CN105806269B - The portable non-contacting tree parameters measuring device of one kind and measurement method - Google Patents
The portable non-contacting tree parameters measuring device of one kind and measurement method Download PDFInfo
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- CN105806269B CN105806269B CN201610202282.2A CN201610202282A CN105806269B CN 105806269 B CN105806269 B CN 105806269B CN 201610202282 A CN201610202282 A CN 201610202282A CN 105806269 B CN105806269 B CN 105806269B
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Abstract
The portable non-contacting tree parameters measuring device of one kind and measurement method.The present invention relates to a kind of portable non-contacting tree parameters measuring device and measurement methods.The display screen is mounted on the boss of the upper surface of upper housing, multiple manipulation buttons are arranged in the upper surface of the upper housing, the right side of the lower section and boss of the boss is arranged in the manipulation button, the GPS antenna of the right side connecting band shaft on the top of the upper housing, the top of the upper housing is installed by camera, the top mounting ultrasonic sensor of the upper housing, the left side setting of the GPS antenna camera, the left side setting of the camera ultrasonic sensor, the right side of the upper housing is provided with control switch, SD card is inserted into the bottom end of the upper housing.The present invention is for tree parameters measuring device and the measurement method based on measuring device.
Description
Technical field:
The present invention relates to forest automatization field, specifically a kind of portable non-contacting tree parameters measuring device
With measurement method.
Background technique:
At the end of the 20th century, Management offorestry department is to the positioning of the exploration of the forest reserves also in hand-kept, compass survey
It is stage, low so as to cause working efficiency, field process amount is big, largely affect the efficiency of exploration and the essence of result
True property.It is most of to obtain index number also with operation by hand meanwhile in carrying out forest resource sustainability development investigation
According to more difficult so as to cause data acquisition, calculating cycle is longer.However, the forestry of modernization is exactly to be with virtual forestry, essence
Quasi- forestry and networking forestry are the system engineering of target, and element task is exactly the automatic measurement & calculation of forest reserves all data.
It is that we carry out the base that the needs of investigation and the management of the forest reserves obtain that the diameter of a cross-section of a tree trunk 1.3 meters above the ground, height of trees etc., which measure the factor,
This information.A kind of survey for collecting distance has been had developed finally by our continuous anger and exploration since the 1970s
Amount, the measurement of angle and data automatic processing are melted into the high-tech instrument of surveying and mapping of modernization together: total station arrives
In the middle period nineties, the states such as developed countries such as U.S. are in terms of the measurement of the area in forest land, in terms of the measurement of trees height
In all start to contact total station.This completely new measuring instrument has obtained extensive fortune in the various parameters of measurement trees
With, it not only measuring speed measurement accuracy and in terms of be greatly improved, more importantly this instrument
It is to be carried out in the case where not having any destruction to trees, as long as we are using this instrument, it is automatically real-time
Obtain the parameters of trees.
Currently, China is improved the advanced technologies such as the close shot shooting of three-dimensional visual response technology, number, make
It is applied in resource investigation of forest, research and management, from the result for obtaining experiment can be seen that these technologies by
Apply the volume that 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 can be measured in tree measurement system, but they
Or in the preliminary experiment stage.
The development of contactless tree measurement instrument is that the informationization, automation, precision of forest inventory investigation management are established
Basis；Traditional forest survey method and technology are being improved simultaneously, is reducing field investigation labor intensity etc. with important
Meaning.
Summary of the invention:
The object of the present invention is to provide a kind of portable non-contacting tree parameters measuring device and measurement methods, both can be with
Overcome instrument with contacts using the defect for generating abrasion, also solves traditional instrument and have a single function, measure inaccuracy, be not easy
Furthermore the disadvantages of portable, also solves the problems, such as that forest-tree intelligence and scientific management fall behind.
Above-mentioned purpose is realized by following technical scheme:
A kind of portable non-contacting tree parameters measuring device, composition include: GPS antenna 3, ultrasonic sensor 4,
Camera 5, SD card 8, display screen 2, multiple manipulation buttons 1, the display screen 2 are mounted on the boss of the upper surface of upper housing 9
On 10, multiple manipulation buttons 1 are arranged in the upper surface of the upper housing 9, and the boss 10 is arranged in the manipulation button 1
Lower section and boss 10 right side, the GPS antenna 3 of the right side connecting band shaft 11 on the top of the upper housing 9, described is upper
The top installation camera 5 of shell 9, the top mounting ultrasonic sensor 4 of the upper housing 9, the GPS antenna 3
The left side setting camera 5, the left side setting of the camera 5 ultrasonic sensor 4, the upper housing
9 right side is provided with control switch 7, and the tail end of the upper housing 9 is inserted into SD card 8, the bottom end connection of the upper housing 9
Lower case 6.
The described portable non-contacting tree parameters measuring device of one kind, during 8 bi-directional signal of SD card is given
Heart processor, the camera 5 give signal unidirectional delivery to diameter of a cross-section of a tree trunk 1.3 meters above the ground acquisition module, and the ultrasonic sensor 4 is by signal
Unidirectional delivery is to diameter of a cross-section of a tree trunk 1.3 meters above the ground acquisition module and sets high acquisition module, and the high acquisition module of the tree, which also receives, receives 3 axis MEMS posture
The signal of sensor unidirectional delivery, the center processor receive diameter of a cross-section of a tree trunk 1.3 meters above the ground acquisition module, the high acquisition module of tree and GPS and handle mould
The signal of block unidirectional delivery, the GPS processing module receive the signal of 3 unidirectional delivery of GPS antenna；
The display screen 2 is by signal unidirectional delivery to Display processing module, and multiple manipulation buttons 1 are by signal list
To keyboard process module is passed to, the Display processing module is with the keyboard process module by signal unidirectional delivery to institute
The center processor stated, the center processor receives the signal of clock module and power management module unidirectional delivery, described
Power management module receive battery transmitting current and voltage signals.
The measurement method of the portable non-contacting tree parameters measuring device of one kind, measurement method includes trees height
Spend measurement method, GPS area measurement method and data managing method；
Trees height measurement method, the GPS area measurement method and the data managing method needs
Use Tree image edge processing, the extractive technique of edge contour, the measurement of edge contour and detection technique, ultrasound
Away from method and Data fusion technique；
The image and image preprocessing around it that Tree image edge processing is used to handle the effective trunk part of trees；
The extractive technique of edge contour is used to extract the measurement detection skill of the image of the effective trunk part of trees, edge contour
Art is used to measure the actual numerical value of trees effective contour collected；
Ultrasonic measuring distance technology is collected figure using the distance between 4 measuring instrument of ultrasonic sensor and trees
As carrying out distance calibration；
Data fusion technique is to be combined the trees data of the data of ultrasonic measurement and image measurement to finally obtain
The true diameter of a cross-section of a tree trunk 1.3 meters above the ground data of trees.
The measurement method of the portable non-contacting tree parameters measuring device of one kind, the trees elevation carrection
Method is combined measurement using 3 axis MEMS attitude transducer and ultrasonic sensor 4 and measures tree height measurement；Three axis
It, can be according to 3 axis MEMS attitude transducer comprising 3 axis MEMS gyro and 3 axis MEMS accelerometer in MEMS attitude transducer
Tilt angle of the accurate measuring instrument of the posture of itself relative to horizontal attitude, by the angle for measuring two specified instrument postures
Degree is recycled ultrasonic sensor 4 to measure the instrument of one of posture to the distance of trunk, is calculated using the principle of triangle
The effective height of trees.
The measurement method of the portable non-contacting tree parameters measuring device of one kind, the GPS area measurement
Method, GPS positioning module realize location technology using global satellite technology, pass through the broken edge point of positioning measurement area
Spatial position coordinate is split this irregular area using deltic method, multiple delta-shaped regions is formed, by right
Addition after the calculating of each delta-shaped region obtains the area of irregular area, to realize bottom class's forest region area
Measurement.
The measurement method of the portable non-contacting tree parameters measuring device of one kind, the data management side
Method establishes unique number to each tree wood of measurement, establish the types of the trees, position, Growing years essential information, according to
The measurement date establishes the high measurement archives of the diameter of a cross-section of a tree trunk 1.3 meters above the ground of the trees, tree；Visible chart can be established according to the data of tree measurement,
Growth conditions and growth track to trees carry out analysis comparison, and all data establish uniform data statistics and supervisory format,
System configuration SD card (8), can be according to the actual state in deep woods, the storage of real-time perfoming data summarization and statistics.
The utility model has the advantages that
1. the present invention provides the function of data intelligence management and statistics, by measuring the information energy such as date and geographical location
Enough rates of accumulation in each tree wood of measurement and region realize management and statistics, and provide the data information of reference format, are
The quick real-time statistics of forest data in the whole country are provided safeguard and are supported.
2. the present invention, in cutting plan, usable GPS positioning technology quadratures, cuts a point felling bottom class, and by GPS gathers
Basic data of the data as GIS-Geographic Information System (GIS).Felled bottom class position can be quickly and accurately positioned using GPS
Set whether correct, area is accurate, whether super side is crossed the border.The behavior for accounting for, damaging forest land for various signs, can be fast with GPS
Speed is accurately positioned, and serves data to Management offorestry database in time, draw out accounted for, damage by sign forest land accurate location,
Area and figure, to strengthen management.
3. 3 axis MEMS gyro of the invention and accelerometer can static measurement space object under space inertial coordinate
Angular velocity of rotation and acceleration of gravity, object appearance under space inertial coordinate system is capable of determining that by data fusion and resolving
State.
The advantages that 4. MEMS inertia device of the invention is small in size with its, cheap, powerful, and temporal drift is small,
Gradually it is widely used in the production and living of the people.
5. GPS positioning of the invention is to carry out space to trees by astronomical satellite by built-in GPS receiver module to determine
Position, while also can effectively manage the information such as the subcompartment area of forest.
Detailed description of the invention:
Attached drawing 1 is structural schematic diagram of the invention.
Attached drawing 2 is electrical flow chart of the invention.
Attached drawing 3 is the schematic diagram of tree breast-height diameter method of the invention.
Attached drawing 4 is the schematic diagram of trees height measurement method of the invention.
Attached drawing 5 is the schematic diagram A of tree measurement area of the invention.
Attached drawing 6 is the schematic diagram B of tree measurement area of the invention.
Attached drawing 7 is the SOBEL picture of (3) edge detection in the embodiment of the present invention 2.
Attached drawing 8 is (4) gray value side figure in the embodiment of the present invention 2.
Attached drawing 9 is the proportionate relationship figure of (4) millimeter-pixel in the embodiment of the present invention 2.
Attached drawing 10 is first group of picture in the embodiment of the present invention 7.
Attached drawing 11 is second group of picture in the embodiment of the present invention 7.
Attached drawing 12 is third group picture in the embodiment of the present invention 7.
Specific embodiment:
Embodiment 1
It is illustrated with reference to Fig. 1, a kind of portable non-contacting tree parameters measuring device, composition includes: GPS antenna 3, surpasses
Sonic sensor 4, camera 5, SD card 8, display screen 2, multiple manipulation buttons 1, the display screen 2 are mounted on upper housing 9
On the boss 10 of upper surface, multiple manipulation buttons 1 are arranged in the upper surface of the upper housing 9, and the setting of manipulation button 1 exists
The lower section of the boss 10 and the right side of boss 10, GPS days of the right side connecting band shaft 11 on the top of the upper housing 9
Camera 5 is installed on the top of line 3, the upper housing 9, and the top mounting ultrasonic sensor 4 of the upper housing 9 is described
GPS antenna 3 the left side setting camera 5, the left side setting of the camera 5 ultrasonic sensor 4,
The right side of the upper housing 9 is provided with control switch 7, and the tail end of the upper housing 9 is inserted into SD card 8, the upper casing
The bottom end of body 9 connects lower case 6.
It is illustrated in combination with fig. 2, the portable non-contacting tree parameters measuring device of one kind, the SD card 8 is two-way
Center processor is delivered a signal to, the camera 5 gives signal unidirectional delivery to diameter of a cross-section of a tree trunk 1.3 meters above the ground acquisition module, and the ultrasonic wave passes
Signal unidirectional delivery to diameter of a cross-section of a tree trunk 1.3 meters above the ground acquisition module and is set high acquisition module by sensor 4, and the high acquisition module of the tree also receives reception
The signal of 3 axis MEMS attitude transducer unidirectional delivery, the center processor receive the high acquisition mould of diameter of a cross-section of a tree trunk 1.3 meters above the ground acquisition module, tree
The signal of block and GPS processing module unidirectional delivery, the GPS processing module receive the letter of 3 unidirectional delivery of GPS antenna
Number；
The display screen 2 is by signal unidirectional delivery to Display processing module, and multiple manipulation buttons 1 are by signal list
To keyboard process module is passed to, the Display processing module is with the keyboard process module by signal unidirectional delivery to institute
The center processor stated, the center processor receives the signal of clock module and power management module unidirectional delivery, described
Power management module receive battery transmitting current and voltage signals.
Illustrate in conjunction with Fig. 3,4,5, the measurement method of the portable non-contacting tree parameters measuring device of one kind is surveyed
Amount method includes trees height measurement method, GPS area measurement method and data managing method；
Trees height measurement method, the GPS area measurement method and the data managing method needs
Use Tree image edge processing, the extractive technique of edge contour, the measurement of edge contour and detection technique, ultrasound
Away from method and Data fusion technique；
The image and image preprocessing around it that Tree image edge processing is used to handle the effective trunk part of trees；
The extractive technique of edge contour is used to extract the measurement detection skill of the image of the effective trunk part of trees, edge contour
Art is used to measure the actual numerical value of trees effective contour collected；
Ultrasonic measuring distance technology is collected figure using the distance between 4 measuring instrument of ultrasonic sensor and trees
As carrying out distance calibration；
Data fusion technique is to be combined the trees data of the data of ultrasonic measurement and image measurement to finally obtain
The true diameter of a cross-section of a tree trunk 1.3 meters above the ground data of trees.
Illustrate in conjunction with Fig. 3, the measurement method of the portable non-contacting tree parameters measuring device of one kind is described
Trees height measurement method is combined measurement using 3 axis MEMS attitude transducer and ultrasonic sensor 4 and measures tree
High measurement；It, can be according to three axis comprising 3 axis MEMS gyro and 3 axis MEMS accelerometer in 3 axis MEMS attitude transducer
Tilt angle of the accurate measuring instrument of the posture of MEMS attitude transducer itself relative to horizontal attitude, by measuring specified two
The angle of a instrument posture recycles ultrasonic sensor 4 to measure the instrument of one of posture to the distance of trunk, utilizes three
Angular principle calculates the effective height of trees.
In conjunction with Fig. 4,5 explanations, the measurement method of the portable non-contacting tree parameters measuring device of one kind is described
GPS area measurement method, GPS positioning module using global satellite technology realize location technology, pass through positioning measurement area
The spatial position coordinate of broken edge point is split this irregular area using deltic method, forms multiple three
Angular domain obtains the area of irregular area by the addition after the calculating to each delta-shaped region, to realize bottom class
The measurement of forest region area.
The measurement method of the portable non-contacting tree parameters measuring device of one kind, the data management side
Method establishes unique number to each tree wood of measurement, establish the types of the trees, position, Growing years essential information, according to
The measurement date establishes the high measurement archives of the diameter of a cross-section of a tree trunk 1.3 meters above the ground of the trees, tree；Visible chart can be established according to the data of tree measurement,
Growth conditions and growth track to trees carry out analysis comparison, provide valid data for scientific culture and plantation；For the ease of
Bottom class's management, felling and the digital management system for establishing national forest of trees, all data establish uniform data statistics
And supervisory format, system configuration SD card 8, can according to the actual state in deep woods, the storage of real-time perfoming data summarization and statistics,
The loss of data is avoided, real-time information collection is carried out for system for forestry and decision provides reliable Data safeguard.
Embodiment 2
The portable non-contacting tree parameters measuring device of one kind described in embodiment 1 and measurement method,
(1) edge processing of digital picture
Edge refer to surrounding pixel gray scale have Spline smoothing or roof variation those of pixel set, be present in object and
Background, object and object, between region and region.Edge always exists between the region that two have different gray scales, this be by
Gray scale between two regions is discontinuous.Edge detection is a kind of noncontinuity detection based on image segmentation, image
Edge detection be the basic content of image procossing and analysis, and the problem that can not be fully solved so far.When image by
To projection, when mixing with influences of factors such as noises, characteristics of image can be thickened and is distorted, so that the extraction of characteristics of image becomes
It obtains difficult.The presence of these factors makes the edge detection of image become extremely difficult.Therefore carrying out pretreatment to image becomes outstanding
It is important.
The pretreatment of image: the pretreatment of image is the method using smoothing processing, and main purpose is to reduce noise.,
Also there is good effect to other kinds of noise.Linear filter is in simplest local mean value operation, in pixel
Each gray value f (k, l) is replaced with its neighborhood 1 gray value mean value h (i, j) in part.
Calculation formula such as formula:
Wherein, M is the pixel sum in neighborhood N；F (k, l) is the gray value in neighborhood N at position (k, l).
It is the main problem of mean filter that discontinuous, sharp parts in image, which fog,.It is not only intended to so eliminate noise
The details for wishing holding image again, can utilize nonlinear filtering algorithm.Most simply nonlinear filter, basic ideas are
Dependent on those values very big with representative value difference in neighborhood, since it is not simply to take mean value, the fuzzy phase once generated
For seldom.Method is to roam size fixed form in figure, some pixel is overlapped with the template position in figure, we
The gray value of pixel corresponding to the template is read, we line up gray value according to sequence from small to large to them,
Next the intermediate value in sequence is taken to replace the value of pixel in template.Image uniform after median filtering, noise is eliminated, filtered
Image does not change the essential information on boundary.For mean filter, find out out of figure, obscurity boundary, measurement effect is bad.
(2) extraction of edge contour
Extract to the profile at edge is the key that related measurement is carried out to dimension of object.The extraction of two-dimensional contour line
It is the extraction of marginal point, because the variation of marginal belt gray value is very it will be evident that the determination of marginal point is exactly to utilize
The variation of gray value, therefore the means detected to image border are usually to sharpen image first with differential algorithm
Edge, the image after choosing a kind of template and sharpened value later do convolution algorithm, can be obtained by the figure of the profile at edge in this way
Whether the contours extract of picture, edge is accurately decided by the excellent or bad of algorithm.For relatively simple image: being measured
Object and it background frame contrast clearly because the quantity of this algorithm operation is bigger, efficiency is not also high,
It is not suitable for measuring simple image, therefore our benefits are alternatively threshold calculations method, this method basis first
The distribution of the histogram of the gray scale of image is different, the threshold value of the gray scale of the object being measured is obtained by calculation, further according to the figure
The threshold value of picture is carried out binaryzation, as soon as the image after sharpening then can be formed, it is last we using sweeping by column
The method retouched obtains the curve at edge.
(3) edge detection
Sobel operator is the basic mode of filtering algorithm, and institute in image can be represented by doing convolution with the two templates
A little, vertical edge is decided by that first its calculated value of mould is the vertical difference of image；Second template of horizontal edge shadow is to it
Calculated value is image level difference.The calculating of Sobel operator includes two methods, another one is taking the sum of two kinds of difference
It is water intaking adjustment point and the maximum value in vertical difference, usually using the latter.If S (C) is Sobel operator calculated result, processing
The gray value of the preceding point is f (i, j), formula are as follows:
(4) threshold calculations method
General pattern is generally included to picture, background and noise.It to propose to pass through filter to as object from the digital picture of multivalue
Wave algorithm removes noise spot, then sets a certain threshold θ, and image data is divided into 2 parts with θ, i.e., greater than the group of θ pixel and
Less than the group of θ pixel.The algorithm for calculating threshold value generally has minimum error method, the threshold method of the maximum equation difference, histogram of difference method etc..
Intuitive, the simple method of one kind is exactly histogram method, its purpose is exactly that optimal threshold is selected to make the mesh in image
Mistake is minimum after marking object and background segment.Assuming that image only includes background and object, then histogram shape is that two peaks press from both sides 1 paddy,
Such as Fig. 8, value error is minimum between the lowest point 150 to 200.
The position of the lowest point can be directly searched by step, step-length is exactly 1 gray value.But this method is in practical application
In it is very infeasible, because of the noisy interference of actual histogram, be not necessarily ideal two peak and press from both sides 1 paddy, most of situation is very
Difficulty searches the lowest point to go 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 minimum two
Multiplication derives.Concrete methods of realizing: the gray value for setting 1 width image is divided into 0-m grades, and the pixel that gray value is i is n；Then total pixel
Number are as follows:
The elementary probability that so each gray value occurs in formula are as follows: pi=ni/N.Then the gray value that we will obtain
2 groups: c can be divided into0={ 0~k } and c1={ k+1~m }.The probability of the appearance of each group gray value is respectively as follows then:
c0Probability are as follows:
c1Probability are as follows:
Obviously it can be released from formula four and formula five:
c0Average value are as follows:
c1Average value are as follows:
Wherein,Be threshold value be k when average gray；It is then the gray scale of whole image
Average value.So the average gray value all sampled are as follows: u=ω0u0+ω1u1
In this way, the variance between 2 groups can be indicated with following formula:
K when max σ (k)*It is required threshold θ experiments have shown that the calculating effect of this method is fine.By above straight
Square diagram data is 169 with the threshold value that Otsu method is calculated.
After threshold calculations come out, image can be carried out to binaryzation, i.e., the point that gray value is greater than threshold value is set as 1, otherwise
It is set as 0.
Image, that is, black white image after binaryzation, the shape of object come out substantially, then carry out boundary search again, really
Pixel boundary search where making boundary uses the method searched for from 4 directions up and down, in this way can be to non-interconnected
Domain carries out boundary search.After boundary search comes out, carried out curve fitting according to shape given in advance.
The theoretical size of image can be indicated with pixel, and the unit of it and actual range measurement has a line
Property relationship, they survey amount ratio be k.With it is known that standard device, I can complete to measured number
Value is demarcated: drawing side length using Excel is 30mm table, and the grid image is acquired under this basis.
The pixel average in the image of 30mm is indicated by calculating side length, to calculate millimeter-pixel proportionate relationship,
Measurement specific ray constant k is obtained, i.e.,pixel.WhereinIndicate the average value of identity network length in pixels.
Embodiment 3
The portable non-contacting tree parameters measuring device of one kind described in embodiment 1 and measurement method, camera are adopted
Collection image is input in the diameter of a cross-section of a tree trunk 1.3 meters above the ground acquisition module of arm processor, while acquiring the measured range data of ultrasonic sensor,
The diameter of a cross-section of a tree trunk 1.3 meters above the ground that trees are calculated by data fusion, is transmitted in center processor；It is passed by the 3 axis MEMS posture measured twice
The data of sensor are input in the high acquisition module of tree of arm processor, and combine the instrument of wherein ultrasonic sensor measurement
Device calculates the height of trees, is transmitted in center processor to the range data of trunk；Satellite is received by GPS antenna
Data, GPS processing module record present apparatus where spatial position, be input in arm processor；Clock module is system
Correct time information is provided, and provides Scheduler-Service for time management；Center processor will be shown by Display processing module
Content is shown in display, is observed and is operated convenient for operator；Power management module is used to acquire present battery residual capacity,
To prompt the timely storing data of operator and arrangement, loss of vital data is avoided；Keyboard process module is used to record operator
Operating procedure realizes human-computer interaction；SD card is used to import real-time trees data, is mobile Jie that trees data are integrally summarized
Matter.
Embodiment 4
The portable non-contacting tree parameters measuring device of one kind described in embodiment 1 and measurement method, first with super
Sonic sensor measures the distance of trunk L into the distance of apparatus measures point i.e. figure, passes by adjusting MEMS posture is carried
The needle of instrument of sensor is respectively aligned in figure 1 and 2 two lines, calculates angle of departure φ, then trees height may be expressed as:
H=L*tag φ formula nine
Embodiment 5
The portable non-contacting tree parameters measuring device of one kind described in embodiment 1 and measurement method, as schemed (a) institute
Show, Pi(i=1 ... n) is to measure three location points using the spatial position n coordinate points measured by GPS and can be obtained by and enclosed
At the area in region, one location point of every measurement will quickly form new triangle area, the then forest finally obtained later
Area are as follows:
Due to the scrambling of measurement point, it may appear that situation shown in upper figure (b), i.e. measurement point P5Point is in P4The other side, line
Section P1P5With P3P4Intersection, crosspoint are P '5Point is measuring P in this way6After point, it is formed by forest area just are as follows:
Embodiment 6
The portable non-contacting tree parameters measuring device of one kind described in embodiment 1 and measurement method,
In conjunction with following table, trees outputting standard data format are as follows:
Embodiment 7
The portable non-contacting tree parameters measuring device of one kind described in embodiment 1 and measurement method,
(1) first group of picture
Original image is scaled to 400*300, after treatment, trunk width is (158-180 pixel) to diagram picture, is taken
Its mean breadth is 164 pixels, according toΔ x=164,2R=136mm, L=1200mm, substitution can solve f=
1447 pixels.
(2) second groups of pictures
Original image is scaled to 400*300, after treatment, trunk width is (106-114 pixel) to diagram picture, is taken
Its mean breadth is 110 pixels, according toΔ x=110,2R=125mm, L=1200mm, substitution can solve f=
1056 pixels.
(3) third group picture
Original image is scaled to 400*300, after treatment, trunk width is (94-98 pixel) to diagram picture, takes it
Mean breadth is 96 pixels, according toΔ x=96,2R=105mm, L=1200mm, substitution can solve f=1096
Pixel.
By comprehensively considering for three above result, the focal length result of second group and third group is very close, and first group
Focal length result error it is excessive (casting out), so going the average value of second group and third group focal length as the focal length in calculating, i.e.,
Final f=1076 pixel.
In this way, the width of second tree of inverse solution and third 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, the above description is not a limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions that the technical staff in domain is made within the essential scope of the present invention also should belong to of the invention
Protection scope.
Claims (1)
1. a kind of measurement method of portable non-contacting tree parameters measuring device, it is characterized in that: measurement method includes trees
Height measurement method, GPS area measurement method and data managing method；The trees height measurement method, using three axis
MEMS attitude transducer and ultrasonic sensor (4) are combined measurement and measure tree height measurement；3 axis MEMS posture sensing
It, can be quasi- according to the posture of 3 axis MEMS attitude transducer itself comprising 3 axis MEMS gyro and 3 axis MEMS accelerometer in device
True tilt angle of the measuring instrument relative to horizontal attitude is recycled super by measuring the angle of two specified instrument postures
Sonic sensor (4) measures the instrument of one of posture to the distance of trunk, calculates having for trees using the principle of triangle
Effect height；
The GPS area measurement method, GPS positioning module realize location technology using global satellite technology, are surveyed by positioning
The spatial position coordinate for measuring the broken edge point of area, is split this irregular area using deltic method, shape
The area of irregular area is obtained by the addition after the calculating to each delta-shaped region at multiple delta-shaped regions, thus
Realize the measurement of bottom class forest region area；
The data managing method establishes unique number to each tree wood of measurement, establishes type, the position, life of the trees
The essential information in long time establishes the diameter of a cross-section of a tree trunk 1.3 meters above the ground of the trees according to the measurement date, sets high measurement archives；According to the number of tree measurement
According to that can establish visible chart, growth conditions and growth track to trees carry out analysis comparison, and all data establish system
One data statistics and supervisory format, system configuration SD card (8) can be according to the actual state in deep woods, real-time perfoming data summarization
With the storage of statistics；
The trees height measurement method, the GPS area measurement method and the data managing method need using
The measurement and detection technique, ultrasonic distance measurement side of Tree image edge processing, the extractive technique of edge contour, edge contour
Method and Data fusion technique；Wherein Tree image edge processing utilizes nonlinear filter, effectively sets for handling trees
The image of stem portion and image preprocessing around it realize that image detail calculation formula is eliminated and kept to picture noise are as follows:
Noise, each of pixel gray value f (k, l) 1 point in its neighborhood part are reduced using the method for smoothing processing
Gray value mean value h (i, j) is replaced, and M is the pixel sum in neighborhood N；F (k, l) is the ash in neighborhood N at position (k, l)
Angle value；The extractive technique of edge contour uses threshold calculations method, by the edge of sharpening image, for extracting effective wheel of image
Profile, further, the threshold calculations method are the threshold method of the maximum equation difference, make the object in image by calculating optimal threshold
It is minimum with mistake after background segment, so that image data is divided into two parts, i.e., greater than the group of θ pixel and less than θ pixel
Group is derived, concrete methods of realizing based on least square method: the gray value for setting 1 width image is divided into 0-m grades, and gray value is the pixel of i
For n, then total pixel number are as follows:
The elementary probability that each gray value occurs in formula are as follows: pi=ni/N, obtained gray value can be divided into 2 groups: c0=0~
K } and c1={ k+1~m }, the probability of the appearance of each group gray value are as follows:
The probability of c0 are as follows:
The probability of c1 are as follows:
It can be released from formula four and formula five:
The average value of c0 are as follows:
The average value of c1 are as follows:
Wherein,Be threshold value be k when average gray；It is then being averaged for the gray scale of whole image
Value, the average gray value all sampled are as follows: u=ω 0u0+ ω 1u1,
In this way, the variance between 2 groups can be indicated with following formula:
K* when max σ (k) is required threshold θ；It is with the threshold value that Otsu method is calculated by histogram data above
169；The measurement detection technique of edge contour utilizes sobel operator, the vertical difference and horizontal difference of monitoring image, for measuring
The actual numerical value of trees effective contour collected
Formula are as follows:
S (C) is Sobel operator calculated result, and the gray value of the point is f (i, j) before handling；
The ultrasonic measuring distance technology uses ultrasonic sensor (4) the distance between measuring instrument and trees, is collected
Image carries out distance calibration；
The Data fusion technique is to be combined the trees data of the data of ultrasonic measurement and image measurement to finally obtain
The true diameter of a cross-section of a tree trunk 1.3 meters above the ground data of trees.
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