Non-contact detection of trench quality by UAV-LiDAR system

In order to promote the innovation of agricultural science and technology and the development of smart agriculture, a non-contact trench quality inspection system, UAV-LiDAR, is developed in this paper. The system uses the unmanned aerial vehicle (UAV) as the mobile flight platform, which can realize the non-contact trench quality data acquisition and automatic evaluation of the trench quality by carrying LiDAR, IMU, router and microcomputer. First of all, point cloud data sets of different areas of the whole farmland were acquired by UAV-LiDAR. Secondly. according to the normal deviation matching algorithm, appropriate frames were chosen to match the point cloud data of furrows in different regions, and the point clouds of each region were registered to the unified coordinate system to obtain the complete point cloud data of the whole farmland furrows. In the endusing the poisson surface reconstruction to realize the reconstruction surface of the complete furrow point cloudmeasuring the trench surface width, trench bottom width and trench depth of the furrow. The experimental results showed that the method proposed in this paper can effectively detect the working performance of the ditching machine. Compared with the manual measurement results, the identification time reduced by $15\sim 20$ minutes, and the detection efficiency and accuracy are improved by $50\%\sim 66.67\%$ and $22.96\% \sim 29.37\%$, respectively. It realizes the visual remote appraisal of the performance of the trench machine, and provides an intelligent appraisal means for the performance of agricultural machinery.