CN105486228A - Tree target volume real-time measuring method based on two-dimension laser scanner - Google Patents
Tree target volume real-time measuring method based on two-dimension laser scanner Download PDFInfo
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- CN105486228A CN105486228A CN201510834124.4A CN201510834124A CN105486228A CN 105486228 A CN105486228 A CN 105486228A CN 201510834124 A CN201510834124 A CN 201510834124A CN 105486228 A CN105486228 A CN 105486228A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The invention provides a tree target volume real-time measuring method based on a two-dimension laser scanner. The method is characterized by obtaining tree laser data through a vehicle-mounted two-dimension laser scanning sensor, obtaining crown center distance through trunk identification, and calculating discretized crown volume corresponding to each shower nozzle with the measured crown outer edge distance and vehicle speed being combined. The tree center position is obtained through trunk identification, and thus crown depth is calculated; with the carrier vehicle speed being combined, the crown volume can be obtained, and a variable-rate spraying-oriented spray prescription map is generated; and the method is suitable for the cases of irregular tree cultivation. The tree crown volume measuring method is fast in processing speed, good in real-time performance, and can meet the real-time tree target variable-rate spraying requirements.
Description
Technical field
The present invention relates to exterior spraying field, especially based on the trees volume measuring method of laser treatment technique, specifically a kind of trees target volume method for real-time measurement based on two dimensional laser scanning instrument.
Background technology
At present, remain high for Epidemic Disease of Forest, traditional problem such as insecticide-applying way waste agricultural chemicals, contaminated environment etc., the research of Intelligent target spray technique carried out for more than 10 years.Intelligent target spraying system detects trees target by real time sensor, obtains the information such as target position, shape, volume, determines spray position and dosage accordingly, control opening and closing and the flow of one or more shower nozzle, implements batch (-type) or variable target spraying.
Chinese scholars mainly adopts the information such as ultrasound wave, infrared, visible ray, laser sensor measurement target drone position, shape, volume.Ultrasound wave, infrared sensor are more extensive, and measuring error is large, poor accuracy; Visible light sensor is subject to illumination effect, and cannot obtain range information; Laser sensor measuring accuracy is high, resolution is high, far measuring distance, and sweep limit is large, is the most effective sensor technology of current tree measurement.Within 2010, agricultural engineering application technology National Laboratory of United States Department of Agriculture cooperates with Ohio State University, and research and development inform against stylobate in the variable air-assisted type spraying machine of vehicle-mounted 2D laser scanner, and forms product in 2012, applies in U.S. nursery, orchard.
Variable target spraying principle as shown in Figure 1.Spraying vehicle installs multiple variable sprayer at vertical direction, the spray area of corresponding differing heights, measures the Tree Crown Volume of every section of spray area according to sensor in real time, regulates shower nozzle spraying dosage, make droplet at canopy uniform deposition, improve agricultural chemicals utilization factor with this.The continuous volume of tree crown discretely can turn to little rectangular parallelepiped one by one and calculate, as shown in Figure 2.X-axis is spraying vehicle moving direction, and y-axis is spray direction, and z-axis vertical ground upwards.Suppose before and after target symmetrical, only need measure one-sided volume.D
ofor the tree crown outer rim distance that sensor measurement arrives, D
cfor tree crown distance between center line, calculate one-sided crown depth D thus
d=D
c-D
o.D
sfor the distance between the measurement point of twice, z direction, suppose that car speed be twice, v, x direction interval time of measurement is Δ t, then one-sided Tree Crown Volume V=D
dd
sv Δ t.Can find out from computation process, want accurately to obtain Tree Crown Volume, tree crown distance between center line D need be measured
c.Existing method mainly adopts two kinds of means to determine D
c: (1) supposes that trees embark on journey cultivation, and spraying vehicle forward direction and cultivation line parallel, the distance of trees and vehicle is fixed, and then records D in advance
c.This method requires the cultivation of trees rule, and not being suitable for arboriculture line is not the spraying scene of straight line; (2) tree crown top outer rim distance is thought tree crown distance between center line.This method measuring error is large, poor accuracy.
Summary of the invention
The object of the invention is for the target volume measuring method intelligent level in existing variable exterior spraying lower, the problem that application scenario is restricted, propose a kind of trees target volume method for real-time measurement based on two dimensional laser scanning instrument.
Technical scheme of the present invention is:
A kind of trees target volume method for real-time measurement based on two dimensional laser scanning instrument, it adopts vehicle-mounted two dimensional laser scanning sensor to obtain the laser data of trees, obtain tree crown centre distance by trunk identification, calculate the Tree Crown Volume of the discretize corresponding to each shower nozzle in conjunction with the tree crown outer rim distance recorded and car speed.
In the present invention, specifically comprise the following steps:
Step 1, to be arranged on by vehicle-mounted two dimensional laser scanning sensor on spraying vehicle, spraying vehicle is through arbitrary row trees to be sprayed, and vehicle-mounted two dimensional laser scanning sensor obtains the laser data of trees, obtains measuring distance and the scanning angle of each analyzing spot;
Step 2, judge whether there is trees target in area-of-interest, if do not exist, be unknown by trunk range mark, make Tree Crown Volume be 0, perform step 1 afterwards; Otherwise, perform step 3;
Step 3, judge trunk distance whether known, if unknown, perform step 5; Otherwise, perform step 4;
Step 4, calculate crown depth according to measuring distance and trunk distance, then calculate the Tree Crown Volume of discretize corresponding to each shower nozzle in conjunction with car speed, perform step 1 afterwards;
Step 5, carry out trunk detection, if trunk detected, perform step 6; Otherwise, perform step 1;
Step 6, calculating trunk distance, mark trunk, apart from known, performs step 4 afterwards.
The present invention specifically comprises the following steps:
Step 1, employing two dimensional laser scanning sensor obtain the laser data of trees
wherein, N is the number of data points that Current Scan gathers, ρ
i, θ
ibe respectively vehicle-mounted two dimensional laser scanning sensor to the measuring distance of i-th analyzing spot and scanning angle; Then, under the data of each analyzing spot are transformed to rectangular coordinate system yz by polar coordinate system, transformation for mula is:
y
i＝-ρ
icosθ
i
z
i＝ρ
isinθ
i，
Wherein, x-axis is vehicle heading, and y-axis is spray direction, z-axis vertical ground upwards, y
i, z
ibe i-th analyzing spot fastens y, z-axis coordinate at rectangular coordinate, y
irepresent that vehicle-mounted two dimensional laser scanning sensor is to the vertical range of i-th analyzing spot at depth direction, z
irepresent that vehicle-mounted two dimensional laser scanning sensor is to the vertical range of i-th analyzing spot in short transverse;
Step 2, judge whether there is trees target in area-of-interest, the scope of the laser data that namely area-of-interest pre-sets on y, z direction, if
all not in area-of-interest, not think to there is target, be unknown by trunk range mark, make Tree Crown Volume be 0, perform step 1 afterwards; Otherwise, perform step 3;
Step 3, judge trunk distance D
cwhether known, if unknown, perform step 5; Otherwise, perform step 4;
Step 4, by discrete for the one-sided Tree Crown Volume little rectangular parallelepiped turning to differing heights, calculate the Tree Crown Volume of n shower nozzle correspondence spray area that spraying vehicle is installed respectively, specifically comprise the following steps:
Step 41, according to vehicle-mounted two dimensional laser scanning sensor to i-th analyzing spot at the vertical range of depth direction and tree crown outer rim distance y
iwith trunk distance D
ccalculate one-sided crown depth D
d(i)
D
d(i)＝max(D
c-y
i,0)；
Step 42, calculate the one-sided sectional area of tree crown in yz plane of the corresponding spray area of each shower nozzle:
Wherein, j represents that shower nozzle is numbered, and Z (j) is the altitude range of a jth shower nozzle, D
s(i)=| z (i)-z (i+1) | be the distance between the measurement point of twice, z direction,
represent i-th and the i-th+1 analyzing spot the average in z direction drop within the scope of a jth sprinkler height set a little;
Tree Crown Volume V (j) of the corresponding spray area of step 43, each shower nozzle adopts following formulae discovery:
V(j)＝2S
yz(j)vΔt，
Wherein, v is Current vehicle speed, and Δ t is the scan period of vehicle-mounted two-dimensional laser sensor;
Step 5, carry out trunk detection, if trunk detected, perform step 6; Otherwise, perform step 1; Trunk detects and utilizes its vertical continuous characteristic, and the y coordinate continually varying point set meeting certain length by detecting z direction judges whether to there is trunk; Specifically comprise the following steps:
Step 51, itself and the y-axis coordinate whether abs (y in certain threshold value above sweeping described point are judged to each analyzing spot
i-y
i-1)≤T, if set up, then think this analyzing spot with on to sweep described point continuous, continue the judgement of next analyzing spot; Otherwise think that set of points of continuity terminates, above sweeping described point is end position, sets up new set of points of continuity, continued to judge as starting point by this analyzing spot, wherein, abs () represents ABS function;
Step 52, threshold decision is carried out, if abs is (z to the length of each set of points of continuity
start-z
end)>=l, thinks and performs step 53 by the corresponding trunk analyzing spot of this set of points of continuity; Otherwise, not think it is trunk point set, perform step 54;
If do not find trunk point set in step 53 last scan data, then what think that this time scan is the reference position of trunk, record trunk point set y-axis coordinate average D
c_start, trunk detects and terminates, and thinks and not yet finds trunk;
If find trunk point set in step 54 last scan data, then what think that this time scan is the end position of trunk, record trunk point set y-axis coordinate average D
c_end, meanwhile, think and trunk detected; Otherwise, think and trunk do not detected;
Step 6, calculating trunk distance D
c=(D
c_start+ D
c_end)/2, mark trunk, apart from known, performs step 4 afterwards.
In step 2 of the present invention, refer to the area-of-interest of trees target in area-of-interest, the y of this area-of-interest, the coordinate range of z-axis are Y
min≤ y≤Y
max, Z
min≤ z≤Z
max, wherein, Y
minbe that in spraying scene, tree crown outer rim is to the minimum-depth distance of vehicle-mounted two dimensional laser scanning sensor, scope is: 0.5m ~ 2m, Y
maxbe the depth capacity distance of trunk to sensor, scope is 1.5m ~ 3m, Z
minbe the vertical range to sensor bottom target, be negative value, scope is-1.5m ~-0.5m, Z
maxbe the vertical range of the highest target to sensor, scope is 0.5m ~ 3.0m.Y
minpreferred 1.0m, Y
maxpreferred 2.0m, Z
minpreferably-0.5m, Z
maxpreferred 2.0m.
T of the present invention sets according to the smooth degree of trunk, and its scope is 0.005m ~ 0.02m.。
In step 52 of the present invention, l is the minimum length of the continuous line segment of trunk, and scope is 0.5 ~ 1m, preferred 0.5m.
Beneficial effect of the present invention:
The present invention compared with prior art, its remarkable advantage is as follows: 1) the present invention is by identifying that trunk obtains trees center, thus calculating crown depth, Tree Crown Volume is obtained in conjunction with carriage of vehicle speed, generate the spraying prescription map towards variable rate spray, be applicable to the situation setting the irregular cultivation of strain; 2) Tree Crown Volume measuring method processing speed provided by the invention is fast, and real-time is good, can meet real-time trees variable target spraying demand.
Accompanying drawing explanation
Fig. 1 is variable target spraying principle schematic.
Fig. 2 is Tree Crown Volume measuring principle schematic diagram.
Fig. 3 is process flow diagram of the present invention.
Fig. 4 is spraying scene coordinate system figure of the present invention.
Fig. 5 is spraying scene schematic diagram.
Fig. 6 is trunk testing result schematic diagram.
Fig. 7 is the one-sided volume schematic diagram of tree crown.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further illustrated.
As shown in Figure 3, a kind of trees target volume method for real-time measurement based on two dimensional laser scanning instrument, it is characterized in that it adopts vehicle-mounted two dimensional laser scanning sensor to obtain the laser data of trees, tree crown centre distance is obtained by trunk identification, calculate the Tree Crown Volume of the discretize corresponding to each shower nozzle in conjunction with the tree crown outer rim distance recorded and car speed, specifically comprise the following steps:
Step 1, employing two dimensional laser scanning sensor obtain the laser data of trees
wherein, N is the number of data points that Current Scan gathers, ρ
i, θ
ibe respectively vehicle-mounted two dimensional laser scanning sensor to the measuring distance of i-th analyzing spot and scanning angle; Then, under the data of each analyzing spot are transformed to rectangular coordinate system yz by polar coordinate system, transformation for mula is:
y
i＝-ρ
icosθ
i
z
i＝ρ
isinθ
i，
Wherein, x-axis is vehicle heading, and y-axis is spray direction, z-axis vertical ground upwards, y
i, z
ii-th analyzing spot fastens the coordinate of y, z-axis at rectangular coordinate, y
irepresent that vehicle-mounted two dimensional laser scanning sensor is to the vertical range of i-th analyzing spot at depth direction, z
irepresent that vehicle-mounted two dimensional laser scanning sensor is to the vertical range of i-th analyzing spot in short transverse;
Step 2, judge whether there is trees target in area-of-interest, the scope of the laser data that namely area-of-interest pre-sets on y, z direction, if
all not in area-of-interest, not think to there is target, be unknown by trunk range mark, make Tree Crown Volume be 0, perform step 1 afterwards; Otherwise, perform step 3; The area-of-interest of trees target is referred in described area-of-interest, the minimum value of the y of this area-of-interest is between 0.5m ~ 2m, the maximal value of y is between 1.5m ~ 3m, minimum value sets according to the minor increment of tree crown outer rim in spraying scene to sensor, and maximal value sets according to the ultimate range of trunk in spraying scene to sensor.The minimum value of z, between-1.5m ~-0.5m, sets to the vertical range of sensor according to bottom target, is generally negative value, and the maximal value of z, between 0.5m ~ 3m, sets according to the maximum normal distance of tree crown top to sensor.
Step 3, judge trunk distance D
cwhether known, if unknown, perform step 5; Otherwise, perform step 4;
Step 4, by discrete for the one-sided Tree Crown Volume little rectangular parallelepiped turning to differing heights, calculate the Tree Crown Volume of n shower nozzle correspondence spray area that spraying vehicle is installed respectively, specifically comprise the following steps:
Step 41, according to vehicle-mounted two dimensional laser scanning sensor to i-th analyzing spot at the vertical range of depth direction and tree crown outer rim distance y
iwith trunk distance D
ccalculate one-sided crown depth D
d(i)
D
d(i)＝max(D
c-y
i,0)；
Step 42, calculate the one-sided sectional area of tree crown in yz plane of the corresponding spray area of each shower nozzle:
Wherein, j represents that shower nozzle is numbered, and Z (j) is the altitude range of a jth shower nozzle, D
s(i)=| z (i)-z (i+1) | be the distance between the measurement point of twice, z direction,
represent i-th and the i-th+1 analyzing spot the average in z direction drop within the scope of a jth sprinkler height set a little;
Tree Crown Volume V (j) of the corresponding spray area of step 43, each shower nozzle adopts following formulae discovery:
V(j)＝2S
yz(j)vΔt，
Wherein, v is Current vehicle speed, and Δ t is the scan period of vehicle-mounted two-dimensional laser sensor;
Step 5, carry out trunk detection, if trunk detected, perform step 6; Otherwise, perform step 1; Trunk detects and utilizes its vertical continuous characteristic, and the y coordinate continually varying point set meeting certain length by detecting z direction judges whether to there is trunk; Specifically comprise the following steps:
Step 51, itself and the y-axis coordinate whether abs (y in certain threshold value above sweeping described point are judged to each analyzing spot
i-y
i-1)≤T, if set up, then think this analyzing spot with on to sweep described point continuous, continue the judgement of next analyzing spot; Otherwise think that set of points of continuity terminates, above sweeping described point is end position, sets up new set of points of continuity, continued to judge as starting point by this analyzing spot, wherein, abs () represents ABS function; The scope of T is between 0.005m ~ 0.02m, and the smooth degree according to trunk sets.
Step 52, threshold decision is carried out, if abs is (z to the length of each set of points of continuity
start-z
end)>=l, thinks and performs step 53 by the corresponding trunk analyzing spot of this set of points of continuity; Otherwise, not think it is trunk point set, perform step 54; The scope of l between 0.5m ~ 1m, according to trunk length setting.
If do not find trunk point set in step 53 last scan data, then what think that this time scan is the reference position of trunk, record trunk point set y-axis coordinate average D
c_start, trunk detects and terminates, and thinks and not yet finds trunk;
If find trunk point set in step 54 last scan data, then what think that this time scan is the end position of trunk, record trunk point set y-axis coordinate average D
c_end, meanwhile, think and trunk detected; Otherwise, think and trunk do not detected;
Step 6, calculating trunk distance D
c=(D
c_start+ D
c_end)/2, mark trunk, apart from known, performs step 4 afterwards.
During concrete enforcement:
Below in conjunction with example, the present invention will be further described in detail.The two dimensional laser scanning instrument UTM-30LX that experiment adopts Japanese Hokuyo company to produce, scan period 25ms, sweep limit 270 °, angular resolution 0.25 °, spraying car speed is 3.2km/h.Suppose that spread of spray is 1m ~ 3m, 8 variable sprayers are installed, spray area are evenly divided into 8 parts and spray respectively.As shown in Figure 5, comprise 6 Tree Crown Volumes, trunk apart from different trees, as shown in Figure 6, wherein grey is the trunk point detected to the laser scanning point in the area-of-interest adopting vehicle-mounted two dimensional laser scanning sensor to get to spraying scene.According to the Tree Crown Volume in every section of spray area that trunk distance calculates as shown in Figure 7, this result can be used as the flow that spraying prescription map controls 8 variable sprayers.
The part that the present invention does not relate to prior art that maybe can adopt all same as the prior art is realized.
Claims (9)
1. the trees target volume method for real-time measurement based on two dimensional laser scanning instrument, it is characterized in that it adopts vehicle-mounted two dimensional laser scanning sensor to obtain the laser data of trees, obtain tree crown centre distance by trunk identification, calculate the Tree Crown Volume of the discretize corresponding to each shower nozzle in conjunction with the tree crown outer rim distance recorded and car speed.
2. the trees target volume method for real-time measurement based on two dimensional laser scanning instrument according to claim 1, is characterized in that specifically comprising the following steps:
Step 1, to be arranged on by vehicle-mounted two dimensional laser scanning sensor on spraying vehicle, spraying vehicle is through arbitrary row trees to be sprayed, and vehicle-mounted two dimensional laser scanning sensor obtains the laser data of trees, obtains measuring distance and the scanning angle of each analyzing spot;
Step 2, judge whether there is trees target in area-of-interest, if do not exist, be unknown by trunk range mark, make Tree Crown Volume be 0, perform step 1 afterwards; Otherwise, perform step 3;
Step 3, judge trunk distance whether known, if unknown, perform step 5; Otherwise, perform step 4;
Step 4, calculate crown depth according to measuring distance and trunk distance, then calculate the Tree Crown Volume of discretize corresponding to each shower nozzle in conjunction with car speed, perform step 1 afterwards;
Step 5, carry out trunk detection, if trunk detected, perform step 6; Otherwise, perform step 1;
Step 6, calculating trunk distance, mark trunk, apart from known, performs step 4 afterwards.
3. the trees target volume method for real-time measurement based on two dimensional laser scanning instrument according to claim 2, is characterized in that specifically comprising the following steps:
Step 1, employing two dimensional laser scanning sensor obtain the laser data of trees
wherein, N is the number of data points that Current Scan gathers, ρ
i, θ
ibe respectively vehicle-mounted two dimensional laser scanning sensor to the measuring distance of i-th analyzing spot and scanning angle; Then, under the data of each analyzing spot are transformed to rectangular coordinate system yz by polar coordinate system, transformation for mula is:
y
i＝-ρ
icosθ
i
z
i＝ρ
isinθ
i，
Wherein, x-axis is vehicle heading, and y-axis is spray direction, z-axis vertical ground upwards, y
i, z
ibe i-th analyzing spot fastens y, z-axis coordinate at rectangular coordinate, y
irepresent that vehicle-mounted two dimensional laser scanning sensor is to the vertical range of i-th analyzing spot at depth direction, z
irepresent that vehicle-mounted two dimensional laser scanning sensor is to the vertical range of i-th analyzing spot in short transverse;
Step 2, judge whether there is trees target in area-of-interest, the scope of the laser data that namely area-of-interest pre-sets on y, z direction, if
all not in area-of-interest, not think to there is target, be unknown by trunk range mark, make Tree Crown Volume be 0, perform step 1 afterwards; Otherwise, perform step 3;
Step 3, judge trunk distance D
cwhether known, if unknown, perform step 5; Otherwise, perform step 4;
Step 4, by discrete for the one-sided Tree Crown Volume little rectangular parallelepiped turning to differing heights, calculate the Tree Crown Volume of n shower nozzle correspondence spray area that spraying vehicle is installed respectively, specifically comprise the following steps:
Step 41, according to vehicle-mounted two dimensional laser scanning sensor to i-th analyzing spot at the vertical range of depth direction and tree crown outer rim distance y
iwith trunk distance D
ccalculate one-sided crown depth D
d(i)
D
d(i)＝max(D
c-y
i,0)；
Step 42, calculate the one-sided sectional area S of tree crown in yz plane of the corresponding spray area of each shower nozzle
yz(j):
Wherein, j represents that shower nozzle is numbered, and Z (j) is the altitude range of a jth shower nozzle, D
s(i)=| z (i)-z (i+1) | be the distance between the measurement point of twice, z direction,
represent i-th and the i-th+1 analyzing spot the average in z direction drop within the scope of a jth sprinkler height set a little;
Tree Crown Volume V (j) of the corresponding spray area of step 43, each shower nozzle adopts following formulae discovery:
V(j)＝2S
yz(j)vΔt，
Wherein, v is Current vehicle speed, and Δ t is the scan period of vehicle-mounted two-dimensional laser sensor;
Step 5, carry out trunk detection, if trunk detected, perform step 6; Otherwise, perform step 1; Trunk detects and utilizes its vertical continuous characteristic, and the y coordinate continually varying point set meeting certain length by detecting z direction judges whether to there is trunk; Specifically comprise the following steps:
Step 51, itself and the y-axis coordinate whether abs (y in certain threshold value above sweeping described point are judged to each analyzing spot
i-y
i-1)≤T, if set up, then think this analyzing spot with on to sweep described point continuous, continue the judgement of next analyzing spot; Otherwise think that set of points of continuity terminates, above sweeping described point is end position, sets up new set of points of continuity, continued to judge as starting point by this analyzing spot, wherein, abs () represents ABS function;
Step 52, threshold decision is carried out, if abs is (z to the length of each set of points of continuity
start-z
end)>=l, thinks and performs step 53 by the corresponding trunk analyzing spot of this set of points of continuity; Otherwise, not think it is trunk point set, perform step 54;
If do not find trunk point set in step 53 last scan data, then what think that this time scan is the reference position of trunk, record trunk point set y-axis coordinate average D
c_start, trunk detects and terminates, and thinks and not yet finds trunk;
If find trunk point set in step 54 last scan data, then what think that this time scan is the end position of trunk, record trunk point set y-axis coordinate average D
c_end, meanwhile, think and trunk detected; Otherwise, think and trunk do not detected;
Step 6, calculating trunk distance D
c=(D
c_start+ D
c_end)/2, mark trunk, apart from known, performs step 4 afterwards.
4. the trees target volume method for real-time measurement based on two dimensional laser scanning instrument according to claim 3, it is characterized in that: in step 2, refer to the area-of-interest of trees target in area-of-interest, the y of this area-of-interest, the coordinate range of z-axis are Y
min≤ y≤Y
max, Z
min≤ z≤Z
max, wherein, Y
minbe that in spraying scene, tree crown outer rim is to the minimum-depth distance of vehicle-mounted two dimensional laser scanning sensor, scope is: 0.5m ~ 2m, Y
maxbe the depth capacity distance of trunk to sensor, scope is 1.5m ~ 3m, Z
minbe the vertical range to sensor bottom target, be negative value, scope is-1.5m ~-0.5m, Z
maxbe the vertical range of the highest target to sensor, scope is 0.5m ~ 3.0m.
5. the trees target volume method for real-time measurement based on two dimensional laser scanning instrument according to claim 4, is characterized in that: Y
minfor 1.0m, Y
maxfor 2.0m, Z
minfor-0.5m, Z
maxfor 2.0m.
6. the trees target volume method for real-time measurement based on two dimensional laser scanning instrument according to claim 3, it is characterized in that: in step 51, T sets according to the smooth degree of trunk, and its scope is 0.005m ~ 0.02m.
7. the trees target volume method for real-time measurement based on two dimensional laser scanning instrument according to claim 6, is characterized in that: in step 51, T value 0.02m.
8. the trees target volume method for real-time measurement based on two dimensional laser scanning instrument according to claim 3, it is characterized in that: in step 52, l is the minimum length of the continuous line segment of trunk, and scope is 0.5 ~ 1m.
9. the trees target volume method for real-time measurement based on two dimensional laser scanning instrument according to claim 8, it is characterized in that: in step 52, l is the minimum length of the continuous line segment of trunk, and value is 0.5m.
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