摘要
以果园典型路面不平度的采集为研究对象,建立基于激光雷达点云处理的路面不平度采集方法,搭建了基于三维激光雷达的路面不平度采集系统平台,结合点云处理技术完成路面高程信息的提取;采用AR(auto regressive,自回归)模型依据比例分析法对路面功率谱密度进行计算,确定不平度等级,并通过加速度振动记录仪进行系统验证,利用系统开展典型果园路面不平度数据信息采集试验。试验结果显示,果园路面不平度结果为水泥路面主要集中在B级,B级占比82.33%;砂石路面主要集中在C级,C级占比84.00%;泥土路面主要集中在D、E等级,D级路面占比48.67%,E级占比31.00%,表明基于三维激光雷达采集系统与数据处理方法在果园路面不平度采集和评价上是可行的。最终不平度评价结果显示,三维激光雷达果园路面不平度采集系统应用可靠,评价结果准确,适合于山地林、果、茶园路面不平度的采集。
Take the collection of typical road unevenness in the orchard as the research object,establish a road roughness acquisition method based on lidar point cloud processing,built a road roughness acquisition system platform based on 3D lidar,combine point cloud processing technology to complete the extraction of road elevation information.By using AR(autoregressive)model to calculate the road power spectral density based on the proportional analysis method to determine the roughness level,and through the acceleration vibration recorder for system verification,using the system to carry out a typical orchard road unevenness data collection test.The test results show that the roughness of the orchard road surface showed that the cement pavement is mainly concentrated in the B grade,and the B grade accounts for 82.33%.The sand and gravel pavement is mainly concentrated in the C grade,and the C grade accounts for 84.00%.The mud pavement is mainly concentrated in the D,E grade,with D grade accounting for 48.67%and E grade accounting for 31.00%.The results of roughness evaluation indicated that the application of the three-dimensional lidar orchard road roughness acquisition system is reliable and the results of evaluation are accurate.It is suitable for collecting level of road roughness in mountain forests,fruit,and tea gardens.
作者
赵新
李杰
岳丹丹
韩重阳
唐婷
吴伟斌
ZHAO Xin;LI Jie;YUE Dandan;HAN Chongyang;TANG Ting;WU Weibin(College of Engineering,South China Agricultural University,Guangzhou 510642,China;Ministry of Education Key Laboratory of Key Technology on Agricultural Machine and Equipment/Division of Citrus Machinery,China Agriculture Research System/Guangdong Engineering Technology Research Center for Creative Hilly Orchard Machinery,Guangzhou 510642,China)
出处
《华中农业大学学报》
CAS
CSCD
北大核心
2022年第2期227-236,共10页
Journal of Huazhong Agricultural University
基金
广东省科技计划重点研发项目(2019B020223001)
广东省农业科研项目和农业技术推广项目(2020-440000-02100200-8418,2020-440000-02160100-8583)。
关键词
果园路面
路面不平度
三维激光雷达
点云处理
功率谱密度
精准农业
orchard pavement
road roughness
3D lidar
point cloud processing
power spectral density
precision agriculture
