CN104359430A - Laser-ranging-based dynamic paddy field flatness detection device and method thereof - Google Patents
Laser-ranging-based dynamic paddy field flatness detection device and method thereof Download PDFInfo
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Abstract
The invention relates to a laser-ranging-based dynamic paddy field flatness detection device and a method thereof. The detection device comprises a laser range finder, a connecting support and a processor. The laser range finder is mounted on the rear side of a farmland operation vehicle through the connecting support and is connected with the processor. The processor reads measured data of the laser range finder and processes the data. The data processing process includes performing coordinate transformation, threshold filtering and three-dimensional field surface reconstruction on the measured data, calculating standard deviation Sd of relative elevation of the farmland surface and elevation deviation distribution ED, and evaluating the paddy field flatness according to the standard deviation Sd and the elevation deviation distribution ED. The laser-ranging-based dynamic paddy field flatness detection device and the method thereof have the advantages that field surface data can be collected accurately and rapidly, ranging data can be processed to reconstruct a three-dimensional field surface in real time, the field surface flatness can be evaluated according to field surface elevation distribution rows and the standard deviation, measuring efficiency and automation degree are high, and simplicity in implementation is achieved.
Description
Technical field
The present invention relates to observation and control technology field, particularly a kind of dynamic paddy field flatness detecting device based on laser ranging and method.
Background technology
China is world agriculture big country, and agricultural is tradition and the basic industry of China, but China is also the country that water resource is poor simultaneously.Paddy field, south China area is more, and the plantation in paddy field is very high to flatness requirement, and irrigation water can be saved significantly in meticulous smooth paddy field, improves the utilization factor of fertilizer and suppresses the growth of weeds, reaching the object of low cost high yield.
China's development scale, to become more meticulous and water-saving agriculture, all be unable to do without prepartion of land technology, and the detection technique of paddy-field flattening degree be improve paddy-field flattening degree basis with crucial.Flatness is a kind of dimensionless index, what it characterized is maximum raised or sunken degree in unit length, the measurement and assessment of paddy-field flattening degree can be the objective indicator that paddy-field flattening operation provides a grade estimation, also for agro-farming operation provides important information, person can make Optimal Decision-making for the irrigation in field, fertilising and deinsectization etc. to make Cultivate administration.
But China is only limitted to the fields such as work pieces process, product quality, road conditions detection and building detection for the research of the test and repair of flatness at present, and rarely has research to the test and repair of paddy-field flattening degree.Along with the development of China's agricultural, making rapid progress of science and technology, need a kind of methods of testing and evaluating of accurately efficient paddy-field flattening degree, realize checking and appraising and the real-time feedback control of field surface evenness in the process of level land, this is significant to the development of the meticulous planarization effects in paddy field and precision agriculture.
Summary of the invention
The object of the invention is to make up the deficiencies in the prior art, a kind of dynamic paddy field flatness detecting device based on laser ranging and method are provided, can accurately and face, Quick Acquisition field data, in real time ranging data is processed, face, Reconstruction of three-dimensional field, and according to face, field elevation Distribution of A Sequence and standard deviation, field surface evenness is made an appraisal, its measurement efficiency is high, automaticity is high and it is simple to realize.
To achieve these goals, apparatus of the present invention adopt following technical scheme: the dynamic paddy field flatness detecting device based on laser ranging comprises laser range finder, connection bracket and processor; Laser range finder is arranged on farmland operation vehicle rear by connection bracket, and laser range finder is connected with processor; Processor reads the measurement data of laser range finder, and carries out data processing to it, and described data processing comprises the coordinate conversion of measurement data, threshold filter and face, field three-dimensionalreconstruction, calculates the standard deviation S of farmland surface relative altitude
dwith difference of elevation distribution ED, according to standard deviation S
dpaddy field planar smoothness is evaluated with difference of elevation distribution ED.
Face, described laser range finder vertical sweep field.Described processor is PC.
Described connection bracket comprises DOCK LEVELER, The Cloud Terrace, altitude location plate, the first fixture, the second fixture and the 3rd fixture, and the first fixture, the second fixture and the 3rd fixture are equipped with point of fixity; 3rd fixture is connected between the first fixture and the second fixture; Altitude location plate is fixedly connected with the first fixture, the second fixture, and altitude location plate is provided with the hole for level altitude adjustable plate; DOCK LEVELER, by the hole on altitude location plate, is fixed on altitude location plate height adjustable; The Cloud Terrace is fixed on DOCK LEVELER.
Described first fixture, the second fixture and the 3rd fixture are respectively equipped with the first point of fixity, the second point of fixity and the 3rd point of fixity, these three the point of fixity distributions triangular in shape of the first point of fixity, the second point of fixity and the 3rd point of fixity.
To achieve these goals, the inventive method adopts following technical scheme: based on the dynamic paddy field measurement method of planeness of laser ranging, comprise the following steps:
S1, employing laser range finder scanning face, field, gather face, field cloud data, obtain ranging data;
S2, ordinate transform is carried out to the ranging data collected, draw field millet cake cloud atlas;
S3, carry out face, field three-dimensionalreconstruction: adopt threshold filter algorithm tentatively to delete described cloud data, remove obvious noise; Uniform lattice algorithm is adopted to simplify further ranging data again; Ranging data after finally utilizing two-dimensional interpolation algorithm or Delaunay algorithm process to simplify respectively, carries out three-dimensionalreconstruction to face, experimental plot;
The standard deviation S of S4, calculating farmland surface relative altitude
dwith difference of elevation distribution ED, carry out field surface evenness evaluation.
Described in step S3, uniform cube-algorithm is as follows:
(1) definition sampling cube grid length of side a and for simplifying data point number percent two parameters;
(2) definition is centered by any point M, and the length of side is the point set N=Ni (xi, yi, zi) of sampling cube grid other data point interior of a, i=l, and 2 ..., n, the distance of any point in difference calculation level M to point set N;
(3) all distances (2) calculated are added, and obtain equalization point apart from value;
(4) all data points are implemented to the calculating of above-mentioned (2) and (3), what define according to (1) simplifies number percent again, equalization point is deleted apart from the number percent data point that value is minimum, thus realizes simplifying of ranging data.
The step that field surface evenness described in step S4 is evaluated is as follows: by all measurement points in calculating field to the distance di of fit Plane, then the di that adjusts the distance carries out statistical study, statistics di is less than the cumulative percentage of the measurement point of a certain predeterminable range value A, obtains difference of elevation distribution ED; If cumulative percentage meets normal distribution 3 σ rule, standard of comparison difference S
dwith the numerical value of distance value A, using numerical value the greater as the flatness measuring face, field, field.
The principle of the invention is: laser range finder LMS291 is arranged on farmland operation vehicle rear by specific connection bracket, and laser range finder is face, dynamic acquisition field data point when farmland operation vehicle travels; While the data point of collection face, field, laser range finder and PC carry out the intercommunication mutually of data; Utilize Matlab software to carry out programming and after function call processes face, field cloud data, the ranging data that PC receives be drawn as three-dimensional point cloud atlas in real time, set up face, field three-dimensional terrain model, reflect the fluctuations of farmland surface high level intuitively; Two evaluation indexes of paddy field planar smoothness are calculated, i.e. the standard deviation S of farmland surface relative altitude by Matlab software
dwith difference of elevation distribution ED, thus the flatness in paddy field is evaluated.
Compared with prior art, the invention has the beneficial effects as follows:
1, compared with the measuring methods such as traditional spirit-leveling instrument, total powerstation, resolution and the measuring accuracy of laser range finder are the highest, vertical direction can reach 0.1-0.5mm, horizontal direction can reach 0.1-2mm, the area measure information of farmland ground surface or terrain is abundanter, landform is expressed more accurate, can better space between soil surface appearance details and soil particle, has that metrical information is enriched, detection speed is fast, information representation is easy, precision is higher and data symmetry advantages of higher.
2, by connection bracket, laser range finder is fixed on farmland operation vehicle rear, mounting means ensures face, laser range finder vertical sweep field, obtains more valid data and facilitates coordinate conversion process.
In addition, connection bracket can realize the adjustment of installing scanning angle and height, to adapt to different farmland operation vehicles and environment, all can realize precision ranging to level or the paddy field with different gradient.
3, use Matlab to carry out programming and function call, the ranging data of PC collection is drawn three-dimensional point cloud atlas in real time, just can realize digital independent, conversion and real-time drawing function by programming and settle at one go, fast convenient.The present invention not only method is simple, and measure efficiency high, automaticity is high, also can be robotization, intelligent acquisition provides reference with the correlative study of data processing.
Accompanying drawing explanation
Fig. 1 is one of laser range finder connection mounting structure figure being fixed to farmland operation vehicle;
Fig. 2 is the connection mounting structure figure bis-that laser range finder is fixed to farmland operation vehicle;
Fig. 3 is rectangular coordinate system in space definition figure of the present invention;
Fig. 4 is detection method process flow diagram;
Fig. 5 is data acquisition program process flow diagram of the present invention;
Fig. 6 is that the present invention tests face, field data acquisition point cloud chart;
Fig. 7 is comparison diagram before and after threshold filter;
Fig. 8 is comparison diagram before and after uniform lattice data compaction;
Fig. 9 is that the present invention tests face, field three-dimensionalreconstruction design sketch;
Figure 10 is that the present invention tests face, field fit Plane figure.
Specific embodiments
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this example.
Dynamic paddy field flatness detecting device based on laser ranging comprises laser range finder, connection bracket and PC.Laser range finder is arranged on farmland operation vehicle rear by connection bracket, face, vertical scanning field, face, the dynamic acquisition field data point when farmland operation vehicle travels.Laser range finder is connected with PC by RS232 interface, during actual measurement and PC carry out real-time Communication for Power.PC utilizes Matlab software to read the measurement data of laser range finder, and carries out data processing to it.The data processing of PC comprises the coordinate conversion of measurement data, threshold filter and face, field three-dimensionalreconstruction.PC evaluates paddy field planar smoothness finally by standard deviation and variance two indices, i.e. the standard deviation S of farmland surface relative altitude
dwith difference of elevation distribution ED, thus the flatness in paddy field is evaluated.
The present embodiment adopts laser range finder to carry out face, kinetic measurement field data point as distance measuring sensor, utilizes Matlab software to carry out programming and function call realizes the evaluation of ranging data post-processed, face, field three-dimensionalreconstruction and field surface evenness.Describe the present invention below in conjunction with accompanying drawing:
The laser range finder used in the present embodiment is German SICK company LMS291-S05 model laser radar, based on the principle of flight time measurement (Time-Of-Flight), be a kind of non-contact optical measuring system, the distance of object can be calculated according to the laser required time launched infrared laser and receive reflection in environment.LMS291-S05 laser range finder measuring accuracy is higher, and price is suitable, therefore the present embodiment chooses it as distance measuring sensor.SICK LMS291 be a kind of can only at the 2D sensor of single plane interscan, this makes its cost very cheap for 3D LIDAR Ground-Based Sensor.The feature of SICK LMS291 sensor laser ranging is:
(1) perceived distance is far away, maximumly reaches 80m; Angle of coverage scope is large;
(2) range measurement accuracy and angle-measurement accuracy high, 5cm and 180 ° can be reached respectively;
(3) sweep time is short, is about 26.6ms, can obtain the real-time measurement under high vehicle speed condition;
(4) there is mist calibration function, insensitive to ambient light change, be applicable to outdoor environment.
Shown in the technical parameter that this model laser radar is detailed sees the following form, wherein important parameter comprises measurement of angle scope and angular resolution, scan period, systematic error.Measurement of angle scope and angular resolution determine the data volume that laser radar obtains; Scan period is the evaluation criterion to location algorithm real-time; The precision of systematic error to whole position fixing process has a significant impact.In the present invention, the Selecting parameter of laser radar is taken as the parameter under millimeter pattern, and namely maximum measuring distance is 8m, measurement of angle scope 180 °, and angular resolution is 0.5 °, and the scan period is 13.32ms, and system range observation error is ± 10mm.
As shown in Figure 1, 2, the connection bracket that laser range finder is fixed to farmland operation vehicle comprises DOCK LEVELER 1, The Cloud Terrace 2, altitude location plate 3, first fixture 5, second fixture 6 and the 3rd fixture 4; 3rd fixture 4 is connected between the first fixture 5 and the second fixture 6; Altitude location plate 3 is fixedly connected with the first fixture 5, second fixture 6, and altitude location plate 3 is provided with the hole 31 for level altitude adjustable plate; DOCK LEVELER 1, by the hole 31 on altitude location plate 3, is fixed on altitude location plate 3 height adjustable; The Cloud Terrace 2 is fixed on DOCK LEVELER 1.First fixture 5 is provided with the first point of fixity 51, second fixture 6 is provided with the second point of fixity 61,3rd fixture 4 is provided with the 3rd point of fixity 41, first point of fixity 51, second point of fixity 61 and these 3 the point of fixity distributions triangular in shape of the 3rd point of fixity 41, be connected on farmland operation vehicle securely by connection bracket.
Laser range finder is connected and fixed by 3 point of fixity of connection bracket and farmland operation vehicle, is realized the adjustment of laser range finder setting height(from bottom) by height of instrument location-plate 3, and avoiding affects the work of other farmland facility (as land level scraper).Realized the adjustment of laser range finder scanning angle by the The Cloud Terrace 2 on height of instrument location-plate 3, have the face, field of certain slope also can make face, laser range finder vertical scanning field even if ensure that.By the installation of connection bracket, can vertical scanning ground when both ensure that laser range finder is measured, facilitate terrestrial coordinate to change, turn avoid the impact that actual landform and other farm implements bring.
In general, need on ridge, vertically to establish generating laser, to control motorized grader high level during paddy field laser flatting machine work.The present invention sets up first space coordinates o-xyz with generating laser, with the laser emission point of laser range finder for initial point sets up second space coordinates o1-x1y1z1, specifically as shown in Figure 3.The GPS location of being installed by paddy field laser flatting machine, can obtain the air line distance a of two space coordinates in real time, oo1 and y-axis angle are α, and laser range finder and floor level EQ are L.For the position of vertical scanning point Q in o-xyz coordinate system, face, field be then:
The concrete programmed statements of corresponding formula (1) is as follows:
X (j)=a*sin (E (k)); % coordinate x
Y (j)=a*cos (E (k)); % coordinate y
Z (j)=-L; % coordinate z
As shown in Figure 4, paddy-field flattening degree detection method comprises the following steps:
S1, employing laser range finder scanning face, field, gather face, field cloud data, obtain ranging data.If data acquisition success, then proceed to S2, otherwise continue scanning face, field.
S2, ordinate transform is carried out to the ranging data collected, draw field millet cake cloud atlas.Point cloud chart can preserve measurement data in real time, is the Data Source of face, field three-dimensionalreconstruction below, can reflect the correctness of Three-dimensional Gravity composition simultaneously.
Test data collection and point cloud chart are drawn, specific as follows: laser radar LMS291-S05 is by itself carrying bus and PC carries out data transmission, and communication baud rate is 9600bps, 19600bps or 38400bps.The communication baud rate of this test elects 9600bps as.The PC used in test is notebook computer, does not have serial ports joint, therefore turns by USB the communication connection that Serial Port Line realizes laser range finder and computer.Realize serial communication by Matlab to send message " 02 00 02 00 30 01 3118 " and just can ask once to send a ranging data.The program flow diagram of data acquisition as shown in Figure 5.Serial ports sends once command and returns a frame measurement data with regard to correspondence.The sexadecimal coordinate data that PC record stadimeter records, the conversion through between system and between coordinate system, thus ranging data is showed in the earth coordinates of definition.Use Matlab the ranging data of PC collection can be drawn as three-dimensional point cloud atlas in real time, just can realize digital independent, conversion by programming, terrestrial coordinate conversion and real-time drawing function settle at one go, and efficiency is high.Finally in Matlab, call plot statement just can draw field millet cake cloud atlas.Fig. 6 is certain experiment gained field millet cake cloud atlas.
S3, carry out face, field three-dimensionalreconstruction.
Face, field three-dimensionalreconstruction is mainly divided into ranging data filtering, ranging data is simplified and the large step of three-dimensionalreconstruction three.According to the cloud data that emission scan obtains, reconstructing face, field, true paddy field is the new challenge of of virtual reality technology.Cloud data has the advantages that data volume is large, noise is many, causes calculated amount to increase to data subsequent treatment, and therefore carrying out post-processed to ranging data has actual needs.In conjunction with the actual conditions of this research, first adopt threshold filter algorithm tentatively to delete range finding gained cloud data, remove obvious noise; Uniform lattice algorithm is adopted to simplify further ranging data again, thus even data, reduce some experimental data disappearance; Ranging data after finally utilizing General Two-Dimensional interpolation or Delaunay algorithm process to simplify again respectively, carries out three-dimensionalreconstruction to face, experimental plot.
Ranging data filtering is as follows: adopt the cloud data of threshold filter algorithm to range finding gained to delete.Threshold filter algorithm is the given threshold value of feature according to range finding cloud data itself, and the cloud data being greater than threshold value is judged as abnormity point and a kind of deleted method.Specifically select x-axis and y-axis coordinate threshold value according to the size measuring field, and z-axis coordinate threshold value is chosen as 15cm (face, field difference of elevation generally can not be greater than 15cm), by the obvious noise of Find function filtering of Matlab.Refer to Fig. 7, after filtering, data do not lose raw data characteristic, all the better the actual conditions in outstanding face, field.
It is as follows that ranging data simplifies process: adopt uniform cube-algorithm to simplify ranging data.The basic thought of uniform cube-algorithm is, first sets up a plane and is parallel to the rectangular parallelepiped bounding box of a cloud coordinate plane with encapsulation of data point.Quantity according to measuring point is divided into along change in coordinate axis direction the cubic grid that length of side size is L, to calculate the cubic grid at each point place with distribution.By some composition one table in arbitrary grid, wherein may comprise one or more data point, also may not contain data point.Select closest to the point at grid center, place as sampling spot, to reach the object of reduced data.In order to make scattered points have regularity and simplify cloud data, specific algorithm is as follows:
(1) user define sampling cube grid length of side a and for simplifying data point number percent two parameters;
(2) definition is centered by any point M, and the length of side is the point set N=Ni (xi, yi, zi) of sampling cube grid other data point interior of a, i=l, and 2 ..., n.The distance of any point in difference calculation level M to point set N.
(3) all distances (2) calculated are added, and obtain equalization point apart from value.
(4) all data points is implemented to the calculating of above-mentioned (2) and (3), the equalization point point smaller apart from value is possible deleted data point.What define according to (1) simplifies number percent, equalization point is deleted apart from the number percent data point that value is minimum, thus realizes simplifying of ranging data.
Refer to Fig. 8, after uniform lattice data compaction, data volume greatly reduces but does not lose original point distance measurement cloud feature.
The three-dimensionalreconstruction process in face, field is as follows: adopt the rapid shaping Delaunay function of Matlab to carry out face, field three-dimensionalreconstruction.Delaunay triangulation is a kind of method that surface reconstruction generally adopts, and is widely used in rapid shaping technique.Triangulation can be divided into local subdivision for two dimension and three-dimensional overall subdivision algorithm.When running into the structure face problem of three dimensions scattered points, first three-dimensional coordinate pre-service being transformed in two-dimensional coordinate system, indirectly adopting two-dimentional Delaunay subdivision algorithm.Namely three-dimensional point is projected to certain plane, then projection point set is done to the triangulation of plane domain, the annexation between the point of the final surface triangulation formed between annexation with corresponding subpoint is identical.Delaunay triangulation is acknowledged as optimum triangulation in the triangulation network in two-dimentional arbitrary region, utilize Delaunay trigonometric ratio to be reconstructed face, field and compare closing to reality situation, be better than general interpolation method, therefore adopt Delaunay function to carry out face, field three-dimensionalreconstruction, refer to Fig. 9, main code of program is as follows:
del_land＝delaunay(x,y,z)；
figure；
trisurf(del_land,x,y,z,′FaceColor′,′cyan′)
S4, field surface evenness are evaluated.
The evaluation two indices of field surface evenness, one is the standard deviation S of farmland surface relative altitude
d, standard deviation reflects the overall state of farmland surface flatness, and the numerical value of standard deviation is less, and illustrate that face, field rises and falls less, face, field is more smooth; Two is difference of elevation distribution ED, it is by calculating in field all measurement points to the distance di of fit Plane, then the di that adjusts the distance carries out statistical study, statistics di is less than the cumulative percentage of the measurement point of a certain predeterminable range value A (as 3cm), thus evaluates face, field height relief intensity and distribution characteristics.If cumulative percentage meets normal distribution 3 σ rule, then illustrate and about have the measuring point of 99.7% to be distributed in the interval of ED<A, namely face, most field elevation differs within distance value A with field dispersed elevation value.Standard of comparison difference S
dwith the numerical value of distance value A, using numerical value the greater as the flatness measuring face, field, field.
Because point distance measurement cloud plane is difficult to ensure abswolute level, face, field, farmland is often not absolute parallel with elevation levels face yet, therefore, when carrying out the precision evaluation of level land, farmland, need, according to the field point position altitude figures fit Plane equation measured, to carry out subsequent calculations on this basis.In earth coordinates, the Regress function in employing Matlab software can be tried to achieve face, field fit Plane equation and is: Z=AX+BY+C, and specific procedure is as follows:
X1＝[n x y]；b＝regress(z,X1)；
xfit＝min(x):5:max(x)；
yfit＝min(y):5:max(y)；
[XFIT,YFIT]＝meshgrid(xfit,yfit)
ZFIT＝b(1)+b(2)*XFIT+b(3)*YFIT；
mesh(XFIT,YFIT,ZFIT)；
Face, field measurement point to the computing formula of fit Plane distance is:
The standard deviation S of distance di
dcomputing formula is:
In formula, d is the mean value of all measuring points to fit Plane vertical range, and n is the quantity of all measuring points in field.Using formula (2) and formula (3) combine the fit Plane of trying to achieve, and just can calculate the flatness in paddy field, see Figure 10.
Above-described embodiment is one embodiment of the present invention; but embodiments of the present invention do not limit therewith; be engaged in these those skilled in the art do not deviate from the present invention spirit and principle under make any amendment, replacement, improvement, be all included in protection scope of the present invention.
Claims (9)
1., based on a dynamic paddy field flatness detecting device for laser ranging, it is characterized in that, comprise laser range finder, connection bracket and processor; Laser range finder is arranged on farmland operation vehicle rear by connection bracket, and laser range finder is connected with processor; Processor reads the measurement data of laser range finder, and carries out data processing to it, and described data processing comprises the coordinate conversion of measurement data, threshold filter and face, field three-dimensionalreconstruction, calculates the standard deviation S of farmland surface relative altitude
dwith difference of elevation distribution ED, according to standard deviation S
dpaddy field planar smoothness is evaluated with difference of elevation distribution ED.
2. dynamic paddy field according to claim 1 flatness detecting device, is characterized in that, face, described laser range finder vertical sweep field.
3. dynamic paddy field according to claim 1 flatness detecting device, is characterized in that, described processor is PC.
4. dynamic paddy field according to claim 1 flatness detecting device, it is characterized in that, described connection bracket comprises DOCK LEVELER, The Cloud Terrace, altitude location plate, the first fixture, the second fixture and the 3rd fixture, and the first fixture, the second fixture and the 3rd fixture are equipped with point of fixity; 3rd fixture is connected between the first fixture and the second fixture; Altitude location plate is fixedly connected with the first fixture, the second fixture, and altitude location plate is provided with the hole for level altitude adjustable plate; DOCK LEVELER, by the hole on altitude location plate, is fixed on altitude location plate height adjustable; The Cloud Terrace is fixed on DOCK LEVELER.
5. dynamic paddy field according to claim 4 flatness detecting device, it is characterized in that, described first fixture, the second fixture and the 3rd fixture are respectively equipped with the first point of fixity, the second point of fixity and the 3rd point of fixity, these three the point of fixity distributions triangular in shape of the first point of fixity, the second point of fixity and the 3rd point of fixity.
6., based on a dynamic paddy field measurement method of planeness for laser ranging, it is characterized in that, comprise the following steps:
S1, employing laser range finder scanning face, field, gather face, field cloud data, obtain ranging data;
S2, ordinate transform is carried out to the ranging data collected, draw field millet cake cloud atlas;
S3, carry out face, field three-dimensionalreconstruction: adopt threshold filter algorithm tentatively to delete described cloud data, remove obvious noise; Uniform lattice algorithm is adopted to simplify further ranging data again; Ranging data after finally utilizing two-dimensional interpolation algorithm or Delaunay algorithm process to simplify respectively, carries out three-dimensionalreconstruction to face, experimental plot;
The standard deviation S of S4, calculating farmland surface relative altitude
dwith difference of elevation distribution ED, carry out field surface evenness evaluation.
7. dynamic paddy field according to claim 6 measurement method of planeness, is characterized in that, face, laser range finder vertical sweep field described in step S1.
8. dynamic paddy field according to claim 6 measurement method of planeness, it is characterized in that, described in step S3, uniform cube-algorithm is as follows:
(1) definition sampling cube grid length of side a and for simplifying data point number percent two parameters;
(2) definition is centered by any point M, and the length of side is the point set N=Ni (xi, yi, zi) of sampling cube grid other data point interior of a, i=l, and 2 ..., n, the distance of any point in difference calculation level M to point set N;
(3) all distances (2) calculated are added, and obtain equalization point apart from value;
(4) all data points are implemented to the calculating of above-mentioned (2) and (3), what define according to (1) simplifies number percent again, equalization point is deleted apart from the number percent data point that value is minimum, thus realizes simplifying of ranging data.
9. dynamic paddy field according to claim 6 measurement method of planeness, it is characterized in that, the step that field surface evenness described in step S4 is evaluated is as follows: by all measurement points in calculating field to the distance di of fit Plane, then the di that adjusts the distance carries out statistical study, statistics di is less than the cumulative percentage of the measurement point of a certain predeterminable range value A, obtains difference of elevation distribution ED; If cumulative percentage meets normal distribution 3 σ rule, standard of comparison difference S
dwith the numerical value of distance value A, using numerical value the greater as the flatness measuring face, field, field.
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