CN102878934A - Standing tree comprehensive detection device based on intelligent fusion technology - Google Patents
Standing tree comprehensive detection device based on intelligent fusion technology Download PDFInfo
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- CN102878934A CN102878934A CN2012103553892A CN201210355389A CN102878934A CN 102878934 A CN102878934 A CN 102878934A CN 2012103553892 A CN2012103553892 A CN 2012103553892A CN 201210355389 A CN201210355389 A CN 201210355389A CN 102878934 A CN102878934 A CN 102878934A
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Abstract
The invention discloses a standing tree comprehensive detection device based on the intelligent fusion technology. A laser beam subject to collimation and beam-expanding is irradiated on a trunk (10) with the tree diameter required for measurement, a camera (3) is used for shooting the image of the trunk, where a laser light spot is arranged, the actual size of the laser light spot serves as a scale, the tree diameter can be measured as per pixel number of the laser light spot in the image, an encoder (5) is used for measuring the rotating angle of the laser beam, the straight-line distance between a vertical rod (7) and the trunk (10) can be measured through a laser rangefinder (4), and the height of the trunk can be calculated out as per the geometric relationship.
Description
Technical field
The invention belongs to machine vision technique and trees detection technique field, be specifically related to a kind of device that utilizes laser ranging and machine vision technique standing tree to be carried out comprehensive detection.
Background technology
Machine vision is a complex art of gathering the technology such as Digital Image Processing, machinery, control, optics, computing machine.Vision Builder for Automated Inspection can realize target is carried out contactless detection, can the quick obtaining bulk information, and be easy to automatic processing, therefore, machine vision technique has caused people's attention as a kind of important detection technique, and has obtained using more and more widely at detection field.
In forest inventory investigation, the measurement of tree-walk and the height of tree is very important content.Domestic when measuring the higher diameter, by the girth of operating personnel with the tape measure trees mostly, then calculate the diameter value of trees, or adopt and to equal by circumference that π times of diameter Relationship is the same with tape measure encloses the diameter value that chi directly reads trees calibrating of scale of chi portrayal, operation process need to manually read, record measurement data and data are processed, measuring speed is slow, and labour intensity is large, and is not easy to statistics and management to data.Carrying out usually adopting transit to measure when the height of tree is measured, debug very loaded down with trivial details.The non-cpntact measurement that adopts the method for machine vision to carry out standing tree can remedy the deficiency of traditional measurement method, more and more comes into one's own at present.
Engineering College, Beijing Forestry Univ. proposes a kind of image-based tree-walk detection method (Cheng Pengle, Li Xiaohui, image-based tree-walk detection method, Chinese patent: 201010503306.0,2012-01-25.), this method utilizes the directionality of laser good, the minimum characteristics of the angle of divergence shine on the vertical wood diameter after with the laser beam collimator and extender, utilization shines hot spot on the standing tree as the scale of image detection, vertical wood diameter is detected, this method need not placed scale, and detection efficiency is high.But, can not guarantee in the actual measurement that laser beam is necessarily vertical with trunk, if laser beam and trunk out of plumb, Ear Mucosa Treated by He Ne Laser Irradiation is actual on trunk to be an oval-shaped hot spot, in this case hot spot is processed as circle, detected vertical wood diameter will produce very large error, causes this detection method to lose efficacy.
Summary of the invention
The object of the invention is to overcome above-mentioned the deficiencies in the prior art, the standing tree comprehensive detection device based on information fusion technology is provided, this device can detect true diameter value and the trunk height value of trees exactly.
Standing tree comprehensive detection device based on information fusion technology provided by the invention is characterized in that:
Video camera (3), generating laser (2) and laser range finder (4) are housed on the pivot arm (1), the built-in expander lens of generating laser (2), the laser that generating laser (2) sends shines on the tested trunk (10) after expanding through expander lens, because generating laser (2) and trunk (10) out of plumb, therefore the laser facula on the tested trunk (10) is oval, its minor axis is as the scale of measuring tree-walk; When pivot arm (1) kept level, laser range finder (4) was used for measuring the air line distance between vertical rod (7) and the trunk (10).Pivot arm (1) is fixed in the vertical rod (7) by rotating shaft (6), and (6) rotate freely around the shaft, scrambler (5) is equipped with in vertical rod (7) upper end, and the axle of scrambler (5) is with pivot arm (1) rotation, and scrambler (5) is used for the anglec of rotation of record pivot arm (1).Vertical rod (7) keeps vertical with base (9), and base (9) is equipped with level meter (8) and is used for adjusting base (9) maintenance level.
Description of drawings
Accompanying drawing is the standing tree comprehensive detection device structural representation based on information fusion technology.
Embodiment
Below in conjunction with accompanying drawing embodiment is described further, standing tree comprehensive detection device based on information fusion technology, adjust base, (9) eye-level instrument, (8), make base, (9) maintenance level, laser beam is through shining the trunk that needs to measure tree-walk behind the collimator and extender, (10) on, laser facula is oval, use video camera, (3) image of shooting laser facula position trunk, with the physical size of laser facula as scale, measure tree-walk according to the pixel count of laser facula minor axis in image, the method is carried out according to the following steps
(1) light beam of laser instrument emission is that the light beam irradiates of d mm is measured on the trunk of tree-walk to needs through diameter behind the collimator and extender, because laser beam and trunk out of plumb, the laser facula that is radiated on the trunk becomes ellipse, but the actual diameter of its minor axis constant still be d mm
(2) use Digital Video (3) to take the image of laser facula position trunk,
(3) the shared pixel count of elliptical shaped laser spot minor axis is n on the captured digital picture
1, trunk is n along the shared pixel count of diametric(al)
2,
(4) the trunk diameter d of the required measurement of calculating
1
The measurement of trunk height clicks step to be carried out,
(1) rotate the trunk top that pivot arm (1) is measured the needs of laser beam irradiation,
(2) rotating pivot arm (1) makes the laser beam horizontal irradiation to trunk, with the air line distance Dm between laser range finder (4) measurement vertical rod (7) this moment and the trunk (10), and the angle [alpha] that turns over scrambler (5) pivot arm record this moment (1)
(3) be rotated further the trunk bottom that pivot arm (1) makes the needs measurement of laser beam irradiation, and record the angle beta that pivot arm this moment (1) is turned over by horizontal level with scrambler (5),
(4) height H of calculating trunk,
H＝D*(tgα+tgβ)m。
Claims (3)
1. based on the standing tree comprehensive detection device of information fusion technology, it is characterized in that:
Video camera (3), generating laser (2) and laser range finder (4) are housed on the pivot arm (1), the built-in expander lens of generating laser (2), the laser that generating laser (2) sends shines on the tested trunk (10) after expanding through expander lens, because generating laser (2) and trunk (10) out of plumb, therefore the laser facula on the tested trunk (10) is oval, its minor axis is as the scale of measuring tree-walk; When pivot arm (1) kept level, laser range finder (4) was used for measuring the air line distance between vertical rod (7) and the trunk (10).
2. device according to claim 1, it is characterized in that: pivot arm (1) is fixed in the vertical rod (7) by rotating shaft (6), and (6) rotate freely around the shaft, scrambler (5) is equipped with in vertical rod (7) upper end, and the axle of scrambler (5) is with pivot arm (1) rotation, and scrambler (5) is used for the anglec of rotation of record pivot arm (1).
3. device according to claim 1 and 2 is characterized in that: vertical rod (7) keeps vertical with base (9), and base (9) is equipped with level meter (8) and is used for adjustment base (9) maintenance level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2012103553892A CN102878934A (en) | 2012-09-24 | 2012-09-24 | Standing tree comprehensive detection device based on intelligent fusion technology |
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| CN2012103553892A CN102878934A (en) | 2012-09-24 | 2012-09-24 | Standing tree comprehensive detection device based on intelligent fusion technology |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103196382A (en) * | 2013-04-22 | 2013-07-10 | 北京林业大学 | Standing-tree diameter measuring device based on laser ranging and image technologies |
| CN103604380A (en) * | 2013-11-28 | 2014-02-26 | 东北林业大学 | Tree breast-height diameter measuring method and portable tree breast-height diameter measuring system |
| CN104048614A (en) * | 2013-12-03 | 2014-09-17 | 南京森林警察学院 | Stumpage diameter measuring method and measuring equipment |
| CN106871799A (en) * | 2017-04-10 | 2017-06-20 | 淮阴工学院 | A kind of full-automatic crops plant height measuring method and device |
| CN109618137A (en) * | 2018-12-18 | 2019-04-12 | 鞍钢集团矿业有限公司 | A kind of baffle adjustable height monitoring device and method based on image procossing |
| CN110926348A (en) * | 2018-09-19 | 2020-03-27 | 天津大学青岛海洋技术研究院 | Monocular distance measuring system based on two-phase hybrid stepping motor of subdivision driver |
| CN112461133A (en) * | 2020-11-25 | 2021-03-09 | 深圳市施罗德工业集团有限公司 | Dimension measuring and calculating method and device, image detection device and readable storage medium |
| CN112762790A (en) * | 2020-12-24 | 2021-05-07 | 中国林业科学研究院资源信息研究所 | Method for measuring crown width in three-dimensional virtual scene |
| CN113295128A (en) * | 2021-05-08 | 2021-08-24 | 青岛农业大学 | Multi-terrain tree breast-height crown width measuring device and measuring method |
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| WO2010032495A1 (en) * | 2008-09-16 | 2010-03-25 | 株式会社アドイン研究所 | Tree information measuring method, tree information measuring device, and program |
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| CN102538693A (en) * | 2012-02-14 | 2012-07-04 | 北京林业大学 | Vertical wood diameter detection method based on laser and vision technology |
| CN102589455A (en) * | 2012-02-14 | 2012-07-18 | 北京林业大学 | Standing wood diameter detection device based on laser and visual technology |
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| CN102003942A (en) * | 2010-10-12 | 2011-04-06 | 北京林业大学 | Image-based method for detecting tree diameter |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103196382A (en) * | 2013-04-22 | 2013-07-10 | 北京林业大学 | Standing-tree diameter measuring device based on laser ranging and image technologies |
| CN103604380A (en) * | 2013-11-28 | 2014-02-26 | 东北林业大学 | Tree breast-height diameter measuring method and portable tree breast-height diameter measuring system |
| CN103604380B (en) * | 2013-11-28 | 2016-02-17 | 东北林业大学 | Tree breast-height diameter method and Portable tree tree breast diameter survey system |
| CN104048614A (en) * | 2013-12-03 | 2014-09-17 | 南京森林警察学院 | Stumpage diameter measuring method and measuring equipment |
| CN106871799A (en) * | 2017-04-10 | 2017-06-20 | 淮阴工学院 | A kind of full-automatic crops plant height measuring method and device |
| CN110926348A (en) * | 2018-09-19 | 2020-03-27 | 天津大学青岛海洋技术研究院 | Monocular distance measuring system based on two-phase hybrid stepping motor of subdivision driver |
| CN109618137A (en) * | 2018-12-18 | 2019-04-12 | 鞍钢集团矿业有限公司 | A kind of baffle adjustable height monitoring device and method based on image procossing |
| CN112461133A (en) * | 2020-11-25 | 2021-03-09 | 深圳市施罗德工业集团有限公司 | Dimension measuring and calculating method and device, image detection device and readable storage medium |
| CN112762790A (en) * | 2020-12-24 | 2021-05-07 | 中国林业科学研究院资源信息研究所 | Method for measuring crown width in three-dimensional virtual scene |
| CN112762790B (en) * | 2020-12-24 | 2022-05-10 | 中国林业科学研究院资源信息研究所 | Method for measuring crown width in three-dimensional virtual scene |
| CN113295128A (en) * | 2021-05-08 | 2021-08-24 | 青岛农业大学 | Multi-terrain tree breast-height crown width measuring device and measuring method |
| CN113295128B (en) * | 2021-05-08 | 2022-11-11 | 青岛农业大学 | Multi-terrain tree breast-height diameter crown width measuring device and measuring method |
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Application publication date: 20130116 |