, GODEŠA T, HOČEVAR M, ŠIROK B, STOPAR M . Real-time positioning algorithm for variable-geometry air-assisted orchard sprayer. Computers and Electronics in Agriculture, 2013,8(7):175-182.
[20]	LLORENS J, GIL E, LLOP J, ESCOLÀ A . Ultrasonic and LIDAR sensors for electronic canopy characterization in vineyards: Advances to improve pesticide application methods. Sensors, 2011,1(12):2177-2194.
[21]	樊仲谋, 冯仲科, 郑君, 樊江川, 闫飞, 邱梓轩 . 基于立方体格网法的树冠体积计算与预估模型建立. 农业机械学报, 2015,46(3):320-327.
	FAN Z M, FENG Z K, ZHEN J, FAN J C, YAN F, QIU Z X . Tree crown volume calculation and prediction model establishment using cubic lattice method. Transactions of the Chinese Society for Agricultural Machinery, 2015,46(3):320-327. (in Chinese)
[22]	CHEN Y, ZHU H, OZKAN H E . Development of a variable-rate sprayer with laser scanning sensor to synchronize spray outputs to tree structures. Transactions of the ASABE, 2012,55(3):773-781.
[23]	李龙龙, 何雄奎, 宋坚利, 王潇楠, 贾晓铭, 刘朝辉 . 基于变量喷雾的果园自动仿形喷雾机的设计与试验. 农业工程学报, 2017,33(1):70-76.
	LI L L, HE X K, SONG J L, WANG X N, JIA X M, LIU C H . Design and experiment of automatic profiling orchard sprayer based on variable air volume and flow rate. Transactions of the Chinese Society of Agricultural Engineering, 2017,33(1):70-76. (in Chinese)
[24]	CAI J C, WANG X, SONG J, WANG S L, YANG S, ZHAO C J . Development of real-time laser-scanning system to detect tree canopy characteristics for variable-rate pesticide application. International Journal of Agricultural & Biological Engineering, 2017,10(6):155-163.
[25]	LIU J B, LIANG X L, HYYPPÄ J, YU X W, LEHTOMÄKI M, PYÖRÄLÄ J, ZHU L L, WANG Y S, CHEN R Z . Automated matching of multiple terrestrial laser scans for stem mapping without the use of artificial references. International Journal of Applied Earth Observation & Geoinformation, 2017,56:13-23.
[26]	李秋洁, 郑加强, 周宏平, 张浩, 束义平, 徐波 . 基于车载二维激光扫描的树冠体积在线测量. 农业机械学报, 2016,47(12):309-314.
	LI Q J, ZHANG J Q, ZHOU H P, ZHANG H, SHU Y P, XU B . Online measurement of tree canopy volume using vehicle-borne 2-D laser scanning. Transactions of the Chinese Society for Agricultural Machinery, 2016,47(12):309-314. (in Chinese)
[27]	RAHMAN M Z A, GORTE B G H, HILL R . Tree filtering for high density airborne LiDAR data//HILL R, ROSETTE J, SUAREZ J. International Conference on Lidar Applications in Forest Assessment and Inventory. Edinburgh:Heriot-Watt University, 2008: 544-553.
[28]	MÉNDEZ V, ROSELL-POLO J R, SANZ R, ESCOLÀ A, CATALÁN H . Deciduous tree reconstruction algorithm based on cylinder fitting from mobile terrestrial laser scanned point clouds. Biosystems Engineering, 2014,124(4):78-88.
[29]	陈元增, 赵立新 .基于不规则三棱柱“割补”模型的料堆体积精准计算. 矿山测量, 2015(4):29-31.
	CHEN Y Z, ZHAO L X .Accurate calculation of stack volume based on irregular triangular prism cutting and repairing model.Mine Surveying, 2015(4):29-31. (in Chinese)
[30]	LEE K H, EHSANI R . A laser scanner based measurement system for quantification of citrus tree geometric characteristics. Applied Engineering in Agriculture, 2009,25(5):777-788.
[31]	刘芳, 冯仲科, 杨立岩, 徐伟恒, 黄晓东, 冯海英 . 基于三维激光点云数据的树冠体积估算研究. 农业机械学报, 2016,47(3):328-334.
	LIU F, FENG Z K, YANG L Y, XU W H, HUANG X D, FENG H Y . Estimation of tree crown volume based on 3D laser point clouds data. Transactions of the Chinese Society for Agricultural Machinery, 2016,47(3):328-334. (in Chinese)

植株序号 No.	速度 Speed (m·s^-1)	测量体积 Measured volume (m³)	长方体分割法 Cuboid module method		不规则三棱柱分割法 Irregular triangular prism module method		相对误差差值 The distance range of the relative errors
植株序号 No.	速度 Speed (m·s^-1)	测量体积 Measured volume (m³)	计算体积 Estimated volume (m³)	相对误差 Relative error	计算体积 Estimated volume (m³)	相对误差 Relative error	相对误差差值 The distance range of the relative errors
1	0.50	3.052	2.897	5.08%	2.971	2.65%	2.42%
	1.00		2.878	5.70%	2.955	3.18%	2.52%
	1.50		2.873	5.87%	2.927	4.10%	1.77%
2	0.50	3.247	3.033	6.59%	3.170	2.37%	4.22%
	1.00		3.006	7.42%	3.113	4.13%	3.30%
	1.50		2.927	9.86%	3.061	5.73%	4.13%
3	0.50	5.075	4.837	4.69%	4.917	3.11%	1.58%
	1.00		4.777	5.87%	4.906	3.33%	2.54%
	1.50		4.813	5.16%	4.839	4.65%	0.51%
4	0.50	3.740	3.533	5.53%	3.567	4.63%	0.91%
	1.00		3.531	5.59%	3.553	5.00%	0.59%
	1.50		3.529	5.64%	3.574	4.44%	1.20%
5	0.50	2.852	2.733	4.17%	2.755	3.40%	0.77%
	1.00		2.722	4.56%	2.737	4.03%	0.53%
	1.50		2.733	4.17%	2.725	4.45%	-0.28%

植株序号 No.	速度 Speed (m·s^-1)	测量体积 Measured volume (m³)	长方体分割法 Cuboid module method		不规则三棱柱分割法 Irregular triangular prism module method		相对误差差值 The distance range of the relative errors
植株序号 No.	速度 Speed (m·s^-1)	测量体积 Measured volume (m³)	计算体积 Estimated volume (m³)	相对误差 Relative error	计算体积 Estimated volume (m³)	相对误差 Relative error	相对误差差值 The distance range of the relative errors
1	0.50	3.082	2.569	16.65%	2.918	5.32%	11.32%
	1.00		2.513	18.46%	2.826	8.31%	10.16%
	1.50		2.466	19.99%	2.771	10.09%	9.90%
2	0.50	7.351	5.071	31.02%	6.997	4.82%	26.20%
	1.00		4.908	33.23%	6.797	7.54%	25.70%
	1.50		4.903	33.30%	6.502	11.55%	21.75%
3	0.50	2.490	2.172	12.77%	2.409	3.25%	9.52%
	1.00		2.168	12.93%	2.378	4.50%	8.43%
	1.50		2.141	14.02%	2.349	5.66%	8.35%
4	0.50	2.425	2.143	11.63%	2.313	4.62%	7.01%
	1.00		2.137	11.88%	2.293	5.44%	6.43%
	1.50		2.103	13.28%	2.269	6.43%	6.85%
5	0.50	4.148	3.212	22.57%	3.922	5.45%	17.12%
	1.00		3.029	26.98%	3.823	7.84%	19.14%
	1.50		3.085	25.63%	3.795	8.51%	17.12%
6	0.50	2.483	2.035	18.04%	2.317	6.69%	11.36%
	1.00		2.035	18.04%	2.310	6.97%	11.08%
	1.50		2.025	18.45%	2.240	9.79%	8.66%
7	0.50	3.776	3.113	17.56%	3.552	5.93%	11.63%
	1.00		3.069	18.72%	3.475	7.97%	10.75%
	1.50		2.988	20.87%	3.357	11.10%	9.77%
8	0.50	5.321	3.836	27.91%	4.994	6.15%	21.76%
	1.00		3.771	29.13%	4.931	7.33%	21.80%
	1.50		3.750	29.52%	4.919	7.55%	21.97%
9	0.50	4.252	3.572	15.99%	4.007	5.76%	10.23%
	1.00		3.577	15.87%	3.967	6.70%	9.17%
	1.50		3.446	18.96%	3.846	9.55%	9.41%
10	0.50	3.647	3.115	14.59%	3.497	4.11%	10.47%
	1.00		3.045	16.51%	3.379	7.35%	9.16%
	1.50		2.993	17.93%	3.319	8.99%	8.94%