CN-116402879-B - Corn ear position measuring method, device, system and storage medium

CN116402879BCN 116402879 BCN116402879 BCN 116402879BCN-116402879-B

Abstract

The invention provides a corn ear position measuring method, a device, a system and a storage medium, wherein the method comprises the steps of obtaining three-dimensional point cloud information of corn vegetation in a target area; the three-dimensional point cloud information is subjected to altitude layering and voxelization, voxels of which each altitude layer contains the point cloud information and all voxels of which each altitude layer are determined, the leaf area density of each altitude layer is determined based on the number of the voxels of which each altitude layer contains the point cloud information and the number of all voxels of which each altitude layer is determined, and the corncob position height of the target area is determined based on the altitude of the altitude layer corresponding to the maximum value in the leaf area density of each layer. The method can effectively determine the corn cob position height of the target area, greatly improve the corn cob position height measurement efficiency and effectively realize the high-throughput rapid measurement of the corn cob position height.

Inventors

YANG HAO
WANG HAN
YANG GUIJUN
XU BO
YANG XIAODONG
FENG HAIKUAN
LEI LEI
CHEN RIQIANG
ZHANG CHENGJIAN

Assignees

北京市农林科学院信息技术研究中心
浙江大学华南工业技术研究院
清远市智慧农业农村研究院

Dates

Publication Date: 20260508
Application Date: 20230120

Claims (7)

1. The corn ear position measuring method is characterized by comprising the following steps: Acquiring three-dimensional point cloud information of corn vegetation in a target area; performing height layering and voxelization on the three-dimensional point cloud information, and determining voxels of each height layer containing the point cloud information and all voxels of each height layer; Determining a leaf area density of each height layer based on the number of voxels of each height layer containing point cloud information and the number of all voxels of each height layer; Determining the corn ear position height of the target area based on the height of the height layer corresponding to the maximum value in the leaf area density of each layer, wherein the method comprises the following steps: determining the number of layers of a height layer corresponding to the maximum leaf area density and the corn plant height of the target area; Determining a target height according to the number of layers, the corn plant height of the target area and the total number of layers of the three-dimensional point cloud information, and correcting the target height according to a preset layering threshold value and a preset deviation value to obtain the corn ear height of the target area; Wherein, through the following formula: obtaining the corn ear height of the target area; Wherein, the The ear height of the corn representing the target area, A maize plant height representing the target region; Representing a preset layering threshold; representing a preset deviation value, representing the deviation between the height of the height layer corresponding to the maximum leaf area density and the actual spike height, and relating to the corn variety type; Indicating the number of layers of the height layer corresponding to the maximum leaf area density, And representing the total layer number of the three-dimensional point cloud information.
2. The method of claim 1, wherein after said determining the leaf area density of each height layer based on the number of voxels of each height layer containing point cloud information and the number of all voxels of each height layer, the method further comprises: fitting the leaf area density of each height layer to obtain a vertical leaf area density distribution curve of the target area; determining a maximum leaf area density based on the vertical leaf area density profile; and determining the corn ear position height of the target area based on the height layer corresponding to the maximum leaf area density.
3. The method of claim 1, further comprising, prior to the acquiring three-dimensional point cloud information of corn vegetation in the target area: The method comprises the steps of obtaining original three-dimensional point cloud information of a monitoring area, wherein the original three-dimensional point cloud information is original point cloud information under a plurality of different airlines; Performing data calculation on the original three-dimensional point cloud information to obtain three-dimensional point cloud information in a target format; Carrying out data registration on the three-dimensional point cloud information of the target format under each route to obtain registered three-dimensional point cloud information; Performing region segmentation on the three-dimensional point cloud information subjected to registration according to preset boundary conditions to obtain three-dimensional point cloud information in each target region; and performing ground point cloud filtering on the three-dimensional point cloud information in each target area to obtain three-dimensional point cloud information of corn vegetation in each target area.
4. The utility model provides a maize ear of grain position height measurement device which characterized in that includes: the acquisition module is used for acquiring three-dimensional point cloud information of corn vegetation in the target area; the layering module is used for carrying out high layering and voxelization on the three-dimensional point cloud information and determining voxels of each height layer containing the point cloud information and all voxels of each height layer; A first processing module, configured to determine a leaf area density of each height layer based on a number of voxels of each height layer including the point cloud information and a number of all voxels of each height layer; the second processing module is used for determining the corn ear position height of the target area based on the height of the height layer corresponding to the maximum value in the leaf area density of each layer; the device is also used for determining the number of layers of the height layer corresponding to the maximum leaf area density and the corn plant height of the target area; Determining a target height according to the number of layers, the corn plant height of the target area and the total number of layers of the three-dimensional point cloud information, and correcting the target height according to a preset layering threshold value and a preset deviation value to obtain the corn ear height of the target area; Wherein, through the following formula: obtaining the corn ear height of the target area; Wherein, the The ear height of the corn representing the target area, A maize plant height representing the target region; Representing a preset layering threshold; representing a preset deviation value, representing the deviation between the height of the height layer corresponding to the maximum leaf area density and the actual spike height, and relating to the corn variety type; Indicating the number of layers of the height layer corresponding to the maximum leaf area density, And representing the total layer number of the three-dimensional point cloud information.
5. A corn ear position measurement system, comprising: unmanned aerial vehicle and data processing module to carry laser radar; the unmanned aerial vehicle carrying the laser radar is used for acquiring three-dimensional point cloud information of a monitoring area and sending the three-dimensional point cloud information of the monitoring area to the data processing module; the data processing module comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the corn ear position height measuring method according to any one of claims 1 to 3 when executing the program.
6. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the method of corn ear level measurement according to any one of claims 1 to 3.
7. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the method for measuring the ear of corn position according to any one of claims 1 to 3.

Description

Corn ear position measuring method, device, system and storage medium Technical Field The invention relates to the technical field of machine vision detection, in particular to a corn ear position measuring method, a corn ear position measuring device, a corn ear position measuring system and a corn ear position storing medium. Background The ear height (EAR HEIGHT) of corn refers to the height from the ground to the bottom of the uppermost corn ear of the plant. It is one of important agronomic characters forming corn plant type and is also an important index for testing the DUS of corn variety. In the maize breeding process, breeders need to conduct high throughput phenotypic measurements of high ear position on a large scale on breeding cells to assist breeders in screening for desirable phenotypic traits. The existing corn ear height measurement method comprises the steps of (1) measuring by means of a scale, namely a manual sampling scale, wherein the existing corn ear height measurement method is a mainstream method, but samples are poor in representativeness, large in workload, time-consuming, labor-consuming, low in efficiency and high in subjectivity, 2) measuring the corn ear height by means of a portable sensor, namely, measuring the corn ear height by means of automatic identification of the corn ear and recording of the distance from the sensor to the ground, and 3) using a field unmanned aerial vehicle to carry some visible light or depth cameras, identifying the corn ear by means of an image identification or target detection method, and determining the height of the corn ear. Both the latter two schemes are subject to the effect of detecting the targets of the clusters, and the accuracy of the target detection can be directly affected when corn leaves shield the clusters or the clusters are the same with the colors of the leaves. The three methods have low operation efficiency and low measurement precision, limit the large-scale development of corn breeding and delay the discovery and cultivation period of new varieties. Therefore, how to effectively realize high-throughput rapid measurement of corn ear position has become a technical problem to be solved in the industry. Disclosure of Invention The invention provides a corn ear position height measuring method, a device, a system and a storage medium, which are used for effectively realizing high-throughput rapid measurement of corn ear position height. The invention provides a corn ear position height measuring method, which comprises the following steps: Acquiring three-dimensional point cloud information of corn vegetation in a target area; performing height layering and voxelization on the three-dimensional point cloud information, and determining voxels of each height layer containing the point cloud information and all voxels of each height layer; Determining a leaf area density of each height layer based on the number of voxels of each height layer containing point cloud information and the number of all voxels of each height layer; And determining the corn ear position height of the target area based on the height of the height layer corresponding to the maximum value in the leaf area density of each layer. According to the corn cob position measuring method provided by the invention, after determining the leaf area density of each height layer based on the number of voxels containing the point cloud information of each height layer and the number of all voxels of each height layer, the method further comprises: fitting the leaf area density of each height layer to obtain a vertical leaf area density distribution curve of the target area; determining a maximum leaf area density based on the vertical leaf area density profile; and determining the corn ear position height of the target area based on the height layer corresponding to the maximum leaf area density. According to the method for measuring the corn ear position provided by the invention, the corn ear position height of the target area is determined based on the height layer corresponding to the maximum leaf area density, and the method comprises the following steps: determining the layer number of the height layer corresponding to the maximum leaf area density and the corn plant height of the target area; And determining the target height according to the layer number, the corn plant height of the target area and the total layer number of the three-dimensional point cloud information, and correcting the target height according to a preset layering threshold value and a preset deviation value to obtain the corn ear height of the target area. According to the corn ear position measuring method provided by the invention, the target height is determined according to the layer number, the corn plant height of the target area and the total layer number of the three-dimensional point cloud information, and the target height is corrected according to a preset layering threshold val