CN105890548B - A kind of method using hole estimation forest parameters between trunk - Google Patents
A kind of method using hole estimation forest parameters between trunk Download PDFInfo
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- CN105890548B CN105890548B CN201610289132.XA CN201610289132A CN105890548B CN 105890548 B CN105890548 B CN 105890548B CN 201610289132 A CN201610289132 A CN 201610289132A CN 105890548 B CN105890548 B CN 105890548B
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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
- G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas
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- General Physics & Mathematics (AREA)
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention discloses a kind of method using hole estimation forest parameters between trunk, and step is：First, using laser range finder acquisition forest sample range data, and as initial data；2nd, the trunk information not being blocked completely in initial data is extracted；3rd, the trunk hole ratio in initial data is extracted, calculates the sum of breastheight radius of all trunks in forest sample ground accordingly；4th, the sum of trunk breastheight radius not being blocked completely according to the calculating of the result of step 3；5th, per hectare trunk number is estimated according to the result of step 3 and step 4；6th, per hectare basal area is estimated according to the result of step 3 and step 4.The present invention relates to a kind of forest parameters method of estimation, the method for referring in particular to according to the pore size between trunk and distribution estimation stem density and unit area sample trunk basal area.The present invention can be very good stem density caused by solving the problems, such as mutually to block due to trunk and basal area is underestimated.More accurate Forest Canopy estimates of parameters can be obtained in terms of forest inventory control, Forestry Investigation and scientific research using this method.
Description
【Technical field】
The present invention relates to a kind of forest parameters methods of estimation, refer in particular to be estimated according to the pore size between trunk and distribution
The method of trunk basal area in stem density (strain number density) and unit area sample ground.The present invention is to utilize hole between trunk
A kind of new forest parameters method of estimation is established in size and distribution, mainly solves the tree caused by mutually blocking between trunk
Dry density and basal area underestimate problem.
【Background technology】
Trunk basal area in stem density and unit area sample ground is two basic forest parameters.The two ginsengs
Number is put into practice in environmental management, all plays an important role in forest inventory investigation and forestry scientific research.
If obtaining the trunk basal area in stem density or unit area sample ground, most basic method is to carry out
Per wood dipping.The advantage of doing so is that the two forest parameters very can be obtained accurately, but need a large amount of manpower and materials
As support, the observation for often completing a sample ground is also required to take a substantial amount of time.
Austrian silviculturist Bitterlich W. have invented angle gauge survey theory in nineteen forty-seven, this theoretical general not wait
Point sampling based on measure the basal area on forest sample ground, and then extrapolate stem density.This method in theory can be with
The unbiased esti-mator to forest parameters is obtained, and greatly improves working efficiency in practice.However, in the actual mechanical process of angle gauge
In, since operator is stood always in same position, sight can not reach trunk it is overlapped after the part that is blocked, therefore cause
Number of plants per unit area and unit area basal area are underestimated.Especially when stem density is larger, what forest parameters were underestimated
Degree can be more serious.With being constantly progressive for forest observation instrument and means, forest parameters estimation theory there is no it is big into
Exhibition, the most popular is still FOREST MEASURATION WITH ANGLE GAUGE.
In recent years, laser radar technique is widely used in forest parameters observation, the advantage is that distance measurement function.Laser radar
Method obtains the three-dimensional point cloud of scale Forest Scene generally by the mode of laser ranging, and statistics obtains after being rebuild to three-dimensional point cloud
Forest parameters are obtained, this method is similar to per wooden dipping.Also the algorithm that fraction of laser light radar uses employs angle gauge survey reason
By, such as the Echidna instruments of Strahler exploitations in 2008.Currently based on laser radar forest parameters method of estimation still
It could not solve the problems, such as mutually to block between trunk.
【Invention content】
In order to solve the problems, such as that stem density caused by mutually being blocked due to trunk and trunk basal area are underestimated, this
Invention proposes a kind of method using hole estimation forest parameters between trunk, and this new method needs are adopted by laser range finder
The range data of collection is realized.
The specific technical solution of the present invention is：
(1) laser range finders acquisition forest sample ground data.It is at the uniform velocity slow in Forest Canopy that operator carries laser range finder
It goes slowly away straight line, laser is with higher frequency transmitting and automatic receives echo, and automatic recording laser launch point and trunk
The distance of certain point.The ray that laser range finder emits is made to remain at the level of breastheight position (about 1.3 meters) in walking process
On face, and with the vertical line direction α at a certain angle of direction of travel.Assuming that the threshold measurement distance of laser range finder is m meters, such as
The laser of certain transmitting of fruit does not get to trunk during advancing, then the distance of the laser beam is denoted as m meters, that is, is considered to set
Hole between dry；If getting to trunk, the distance of the laser beam between laser emission point and trunk point it is practical away from
From.
(2) extracts the trunk information not being blocked completely in initial data.According to the data that laser range finder is collected, filter
The trunk information being blocked is gone, retains the trunk information not being blocked completely in initial data.Laser range finder arrival is hidden
The distance of gear trunk is set as m meter, that is, thinks that this ray does not contact across hole between trunk with trunk.
(3) calculates the sum of breastheight radius of all trunks in forest sample ground.The method of the processing of hole includes between trunk
Langbobier law according to langbobier law, can obtain
P (α)=exp [- BAI Ω (α)/cos (α)]
Wherein, the hole ratio that the initial data collected on entire track route by laser range finder counts is P
(α), BAI are ratio of the sum of all trunk breastheight radiuses with track route length
α is given angle, RiIt is the radius at i-th tree trunk breastheight, l is operator's linear rows with tape measure
The distance walked, n are the total strain numbers in forest sample ground.Ω (α) represents the aggregation extent of trunk, if it is assumed that trunk is on α directions
Spatial stochastically distribution, i.e. concentration class coefficient Ω (α)=1 such as assumes that trunk spatial distribution is not random, can basis
The concentration class algorithm or J.M.Chen and J.Cihlar that A.R.G.Lang and Y.Q.Xiang was delivered in 1986 are delivered in nineteen ninety-five
Concentration class exponentiation algorithm obtain.Therefore the sum of all trunk breastheight radiuses in forest sample ground can be obtainedEstimated value, packet
Include all trunk breastheight radiuses for not being blocked and being blocked.
(4) the sum of trunk breastheight radius that calculating is not blocked completely.The each tree not being blocked completely in forest sample ground
Dry breastheight radium computing method is：If there is k laser point on the trunk that one is not blocked completely, according to leg speed v
(meter per second) and Laser emission speed t (second /), it is known that the breastheight radius R ' of the treeiIt is vkt/2 meters.If shared w
The trunk not being blocked completely, can obtain the sum of breastheight radius of all trunks that are not blocked completely is
(5) estimates per hectare trunk number.Laser threshold measurement distance is such as set as m meters, is corrected to vertical with direction of travel
Direction on for mcos (α) rice, in addition operator's travel distance is l meter, then the area on sample ground is lmcos (α) square
Rice.Total strain number in this area is estimated asPer hectare strain number (a) estimated result is
(6) basal area (square metre) estimated result of per hectares is
It the invention has the beneficial effects that can be to avoid strain number density and chest caused by due to mutually being blocked between trunk
Maximum section of passenger flow product is underestimated, simultaneously as the present invention is observed in a manner that woodland walks a distance operator
Data also avoid the whether representative problem of reconnaissance caused by being measured in fixed position.
【Description of the drawings】
Fig. 1 is the flow chart of the present invention；
Fig. 2 is the schematic top plan view that data acquire in forest sample ground；
Fig. 3 is the initial data that laser range finder is collected；
Fig. 4 is the laser ranging result filtered off after the trunk information that is blocked.
【Specific embodiment】
The present invention combines examples below and specific embodiment is described in detail with reference to the attached drawings：
This example is acquired using the UTM-30LX-EW type 2D laser scanning and rangings instrument of HOKUYO companies of Japan production apart from number
It is t (second /) according to, setting Laser emission speed.According to technical scheme steps (1), operator puts the laser range finder
In (about 1.3 meters) on the horizontal plane of breastheight position, position b is at the uniform velocity run to from the position a in Fig. 2 with the leg speed of v (meter per second),
Amount to l meters with tape measure.Laser range finder record automatically on α angles in laser emission point and sample ground intersection point on trunk it is all away from
From if do not contacted when laser beam reaches m meters with trunk also, the distance of point to the laser range finder is denoted as m meters, is regarded as
Hole.
The initial data schematic diagram that laser range finder is collected is shown in Fig. 3, which, which includes laser in walking process, to beat
All trunks arrived.According to technical scheme steps (2), the trunk blocked by other trunks is filtered off, these are cut
Distance value is assigned to m meters, that is, is considered as hole.Elimination, which is blocked, only includes the data such as Fig. 4 institutes for the trunk information that is not blocked after trunk
Show.
According to technical scheme steps (3), statistical distance is the laser point number of m meters (hole), it is known that laser point
Total number, therefore can be in the hope of porosity P (α) between the trunk in α angles.This example assume on α directions trunk be spatially with
Machine distribution, i.e. concentration class coefficient Ω (α)=1 such as assumes that trunk spatial distribution is not random, can combine P (α) basis
The concentration class algorithm or J.M.Chen and J.Cihlar that A.R.G.Lang and Y.Q.Xiang was delivered in 1986 are delivered in nineteen ninety-five
Concentration class exponentiation algorithm obtain.Therefore according to formula P (α)=exp [- BAI Ω (α)/cos (α)] of langbobier law
BAI can be obtained.Travel distance is measured as l meters with tape measure, by formulaAll trunks in forest sample ground can be obtained
The sum of radius at breastheightEstimated value.
According to technical scheme steps (4), elimination is blocked after the range data of trunk, counts and is not blocked completely
Trunk have w.Reached if wherein sharing k laser point at the breastheight of some trunk, according to Laser emission speed t (second/
It is a) and leg speed v (meter per second) the breastheight radius R ' of the trunk can be obtainediIt is vkt/2 meters.All trees that are not blocked can similarly be obtained
Dry breastheight radius, therefore the sum of breastheight radius of all trunks that are not blocked is
The area on sample ground is lmcos (α) square metre, and according to technical scheme steps (5), this method is estimated in sample
Trunk number in the range of ground isTherefore estimation per hectare should have the trunk number to beIt is a.According to technical scheme steps (6), estimate that the basal area of per hectare should
ForSquare metre.
Claims (7)
1. a kind of method using hole estimation forest parameters between trunk mainly includes the following steps that：
(1) using laser range finder in straight line traveling with acquiring forest sample in the process data, and as initial data；
(2) the trunk information not being blocked completely in initial data is extracted；
(3) the trunk hole ratio in initial data is extracted, estimates the sum of breastheight radius of all trunks in forest sample ground accordingly；
(4) the sum of trunk breastheight radius not being blocked completely according to the calculating of the result of step (3)；
(5) per hectare trunk number is estimated according to the result of step (3) and step (4)；
(6) per hectare basal area is estimated according to the result of step (3) and step (4).
A kind of 2. method using hole estimation forest parameters between trunk according to claim 1, it is characterised in that step
(1) in, operator is during straight line is advanced using between certain point in laser range finder high speed acquisition laser emission point and trunk
Range data, and the threshold value of laser distance is set, the measured distance equal to the threshold value is will be greater than as hole between trunk.
A kind of 3. method using hole estimation forest parameters between trunk according to claim 1, it is characterised in that step
(2) in, will reach be blocked trunk distance assign laser distance threshold value, that is, think the laser beam do not contacted with trunk and
It is to have injected hole between trunk.
A kind of 4. method using hole estimation forest parameters between trunk according to claim 1, it is characterised in that step
(3) in, porosity P (α), operator's walking between the trunk that by the vertical line direction of operator's direction of travel into angle α when obtains
The concentration class coefficient Ω (α) of path length l and trunk substitute into formula P (α)=exp [- BAI Ω (α)/cos (α)] andIt can obtain the sum of all trunk breastheight radiuses in forest sample groundEstimated value, wherein n is
Trunk number, R in sample groundiIt is the breastheight radius of i-th tree, BAI is the sum of all trunk breastheight radiuses and track route length
Ratio.
A kind of 5. method using hole estimation forest parameters between trunk according to claim 4, it is characterised in that step
(4) it in, is calculated according to operator's gait of march, Laser emission speed and each laser points not being blocked completely on trunk gloomy
Each trunk breastheight radius R ' not being blocked completely in woods sample groundi, and the number for counting the trunk that is not blocked completely is w
It is a, and then the sum of breastheight radius for obtaining the trunk that is not blocked completely is
A kind of 6. method using hole estimation forest parameters between trunk according to claim 5, it is characterised in that step
(5) in, when laser distance threshold value is m meters, formula is usedEstimate per hectare trunk number.
A kind of 7. method using hole estimation forest parameters between trunk according to claim 5, it is characterised in that step
(6) in, formula is usedEstimate per hectare basal area.
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| CN107870333A (en) * | 2017-10-27 | 2018-04-03 | 北京林业大学 | A kind of method of ground laser radar simulation angle gauge measure mean height |
| JP7213104B2 (en) * | 2019-02-27 | 2023-01-26 | 三菱重工業株式会社 | Unmanned aerial vehicles and inspection methods |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FI116240B (en) * | 1998-12-14 | 2005-10-14 | Raimo Veli Johann Silvennoinen | Method and apparatus for measuring the density of wood materials using a laser optical sensor |
| CN103486991A (en) * | 2013-10-08 | 2014-01-01 | 北京林业大学 | Method for measuring height of tree and volume of wood by means of total station under condition that crown is covered |
| CN103616015A (en) * | 2013-11-29 | 2014-03-05 | 浙江农林大学 | Panoramic laser scanning device for measuring forest stock volume parameter |
| CN103616014A (en) * | 2013-11-29 | 2014-03-05 | 浙江农林大学 | Method for measuring and computing forest stock volume parameter |
-
2016
- 2016-05-03 CN CN201610289132.XA patent/CN105890548B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FI116240B (en) * | 1998-12-14 | 2005-10-14 | Raimo Veli Johann Silvennoinen | Method and apparatus for measuring the density of wood materials using a laser optical sensor |
| CN103486991A (en) * | 2013-10-08 | 2014-01-01 | 北京林业大学 | Method for measuring height of tree and volume of wood by means of total station under condition that crown is covered |
| CN103616015A (en) * | 2013-11-29 | 2014-03-05 | 浙江农林大学 | Panoramic laser scanning device for measuring forest stock volume parameter |
| CN103616014A (en) * | 2013-11-29 | 2014-03-05 | 浙江农林大学 | Method for measuring and computing forest stock volume parameter |
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