CN104298245A - Method for monitoring growing state of forest trees based on unmanned aerial vehicle - Google Patents
Method for monitoring growing state of forest trees based on unmanned aerial vehicle Download PDFInfo
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- CN104298245A CN104298245A CN201410383079.0A CN201410383079A CN104298245A CN 104298245 A CN104298245 A CN 104298245A CN 201410383079 A CN201410383079 A CN 201410383079A CN 104298245 A CN104298245 A CN 104298245A
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Abstract
The invention discloses a method for monitoring the growing state of forest trees based on an unmanned aerial vehicle. The method for monitoring the growing state of the forest trees is realized through the growing height of forest trees. The major method comprises that the unmanned aerial vehicle flies at a specific height, fixed-point measurement and photographing are carried out through a distance measuring instrument and an imaging device which are carried by the unmanned aerial vehicle, and analysis is carried out through a computer so as to acquire the growing state of the forest trees. The method disclosed by the invention combines an unmanned aerial vehicle remote sensing system and modern forestry detection technologies in allusion to large-scale integration forest farms, and farmers are not required to go to the field to observe growing conditions of the forest trees, thereby saving a lot of labor cost and time. Meanwhile, image data recorded by a computer facilitates people to check at any time and carry out before-and-after comparison, thereby analyzing the actual growing conditions of the forest trees more accurately, and being convenient for carrying out uniform planning and management for large-scale forest farms.
Description
Technical field
The present invention relates to the monitoring equipment field of robotization forestry, particularly relate to a kind of method of the monitoring tree growth state based on unmanned plane.
Background technology
Modern Forestry refers to preserve the ecological environment and keeps ecological balance, and cultivates and conserves forests to obtain timber and other forestry products, utilize the natural characteristic of forest to play the production division of protective action; Forestry is in people and biosphere; by science and technology and the ladder of management of advanced person; be engaged in cultivation, protect, utilize the forest reserves; the multiple benefit of abundant forest; and can the going concern forest reserves, the infrastructural industries that promotion population, economy, society, environment and resources develop in harmony and work for the public good.
Experiment of UAV remote sensing system many uses Miniature digital camera (or scanner) is as airborne sensory equipment, compared with traditional boat sheet, there is the problems such as film size is less, image quantity is many, for the attitude data when feature of its remote sensing image and camera Calibration parameter, shooting (or scanning) with about geometric model, geometry and radiant correction are carried out to image, also have image automatically identify and splice software fast simultaneously, realize the quality of image, the quick inspection of flight reappearance and the fast processing of data, with meet whole system in real time, technical requirement fast.
Along with the development of forestry, Modern Forestry, all with the cultivation method forest of many seeds of large scale integration, is planted any meeting and plant multiple forest in enormous quantities in one section of region, but in the same area, plant single forest, simultaneously conveniently modern city Urban Greening, the forest of plantation is quick growth type, larger plant can be obtained in the shorter time, this type of plant is needed to reach the demand that certain height could meet urban afforestation, therefore the growth needs for forest is monitored in real time, the growth conditions of traditional monitoring forest judges only by the diameter and visual inspection measuring forest, but be aimed at modern large-scale forest to produce, judge to need staff to enter forest district field survey and observation by manual measurement or naked eyes, because the area in forest zone itself is larger, the measurement of single and the manpower and materials of inspection need of work at substantial, be unfavorable for that the extension of Modern Forestry is produced.
Summary of the invention
For above-mentioned Problems existing, the invention provides and be a kind ofly applicable to the forest farm that large scale integration grows trees fast, facilitate unified planning and management, detect accurately based on the method for the monitoring tree growth state of unmanned plane.
In order to achieve the above object, the technical solution used in the present invention is as follows: a kind of method of the monitoring tree growth state based on unmanned plane, described monitoring tree growth state is that the growing height by monitoring forest self realizes, main method is flown on specific height by unmanned plane, the distance meter carried by unmanned plane and imaging device carry out one-point measurement and shooting, carry out analysis by computing machine and draw tree growth state, specifically comprise following step:
A) flying according to the edge of the unmanned plane by flying at a constant speed along forest farm to be measured, calculating the actual floor area in the region of variety classes forest in forest farm to be detected according to the flight time of reality;
B) according to the height of forest cultivated areas different types of in forest farm and variety classes forest, the pre-flight path that the orientation making different unmanned plane is cruised;
C) be communicated with unmanned plane to take a flight test, take a flight test in process, UAV flight's imaging device and distance measuring equipment, the practical flight height of omnidistance shooting and the ground measured in flight range and unmanned plane;
D) according to the data of the video recording contrast distance measuring equipment record produced in process of taking a flight test, by the height of taking a flight test of unmanned plane during flying, taken photo by plane by unmanned plane multiple images of obtaining or picture imports in three-dimensional artificial software, according to the floor area of variety classes forest, coordinate the height of variety classes forest, by flight path and the flying height H of computer project reality
machine ;
E) unmanned plane flies along actual flight route, and after arriving the shooting point formulated, unmanned plane hovering flight, first records the practical flight height H of unmanned plane by distance meter
high , record simultaneously and record the height difference H on trees top immediately below unmanned plane distance
difference , while measurement, coordinate airborne imaging equipment to carry out fixed point shooting;
F) by the view data entry information process computer that step e) obtains, the upgrowth situation of forest is obtained after carrying out modeling and united analysis, the actual growing height of forest: H
woods =H
high -H
difference .
Route and the time flying height H of unmanned plane practical flight is formulated in step d) of the present invention
machine time, when different types of forest zone flight, need the time flying height regulating unmanned plane according to the growing height of variety classes forest, the height difference H on trees top immediately below period maintenance unmanned plane distance
difference ≤ 1.5 meters.
Unmanned plane of the present invention carries positioning equipment, and described positioning equipment is GPS positioning system.
Unmanned plane of the present invention carries wireless transmitting device simultaneously, when unmanned plane arrival measurement point carries out hovering flight, by the practical flight height H recorded
high with the height difference H on trees top immediately below unmanned plane distance
difference be sent to information processing computing machine, then airborne imaging equipment startup is taken.
Step e of the present invention) unmanned plane during flying process in, in the region of one species forest, Stochastic choice 5 hovering measurement point in the flight path formulated, by the random calculating average height recorded, this is highly the actual growing height of this kind of forest.
Remain a constant speed in the process of unmanned plane cruising flight of the present invention advance, and the forward flight route of two adjacent hovering measurement points is arc; Main thought of the present invention is the measurement point carrying out random selecting hovering according to the cruising flight route determined, therefore the route of cruising flight must cover all scopes in forest farm substantially, facilitate random selecting, GPS positioning equipment is coordinated by the unmanned plane flied at a constant speed, the convenient tram confirming unmanned plane, controls precisely.
Unmanned aerial vehicle onboard imaging device of the present invention is arranged on external fuselage, and pixel >=1,800 ten thousand of camera installation, have optical anti-vibration device.
Unmanned aerial vehicle onboard imaging device of the present invention is fixing to be fixedly mounted on bottom unmanned plane with distance meter, and the fixed angle on its vertical direction is-90 °; In order to ensure the difference in height on trees top immediately below the practical flight height of Measurement accuracy unmanned plane and unmanned plane and unmanned plane distance, its distance meter setting angle is in vertical direction fixed, the position of the convenient shooting of simultaneously fixing imaging device trees to be measured, data that are convenient and distance meter form contrast.
The invention has the advantages that, the present invention passes through experiment of UAV remote sensing system together with the detection technique knot of modern woods forestry, for the large scale integration forest farm of Modern Forestry, carry out going to the field without the need to peasant and observe the upgrowth situation of forest, save a large amount of recruitment costs and time, simultaneously through the image data of computer recording, convenient checking at any time contrasts with front and back, analyze the actual upgrowth situation of forest more accurately, conveniently unified planning and management are carried out to extensive forest farm.
Accompanying drawing explanation
Fig. 1 is that unmanned plane during flying of the present invention presets figure.
Wherein, zero is the random hovering shooting point set;
be denoted as the flight path of unmanned plane planning.
Embodiment
Below in conjunction with embodiment, the present invention is described in further detail.
embodiment 1:the method of a kind of monitoring tree growth state based on unmanned plane as shown in Figure 1, described monitoring tree growth state is that the growing height by monitoring forest self realizes, main method is flown on specific height by unmanned plane, the distance meter carried by unmanned plane and imaging device carry out one-point measurement and shooting, described unmanned plane carries positioning equipment, and described positioning equipment is GPS positioning system.Remain a constant speed in the process of unmanned plane cruising flight advance, and the forward flight route of two adjacent hovering measurement points is arc.Carry out analysis by computing machine and draw tree growth state, specifically comprise following step:
A) flying according to the edge of the unmanned plane by flying at a constant speed along forest farm to be measured, calculating the actual floor area in the region of variety classes forest in forest farm to be detected according to the flight time of reality;
B) according to the height of forest cultivated areas different types of in forest farm and variety classes forest, the pre-flight path that the orientation making different unmanned plane is cruised;
C) be communicated with unmanned plane to take a flight test, take a flight test in process, UAV flight's imaging device and distance measuring equipment, the practical flight height of omnidistance shooting and the ground measured in flight range and unmanned plane;
D) according to the data of the video recording contrast distance measuring equipment record produced in process of taking a flight test, by the height of taking a flight test of unmanned plane during flying, taken photo by plane by unmanned plane multiple images of obtaining or picture imports in three-dimensional artificial software, according to the floor area of variety classes forest, coordinate the height of variety classes forest, by flight path and the flying height H of computer project reality
machine ;
Wherein formulate route and the time flying height H of unmanned plane practical flight
machine time, when different types of forest zone flight, need the time flying height regulating unmanned plane according to the growing height of variety classes forest, the height difference H on trees top immediately below period maintenance unmanned plane distance
difference =1.0 meters;
E) unmanned plane flies along actual flight route, and after arriving the shooting point formulated, unmanned plane hovering flight, first records the practical flight height H of unmanned plane by distance meter
high , in the process of unmanned plane during flying, in the region of one species forest, Stochastic choice 5 hovering measurement point in the flight path formulated, by the random calculating average height recorded, this is highly the actual growing height of this kind of forest.Record simultaneously and record the height difference H on trees top immediately below unmanned plane distance
difference , while measurement, coordinate airborne imaging equipment to carry out fixed point shooting;
F) unmanned plane carries wireless transmitting device simultaneously, when unmanned plane arrival measurement point carries out hovering flight, by the practical flight height H recorded
high with the height difference H on trees top immediately below unmanned plane distance
difference be sent to information processing computing machine, after carrying out modeling and united analysis, obtain the upgrowth situation of forest, the actual growing height of forest: H
woods =H
high -H
difference .
Embodiment 2: the growth conditions for single batch of forest makes contrast form, contrast form example is as follows:
Can for the large scale integration forest farm of forestry by upper table, the comparative analysis form that the sapling upgrowth situation in monolithic forest land is made, this form is through the image data of computer recording, convenient checking at any time contrasts with front and back, analyze the actual upgrowth situation of forest more accurately, conveniently unified planning and management are carried out to extensive forest farm; Theoretical foundation is provided to the plantation of next batch forest and growth; Substantially increase the production efficiency of Modern Forestry.
It should be noted that, above-mentioned is only preferred embodiment of the present invention, is not used for limiting protection scope of the present invention, and equivalents done on the basis of above-described embodiment all belongs to protection scope of the present invention.
Claims (8)
1. the method based on the monitoring tree growth state of unmanned plane, it is characterized in that, described monitoring tree growth state is that the growing height by monitoring forest self realizes, main method is flown on specific height by unmanned plane, the distance meter carried by unmanned plane and imaging device carry out one-point measurement and shooting, carry out analysis by computing machine and draw tree growth state, specifically comprise following step:
a)flying according to the edge of the unmanned plane by flying at a constant speed along forest farm to be measured, calculating the actual floor area in the region of variety classes forest in forest farm to be detected according to the flight time of reality;
b)according to the height of forest cultivated areas different types of in forest farm and variety classes forest, the pre-flight path that the orientation making different unmanned plane is cruised;
c)be communicated with unmanned plane to take a flight test, take a flight test in process, UAV flight's imaging device and distance measuring equipment, the practical flight height of omnidistance shooting and the ground measured in flight range and unmanned plane;
d)according to the data of the video recording contrast distance measuring equipment record produced in the process of taking a flight test, by the height of taking a flight test of unmanned plane during flying, taken photo by plane by unmanned plane multiple images of obtaining or picture imports in three-dimensional artificial software, according to the floor area of variety classes forest, coordinate the height of variety classes forest, by flight path and the flying height H of computer project reality
machine ;
e)unmanned plane flies along actual flight route, and after arriving the shooting point formulated, unmanned plane hovering flight, first records the practical flight height H of unmanned plane by distance meter
high , record simultaneously and record the height difference H on trees top immediately below unmanned plane distance
difference , while measurement, coordinate airborne imaging equipment to carry out fixed point shooting;
f)by the view data entry information process computer that step e) obtains, obtain the upgrowth situation of forest after carrying out modeling and united analysis, the actual growing height of forest: H
woods =H
high -H
difference .
2. the method for the monitoring tree growth state based on unmanned plane according to claim 1, is characterized in that, formulates route and the time flying height H of unmanned plane practical flight in described step d)
machine time, when different types of forest zone flight, need the time flying height regulating unmanned plane according to the growing height of variety classes forest, the height difference H on trees top immediately below period maintenance unmanned plane distance
difference ≤ 1.5 meters.
3. the method for the monitoring tree growth state based on unmanned plane according to claim 1, it is characterized in that, described unmanned plane carries positioning equipment, described positioning equipment is GPS positioning system.
4. the method for the monitoring tree growth state based on unmanned plane according to claim 1, it is characterized in that, described unmanned plane carries wireless transmitting device simultaneously, when unmanned plane arrival measurement point carries out hovering flight, by the practical flight height H recorded
high with the height difference H on trees top immediately below unmanned plane distance
difference be sent to information processing computing machine, then airborne imaging equipment startup is taken.
5. the method for the monitoring tree growth state based on unmanned plane according to claim 1, it is characterized in that, described step e) unmanned plane during flying process in, in the region of one species forest, Stochastic choice 5 hovering measurement point in the flight path formulated, by the random calculating average height recorded, this is highly the actual growing height of this kind of forest.
6. the method for the monitoring tree growth state based on unmanned plane according to claim 1, is characterized in that, remain a constant speed in the process of described unmanned plane cruising flight advance, and the forward flight route of two adjacent hovering measurement points is arc.
7. the method that grows of the monitoring field-crop based on unmanned plane according to claim 1, it is characterized in that, described unmanned aerial vehicle onboard imaging device is arranged on external fuselage, and pixel >=1,800 ten thousand of camera installation, have optical anti-vibration device.
8. the method that grows of the monitoring field-crop based on unmanned plane according to claim 7, it is characterized in that, described unmanned aerial vehicle onboard imaging device is fixing to be fixedly mounted on bottom unmanned plane with distance meter, and the fixed angle on its vertical direction is-90 °.
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| CN105259909A (en) * | 2015-11-08 | 2016-01-20 | 杨珊珊 | Vegetation data acquisition method and acquisition apparatus based on unmanned aerial vehicle |
| CN105314100A (en) * | 2015-10-27 | 2016-02-10 | 重庆光煦科技有限公司 | Mountain forest operation unmanned aerial vehicle based on GPS |
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| CN105698715A (en) * | 2016-02-29 | 2016-06-22 | 北方民族大学 | Single-light-beam land area measurement system based on unmanned aerial vehicle and measurement method thereof |
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| CN110579774A (en) * | 2019-07-30 | 2019-12-17 | 浙江农林大学 | unmanned aerial vehicle forestry resource investigation method |
| CN110579774B (en) * | 2019-07-30 | 2021-07-20 | 浙江农林大学 | Unmanned aerial vehicle forestry resource investigation method |
| CN112066919A (en) * | 2020-09-11 | 2020-12-11 | 黑龙江省林业科学研究所 | Method for accurately measuring growth of forest trees |
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