CN102980510B - A kind of laser light chi image assize device and tree survey method thereof - Google Patents
A kind of laser light chi image assize device and tree survey method thereof Download PDFInfo
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Abstract
The present invention is a kind of laser light chi image assize device and tree survey method thereof, and this assize device comprises signal emission module, signal acquisition module, memory module, signal processing module and power supply; Signal emission module, signal acquisition module, memory module and signal processing module are connected with power supply respectively; This tree survey method is that the laser signal exported by signal emission module forms laser light chi on trees to be measured, signal acquisition module gathers light signal, after opto-electronic conversion, transfer to signal processing module, signal calculates the attributive character of trees to be measured after treatment by experimental formula; Compared with prior art, the present invention has that equipment volume is little, cost is low, automaticity is high, measuring accuracy advantages of higher.
Description
Technical field
The present invention relates to forestry survey field, be specifically related to laser light chi image assize device and tree survey method.
Background technology
In Forestry Investigation, need the height of tree to trees, the diameter of a cross-section of a tree trunk 1.3 meters above the ground, crown, the factor such as accumulation and biomass quantizes.Wherein, the height of tree refers to distance trees are from rhizome ground to 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; Crownly refer to shape of tree-crown, tree crown is part more than first major branch of tree or first branch; 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 certain area of woods also exists; Biomass be forest vegetation to drop in its life process produce the semi-invariant of dry.
At present, forest compass has been still the main tool of forest survey task, and forest compass is mainly used in the surveying work such as magnetic orientation and distance, level, the discrepancy in elevation, slope angle.The subject matter of gloomy inner compass assize is used 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, the impact by ore, hi-line, metal, electromagnetic interference causes the error of measurement large;
3, precision is low, automaticity is low, cause process and measurement effect poor.
Angle gauge is the inventory of stand instrument that forestry generally adopts.At present, state-of-the-art angle gauge tree surveying apparatus remains Bitterlich, the relascope of W. invention.But in 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, the error moving forward and cause is put around location.Human body standing place is not perpendicular to the ground, expands circle principle, will produce error by angle gauge.
2, observation position is forbidden the error that causes.Due to the impact of landform, understory shrub, the sight line of people accurately can not aim at trunk 1.3m place, thus produces elementary errors.
3, due to error that the gradient causes.Tradition angle gauge tree surveying apparatus is suitable for using on level land, when using in slope, can only carry out overall gradient correction roughly, and carries out gradient correction to every strain counting wood and comparatively bother, and workload is large.
Therefore, the trouble adopting traditional angle gauge mensuration standing forest to cause and error are inevitable.
In addition, in other field of information acquisition, existing collecting device is utilized also can to produce error:
1) three-dimension tidal current
Data acquisition before cybercity construction be generally by taking photo by plane, airborne radar, trailer-mounted radar, standing posture three-dimensional laser image-forming module, the equipment such as total powerstation have come.After having built white mould, also need on-the-spot for taking pictures subsides texture in every house, to realize virtual reality scenario.Existing modeling method is all 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 is oversize, and airborne radar needs just can fly under air transport coordination and the good prerequisite of weather, and standing posture three-dimensional laser image-forming module measures an object needs half an hour;
C) post-processed is complicated, builds up Bai Mohou, also need scene to take pictures and get texture according to the cloud data after the scanning of three-dimensional laser image-forming module.
2) territory investigation
The investigation normal method used in tradition territory has:
A) photogrammetric rear analytic expression drafting method, 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 " figure " engineering that can solve under absolute coordinate system, and in the face of the region having construction and change, if there is no reference mark, need to find national geodesic reference mark or with unmanned plane during flying, the problem that said method brings is that cost is too high, efficiency is too low.
3) water conservancy generaI investigation
Soil erosion amount in water conservancy generaI investigation represents by calculating soil erodibility.Generally adopt soil erosion device to measure when soil erosion monitoring.
The problem that this method is brought is instrument bulky, carries inconvenience, inefficiency.
4) ecological, environmental protective
Information relevant to physiognomy, level, feature etc. in current Ecological Investigation, landscape pattern's investigation describes, and is only qualitative description, can not extracts effectively data message.
If adopt standing posture three-dimensional laser image-forming module to solve spatial information between ecologic community and correlativity, the problem brought is that the volume of equipment, weight are large, and extremely inconvenience is carried in field; If adopt the mode of commonness photograph, then still can only observe qualitative relationships, effective spatial information data cannot be extracted as support.
5) archaeological excavation
Due to the singularity at archaeological excavation scene, make it must under the prerequisite not destroying artifact scene, provide valid data needed for excavation as foundation, and the measurement that can not arrive region can be realized.
At present, part archaeological excavation adopts the way of standing posture 3 D laser scanning, the method except the volume of instrument, weight large, field is carried outside extremely inconvenience, its data volume is large, processing time is long, is not easy to as excacation scene, field provides Data support timely and effectively, extends the working time of field archaeology;
6) house ornamentation engineering
At present in house ornamentation engineering, generally use hand-held stadimeter to the range observation of indoor, the method is convenient and swift.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 a job indispensable before urban architecture program examination and approval.The instrument that current Sunlight Analysis generally adopts is total powerstation, to calculate the height of the building of thing periphery yet to be built.Then, with the report of CABR Technology Co., Ltd. of Chinese Research Institute for Building Sciences design Sunlight software development Sunlight Analysis, detect with the positive Sunshine analysis software TSun in sky.
The problem that this method is brought is, when adopting total powerstation to calculate the height of the building of thing periphery yet to be built, efficiency is low, and take artificial, and total powerstation equipment is comparatively large, scene does not have enough spaces to carry out placing total station.
8) public safety
At public safety field, be first set up 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 current spatial information, the method master of use
If aeroplane photography, the broken portion investigation of total powerstation ground etc.The problem that said method brings is the acquisition of data
Cost is excessive.
9) police criminal detection
Current police criminal detection department, to the investigation method of scene of a crime, is generally adopt the method for taking pictures and manually measuring all kinds of distance.The photo at scene is separated with effective data message by said method, during comprehensive analysis intuitively, not deeply.
10) Landscape Planning and Design
In the inspection of the scene of a crime in early stage of garden landscape planning and design, generally need floor present situation photo, Combining with terrain figure, make the design sketch after planning.The instrument that said method uses is camera, total powerstation or transit.
Said method Problems existing is that photo and spatial geographic information are asymmetric, and effect is not directly perceived.
11) pipeline exploration and measurement
Detection at present for underground pipeline often adopts pipe and cable detector, and pipe and cable detector divides two classes according to detection principle:
One class utilizes electromagnetic induction principle to detect metal pipe line, electrical/optical cable, and some are with the nonmetal pipe line of metal flag line, this kind of abbreviation 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: during detection nonmetal pipe line, must by nonmetal probe, and this method uses and compares effort, needs to invade pipeline inner.
Another kind of is the underground utilities utilizing all materials of electromagnetic wave detection, also can be used for searching of buried under ground object, is commonly called as radar, be also referred to as pipeline radar.
The advantage of this kind equipment is: the pipeline that can detect all materials
The shortcoming of this kind equipment is: higher to environmental requirement, and depth measurement ability is poor, and difficulty looks into the darker pipeline of buried depth, to operator's quality and skill requirement high.
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, realizing 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 defect of prior art.
Mentality of designing of the present invention is as follows:
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 that signal emission module 1 exports forms laser light chi on trees to be measured, signal acquisition module 2 collection states laser light chi signal, and pass through memory module 3 by laser light chi Signal transmissions to signal processing module 4, signal processing module 4 processes collection signal, and calculate and export the attributive character parameter of trees to be measured, be i.e. 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, accumulation and biomass parameters.
In concrete enforcement, 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 that generating laser 1-1 launches forms two-dimensional laser light chi on trees to be measured, and namely the laser light chi shape of generating laser 1-1 is the one in 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 for Forestry Investigation is 5cm, therefore for the ease of measuring, the length of two-dimensional laser light chi is 1 ~ 50cm, and the central point spacing of the laser light chi of adjacent laser transmitter 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, the laser spots that radial arrangement along trees to be measured can cause each generating laser 1-1 to be transmitted on trees to be measured projects not in one plane, thus affects measuring accuracy; Also be unfavorable for the central point identifying laser spots in laser light chi simultaneously;
Therefore, the quantity of generating laser 1-1 is 2 ~ 3, each generating laser 1-1 perpendicular separation distribution;
Three-dimensional laser light chi transmitter module comprises three-dimensional laser imager 1-2.
The laser signal that three-dimensional laser imager 1-2 launches on trees to be measured or trees periphery to be measured form three-dimensional laser light chi, namely the laser light chi shape of three-dimensional laser imager 1-2 is three-dimensional graph, profile and the laser light foot wheel exterior feature of trees to be measured 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 setting, and mobile setting and signal emission module 1 are arranged on Move tool, and Move tool comprises mechanical model or flight tool.
In concrete enforcement, in order to reduce the infringement of laser for human eye of generating laser 1-1 transmitting, generating laser 1-1 is one-wavelength laser transmitter, and the one-wavelength laser wavelength that one-wavelength laser transmitter exports is 266-1064nm.
Be easier to make laser light chi differentiate, Infrared laser emission device selected by one-wavelength laser transmitter, and the optical maser wavelength that Infrared laser emission device is launched is 650nm, and the transmitting range of Infrared laser emission device is greater than 100 meters.
Signal acquisition module 2 is that CCD or CMOS, CCD or CMOS are arranged in digital camera or in Digital Video.
Memory module 3 is SD card or USB flash memory driver, and memory module 3 is connected with signal processing module 4 by the either type in USB interface, bluetooth module, wireless communication module.
Embed in memory module 3 and be provided with GPS module 6, to determine the longitude and latitude in forestry survey.
Signal processing module 4 is computing machine or mobile phone.
Signal processing module 4 is computing machine or mobile phone, and the operating platform of computing machine is WinCE or Linux, and the operating platform of mobile phone is the one in Symbian, ResearchInMotion, iPhoneOS, Android, MicrosoftWindowsPhone.
Utilize the tree survey method of this assize device, that to make use of the precision of laser high, the feature that rectilinearity is strong and concentration degree is high, present a little by Laser emission die-filling piece of laser launched on space or measurand, line, face or shape, and by photo-sensitive cell and image processing arrangement by with above-mentioned smooth chi measurand imaging and store, because the size of light chi can be determined in advance, and the image containing light chi stored, graphics process is carried out 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 has nothing to do; Have nothing to do with the distance of laser beam emitting device distance measurand; Have nothing to do with the angle measured, achieve the non-cpntact measurement with measurand.
Specifically, the tree survey method of generating laser 1-1 is utilized to comprise the following steps:
Step 1, is arranged on absolute fix by generating laser 1-1.
Step 2, starts generating laser 1-1, trees to be measured is formed two-dimensional laser light chi;
Measure the two-dimensional laser light chi height h in actual measurement 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 is transferred to signal processing module 4;
Step 3, utilizes signal processing module 4 to extract the image data got and identify;
1) extract, extracted the information of trees to be measured in 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) identify, namely in image data, add identification information, 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;
Step 4, measures the height of tree H of trees to be measured in 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 under actual measurement environment by formula (1), calculate the diameter of a cross-section of a tree trunk 1.3 meters above the ground D under actual measurement 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 measured in step 2;
The volume of timber or accumulation V is calculated by formula (3),
V=C
0×D
C1×H
C2；（3）
Wherein, D and H is respectively the height of tree in the actual measurement environment that formula (1) and (2) calculate and the diameter of a cross-section of a tree trunk 1.3 meters above the ground,
C
0, C
1, C
2be constant, C
0span be 0 ~ 100, C
1span be 0 ~ 100, C
2span be 0 ~ 100;
Biomass B is calculated according to formula (4),
B=a+bV；（4）
Wherein, V is the accumulation calculated in formula (3), and a, b are constant, and the span of a is the span of 0 ~ 10000, b is 0 ~ 10000;
Crownly to be drawn by computing machine MATLAB neural network algorithm analogue simulation.
The tree survey method of three-dimensional laser imager 1-2 is utilized to comprise the following steps:
Step 1, is arranged on absolute fix by three-dimensional laser imager 1-2;
Step 2, starts three-dimensional laser imager 1-2, on trees to be measured or trees periphery to be measured form three-dimensional laser light chi, the profile of three-dimensional laser light chi and the profile of trees to be measured proportional;
Measure the height h ' of three-dimensional laser light chi in actual measurement environment;
By digital camera or Digital Video 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 is transferred to signal processing module 4 by memory module 3;
Step 3, utilizes signal processing module 4 to extract the image data got, identifies and comparison;
1) extract, extracted the information of trees to be measured by the simulation software in signal processing module 4, information comprises the spatial data of trees profile to be measured;
In concrete enforcement, simulation software selects MATLAB, Cyclone or C3D virtual environment simulation software.
2) identify, in image data, add identification information, 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) comparison, measures the height h of the three-dimensional laser light chi in image data
1', comparison h ' and h
1' numerical value, draw the imaging scale COEFFICIENT K of image data;
Step 4, measures the height of tree H in image data
1and diameter of a cross-section of a tree trunk 1.3 meters above the ground D
1, and calculate the height of tree H under actual measurement environment by formula (5), calculate the diameter of a cross-section of a tree trunk 1.3 meters above the ground D under actual measurement environment by formula (6):
H=K×H
1（5）
D=K×D
1（6）
Wherein, K is the imaging scale coefficient of the image data calculated in step 3, and the span of K is 0.01 ~ 1;
The volume of timber or accumulation V is calculated by formula (3),
V=C
0×D
C1×H
C2；（3）
Wherein, D and H is respectively the height of tree in the actual measurement environment that formula group (5) calculates and the diameter of a cross-section of a tree trunk 1.3 meters above the ground;
C
0, C
1, C
2be constant, C
0span be 0 ~ 100, C
1span be 0 ~ 100, C
2span be 0 ~ 100;
Biomass B is calculated according to formula (4),
B=a+bV；（4）
Wherein, V is the accumulation calculated in formula (3), and a, b are constant, and the span of a is the span of 0 ~ 10000, b is 0 ~ 10000;
Crownly to be drawn by computing machine MATLAB neural network algorithm analogue simulation.
In concrete enforcement,
In step 1, generating laser 1-1 be fixedly installed on absolute fix or be arranged on Move tool, starting Move tool and generating laser 1-1 is moved to absolute fix;
In the signal acquisition process of step 2, with the photo of laser light chi and trees attributive character to be measured under utilizing digital camera to take;
Or utilize Digital Video to take successively one group of trees to be measured with laser light chi, get one group of dynamic image with laser light chi and trees attributive character to be measured; And be truncated to the 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, computing machine or mobile phone is utilized to extract the photo got and identify.
The leaching process of information is,
First by forestry high score image processing software, the photo of all shootings is organized into groups, extract the gray-scale value of trees to be measured in each group of photo, and the geographical co-ordinate system of each group of photo with reality is mated;
Photo after the process of forestry high score image processing software is imported to light chi image processing system;
Secondly, utilize the light chi image processing system in 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;
The mode of automatic extraction is,
1) photo carries out dividing into groups, numbering and Selection parameter and memory location by light chi image processing system automatically;
2) tag line or identification point automatically knowing and get in photo is utilized in light chi image processing system;
3) data loading, system can will know the identification information got and the data importing database gone out by identification information process automatically;
The mode of semi-automatic extraction is,
1) in light chi image processing system, according to oneself need photo is carried out divide into groups, number and Selection parameter and memory location;
2) tag line or identification point automatically knowing and get in photo is utilized in light chi image processing system;
3) data loading, system can will know the identification information got and the data importing database gone out by identification information process automatically;
Manual extraction mode is,
1) in light chi image processing system, according to oneself need photo is carried out divide into groups, number and Selection parameter and memory location;
2) judge to know the typical identification point got in photo according to human eye in light chi image processing system,
3) data check, the data calculated according to light chi image processing system in conjunction with field study record, by artificially detecting the choice judging to carry out data,
4) data after checking manually are imported database by data loading.
Compared with conventional standing forest survey instrument, adopt the feature 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) digital equipment and laser light chi unite two into one by the present invention, and light harvesting, photography and laser light chi advantage, in one, achieve the miniaturization of assize device;
2) in equipment placement, light chi image instrument is arranged on a point of fixity, without the need to centering leveling, accurately can carries out Quick Measurement to many trees;
3) light chi device for image is without the need to finding range, and only needs sampling of taking pictures, and has greatly heightened measuring speed and precision, saves a large amount of man power and materials;
4) by circumscribed USB interface, data are automatically transferred to image processing arrangement, by working out automatic software for calculation, realize the robotization of data processing.
In other areas, adopt smooth chi image measuring method of the present invention, obtain the effect outstanding than prior art equally:
1) three-dimension tidal current
Utilize light chi image instrument Combining with terrain figure can solve the problems such as input cost of the prior art is huge, the cycle is oversize, post-processed is complicated, i.e. map based on topomap, the aspectual characters such as buildings and other object heights, be as the criterion with light chi image, texture processing is without the need to arriving shooting again.
2) territory investigation
Utilize " repair survey " topomap work that light chi image measuring method realizes in the investigation of territory, the problem that in prior art, cost is too high, efficiency is too low can be solved very well, and region of variation topomap can be upgraded in real time, precisely.
3) water conservancy generaI investigation
Utilize light chi image instrument to can solve equipment volume in prior art by the method for different time light chi image contrast analysis huge, carry inconvenience, the problems such as inefficiency.
4) ecological, environmental protective
Utilize light chi image instrument can extract the spatial information data of ecotone, for analysis space correlativity provides required foundation; Meanwhile, be that the qualitative description of background is more direct and convenient with image, and 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 Data support timely and effectively, simultaneously compared with three-dimensional laser image-forming module, light chi image instrument in price also inexpensively.
6) house ornamentation engineering
Utilize light chi image instrument can not only measuring distance, measuring and calculating house ornamentation price and materials, can also obtain simultaneously and get indoor former scape photo, is convenient to design house ornamentation style, makes 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 periphery yet to be built, provide three on-the-spot potential field scapes, the Sunlight Analysis for the later stage provides more detailed and real in-situ data simultaneously.
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; Meanwhile, can also more new data timely and effectively, and data can be analyzed whenever and wherever possible.
9) police criminal detection
Utilize light chi image instrument photo and spatial information data effectively, uniformly can be combined, for analyzing case, searching evidence provides effective foundation.
10) Landscape Planning and Design
Utilize light chi image instrument by photo and effective, the unified combination of spatial information data, for planning and design provide effective foundation, to be post-production design sketch and working drawing simultaneously, to provide element task base map.
11) pipeline exploration and measurement
Utilize light chi image instrument not only can detect all line conditions, and can by underground utilities present situation situation, the various information such as material corrosion is also stored on photo.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of laser light chi image assize device adopting embodiment 1;
Fig. 2 is the test flow chart adopting embodiment 1;
Fig. 3 is the light chi image processing software internal framework schematic diagram adopting embodiment 1;
Fig. 4 is the structural representation of a kind of laser light chi image assize device adopting embodiment 2;
Detailed description of main elements:
1-signal emission module; 1-1 generating laser; 1-2 three-dimensional laser imager; 2-signal acquisition module; 3-memory module; 4-image processing arrangement; 5-power supply; 6-GPS module;
Be described in more detail the present invention below in conjunction with the drawings and specific embodiments, 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, two Infrared laser emission device perpendicular separation distributions, and its laser light chi shape is the identification point of two perpendicular separation distributions.
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 that Infrared laser emission device 1 is launched is 650nm.
Signal acquisition module 2 is CCD, and it is arranged in digital camera, and the pixel of digital camera is 5,000,000.
Memory module 3 is SD card, and it is arranged in digital camera, embeds and be provided with GPS locating device in SD card.
Signal processing module 4 is computing machine, and the operating platform of computing machine is WINCE.
Utilize the tree survey method of Infrared laser emission device, specifically comprise the following steps:
Two Infrared laser emission devices are hung down and are fixedly installed in absolute fix by step 1;
Step 2, opens Infrared laser emission device, trees to be measured is formed the identification point of two perpendicular separation distributions, measures the central point spacing h of two laser spots.
By digital camera, two identification points and trees to be measured are taken in a photo, and photo is transferred in computing machine by SD card;
Step 3, is undertaken extracting and identifying by computing machine comparison film;
1) extract, by the forestry high score image processing software in computing machine, the photo of all shootings is organized into groups, secondly extract the gray-scale value of trees to be measured in each group of photo, and the geographical co-ordinate system of each group of photo with reality is mated;
Photo after the process of forestry high score image processing system is imported to light chi image processing system, and photo carries out dividing into groups, numbering and Selection parameter and memory location by light chi image processing system automatically, automatically knows the tag line got in photo or identification point;
Finally preserved by data loading, system automatically can will know the identification information that get and by the data importing database after identification information process;
2) identify, in photo, add identification information, namely marked 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.
Step 4, measures the height of tree H of trees to be measured in photo
1, diameter of a cross-section of a tree trunk 1.3 meters above the ground D
1and two central point spacing h of laser spots
1, calculate the height of tree H under actual measurement environment by formula (1), calculate the diameter of a cross-section of a tree trunk 1.3 meters above the ground D under actual measurement environment by formula (2),
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 measured in step 2;
Volume of timber V is calculated by formula (3),
V=C
0×D
C1×H
C2；（3）
Wherein, D and H is respectively the height of tree in the actual measurement environment that formula (1) and (2) calculate and the diameter of a cross-section of a tree trunk 1.3 meters above the ground;
C
0, C
1, C
2be constant, C
0, C
1, C
2value draw by Standard Volume formula table, table 2 is the Standard Volume formula table of Yunnan Province's chief species;
Table 2
Biomass B is calculated according to formula (4),
B=a+bV；（4）
Wherein, V is the accumulation calculated in 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 | 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 is drawn by computing machine MATLAB neural network algorithm analogue simulation.
Utilize said method to carry 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 to 50 shade trees, 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 precision test data, compared 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) formula is used
ask residual standard deviation.In formula, S is residual standard deviation, TGB
sfor sample ground true value, TGB
gfor sample ground measured value, n is the sampling intensity participating in accuracy test.
(2) formula is used
ask calculation standard error.In formula, δ
xfor standard error.
(3) formula is used
absolute error limit when asking reliability to be 95% and 99%.In formula, Δ is absolute error limit, is obtained, α=0.05 and 0.01. by t Distribution value difference
(4) formula is used
absolute error limit when asking reliability to be 95% and 99%.In formula, E is relative error;
for the mean value of TGBg,
(5) with formula C=100%-E refinement degree C.
Assay is as follows:
Use DPSV7.55Duncan duncan's new multiple range method and EXCEL to carry out data analysis, can show that the error between diameter of a cross-section of a tree trunk 1.3 meters above the ground measured value and true value using instrument to obtain is 0.0325; Between the data using two kinds of different instruments to record, difference pole is remarkable, and p=0.9252,95% fiducial interval is 13.6848 ~ 15.6338.
DPSV7.55Duncan duncan's new multiple range method and EXCEL is used to carry out data analysis, can show that the error between height of tree measured value and true value using instrument to obtain is 0.0436, between the data using two kinds of different instruments to record, difference pole is not remarkable, p=0.9759,95% fiducial interval is 13.6905 ~ 15.5895.
Detailed Inspection result is as shown in table 5:
Table 5
Embodiment 2
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.
Signal acquisition module 2 is CCD, and it is arranged in digital camera, and the pixel of digital camera is 5,000,000.
Memory module 3 is SD card, and it is arranged in digital camera, embeds and be provided with GPS locating device in SD card.
Signal processing module 4 is computing machine, and the operating platform of computing machine is WINCE.
The tree survey method of three-dimensional laser imager 1-2 is utilized to comprise the following steps:
Step 1, is arranged on absolute fix by three-dimensional laser imager 1-2;
Step 2, starts three-dimensional laser imager 1-2, forms three-dimensional laser light chi, the profile of three-dimensional laser light chi and the profile equal proportion of described trees to be measured at trees periphery to be measured;
Measure the height h ' of three-dimensional laser light chi in 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 SD card;
Step 3, utilizes computing machine to extract the image data got, identifies and comparison;
1) extract, extracted the information of described trees to be measured by the C3D virtual environment simulation software in computing machine, described information comprises the spatial data of described trees profile to be measured;
2) identify, in image data, add identification information, 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) comparison, measures the height h of the three-dimensional laser light chi in image data
1', comparison h ' and h
1' numerical value, draw the imaging scale COEFFICIENT K of image data;
Step 4, measures the height of tree H of trees to be measured in image data
1and diameter of a cross-section of a tree trunk 1.3 meters above the ground D
1, and calculate the height of tree H under actual measurement environment by formula (5), calculate the diameter of a cross-section of a tree trunk 1.3 meters above the ground D under actual measurement environment by formula (6):
H=K×H
1（5）
D=K×D
1（6）
Wherein, K is the imaging scale coefficient of the image data calculated in step 3, K=1;
Volume of timber V is calculated by formula (3),
V=C
0×D
C1×H
C2；（3）
Wherein, D and H is respectively the height of tree in the actual measurement environment that formula group (5) calculates and the diameter of a cross-section of a tree trunk 1.3 meters above the ground;
C
0, C
1, C
2be constant, C
0, C
1, C
2value draw by Standard Volume formula table, table 2 is the Standard Volume formula table of Yunnan Province's chief species;
Table 2
Biomass B is calculated according to formula (4),
B=a+bV；（4）
Wherein, V is the accumulation calculated in 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 | 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 to be drawn 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 the structure be not limited only to described by the above-mentioned embodiment of the present invention and method, therefore the describing mode before is optimal way, and does not have restrictive meaning.
Claims (9)
1. utilize the tree survey method of laser light chi image assize device, it is characterized in that:
The step of described tree survey method is,
Step 1, is arranged on absolute fix by generating laser (1-1);
Step 2, starts generating laser (1-1), trees to be measured is formed two-dimensional laser light chi;
Measure the two-dimensional laser light chi height h in actual measurement environment, by 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 is transferred to signal processing module (4);
Step 3, utilizes described signal processing module (4) to extract the image data got and identify;
1) extract, namely extracted the information of trees to be measured described in 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) identify, namely in image data, add identification information, 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, measures the height of tree H1 of trees to be measured in image data, diameter of a cross-section of a tree trunk 1.3 meters above the ground D1 and two-dimensional laser light chi height h1, calculates the height of tree H under actual measurement environment by formula (1), calculates the diameter of a cross-section of a tree trunk 1.3 meters above the ground D under actual measurement 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 measured in step 2;
The volume of timber or accumulation V is calculated by formula (3),
V＝C
0×D
C1×H
C2；(3)
Wherein, D and H is respectively the height of tree in the actual measurement environment that formula (1) and (2) calculate and the diameter of a cross-section of a tree trunk 1.3 meters above the ground;
C
0, C
1, C
2be constant, C
0span be 0 ~ 100, C
1span be 0 ~ 100, C
2span be 0 ~ 100;
Biomass B is calculated according to formula (4),
B＝a+bV；(4)
Wherein, V is the volume of timber or accumulation that calculate in formula (3), and a, b are constant, and the span of a is the span of 0 ~ 10000, b is 0 ~ 10000;
Crownly to be drawn by computing machine MATLAB neural network algorithm analogue simulation;
Wherein, described 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); 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 that described signal emission module (1) exports forms laser light chi on trees to be measured, described signal acquisition module (2) gathers laser light chi signal, and by described memory module (3) by described laser light chi Signal transmissions extremely described signal processing module (4), described signal processing module (4) process collection signal, and calculate and export the attributive character parameter of described trees to be measured, be i.e. 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, accumulation and biomass parameters.
2. utilize the tree survey method of laser light chi image assize device, it is characterized in that:
Said method comprising the steps of:
Step 1, is arranged on absolute fix by three-dimensional laser imager (1-2);
Step 2, starts described three-dimensional laser imager (1-2), on trees to be measured or trees periphery to be measured form three-dimensional laser light chi, the profile of described three-dimensional laser light chi and the profile of described trees to be measured proportional;
Measure the height h ' of three-dimensional laser light chi in actual measurement environment;
By 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 is transferred to signal processing module (4) by memory module (3);
Step 3, utilizes described signal processing module (4) to extract the image data got, identify and comparison;
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) identify, namely in image data, add identification information, 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) comparison, measures the height h of the three-dimensional laser light chi in image data
1', comparison h ' and h
1' numerical value, draw the imaging scale COEFFICIENT K of image data;
Step 4, measures 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 image data
1, and calculate the height of tree H under actual measurement environment by formula (5), calculate the diameter of a cross-section of a tree trunk 1.3 meters above the ground D under actual measurement environment by formula (6):
H＝K×H
1(5)
D＝K×D
1(6)
Wherein, K is the imaging scale coefficient of the image data calculated in step 3, and the span of K is 0.01 ~ 1;
The volume of timber or accumulation V is calculated by formula (3),
V＝C
0×D
C1×H
C2；(3)
Wherein, D and H is respectively the height of tree in the actual measurement environment that formula group (5) calculates and the diameter of a cross-section of a tree trunk 1.3 meters above the ground;
C
0, C
1, C
2be constant, C
0span be 0 ~ 100, C
1span be 0 ~ 100, C
2span be 0 ~ 100;
Biomass B is calculated according to formula (4),
B＝a+bV；(4)
Wherein, V is the accumulation calculated in formula (3), and a, b are constant, and the span of a is the span of 0 ~ 10000, b is 0 ~ 10000;
Crownly to be drawn by computing machine MATLAB neural network algorithm analogue simulation;
Wherein, described 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); 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 that described signal emission module (1) exports forms laser light chi on trees to be measured, described signal acquisition module (2) gathers laser light chi signal, and by described memory module (3) by described laser light chi Signal transmissions extremely described signal processing module (4), described signal processing module (4) process collection signal, and calculate and export the attributive character parameter of described trees to be measured, be i.e. 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, accumulation and biomass parameters.
3. the tree survey method utilizing laser light chi image assize device according to claim 1 and 2, is characterized in that:
Described signal emission module (1) is fixedly installed on absolute fix or is arranged on Move tool, starts described Move tool and described signal emission module (1) is moved to absolute fix;
In the signal acquisition process of step 2, with the photo of described laser light chi and trees attributive character to be measured under utilizing digital camera to take;
Or utilize Digital Video to take successively one group of trees to be measured with described laser light chi, get one group of dynamic image with described laser light chi and trees attributive character to be measured; And be truncated to the photo with described laser light chi and trees attributive character to be measured by computing machine or mobile phone;
In the signal processing of step 3, described computing machine or mobile phone is utilized to extract the image data got and identify.
4. the tree survey method utilizing laser light chi image assize device according to claim 1 and 2, 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 that described generating laser (1-1) is launched forms two-dimensional laser light chi on trees to be measured, and namely the laser light chi shape of described generating laser (1-1) is the one in 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.
5. the tree survey method utilizing laser light chi image assize device according to claim 4, is characterized in that:
The quantity of described generating laser (1-1) is 2 ~ 3, each described generating laser (1-1) perpendicular separation distribution;
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.
6. the tree survey method utilizing laser light chi image assize device according to claim 1 and 2, 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 launched of described three-dimensional laser imager (1-2) on trees to be measured or trees periphery to be measured form three-dimensional laser light chi, namely the laser light chi shape of described three-dimensional laser imager (1-2) is three-dimensional graph, profile and the described laser light foot wheel exterior feature of described trees to be measured are proportional, and its scale-up factor is 1:0.01 ~ 1:1.
7. the tree survey method utilizing laser light chi image assize device according to claim 1 and 2, is characterized in that:
Described signal emission module (1) is for being fixedly installed or mobile setting, and described mobile setting and described signal emission module (1) are arranged on Move tool.
8. the tree survey method utilizing laser light chi image assize device according to claim 4, is characterized in that:
Described generating laser (1-1) is one-wavelength laser transmitter, and its one-wavelength laser wavelength exported is 266-1064nm.
9. the tree survey method utilizing laser light chi image assize device according to claim 1 and 2, is characterized in that:
Described signal acquisition module (2) is CCD or CMOS, and described CCD or CMOS is arranged in digital camera or in Digital Video;
Described memory module (3) is connected with described signal processing module (4) by the either type in USB interface, bluetooth module, wireless communication module for SD card or USB flash memory driver, described memory module (3);
Embed in described memory module (3) and be provided with GPS module (6);
Described signal processing module (4) is computing machine or mobile phone.
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| CN111442734A (en) * | 2020-05-21 | 2020-07-24 | 南京鸿亦沄智能科技有限公司 | Non-contact trees chest footpath measuring device based on line laser |
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