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CMPC: An Innovative Lidar-Based Method to Estimate Tree Canopy Meshing-Profile Volumes for Orchard Target-Oriented Spray

文献类型： 外文期刊

作者： Gu, Chenchen 1 ; Zhai, Changyuan 1 ; Wang, Xiu 1 ; Wang, Songlin 4 ;

作者机构： 1.Beijing Res Ctr Intelligent Equipment Agr, Beijing 100097, Peoples R China

2.Natl Engn Res Ctr Intelligent Equipment Agr, Beijing 100097, Peoples R China

3.Northwest A&F Univ, Coll Mech & Elect Engn, Yangling 712100, Shaanxi, Peoples R China

4.Liaoning Univ Technol, Coll Mech Engn & Automat, Jinzhou 121001, Peoples R China

关键词： orchard tree; LiDAR; pesticide; point cloud; target-oriented spray

期刊名称：SENSORS （ 影响因子：3.576； 五年影响因子：3.735 ）

ISSN：

年卷期： 2021 年 21 卷 12 期

页码：

收录情况： SCI

摘要： Canopy characterization detection is essential for target-oriented spray, which minimizes pesticide residues in fruits, pesticide wastage, and pollution. In this study, a novel canopy meshing-profile characterization (CMPC) method based on light detection and ranging (LiDAR)point-cloud data was designed for high-precision canopy volume calculations. First, the accuracy and viability of this method were tested using a simulated canopy. The results show that the CMPC method can accurately characterize the 3D profiles of the simulated canopy. These simulated canopy profiles were similar to those obtained from manual measurements, and the measured canopy volume achieved an accuracy of 93.3%. Second, the feasibility of the method was verified by a field experiment where the canopy 3D stereogram and cross-sectional profiles were obtained via CMPC. The results show that the 3D stereogram exhibited a high degree of similarity with the tree canopy, although there were some differences at the edges, where the canopy was sparse. The CMPC-derived cross-sectional profiles matched the manually measured results well. The CMPC method achieved an accuracy of 96.3% when the tree canopy was detected by LiDAR at a moving speed of 1.2 m/s. The accuracy of the LiDAR system was virtually unchanged when the moving speeds was reduced to 1 m/s. No detection lag was observed when comparing the start and end positions of the cross-section. Different CMPC grid sizes were also evaluated. Small grid sizes (0.01 m x 0.01 m and 0.025 m x 0.025 m) were suitable for characterizing the finer details of a canopy, whereas grid sizes of 0.1 m x 0.1 m or larger can be used for characterizing its overall profile and volume. The results of this study can be used as a technical reference for the development of a LiDAR-based target-oriented spray system.

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