CN105806269A - Portable non-contact tree parameter measurement device and measurement method - Google Patents
Portable non-contact tree parameter measurement device and measurement method Download PDFInfo
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- CN105806269A CN105806269A CN201610202282.2A CN201610202282A CN105806269A CN 105806269 A CN105806269 A CN 105806269A CN 201610202282 A CN201610202282 A CN 201610202282A CN 105806269 A CN105806269 A CN 105806269A
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Abstract
The invention relates to a portable non-contact tree parameter measurement device and a measurement method.A display screen is installed on a boss of the upper surface of an upper housing, multiple control buttons are arranged on the upper surface of the upper housing and are arranged at the lower portion and the right side of the boss, the right side of the top end of the upper housing is connected with a GPS antenna with a rotary shaft, a camera is installed at the top end of the upper housing, ultrasonic wave sensors are installed at the top end of the upper housing, the camera is arranged on the left side of the GPS antenna, the ultrasonic wave sensors are arranged on the left side of the camera, a control switch is arranged on the right side face of the upper housing, and an SD card is inserted into the bottom end of the upper housing.The portable non-contact tree parameter measurement device is used for a tree parameter measurement device and the measurement device based on the measurement device.
Description
Technical field:
The present invention relates to forest automatization field, specifically a kind of portable non-contacting tree parameters measurement apparatus and measuring method.
Background technology:
In 20 end of the centurys, the location of the exploration of the forest reserves also in hand-kept, compass survey stage, thus causing that work efficiency is low, field process amount is big, be have impact on the accuracy of the efficiency of exploration and result by Management offorestry department to a great extent.Meanwhile, in carrying out forest resource sustainability development investigation, great majority are also with operating acquisition achievement data by hand, thus causing that data acquisition is comparatively difficult, calculate the cycle longer.But, modern forestry be exactly be target with virtual forestry, precision forestry and networking forestry system engineering, its element task is exactly the automatic measurement & calculation of each item data of the forest reserves.
The diameter of a cross-section of a tree trunk 1.3 meters above the ground of trees, height etc. measure the basic information that the needs that the factor is investigation and management that we carry out the forest reserves obtain.Finally have developed through our continuous anger and exploration since 20 century 70s a kind of collect the measurement of distance, the measurement of angle be melted into data automatic business processing together with modernization high-tech instrument of surveying and mapping: total powerstation, to the middle period nineties, the state such as developed countries such as U.S. in the measurement of the area in forest land, in the measurement of trees height in all come into contact with total powerstation.This brand-new measurement instrument obtains in the middle of the various parameters measuring trees and uses widely, it is not only greatly improved in measuring speed certainty of measurement and measurement efficiency etc., more importantly this instrument is to carry out when trees do not have any destruction, as long as we utilize this instrument, it just can the real-time parameters obtaining trees automatically.
At present, the advanced technologies such as three-dimensional visual response technology, digital close shot shooting have been improved by China, it is made to be applied in the middle of the resource investigation of forest, research and management, can be seen that from the result obtaining experiment, these technology have been applied in tree measurement system can measuring the volume of the height of trees, the diameter of a cross-section of a tree trunk 1.3 meters above the ground of trees and tree crown, but they are still in the preliminary experiment stage.
Developing of contactless tree measurement instrument is laid a good foundation for the informationization of forest inventory investigation management, automatization, precision；Improve traditional forest survey method and technology simultaneously, reduce the aspects such as field investigation labor intensity significant.
Summary of the invention:
It is an object of the invention to provide a kind of portable non-contacting tree parameters measurement apparatus and measuring method, both instrument with contacts can have been overcome to use the defect producing abrasion, also solve traditional instrument function singleness, measure inaccurate, the not easily shortcoming such as portable, also solve the problem that forest-tree is intelligent and scientific management falls behind in addition.
Above-mentioned purpose is realized by following technical scheme:
nullA kind of portable non-contacting tree parameters measurement apparatus，Its composition includes: gps antenna 3、Ultrasonic sensor 4、Photographic head 5、SD card 8、Display screen 2、Multiple manipulation buttons 1，Described display screen 2 is arranged on the boss 10 of the upper surface of upper shell 9，The upper surface of described upper shell 9 arranges multiple manipulation button 1，Described manipulation button 1 is arranged on the lower section of described boss 10 and the right side of boss 10，The right side on the top of described upper shell 9 connects the gps antenna 3 with rotating shaft 11，Photographic head 5 is installed on the top of described upper shell 9，The top mounting ultrasonic sensor 4 of described upper shell 9，The left side of described gps antenna 3 arranges described photographic head 5，The left side of described photographic head 5 arranges described ultrasonic sensor 4，The right flank of described upper shell 9 is provided with control switch 7，The tail end of described upper shell 9 inserts SD card 8，The bottom of described upper shell 9 connects lower house 6.
The portable non-contacting tree parameters measurement apparatus of described one, described SD card 8 bi-directional signal is to center processor, described photographic head 5 by signal unidirectional delivery to diameter of a cross-section of a tree trunk 1.3 meters above the ground acquisition module, described ultrasonic sensor 4 by signal unidirectional delivery to diameter of a cross-section of a tree trunk 1.3 meters above the ground acquisition module and height of tree acquisition module, described height of tree acquisition module also receives the signal of 3 axis MEMS attitude transducer unidirectional delivery, described center processor receives diameter of a cross-section of a tree trunk 1.3 meters above the ground acquisition module, the signal of height of tree acquisition module and GPS processing module unidirectional delivery, described GPS processing module receives the signal of gps antenna 3 unidirectional delivery；
Signal unidirectional delivery is given display processing module by described display screen 2, described multiple manipulation buttons 1 by signal unidirectional delivery to keyboard process module, signal unidirectional delivery is given described center processor with described keyboard process module by described display processing module, described center processor receives the signal of clock module and power management module unidirectional delivery, and described power management module receives the current and voltage signals of battery transmission.
The measuring method of described a kind of portable non-contacting tree parameters measurement apparatus, measuring method includes trees height measurement method, GPS area measurement method and data managing method；
Described trees height measurement method, described GPS area measurement method and described data managing method need to use Tree image edge processing, the extractive technique of edge contour, the measurement of edge contour and detection technique, ultrasonic ranging method and Data fusion technique；
Tree image edge processing is for processing image and the Image semantic classification about of the effective trunk part of trees；
The extractive technique of edge contour for extract the image of the effective trunk part of trees, edge contour measurement detection technique for measuring the actual numerical value of the trees effective contour gathered；
Ultrasonic measuring distance technology adopts ultrasonic sensor 4 to measure the distance between instrument and trees, carries out distance calibration for the image collected；
Data fusion technique is to be undertaken combining the true diameter of a cross-section of a tree trunk 1.3 meters above the ground data finally obtaining trees by the data of ultrasonic measurement and the trees data of image measurement.
The measuring method of described a kind of portable non-contacting tree parameters measurement apparatus, described trees height measurement method, adopt 3 axis MEMS attitude transducer and ultrasonic sensor 4 to be combined measuring measurement tree height measurement；3 axis MEMS attitude transducer comprises 3 axis MEMS gyro and 3 axis MEMS accelerometer, the instrument angle of inclination relative to horizontal attitude can be accurately measured according to the attitude of 3 axis MEMS attitude transducer itself, by measuring the angle of two the instrument attitudes specified, the instrument distance to trunk of one of them attitude measured by recycling ultrasonic sensor 4, utilizes the principle of triangle to calculate the effective depth of trees.
The measuring method of described a kind of portable non-contacting tree parameters measurement apparatus, described GPS area measurement method, GPS locating module adopts Global Satellite technology to realize location technology, by positioning the locus coordinate of the broken edge point of measured area, utilize deltic method that this irregular area is split, form multiple delta-shaped region, by the addition after the calculating to each delta-shaped region, obtain the area of irregular area, thus realizing the measurement of bottom class's forest region area.
The measuring method of described a kind of portable non-contacting tree parameters measurement apparatus, described data managing method, the each tree wood measured is set up unique number, set up the essential information of the kind of these trees, position, Growing years, set up the measurement archives of the diameter of a cross-section of a tree trunk 1.3 meters above the ground of these trees, the height of tree according to the measurement date；Data according to tree measurement can set up visible chart, growth conditions and growth track to trees are analyzed contrast, all of data set up uniform data statistics and supervisory format, system configuration SD card (8), according to the actual state in deep woods, the storage of data summarization and statistics can be carried out in real time.
Beneficial effect:
1. the invention provides the function of data intelligence management and statistics, rate of accumulation in each tree wood measured and region can be realized management and statistics by measuring the information such as date and geographical position, and the data message of reference format is provided, the quick real-time statistics of forest data for nationwide provides safeguard and supports.
2. the present invention is in cutting plan, GPS location technology can be used to quadrature, cut point and to fell a bottom class, and using the GPS data the gathered basic data as GIS-Geographic Information System (GIS).Use GPS to position quickly and accurately whether the bottom class position felled correct, area whether accurately, whether cross the border in super limit.For the various behaviors levied and account for, damage forest land, available GPS quick and precisely positions, and serves data to Management offorestry data base in time, draws out to be levied and accounts for, damages the accurate location in forest land, area and figure, in order to strengthen management.
3. the 3 axis MEMS gyro of the present invention and accelerometer can static measurement space object angular velocity of rotation under space inertial coordinate and acceleration of gravity, be capable of determining that object attitude under space inertial coordinate system by data fusion and resolving.
4. the MEMS inertia device of the present invention is little with its volume, cheap, powerful, and the advantages such as temporal drift is little are widely used gradually in the productive life of the people.
5. the GPS location of the present invention is by astronomical satellite, trees to be carried out space orientation by built-in GPS receiver module, also is able to effectively to manage the information such as subcompartment area of forest simultaneously.
Accompanying drawing illustrates:
Accompanying drawing 1 is the structural representation of the present invention.
Accompanying drawing 2 is the electric flow chart of the present invention.
Accompanying drawing 3 is the schematic diagram of the tree breast-height diameter method of the present invention.
Accompanying drawing 4 is the schematic diagram of the trees height measurement method of the present invention.
Accompanying drawing 5 is the schematic diagram A of the tree measurement area of the present invention.
Accompanying drawing 6 is the schematic diagram B of the tree measurement area of the present invention.
Accompanying drawing 7 is the SOBEL picture of (3) rim detection in embodiments of the invention 2.
Accompanying drawing 8 is (4) gray value side figure in embodiments of the invention 2.
Accompanying drawing 9 is the proportionate relationship figure of (4) millimeter-pixel in embodiments of the invention 2.
Accompanying drawing 10 is first group of picture in embodiments of the invention 7.
Accompanying drawing 11 is second group of picture in embodiments of the invention 7.
Accompanying drawing 12 is the 3rd group of picture in embodiments of the invention 7.
Detailed description of the invention:
Embodiment 1
nullIn conjunction with Fig. 1 explanation，A kind of portable non-contacting tree parameters measurement apparatus，Its composition includes: gps antenna 3、Ultrasonic sensor 4、Photographic head 5、SD card 8、Display screen 2、Multiple manipulation buttons 1，Described display screen 2 is arranged on the boss 10 of the upper surface of upper shell 9，The upper surface of described upper shell 9 arranges multiple manipulation button 1，Described manipulation button 1 is arranged on the lower section of described boss 10 and the right side of boss 10，The right side on the top of described upper shell 9 connects the gps antenna 3 with rotating shaft 11，Photographic head 5 is installed on the top of described upper shell 9，The top mounting ultrasonic sensor 4 of described upper shell 9，The left side of described gps antenna 3 arranges described photographic head 5，The left side of described photographic head 5 arranges described ultrasonic sensor 4，The right flank of described upper shell 9 is provided with control switch 7，The tail end of described upper shell 9 inserts SD card 8，The bottom of described upper shell 9 connects lower house 6.
In conjunction with Fig. 2 explanation, the portable non-contacting tree parameters measurement apparatus of described one, described SD card 8 bi-directional signal is to center processor, described photographic head 5 by signal unidirectional delivery to diameter of a cross-section of a tree trunk 1.3 meters above the ground acquisition module, described ultrasonic sensor 4 by signal unidirectional delivery to diameter of a cross-section of a tree trunk 1.3 meters above the ground acquisition module and height of tree acquisition module, described height of tree acquisition module also receives the signal of 3 axis MEMS attitude transducer unidirectional delivery, described center processor receives diameter of a cross-section of a tree trunk 1.3 meters above the ground acquisition module, the signal of height of tree acquisition module and GPS processing module unidirectional delivery, described GPS processing module receives the signal of gps antenna 3 unidirectional delivery；
Signal unidirectional delivery is given display processing module by described display screen 2, described multiple manipulation buttons 1 by signal unidirectional delivery to keyboard process module, signal unidirectional delivery is given described center processor with described keyboard process module by described display processing module, described center processor receives the signal of clock module and power management module unidirectional delivery, and described power management module receives the current and voltage signals of battery transmission.
Illustrating in conjunction with Fig. 3,4,5, the measuring method of described a kind of portable non-contacting tree parameters measurement apparatus, measuring method includes trees height measurement method, GPS area measurement method and data managing method；
Described trees height measurement method, described GPS area measurement method and described data managing method need to use Tree image edge processing, the extractive technique of edge contour, the measurement of edge contour and detection technique, ultrasonic ranging method and Data fusion technique；
Tree image edge processing is for processing image and the Image semantic classification about of the effective trunk part of trees；
The extractive technique of edge contour for extract the image of the effective trunk part of trees, edge contour measurement detection technique for measuring the actual numerical value of the trees effective contour gathered；
Ultrasonic measuring distance technology adopts ultrasonic sensor 4 to measure the distance between instrument and trees, carries out distance calibration for the image collected；
Data fusion technique is to be undertaken combining the true diameter of a cross-section of a tree trunk 1.3 meters above the ground data finally obtaining trees by the data of ultrasonic measurement and the trees data of image measurement.
Illustrate in conjunction with Fig. 3, the measuring method of described a kind of portable non-contacting tree parameters measurement apparatus, described trees height measurement method, adopt 3 axis MEMS attitude transducer and ultrasonic sensor 4 to be combined measuring measurement tree height measurement；3 axis MEMS attitude transducer comprises 3 axis MEMS gyro and 3 axis MEMS accelerometer, the instrument angle of inclination relative to horizontal attitude can be accurately measured according to the attitude of 3 axis MEMS attitude transducer itself, by measuring the angle of two the instrument attitudes specified, the instrument distance to trunk of one of them attitude measured by recycling ultrasonic sensor 4, utilizes the principle of triangle to calculate the effective depth of trees.
In conjunction with Fig. 4,5 explanations, the measuring method of described a kind of portable non-contacting tree parameters measurement apparatus, described GPS area measurement method, GPS locating module adopts Global Satellite technology to realize location technology, by positioning the locus coordinate of the broken edge point of measured area, utilize deltic method that this irregular area is split, form multiple delta-shaped region, by the addition after the calculating to each delta-shaped region, obtain the area of irregular area, thus realizing the measurement of bottom class's forest region area.
The measuring method of described a kind of portable non-contacting tree parameters measurement apparatus, described data managing method, the each tree wood measured is set up unique number, set up the essential information of the kind of these trees, position, Growing years, set up the measurement archives of the diameter of a cross-section of a tree trunk 1.3 meters above the ground of these trees, the height of tree according to the measurement date；Data according to tree measurement can set up visible chart, and growth conditions and growth track to trees are analyzed contrast, provide valid data for scientific culture and plantation；The digital management system of whole nation forest managed, cut down and sets up for the ease of the bottom class of trees, all of data set up uniform data statistics and supervisory format, system configuration SD card 8, can according to the actual state in deep woods, carry out the storage of data summarization and statistics in real time, avoid the loss of data, carry out real-time information collection for system for forestry and decision-making provides reliable Data safeguard.
Embodiment 2
The portable non-contacting tree parameters measurement apparatus of one described in embodiment 1 and measuring method,
(1) edge processing of digital picture
Edge refers to that surrounding pixel gray scale has the set of those pixels of Spline smoothing or roof change, is present in object and background, object and object, between region and region.Edge always exists between two regions having different gray scale, this be due to two regions between gray scale be discontinuous.Rim detection is a kind of noncontinuity detection based on image segmentation, and the rim detection of image is the basic content of image procossing and analysis, is also the problem cannot being fully solved so far.When image is projected, mixing and when the affecting of factor such as noise, characteristics of image can thicken and distortion so that the extraction of characteristics of image becomes difficulty.The existence of these factors makes the rim detection of image become extremely difficult.Therefore image is carried out pretreatment and become particularly important.
The pretreatment of image: the pretreatment of image is the method using smoothing processing, its main purpose is to reduce noise., other kinds of noise is also had good effect.Linear filter is in simplest local mean value computing, and (k, l) with 1 the some gray value average h in its neighborhood local, (i j) replaces each gray value f in pixel.
Computing formula is formula such as:
Wherein, M is the pixel sum in neighborhood N；(k l) is (k, l) gray value at place of position in neighborhood N to f.
It is the subject matter of mean filter that discontinuous, sharp parts in image fogs.So it is not only intended to eliminate noise and wishes again to keep the details of image, just can utilize nonlinear filtering algorithm.The most simply nonlinear filter, basic ideas are to rely on neighborhood those values very big with representative value difference interior, are not simply take average due to it, and what once produce is fuzzy little comparatively speaking.Method is to be roamed in the drawings by size fixed form, certain pixel is overlapped with the template position in figure, we read the gray value of the pixel corresponding to this template, gray value is lined up to them by we according to order from small to large, next takes the Mesophyticum in sequence for the value of pixel in template.Image uniform after medium filtering, noise eliminates, and filtered image does not change the essential information on border.For mean filter, finding out, obscurity boundary in figure, measurement effect is bad.
(2) extraction of edge contour
It is that dimension of object carries out the key about measuring that the profile at edge is extracted.The extraction of the contour line of two dimension is in that the extraction of marginal point, because the change of boundary zone gray value is obviously, so the determination of marginal point is exactly the change utilizing gray value, therefore means image border detected are usually first with differential algorithm, sharpen the edge of a hypograph, choosing the image after a kind of template and sharpened value afterwards and do convolution algorithm, so can be obtained by the image of the profile at edge, whether the contours extract at edge is decided by the excellent or bad of algorithm accurately.For relatively simple image: the contrast of namely measured object and its background frame is clearly, because the quantity of this algorithm computing is relatively larger, efficiency is not high yet, it is not suitable for measuring simple image, therefore our profit is alternatively threshold calculations method, first this method is distributed difference according to the histogrammic of the gray scale of image, by calculating the threshold value of the gray scale obtaining this object being measured, threshold value further according to this image is carried out binaryzation, then the image after a sharpening can be formed, finally we just utilize the method being scanned by column to obtain the curve at edge.
(3) rim detection
Sobel operator is the basic mode of filtering algorithm, with the two template do convolution just can represent in image institute a little, vertical edge is decided by the vertical difference that first its value of calculation of mould is image；Its value of calculation is image level difference by second template of horizontal edge shadow.The calculating of Sobel operator includes two kinds of methods, and one is to take two kinds of difference sums, and another kind is that water intaking adjustment is divided and the maximum in vertical difference, it is common to use the latter.If S (C) is Sobel operator result of calculation, before processing the gray value of this point be f (i, j), formula is:
(4) threshold calculations method
General pattern generally includes picture, background and noise.To propose as thing, removing noise spot by filtering algorithm, then set a certain threshold θ from many-valued digital picture, with θ, view data is divided into 2 parts, namely more than the group of θ pixel with less than the group of θ pixel.The algorithm calculating threshold value generally has minimum error method, the threshold method of the maximum equation difference, histogram of difference method etc..
A kind of method directly perceived, simple is exactly histogram method, and its purpose is exactly select optimal threshold to make the object in image and wrong minimum after background segment.Assume that image only comprises background and object, then histogram shape is that two peaks press from both sides 1 paddy, and such as Fig. 8, between the lowest point 150 to 200, value error is minimum.
Directly can search the position of the lowest point by step, step-length is exactly 1 gray value.But this method is very infeasible in actual applications, because the noisy interference of the rectangular histogram of reality, it is not necessary to being that desirable two peaks press from both sides 1 paddy, major part situation is difficult to search the lowest point thus going wrong.
After the threshold method of the maximum equation difference is proposed by Otsu, in practice it has proved that this calculating effect is very good, it is based on method of least square and derives.Concrete methods of realizing: the gray value setting 1 width image is divided into 0-m level, gray value is the pixel of i is n；Then total pixel number is:
The elementary probability that so each gray value occurs in formula is: pi=ni/N.Then the gray value obtained can be divided into 2 groups: c by us0={ 0～k} and c1={ k+1～m}.The probability of each appearance organizing gray value then as follows respectively:
c0Probability be:Formula four
c1Probability be:
Obviously can release from formula four and formula five:
c0Meansigma methods be:
c1Meansigma methods be:
Wherein,Be threshold value it is average gray during k；It it is then the meansigma methods of the gray scale of overall image.So the average gray value of all samplings is: u=ω0u0+ω1u1
So, the variance between 2 groups just can represent with following formula:
K during max σ (k)*The threshold θ experiment being required proves that the calculating effect of this method is fine.The threshold value calculated by histogram data Otsu method above is 169.
Threshold calculations out after, image can be carried out binaryzation, be set to 1 by gray value more than the point of threshold value, be otherwise set to 0.
Image after binaryzation and black white image, the shape of object is substantially out, then boundary search is carried out again, it is determined that go out the pixel at place, border. boundary search adopts the way from up and down 4 direction search, so non-interconnected territory can be carried out boundary search.Boundary search out after, carry out curve fitting according in advance given shape.
The theoretical size of image can be indicated by pixel, and its unit with actual range measurement has a linear relation, and the amount that they are surveyed ratio is for k.With it is known that the device of standard, I can complete measured numerical value is demarcated: utilizing Excel to draw the length of side is 30mm form, gathers this grid image under this basis.
Represent the pixel average in the image of 30mm by calculating the length of side, calculate the proportionate relationship of millimeter-pixel, obtain measuring specific ray constant k, namelyWhereinThe meansigma methods of representation unit network length in pixels.
Embodiment 3
The portable non-contacting tree parameters measurement apparatus of one described in embodiment 1 and measuring method, the image that gathers of photographic head is input in the diameter of a cross-section of a tree trunk 1.3 meters above the ground acquisition module of arm processor, gather the measured range data of ultrasonic sensor simultaneously, calculated the diameter of a cross-section of a tree trunk 1.3 meters above the ground of trees by data fusion, be sent in center processor；It is input in the height of tree acquisition module of arm processor by the data of the 3 axis MEMS attitude transducer of twice measurement, and the instrument of a combination wherein ultrasonic sensor measurement is to the range data of trunk, calculates the height of trees, is sent in center processor；Received the data of satellite, the locus at GPS processing module record present apparatus place by gps antenna, be input in arm processor；Clock module provides correct time information for system, and provides clock service for time management；Center processor is by showing that display content is shown in display by processing module, it is simple to operator observes and operation；Power management module is used for gathering present battery residual capacity, in order to prompting operator stores data and arrangement in time, it is to avoid loss of vital data；Keyboard process module is used for recording operator's operating procedure, it is achieved man-machine interaction；SD card is used for importing real-time trees data, is the trees data move medias that carry out that entirety collects.
Embodiment 4
The portable non-contacting tree parameters measurement apparatus of one described in embodiment 1 and measuring method, first with ultrasonic sensor measurement trunk to the distance of L in the distance i.e. figure of apparatus measures point, by adjust carry the needle of instrument of MEMS attitude transducer be respectively aligned in figure 1 and 2 two lines, calculate angle of departure φ, then trees are highly represented by:
H=L*tag φ formula nine
Embodiment 5
The portable non-contacting tree parameters measurement apparatus of one described in embodiment 1 and measuring method, as it is shown in figure 5, Pi(i=1, ... n) for utilizing the n locus coordinate points measured by GPS, measure three location points and can be obtained by the area in defined region, often measure a location point afterwards and will quickly form new triangle area, then the forest area finally obtained is:
Owing to measuring the scrambling of point, it may appear that the situation shown in figure 6 above, namely measure some P5Point is at P4Opposite side, line segment P1P5With P3P4Intersecting, joining is P '5Point, is so measuring P6After point, the forest area formed is just:
Embodiment 6
The portable non-contacting tree parameters measurement apparatus of one described in embodiment 1 and measuring method,
In conjunction with following table, trees outputting standard data form is:
Embodiment 7
The portable non-contacting tree parameters measurement apparatus of one described in embodiment 1 and measuring method,
(1) first group of picture
Original image is scaled to 400*300, and after treatment, trunk width is (158-180 pixel) to this width image, and taking its mean breadth is 164 pixels, according toΔ x=164,2R=136mm, L=1200mm, substitution can solve f=1447 pixel.
(2) second groups of pictures
Original image is scaled to 400*300, and after treatment, trunk width is (106-114 pixel) to this width image, and taking its mean breadth is 110 pixels, according toΔ x=110,2R=125mm, L=1200mm, substitution can solve f=1056 pixel.
(3) the 3rd groups of pictures
Original image is scaled to 400*300, and after treatment, trunk width is (94-98 pixel) to this width image, and taking its mean breadth is 96 pixels, according toΔ x=96,2R=105mm, L=1200mm, substitution can solve f=1096 pixel.
By considering of three above result, the focal length result of second group and the 3rd group is closely, and the focal length result error excessive (casting out) of first group, so go the meansigma methods of second group and the 3rd group focal length as the focal length in calculating, namely final f=1076 pixel.
So, the inverse width solving second tree and the 3rd tree has
D2=(110*1200)/1076=123mm, has 2mm error with measured value 125mm.
D3=(96*1200)/1076=107mm, has 2mm error with measured value 105mm.
Certainly, described above is not limitation of the present invention, and the present invention is also not limited to the example above, the change made in the essential scope of the present invention of those skilled in the art, remodeling, interpolation or replacement, also should belong to protection scope of the present invention.
Claims (6)
- null1. a portable non-contacting tree parameters measurement apparatus，Its composition includes: gps antenna (3)、Ultrasonic sensor (4)、Photographic head (5)、SD card (8)、Display screen (2)、Multiple manipulation buttons (1)，It is characterized in that: described display screen (2) is arranged on the boss (10) of the upper surface of upper shell (9)，The upper surface of described upper shell (9) arranges multiple manipulation button (1)，Described manipulation button (1) is arranged on the lower section of described boss (10) and the right side of boss (10)，The right side on the top of described upper shell (9) connects the gps antenna (3) with rotating shaft (11)，Photographic head (5) is installed on the top of described upper shell (9)，The top mounting ultrasonic sensor (4) of described upper shell (9)，The left side of described gps antenna (3) arranges described photographic head (5)，The left side of described photographic head (5) arranges described ultrasonic sensor (4)，The right flank of described upper shell (9) is provided with control switch (7)，The tail end of described upper shell (9) inserts SD card (8)，The bottom of described upper shell (9) connects lower house (6).
- 2. the portable non-contacting tree parameters measurement apparatus of one according to claim 1, it is characterized in that: described SD card (8) bi-directional signal is to center processor, described photographic head (5) by signal unidirectional delivery to diameter of a cross-section of a tree trunk 1.3 meters above the ground acquisition module, described ultrasonic sensor (4) by signal unidirectional delivery to diameter of a cross-section of a tree trunk 1.3 meters above the ground acquisition module and height of tree acquisition module, described height of tree acquisition module also receives the signal of 3 axis MEMS attitude transducer unidirectional delivery, described center processor receives diameter of a cross-section of a tree trunk 1.3 meters above the ground acquisition module, the signal of height of tree acquisition module and GPS processing module unidirectional delivery, described GPS processing module receives the signal of gps antenna (3) unidirectional delivery；Signal unidirectional delivery is given display processing module by described display screen (2), described multiple manipulation buttons (1) by signal unidirectional delivery to keyboard process module, signal unidirectional delivery is given described center processor with described keyboard process module by described display processing module, described center processor receives the signal of clock module and power management module unidirectional delivery, and described power management module receives the current and voltage signals of battery transmission.
- 3. utilize the measuring method of a kind of portable non-contacting tree parameters measurement apparatus described in claim 1, it is characterized in that: measuring method includes trees height measurement method, GPS area measurement method and data managing method；Described trees height measurement method, described GPS area measurement method and described data managing method need to use Tree image edge processing, the extractive technique of edge contour, the measurement of edge contour and detection technique, ultrasonic ranging method and Data fusion technique；Tree image edge processing is for processing image and the Image semantic classification about of the effective trunk part of trees；The extractive technique of edge contour for extract the image of the effective trunk part of trees, edge contour measurement detection technique for measuring the actual numerical value of the trees effective contour gathered；Ultrasonic measuring distance technology adopts ultrasonic sensor (4) to measure the distance between instrument and trees, carries out distance calibration for the image collected；Data fusion technique is to be undertaken combining the true diameter of a cross-section of a tree trunk 1.3 meters above the ground data finally obtaining trees by the data of ultrasonic measurement and the trees data of image measurement.
- 4. the measuring method of a kind of portable non-contacting tree parameters measurement apparatus according to claim 3, it is characterized in that: described trees height measurement method, adopt 3 axis MEMS attitude transducer and ultrasonic sensor (4) to be combined measuring measurement tree height measurement；3 axis MEMS attitude transducer comprises 3 axis MEMS gyro and 3 axis MEMS accelerometer, the instrument angle of inclination relative to horizontal attitude can be accurately measured according to the attitude of 3 axis MEMS attitude transducer itself, by measuring the angle of two the instrument attitudes specified, recycling ultrasonic sensor (4) measures the instrument distance to trunk of one of them attitude, utilizes the principle of triangle to calculate the effective depth of trees.
- 5. the measuring method of a kind of portable non-contacting tree parameters measurement apparatus according to claim 3, it is characterized in that: described GPS area measurement method, GPS locating module adopts Global Satellite technology to realize location technology, by positioning the locus coordinate of the broken edge point of measured area, utilize deltic method that this irregular area is split, form multiple delta-shaped region, by the addition after the calculating to each delta-shaped region, obtain the area of irregular area, thus realizing the measurement of bottom class's forest region area.
- 6. the measuring method of a kind of portable non-contacting tree parameters measurement apparatus according to claim 3, it is characterized in that: described data managing method, the each tree wood measured is set up unique number, set up the essential information of the kind of these trees, position, Growing years, set up the measurement archives of the diameter of a cross-section of a tree trunk 1.3 meters above the ground of these trees, the height of tree according to the measurement date；Data according to tree measurement can set up visible chart, growth conditions and growth track to trees are analyzed contrast, all of data set up uniform data statistics and supervisory format, system configuration SD card (8), according to the actual state in deep woods, the storage of data summarization and statistics can be carried out in real time.
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