CN102980510A - Laser optical ruler image tree measuring device and method thereof - Google Patents
Laser optical ruler image tree measuring device and method thereof Download PDFInfo
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- CN102980510A CN102980510A CN2012102790250A CN201210279025A CN102980510A CN 102980510 A CN102980510 A CN 102980510A CN 2012102790250 A CN2012102790250 A CN 2012102790250A CN 201210279025 A CN201210279025 A CN 201210279025A CN 102980510 A CN102980510 A CN 102980510A
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Abstract
The invention discloses a laser optical ruler image tree measuring device and a method thereof. The tree measuring device comprises a signal emission module, a signal collection module, a storage module, a signal processing module and a power source. The signal emission module, the signal collection module, the storage module and the signal processing module are respectively connected with the power source. The tree measuring method includes that a laser optical ruler is formed on a to-be-measured tree through an output laser signal of the signal emission module, the signal collection module collects an optical signal which is transmitted to the signal processing module via photovoltaic conversion, and a processed signal calculates attributive characters of the to-be-measured tree through an empirical formula. Compared with the prior art, the laser optical ruler image tree measuring device and the method thereof have the advantages of being small in equipment size, low in cost, high in automation degree, high in measuring precision and the like.
Description
Technical field
The present invention relates to the forestry survey field, be specifically related to laser light chi image assize device and tree survey method.
Background technology
In Forestry Investigation, need to quantize factors such as the height of trees of trees, the diameter of a cross-section of a tree trunk 1.3 meters above the ground, crown, accumulation and biomasss.Wherein, the height of tree refers to trees from rhizome on the ground to the distance the treetop or height; The tree diameters at diameter of a cross-section of a tree trunk 1.3 meters above the ground span rhizome 1.3m place; The crown shape of tree-crown that refers to, tree crown is first major branch or the above part of first branch of tree; The volume of timber refers to any type of timber measurement; Forest reserves refers to total volume of timber of the forest trunk part that exists on certain area of woods; Biomass is the semi-invariant that forest vegetation is dropped on the dry that produces in its life process.
At present, forest compass still is the main tool of finishing the forest survey task, and forest compass is mainly used in the surveying works such as magnetic orientation and distance, level, the discrepancy in elevation, slope angle.Use the subject matter of gloomy inner compass assize to be:
1, the terrestrial magnetic field of various places is different, and magnetic declination is different, so need to revise magnetic declination, processing procedure is loaded down with trivial details;
2, be subjected to the impact of ore, hi-line, metal, electromagnetic interference to cause the error of measurement large;
3, precision is low, automaticity is low, causes processing and measurement effect poor.
Angle gauge is the inventory of stand instrument that generally adopts in the forestry.At present, state-of-the-art angle gauge tree surveying apparatus remains Bitterlich, the relascope of W. invention.But in the field investigation actual mechanical process, even if use state-of-the-art angle gauge tree surveying apparatus to carry out the inventory of stand, still there is very large error:
1, puts the error that reach causes around location.The human body standing place is not perpendicular to the ground, presses angle gauge and enlarges the circle principle, will produce error.
2, observation position is forbidden the error that causes.Because the impact of landform, understory shrub, people's sight line can not accurately aim at trunk 1.3m place, thereby produces elementary errors.
3, because the error that the gradient causes.The tradition angle gauge tree surveying apparatus is suitable for using on the level land, when using in the slope, can only carry out roughly the whole gradient and correct, and corrects trouble and every strain counting wood is carried out the gradient, and workload is large.
Therefore, the trouble and the error that adopt traditional angle gauge mensuration standing forest to cause are inevitable.
In addition, in other information acquisition fields, utilize existing collecting device also can produce error:
1) three-dimensional city modeling
Data acquisition before the cybercity construction generally be by take photo by plane, airborne radar, trailer-mounted radar, standing posture three-dimensional laser image-forming module, the equipment such as total powerstation are finished.After having built white mould, also need on-the-spot for every house subsides texture of taking pictures, to realize virtual reality scenario.Existing modeling method all is to utilize remote sensing image in conjunction with the acquisition method of map, such as: the methods such as Arcgis, microstation and Arcglobe.
The problem that above-mentioned traditional cities three-dimensional modeling way is brought is:
A) input cost is huge, airborne or trailer-mounted radar need 1,000 ten thousand Renminbi;
B) measuring period oversize, airborne radar need to just can fly under the good prerequisite of air transport coordination and weather, standing posture three-dimensional laser image-forming module is measured an object needs half an hour;
C) post-processed is complicated, builds up Bai Mohou according to the cloud data after the scanning of three-dimensional laser image-forming module, takes pictures and get texture in the scene of also need arriving.
2) territory investigation
The investigation normal method of using in tradition territory has:
A) the photogrammetric rear analytic expression drafting method of using, precision can reach 1:2000
B) real-time dynamic carrier phase difference technology RTK is in conjunction with the mode of total powerstation;
Said method is for solving " figure " engineering under the absolute coordinate system, and the zone in the face of construction being arranged and changing, if there is not the reference mark, need to find national geodesic reference mark or use unmanned plane during flying, the problem that said method brings is that cost is too high, efficient is too low.
3) water conservancy generaI investigation
Soil erosion amount in the water conservancy generaI investigation represents by calculating soil erodibility.The general soil erosion device that adopts is measured when soil erosion monitoring.
The problem that this method is brought is the instrument bulky, carries inconvenience, inefficiency.
4) ecological, environmental protective
In Ecological Investigation, the landscape pattern's investigation the relevant information such as physiognomy, level, feature being described at present, only is qualitative description, can not extract effectively data message.
If employing standing posture three-dimensional laser image-forming module solves spatial information and correlativity between the ecologic community, the problem of bringing is that volume, the weight of equipment is large, and extremely inconvenience is carried in the field; If adopt the mode of commonness photograph, then still can only observe qualitative relationships, can't extract effective spatial information data as support.
5) archaeological excavation
Because the singularity at archaeological excavation scene must provide and excavate required valid data as foundation it, and can realize arriving the measurement in zone under the prerequisite of not destroying the artifact scene.
At present, the way of standing posture 3 D laser scanning is adopted in the part archaeological excavation, the method is large except volume, the weight of instrument, carry outside the extremely inconvenience in the field, its data volume is large, processing time is long, is not easy to prolong the working time of open-air archaeology for open-air excacation scene provides timely and effectively Data support;
6) house ornamentation engineering
In the house ornamentation engineering, to the hand-held stadimeter of indoor range observation normal operation, the method is convenient and swift at present.But hand-held stadimeter can only reach measuring distance, the function of measuring and calculating house ornamentation price and materials aspect.
7) Sunlight Analysis
Sunlight Analysis is indispensable before a urban architecture program examination and approval job.At present the instrument that generally adopts of Sunlight Analysis is total powerstation, with the height of the building of calculating thing periphery yet to be built.Then, with the report of the design Sunlight of CABR Technology Co., Ltd. of Chinese Research Institute for Building Sciences software development Sunlight Analysis, detect with a day positive Sunshine analysis software TSun.
The problem that this method is brought is, when adopting total powerstation to calculate the height of building of thing periphery yet to be built, efficient is low, take manually, and total powerstation equipment is larger, and the scene does not have enough spaces to come placing total station.
8) public safety
At public safety field, at first be to set up the common base geographical information platform, comprise following two aspects:
A) socio-economic Surveys;
B) Various types of data of spatial information.For the Various types of data of present spatial information, the method master of use
If aeroplane photography, broken the investigation in total powerstation ground etc.The problem that said method brings is obtaining of data
Cost is excessive.
9) police criminal detection
Police criminal detection department generally is to adopt the method for taking pictures and manually measuring all kinds of distances to the investigation method of scene of a crime at present.Said method is with photo and the active data information separated at scene, and is directly perceived, deep during analysis-by-synthesis.
10) Landscape Planning and Design
In the inspection of the scene of a crime in the early stage of garden landscape planning and design, generally need floor present situation photo, in conjunction with topomap, make the design sketch after planning.The instrument that said method uses is camera, total powerstation or transit.
The problem that said method exists is that photo and spatial geographic information are asymmetric, and effect is not directly perceived.
11) pipeline exploration and measurement
At present often adopt pipe and cable detector for the detection of underground pipeline, pipe and cable detector divides two classes according to detection principle:
One class is to utilize electromagnetic induction principle to survey metal pipe line, electricity/optical cable, and some are with the nonmetal pipe line of metal flag line, and this class is called for short pipe and cable detector.
The advantage of this kind equipment is: speed of detection is fast, simple, intuitive, easy to operate, degree of accuracy is high.
The shortcoming of this kind equipment is: when surveying nonmetal pipe line, must be by nonmetal probe, and this method uses relatively effort, needs to invade pipeline inside.
Another kind of is the underground utilities that utilize all materials of electromagnetic wave detection, also can be used for underground the searching of object of burying, and is commonly called as radar, is also referred to as the pipeline radar.
The advantage of this kind equipment is: the pipeline that can survey all materials
The shortcoming of this kind equipment is: higher to environmental requirement, the depth measurement ability is relatively poor, and difficulty is looked into the darker pipeline of buried depth, requires high to operator's quality and experience.
Summary of the invention
In order to solve the lower problem of inventory of stand instrument precision of the prior art, the invention provides a kind of laser light chi image assize device, realize the Measurement accuracy diameter of a cross-section of a tree trunk 1.3 meters above the ground and the height of tree, overcome the defective of prior art.
Mentality of designing of the present invention is as follows:
The assize device comprises signal emission module 1, signal acquisition module 2, memory module 3, signal processing module 4 and power supply 5; Signal acquisition module 2 is connected with memory module 3, and memory module 3 is connected with signal processing module 4, and signal emission module 1, signal acquisition module 2, memory module 3 and signal processing module 4 are connected with power supply 5 respectively;
The laser signal of signal emission module 1 output forms the laser light chi trees to be measured, signal acquisition module 2 gathers states laser light chi signal, and by memory module 3 laser light chi signal is transferred to signal processing module 4, signal processing module 4 is processed collection signal, and calculate and export the attributive character parameters of trees to be measured, namely the diameter of a cross-section of a tree trunk 1.3 meters above the ground, the height of tree, crown, the volume of timber, accumulate and biomass parameters.
In implementation, signal emission module 1 is two-dimensional laser light chi transmitter module or three-dimensional laser transmitter module;
Wherein, two-dimensional laser light chi transmitter module comprises generating laser 1-1.
The laser signal of generating laser 1-1 emission forms two-dimensional laser light chi trees to be measured, and namely the laser light chi of generating laser 1-1 is shaped as a kind of in the point, line, surface.
The quantity of generating laser 1-1 is at least two.
According to the technical stipulation of the State Administration of Forestry, a survey diameter of a cross-section of a tree trunk 1.3 meters above the ground of Forestry Investigation is 5cm, so for the ease of measuring, the length of two-dimensional laser light chi is 1～50cm, the central point spacing of the laser light chi of adjacent generating laser 1-1 is 1～50cm.
The length of preferred two-dimensional laser light chi is 5～25cm, and the central point spacing of the laser light chi of adjacent described generating laser (1-1) is 5～25cm.
In concrete measuring process, the method for arranging of generating laser 1-1 has a variety of, but because trees to be measured are three-dimensional and nonplanar, along the radial arrangement of trees to be measured can cause each generating laser 1-1 be transmitted on the trees to be measured the laser spots projection not in one plane, thereby affect measuring accuracy; Simultaneously also be unfavorable for identifying the central point of laser spots in the laser light chi;
Therefore, the quantity of generating laser 1-1 is 2～3, and each generating laser 1-1 perpendicular separation distributes;
Three-dimensional laser light chi transmitter module comprises three-dimensional laser imager 1-2.
The laser signal of three-dimensional laser imager 1-2 emission on trees to be measured or trees to be measured periphery form three-dimensional laser light chi, the laser light chi that is three-dimensional laser imager 1-2 is shaped as three-dimensional graph, the profile of trees to be measured and laser light foot wheel exterior feature are proportional, and its scale-up factor is 1:0.01～1:1.
In concrete measuring process, signal emission module 1 is for being fixedly installed or mobile the setting, and mobile the setting is that signal emission module 1 is arranged on the Move tool, and Move tool comprises mechanical model or flight tool.
In implementation, for the infringement for human eye of the laser that reduces generating laser 1-1 emission, generating laser 1-1 is the one-wavelength laser transmitter, and the one-wavelength laser wavelength of one-wavelength laser transmitter output is 266-1064nm.
In order to make the laser light chi be easier to differentiate, the one-wavelength laser transmitter is selected the Infrared laser emission device, and the optical maser wavelength of Infrared laser emission device emission is 650nm, and the transmitting range of Infrared laser emission device is greater than 100 meters.
Embed in the memory module 3 and be provided with GPS module 6, to determine the longitude and latitude in the forestry survey.
Utilize the tree survey method of this assize device, to have utilized the precision of laser high, strong and the high characteristics of concentration degree of rectilinearity, the laser of launching by Laser emission dress module in the space or measurand present a little, line, face or shape, and will be with measurand imaging and the storage of above-mentioned smooth chi by photo-sensitive cell and image processing arrangement, because the size of light chi can be determined in advance, and the image that contains the light chi that stores, carry out graphics process by image processing arrangement 4, utilize the equal proportion variation relation of imaging, just can calculate the proportionate relationship of bright dipping chi and determinand.The focal length of its result of calculation and image documentation equipment is irrelevant; Irrelevant apart from the distance of measurand with laser beam emitting device; Irrelevant with the angle of measuring, realized the non-cpntact measurement with measurand.
Specifically, utilize the tree survey method of generating laser 1-1 may further comprise the steps:
Step 1 is arranged on absolute fix with generating laser 1-1.
Measure the two-dimensional laser light chi height h of actual measurement in the environment, by digital camera or the Digital Video collection image data with two-dimensional laser light chi and trees attributive character to be measured, and image data transferred to signal processing module 4;
1) extract, extract the information of trees to be measured in the image data by data processing module 4, information comprises bottom position and tip position, trunk profile and the crown outline of trees to be measured;
2) sign is namely added identification information in image data, and identification information comprises the height of tree and the diameter of a cross-section of a tree trunk 1.3 meters above the ground of trees to be measured;
H=h×H
1/h
1；（1）
D=D
1×h/h
1；（2）
Wherein, h is the two-dimensional laser light chi height in the actual measurement environment of measuring in step 2;
Calculate the volume of timber or accumulate V by formula (3),
V=C
0×D
C1×H
C2；（3）
Wherein, D and H are respectively the height of tree and the diameter of a cross-section of a tree trunk 1.3 meters above the ground in the actual measurement environment that formula (1) and (2) calculate,
C
0, C
1, C
2Be constant, C
0Span be 0～100, C
1Span be 0～100, C
2Span be 0～100;
Calculate biomass B according to formula (4),
B=a+bV；（4）
Wherein, V is the accumulation that calculates in the formula (3), and a, b are constant, and the span of a is that the span of 0～10000, b is 0～10000;
Crownly draw by computing machine MATLAB neural network algorithm analogue simulation.
Utilize the tree survey method of three-dimensional laser imager 1-2 may further comprise the steps:
Step 1 is arranged on absolute fix with three-dimensional laser imager 1-2;
Measure the height h ' of three-dimensional laser light chi in the actual measurement environment;
From the image data of arbitrarily angled, any focal length collection with three-dimensional laser light chi and trees attributive character to be measured, and image data transferred to signal processing module 4 by memory module 3 by digital camera or Digital Video;
1) extract, extract the information of trees to be measured by the simulation software in the signal processing module 4, information comprises the spatial data of trees profile to be measured;
In implementation, simulation software selects MATLAB, Cyclone or C3D virtual environment simulation software.
2) sign is added identification information in image data, and identification information comprises the height of tree and the diameter of a cross-section of a tree trunk 1.3 meters above the ground of trees to be measured;
3) compare, measure the height h of the three-dimensional laser light chi in the image data
1', comparison h ' and h
1' numerical value, draw the imaging Proportional coefficient K of image data;
H=K×H
1 （5）
D=K×D
1 （6）
Wherein, K is the imaging scale-up factor of the image data that calculates in the step 3, and the span of K is 0.01～1;
Calculate the volume of timber or accumulate V by formula (3),
V=C
0×D
C1×H
C2；（3）
Wherein, D and H are respectively the height of tree and the diameter of a cross-section of a tree trunk 1.3 meters above the ground in the actual measurement environment that formula group (5) calculates;
C
0, C
1, C
2Be constant, C
0Span be 0～100, C
1Span be 0～100, C
2Span be 0～100;
Calculate biomass B according to formula (4),
B=a+bV； （4）
Wherein, V is the accumulation that calculates in the formula (3), and a, b are constant, and the span of a is that the span of 0～10000, b is 0～10000;
Crownly draw by computing machine MATLAB neural network algorithm analogue simulation.
In implementation,
In step 1, generating laser 1-1 is fixedly installed on absolute fix or is arranged on the Move tool, start Move tool generating laser 1-1 is moved to absolute fix;
In the signal acquisition process of step 2, utilize digital camera to take lower photo with laser light chi and trees attributive character to be measured;
Perhaps utilize Digital Video that one group of trees to be measured with the laser light chi is taken successively, get access to one group with the dynamic image of laser light chi and trees attributive character to be measured; And be truncated to photo with laser light chi and trees attributive character to be measured by computing machine or mobile phone;
In the signal processing of step 3, utilize computing machine or mobile phone that the photo that gets access to is extracted and identifies.
The leaching process of information is,
At first by forestry high score image processing software the photo of all shootings is organized into groups, extract the gray-scale value of respectively organizing trees to be measured in the photo, and the geographical co-ordinate system of each group photo with reality mated;
Photo after the processing of forestry high score image processing software is imported to light chi image processing system;
Secondly, utilize the light chi image processing system in the signal processing module 4 to extract the information of trees to be measured, the mode of extraction comprises automatic extraction, semi-automatic extraction and manual extraction;
Automatically the mode of extraction is,
1) light chi image processing system automatically divides into groups photo, number and selects parameter and memory location;
2) utilize in the light chi image processing system and automatically to know tag line or the identification point of getting in the photo;
3) data loading, the identification information that system can get knowledge automatically and the data importing database of processing out by identification information;
The mode of semi-automatic extraction is,
1) in light chi image processing system, photo need to be divided into groups, numbers and select parameter and memory location according to oneself;
2) utilize in the light chi image processing system and automatically to know tag line or the identification point of getting in the photo;
3) data loading, the identification information that system can get knowledge automatically and the data importing database of processing out by identification information;
The manual extraction mode is,
1) in light chi image processing system, photo is divided into groups, numbers and selects parameter and memory location according to oneself needs;
2) in light chi image processing system, judge to know the typical identification point of getting in the photo according to human eye,
3) data check, the data that calculate according to light chi image processing system be in conjunction with the field study record, and judge by artificial detection and carry out the choice of data,
4) data loading manually imports database with the data after checking.
Compare with standing forest survey instrument commonly used, adopt the characteristics of generating laser 1-1 assize as shown in table 1;
Table 1
Compared with prior art, the present invention has the following advantages:
1) the present invention unites two into one digital equipment and laser light chi, and light harvesting, photography and laser light chi advantage have realized the miniaturization of assize device in one;
2) aspect equipment placement, light chi image instrument is installed on the point of fixity, need not the centering leveling, can accurately carry out Quick Measurement to many trees;
3) light chi device for image need not to find range, and measuring speed and precision have been heightened in the sampling of only need taking pictures greatly, have saved a large amount of man power and materials;
4) by the circumscribed USB interface, the data automatic transmission by working out automatic software for calculation, is realized the robotization that data are processed to image processing arrangement.
In other field, adopt smooth chi image measuring method of the present invention, obtain equally the effect outstanding than prior art:
1) three-dimensional city modeling
Utilize light chi image instrument can solve the problems such as input cost of the prior art is huge, the cycle is oversize, post-processed is complicated in conjunction with topomap, namely take topomap as basic map, the aspectual characters such as buildings and other object heights, be as the criterion with light chi image, texture processing need not to arrive shooting again.
2) territory investigation
Utilize " repair and survey " the topomap work in the light chi image measuring method realization territory investigation, the problem that cost is too high, efficient is too low in the fine solution prior art of energy, and can in real time, precisely upgrade the region of variation topomap.
3) water conservancy generaI investigation
It is huge to utilize the method for light chi image instrument by the analysis of different time light chi image contrast to can solve in the prior art equipment volume, carries inconvenience, the problems such as inefficiency.
4) ecological, environmental protective
Utilize light chi image instrument can extract the spatial information data of ecotone, for the analysis space correlativity provides essential foundation; Simultaneously, the qualitative description take image as background is more direct and convenient, and has saved the time of field study.
5) archaeological excavation
Light chi image instrument is easy to carry, and it can realize in-site measurement and analysis, for archaeological excavation provides timely and effectively Data support, compares with the three-dimensional laser image-forming module simultaneously, and light chi image instrument is also comparatively cheap on price.
6) house ornamentation engineering
Utilize the light chi image instrument can not only measuring distance, measuring and calculating house ornamentation price and materials can also obtain and get indoor former scape photo simultaneously, are convenient to design the house ornamentation style, make the house ornamentation effect, for construction in later period and examination provide basic foundation.
7) Sunlight Analysis
Utilize light chi image instrument can not only calculate the height of each buildings of buildings yet to be built periphery, three on-the-spot potential field scapes are provided simultaneously, for the Sunlight Analysis in later stage provides more detailed and real in-situ data.
8) public safety
Utilize light chi image instrument to obtain the Various types of data of spatial information, not only cost is lower, and the cycle is short; Simultaneously, can also be timely and effectively new data more, and can analyze data whenever and wherever possible.
9) police criminal detection
Utilize light chi image instrument can with photo and spatial information data effectively, uniformly combination, for analyzing case, seeking evidence effective foundation is provided.
10) Landscape Planning and Design
Utilize light chi image instrument effective, the unified combination of photo and spatial information data for planning and design provide effective foundation, can be post-production design sketch and working drawing simultaneously, the element task base map is provided.
11) pipeline exploration and measurement
Utilize light chi image instrument not only can survey all pipeline situations, and can be with underground utilities present situation situation, the various information such as material corrosion also are stored on the photo.
Description of drawings
Fig. 1 is the structural representation of a kind of laser light chi image assize device of employing embodiment 1;
Fig. 2 is for adopting the test flow chart of embodiment 1;
Fig. 3 is for adopting the light chi image processing software internal framework synoptic diagram of embodiment 1;
Fig. 4 is the structural representation of a kind of laser light chi image assize device of employing embodiment 2;
Detailed description of main elements:
The 1-signal emission module; The 1-1 generating laser; 1-2 three-dimensional laser imager; The 2-signal acquisition module; The 3-memory module; The 4-image processing arrangement; The 5-power supply; The 6-GPS module;
Below in conjunction with the drawings and specific embodiments the present invention is described in more detail, protection scope of the present invention is not limited to following embodiment.
Embodiment
Embodiment 1
As shown in Figure 1, 2, 3, a kind of laser light chi image assize device comprises signal emission module 1, signal acquisition module 2, memory module 3, signal processing module 4 and power supply 5; Signal acquisition module 2, memory module 3 and signal processing module 4 are electrically connected successively, and signal emission module 1, signal acquisition module 2, memory module 3 and signal processing module 4 are connected with power supply 5 respectively.
Wherein, signal emission module 1 is two Infrared laser emission devices, and two Infrared laser emission device perpendicular separations distribute, and its laser light chi is shaped as the identification point that two perpendicular separations distribute.
The length of laser light chi is 15cm, and namely the laser light chi central point spacing of two Infrared laser emission devices is 15cm.
The optical maser wavelength of Infrared laser emission device 1 emission is 650nm.
Utilize the tree survey method of Infrared laser emission device, specifically may further comprise the steps:
Step 1, two Infrared laser emission devices are hung down to be fixedly installed on the absolute fix;
By digital camera two identification points and trees to be measured are taken in a photo, and photo is transferred in the computing machine by the SD card;
1) extracts, by the forestry high score image processing software in the computing machine photo of all shootings is organized into groups, secondly extract the gray-scale value of respectively organizing trees to be measured in the photo, and the geographical co-ordinate system of each group photo with reality mated;
Photo after the processing of forestry high score image processing system is imported to light chi image processing system, and light chi image processing system automatically divides into groups photo, number and selects parameter and memory location, automatically knows tag line or the identification point of getting in the photo;
At last data loading is preserved, the identification information that system can get knowledge automatically and process by identification information after the data importing database;
2) sign is added identification information in photo, namely marks out the height of tree and the diameter of a cross-section of a tree trunk 1.3 meters above the ground of trees to be measured by tag line.
H=h×H
1/h
1；（1）
D=D
1×h/h
1；（2）
Wherein, h is the central point spacing of two laser spots in the actual measurement environment of measuring in step 2;
Calculate volume of timber V by formula (3),
V=C
0×D
C1×H
C2；（3）
Wherein, D and H are respectively the height of tree and the diameter of a cross-section of a tree trunk 1.3 meters above the ground in the actual measurement environment that formula (1) and (2) calculate;
C
0, C
1, C
2Be constant, C
0, C
1, C
2Value by drawing in the Standard Volume formula table, table 2 is the Standard Volume formula table of Yunnan Province's chief species;
Table 2
Calculate biomass B according to formula (4),
B=a+bV；（4）
Wherein, V is the accumulation that calculates in the formula (3), and a, b are constant, and the value of a, b is drawn by table 3 biomass transfer equation table, and table 3 is northern chief species biomass transfer equation table;
Table 3
| Seeds | The biomass conversion factor |
| Chinese pine | 0.755V+5.0928 |
| Arbor-vitae | 0.6129V+26.1451 |
| Robur | 1.3288V-3.8999 |
| Other broad leaf tree | 0.4754V+30.6034 |
| Birch | 0.9644V+0.8485 |
| Scattered wood | 0.981V+0.004 |
| Willow | 0.4754V+30.6034 |
| Shaw | 0.756V+8.3103 |
| Larch in Xinanlin area | 0.5767V-4.7042 |
The crown of tree draws by computing machine MATLAB neural network algorithm analogue simulation.
Utilize said method that 50 shade trees have been carried out the measurement of the diameter of a cross-section of a tree trunk 1.3 meters above the ground and the height of tree, and use total powerstation and the diameter of a cross-section of a tree trunk 1.3 meters above the ground to be rolled into measurement data as the precision test data, compare by measured value and true value, comparative result is as shown in table 4;
Table 4
The accuracy test of measured value and true value is as follows:
(1) uses formula
Ask residual standard deviation.In the formula, S is residual standard deviation, TGB
sBe sample ground true value, TGB
gBe sample ground measured value, n is for participating in the sample ground quantity of accuracy test.
(2) use formula
Ask the basis of calculationJi error.In the formula, δ
xBe standard error.
(3) use formula
Absolute error limit when asking reliability to be 95% and 99%.In the formula, Δ is the absolute error limit, is got α=0.05 and 0.01. by t value distribution difference
(4) use formula
Absolute error limit when asking reliability to be 95% and 99%.In the formula, E is relative error;
Be the mean value of TGBg,
(5) with formula C=100%-E refinement degree C.
Assay is as follows:
Use DPS V7.55Duncan duncan's new multiple range method and EXCEL to carry out data analysis, can draw and use that error is 0.0325 between diameter of a cross-section of a tree trunk 1.3 meters above the ground measured value that instrument obtains and the true value; The data difference utmost point that uses two kinds of different instruments to record is not remarkable, p=0.9252, and 95% fiducial interval is 13.6848～15.6338.
Use DPS V7.55Duncan duncan's new multiple range method and EXCEL to carry out data analysis, can draw and use that error is 0.0436 between height of tree measured value that instrument obtains and the true value, the data difference utmost point that uses two kinds of different instruments to record is not remarkable, p=0.9759,95% fiducial interval is 13.6905～15.5895.
The Detailed Inspection result is as shown in table 5:
Table 5
As shown in Figure 4, a kind of laser light chi image assize device comprises signal emission module 1, signal acquisition module 2, memory module 3, signal processing module 4 and power supply 5; Signal acquisition module 2, memory module 3 and signal processing module 4 are electrically connected successively, and signal emission module 1, signal acquisition module 2, memory module 3 and signal processing module 4 are connected with power supply 5 respectively.
Signal emission module 1 is three-dimensional laser imager 1-2, and its model is Sheng Bang-360.
Utilize the tree survey method of three-dimensional laser imager 1-2 may further comprise the steps:
Step 1 is arranged on absolute fix with three-dimensional laser imager 1-2;
Measure the height h ' of three-dimensional laser light chi in the actual measurement environment;
With digital camera three-dimensional laser light chi and trees to be measured are taken in a photo, and photo is transferred to computing machine by the SD card;
1) extract, extract the information of described trees to be measured by the C3D virtual environment simulation software in the computing machine, described information comprises the spatial data of described trees profile to be measured;
2) sign is added identification information in image data, and identification information comprises the height of tree and the diameter of a cross-section of a tree trunk 1.3 meters above the ground of trees to be measured;
3) compare, measure the height h of the three-dimensional laser light chi in the image data
1', comparison h ' and h
1' numerical value, draw the imaging Proportional coefficient K of image data;
H=K×H
1 （5）
D=K×D
1 （6）
Wherein, K is the imaging scale-up factor of the image data that calculates in the step 3, K=1;
Calculate volume of timber V by formula (3),
V=C
0×D
C1×H
C2； （3）
Wherein, D and H are respectively the height of tree and the diameter of a cross-section of a tree trunk 1.3 meters above the ground in the actual measurement environment that formula group (5) calculates;
C
0, C
1, C
2Be constant, C
0, C
1, C
2Value by drawing in the Standard Volume formula table, table 2 is the Standard Volume formula table of Yunnan Province's chief species;
Table 2
Calculate biomass B according to formula (4),
B=a+bV； （4）
Wherein, V is the accumulation that calculates in the formula (3), and a, b are constant, and the value of a, b is drawn by table 3 biomass transfer equation table, and table 3 is northern chief species biomass transfer equation table;
Table 3
| Seeds | The biomass conversion factor |
| Chinese pine | 0.755V+5.0928 |
| Arbor-vitae | 0.6129V+26.1451 |
| Robur | 1.3288V-3.8999 |
| Other broad leaf tree | 0.4754V+30.6034 |
| Birch | 0.9644V+0.8485 |
| Scattered wood | 0.981V+0.004 |
| Willow | 0.4754V+30.6034 |
| Shaw | 0.756V+8.3103 |
| Larch in Xinanlin area | 0.5767V-4.7042 |
Crownly draw by computing machine MATLAB neural network algorithm analogue simulation.
Technique scheme is two kinds of embodiments of the present invention, for those skilled in the art, on the basis that the invention discloses application process and principle, be easy to make various types of improvement or distortion, and be not limited only to the described structure of the above-mentioned embodiment of the present invention and method, therefore the describing mode of front is optimal way, and does not have restrictive meaning.
Claims (10)
1. laser light chi image assize device is characterized in that:
Described assize device comprises signal emission module (1), signal acquisition module (2), memory module (3), signal processing module (4) and power supply (5); Described signal acquisition module (2) is connected with described memory module (3), described memory module (3) is connected with described signal processing module (4), and described signal emission module (1), signal acquisition module (2), memory module (3) and signal processing module (4) are connected with described power supply (5) respectively;
The laser signal of described signal emission module (1) output forms the laser light chi trees to be measured, described signal acquisition module (2) gathers described laser light chi signal, and by described memory module (3) described laser light chi signal is transferred to described signal processing module (4), described signal processing module (4) is processed collection signal, and calculate and export the attributive character parameters of described trees to be measured, namely the diameter of a cross-section of a tree trunk 1.3 meters above the ground, the height of tree, crown, the volume of timber, accumulate and biomass parameters.
2. a kind of laser light chi image assize device according to claim 1 is characterized in that:
Described signal emission module (1) is two-dimensional laser light chi transmitter module, and it comprises generating laser (1-1);
The laser signal of described generating laser (1-1) emission forms two-dimensional laser light chi trees to be measured, and namely the laser light chi of described generating laser (1-1) is shaped as a kind of in the point, line, surface;
The quantity of described generating laser (1-1) is at least two;
The length of described two-dimensional laser light chi is 1～50cm, and the central point spacing of the laser light chi of adjacent described generating laser (1-1) is 1～50cm.
3. a kind of laser light chi image assize device according to claim 2 is characterized in that:
The quantity of described generating laser (1-1) is 2～3, and each described generating laser (1-1) perpendicular separation distributes;
The length of described two-dimensional laser light chi is 5～25cm, and the central point spacing of the laser light chi of adjacent described generating laser (1-1) is 5～25cm.
4. a kind of laser light chi image assize device according to claim 1 is characterized in that:
Described signal emission module (1) three-dimensional laser light chi transmitter module, it comprises three-dimensional laser imager (1-2);
The laser signal of described three-dimensional laser imager (1-2) emission on trees to be measured or trees to be measured periphery form three-dimensional laser light chi, the laser light chi that is described three-dimensional laser imager (1-2) is shaped as three-dimensional graph, the profile of described trees to be measured and described laser light foot wheel exterior feature are proportional, and its scale-up factor is 1:0.01～1:1.
5. according to claim 1, one of 2,4 described a kind of laser light chi image assize devices, it is characterized in that:
Described signal emission module (1) is for being fixedly installed or mobile the setting, and described mobile the setting is that described signal emission module (1) is arranged on the Move tool.
6. it is characterized in that according to claim 2 or 3 described a kind of laser light chi image assize devices:
Described generating laser (1-1) is the one-wavelength laser transmitter, and the one-wavelength laser wavelength of its output is 266-1064nm.
7. a kind of laser light chi image assize device according to claim 1 is characterized in that:
Described signal acquisition module (2) is CCD or CMOS, and described CCD or CMOS are arranged in the digital camera or in the Digital Video;
Described memory module (3) is SD card or USB flash memory driver, and described memory module (3) is connected with described signal processing module (4) by the arbitrary mode in USB interface, bluetooth module, the wireless communication module;
Embed in the described memory module (3) and be provided with GPS module (6);
Described signal processing module (4) is computing machine or mobile phone.
8. utilize the tree survey method of the described two-dimensional laser light of one of claim 1～7 chi emitter, it is characterized in that:
The step of described tree survey method is,
Step 1 is arranged on absolute fix with described generating laser (1-1);
Step 2 starts described generating laser (1-1), forms two-dimensional laser light chi described trees to be measured;
Measure the two-dimensional laser light chi height h in the actual measurement environment, by described digital camera or the Digital Video collection image data with described two-dimensional laser light chi and trees attributive character to be measured, and described image data transferred to described signal processing module (4);
Step 3 utilizes described signal processing module (4) that the image data that gets access to is extracted and identifies;
1) extract, namely extract the information of trees to be measured described in the image data by described signal processing module (4), described information comprises bottom position and tip position, trunk profile and the crown outline of described trees to be measured;
2) sign is namely added identification information in image data, and identification information comprises the height of tree and the diameter of a cross-section of a tree trunk 1.3 meters above the ground of described trees to be measured;
Step 4 is measured the height of tree H of trees to be measured in the image data
1, diameter of a cross-section of a tree trunk 1.3 meters above the ground D
1And two-dimensional laser light chi height h
1, calculate the height of tree H that surveys under the environment by formula (1), calculate the diameter of a cross-section of a tree trunk 1.3 meters above the ground D that surveys under the environment by formula (2),
H=h×H
1/h
1； （1）
D=D
1×h/h
1； （2）
Wherein, h is the two-dimensional laser light chi height in the actual measurement environment of measuring in step 2;
Calculate the volume of timber or accumulate V by formula (3),
V=C
0×D
C1×H
C2； （3）
Wherein, D and H are respectively the height of tree and the diameter of a cross-section of a tree trunk 1.3 meters above the ground in the actual measurement environment that formula (1) and (2) calculate;
C
0, C
1, C
2Be constant, C
0Span be 0～100, C
1Span be 0～100, C
2Span be 0～100;
Calculate biomass B according to formula (4),
B=a+bV； （4）
Wherein, V is the volume of timber or the accumulation that calculates in the formula (3), and a, b are constant, and the span of a is that the span of 0～10000, b is 0～10000;
Crownly draw by computing machine MATLAB neural network algorithm analogue simulation.
9. utilize the tree survey method of the described three-dimensional laser imager of one of claim 1～7, it is characterized in that:
Said method comprising the steps of:
Step 1 is arranged on absolute fix with described three-dimensional laser imager (1-2);
Step 2 starts described three-dimensional laser imager (1-2), on described trees to be measured or trees to be measured peripheries form three-dimensional laser light chi, the profile of described three-dimensional laser light chi and the profile of described trees to be measured are proportional;
Measure the height h ' of three-dimensional laser light chi in the actual measurement environment;
By described digital camera or the Digital Video collection image data with described three-dimensional laser light chi and trees attributive character to be measured, and described image data transferred to described signal processing module (4) by described memory module (3);
Step 3 utilizes described signal processing module (4) that the image data that gets access to is extracted, identifies and compares;
1) extract, extract the information of described trees to be measured, described information comprises the spatial data of described trees profile to be measured;
2) sign is namely added identification information in image data, and identification information comprises the height of tree and the diameter of a cross-section of a tree trunk 1.3 meters above the ground of described trees to be measured;
3) compare, measure the height h of the three-dimensional laser light chi in the image data
1', comparison h ' and h
1' numerical value, draw the imaging Proportional coefficient K of image data;
Step 4 is measured height of tree H1 and the diameter of a cross-section of a tree trunk 1.3 meters above the ground D of trees to be measured in the image data
1, and calculate the height of tree H of actual measurement under the environment by formula (5), calculate diameter of a cross-section of a tree trunk 1.3 meters above the ground D under the actual measurement environment by formula (6):
H=K×H
1 （5）
D=K×D
1 （6）
Wherein, K is the imaging scale-up factor of the image data that calculates in the step 3, and the span of K is 0.01～1;
Calculate the volume of timber or accumulate V by formula (3),
V=C
0×D
C1×H
C2； （3）
Wherein, D and H are respectively the height of tree and the diameter of a cross-section of a tree trunk 1.3 meters above the ground in the actual measurement environment that formula group (5) calculates;
C
0, C
1, C
2Be constant, C
0Span be 0～100, C
1Span be 0～100, C
2Span be 0～100;
Calculate biomass B according to formula (4),
B=a+bV； （4）
Wherein, V is the accumulation that calculates in the formula (3), and a, b are constant, and the span of a is that the span of 0～10000, b is 0～10000;
Crownly draw by computing machine MATLAB neural network algorithm analogue simulation.
10. it is characterized in that according to claim 8 or the tree survey method of 9 described a kind of laser light chi images:
Described signal emission module (1) is fixedly installed on absolute fix or is arranged on the Move tool, starts described Move tool described signal emission module (1) is moved to absolute fix;
In the signal acquisition process of step 2, utilize digital camera to take lower photo with described laser light chi and trees attributive character to be measured;
Perhaps utilize Digital Video that one group of trees to be measured with described laser light chi is taken successively, get access to one group with the dynamic image of described laser light chi and trees attributive character to be measured; And be truncated to photo with described laser light chi and trees attributive character to be measured by described computing machine or mobile phone;
In the signal processing of step 3, utilize described computing machine or mobile phone that the image data that gets access to is extracted and identifies.
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