CN107270876B - Method for measuring canopy density of stand - Google Patents
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Abstract
The invention discloses a method for measuring forest stand canopy density, which comprises an unmanned aerial vehicle body, a controller, a flight control module, an obstacle avoidance module, a light source, an image analysis module, a data storage module, a GPS positioning and navigation module and a camera module, wherein the flight control module, the obstacle avoidance module, the light source, the image analysis module, the data storage module, the GPS positioning and navigation module and the camera module are connected with the controller; the method comprises the steps of firstly establishing a survey sample plot, recording longitude and latitude values of the sample plot, collecting image information of the sample plot and inputting the image information into a controller, then flying an unmanned aerial vehicle at night, enabling the unmanned aerial vehicle to fly to the sample plot and determining a flying range, then starting a light source above a rack and irradiating the light source to a canopy, collecting real-time image information of the canopy by a camera, analyzing an image by an image processing module, and calculating a canopy value of the sample plot by a data analysis module according to an image analysis result. The device for measuring the forest stand canopy density is simple in structure, low in cost, convenient to carry, simple in use method, high in measuring accuracy and high in use efficiency.
Description
Technical Field
The invention relates to the technical field of forestry, in particular to a method for measuring the canopy density of forest branches.
Background
The canopy density of a forest stand is the ratio of the total projected area of the crown of an arbor in the forest under the direct sunlight on the ground to the total area of the sample plot of the forest stand, and reflects the density of the forest stand.
The forest stand canopy density is an important investigation factor in forest resource investigation and also an important factor reflecting forest structures and forest environments. In the forest management, the canopy density is used as an important index for zoning and determining tending and felling intensity in a small class, and becomes an indispensable factor for estimating the forest accumulation amount through remote sensing images.
In general, a simple and easy sampling point measuring method is usually adopted, that is, in forest stand survey, 100 sampling points are mechanically set, a method of raising head and vertically observing at various points is adopted to judge whether the sampling points are covered by a tree crown or not, the number of covered sampling points is counted, and then the canopy density of the forest stand is calculated by using the following formula: the occlusion degree is the total area of the crown width covered by the crown. The measuring method is extensive and cannot meet the requirements of forestry production and ecological construction.
In addition, there are some apparatuses for measuring forest stand canopy density, such as: the measurement of the instrument is higher than the measurement accuracy of manual work, but the equipment cost is expensive, the carrying is inconvenient, the measurement efficiency is not high, and weather or solar altitude angles need to be considered when the instrument is used, so that the misjudgment of forest crown or sky openness caused by overexposure or shadow is prevented, and particularly, the instrument is difficult to popularize and apply in temporary sample plot investigation with small area. In addition, the natural light irradiates the blades during the daytime, so that the contrast of gaps between the blades is not high, diffraction phenomenon is generated on the edges of the blades, and errors are generated when the instrument performs image analysis processing.
Disclosure of Invention
In view of the above, one of the objectives of the present invention is to provide a forest branch canopy density measuring device, which is portable and accurate in measurement.
The invention solves the technical problems by the following technical means:
a forest branch canopy density measuring device comprises an unmanned aerial vehicle body, wherein the unmanned aerial vehicle body comprises an undercarriage, a rack fixed on the undercarriage, four rotors of the unmanned aerial vehicle, a flight control module, an obstacle avoidance module, a light source, an image analysis module, a data storage module, a GPS positioning and navigation module, a camera module, a power supply module and a controller, and the flight control module, the obstacle avoidance module, the light source, the image analysis module, the data storage module, the GPS positioning and navigation module, the camera module and the power supply module are respectively connected with the controller;
the flight control module is used for adjusting the flight attitude of the unmanned aerial vehicle, and the controller controls the flight control module after comprehensively judging signals according to the range in which the unmanned aerial vehicle needs to fly and the information transmitted by the obstacle avoidance module, so that the flight attitude of the unmanned aerial vehicle is adjusted.
The obstacle avoidance module is used for avoiding the trunk and comprises a plurality of groups of radar transmitters and receivers, and the plurality of groups of radar transmitters and receivers are respectively arranged at the front end, the rear end, the left side and the right side of the rack; the trunk can be met to the unmanned aerial vehicle body when the flight of same plot, utilize the radar to detect whether meet barriers such as trunks, the controller is sent in real time to the signal that radar receiver received, the controller carries out signal amplification, filtering, digital conversion back through taking signal processing module certainly and gives the controller with digital signal transmission, the controller carries out signal judgement, after judging that the unmanned aerial vehicle body meets barriers such as trunks, controller control flight control module changes flight direction.
The light source is arranged at the upper end of the frame; the light source is used for irradiating the forest crown, the light can emit to the sky when meeting gaps among leaves, the light can be reflected when meeting the leaves, and the light source is mainly used for being matched with the camera to collect image information.
The camera shooting module comprises a first camera and a second camera, and the first camera and the second camera are respectively installed above and below the rack. The first camera is used for collecting image information of the upper layer of the crown, and collected images are stored in the data storage module through control of the controller and used for judging the canopy density value. The camera is used for collecting ground images, and the collected images are used for controlling the image analysis module to perform image comparison analysis through the controller, so that the accurate positioning flight range of the unmanned aerial vehicle body is assisted.
The GPS positioning and navigation module is used for positioning and navigating the unmanned aerial vehicle, an operator can set the longitude and latitude value of a target place, and the controller can control the GPS positioning and navigation module to design a navigation route and control the flight control module to drive to a destination according to the navigation route.
And the data storage module is used for storing the real-time picture information acquired by the first camera and the second camera.
The image analysis module is used for controlling the controller to call the information of the upper-layer image of the crown acquired by the camera from the data storage module, analyzing the proportion of black spots and white spots, and then controlling the data analysis module to analyze the image and analyze the proportion of the crown to the sky; and the second analysis camera is used for analyzing the real-time image information below the position where the second acquisition camera is located and comparing the real-time image information with the image of the positioning pile in the data storage module.
And the controller controls the data analysis module to calculate the percentage of the white spots in the whole image area, so that the canopy density value of the forest stand can be obtained.
And the power module supplies power for the whole unmanned aerial vehicle system.
Further, the light source is a laser. The laser emits in one direction, the divergence of the light beam is extremely small, the light beam is almost parallel, the color of the light beam is pure, diffraction does not occur, and the measurement accuracy can be improved.
The invention also aims to provide a forest stand canopy density measuring method which is simple to operate and high in measuring efficiency.
The method for measuring the forest stand canopy density by using the device for measuring the forest stand canopy density comprises the following steps:
step 1: establishing a rectangular survey sample plot in a test field in daytime, fixing positioning piles at four corners of the sample plot, enclosing the survey sample plot by using a reflective belt, marking the upper end surfaces of the four positioning piles respectively, recording longitude and latitude values of the positions of the four positioning piles by using a handheld GPS, and shooting overlooking pictures of the positions of the four positioning piles by using a camera;
step 2: respectively inputting the longitude and latitude values and overlook pictures of the positions of the four positioning piles into a controller, controlling a data storage module to store by the controller, and setting the flying height of the unmanned aerial vehicle body to be 6-8m away from the ground on the controller;
step 3: flying the unmanned aerial vehicle body at 22: 00-3: 00 nights, designing a navigation route by the GPS positioning and navigation module according to the longitude and latitude values recorded in the Step of Step2, controlling the flight control module to drive according to the navigation route by the controller, sequentially searching the positions of four positioning piles of the sample plot, meanwhile, the ground information mainly including image information of the reflective belt and the four positioning piles is acquired by a camera II below the stand, the controller controls the image analysis module to analyze and compare the real-time image information with the overlook pictures of the positioning piles in the data storage module, after the images are compared and matched, the controller can automatically record the boundary points of the unmanned aerial vehicle which needs to fly, the range of the unmanned aerial vehicle body which needs to fly is the range enclosed by the sequential connection of every two adjacent positioning piles, and the controller analyzes and controls to record the range of the area of the unmanned aerial vehicle body which needs to fly; errors may exist in the determination of the position of the positioning pile according to the longitude and latitude values, so that the positioning can be more accurate by using the image recognition method;
step 4: after the flight range of the unmanned aerial vehicle body is determined, the controller controls the flight height of the unmanned aerial vehicle body to be 6-8m away from the ground, the controller controls a light source above the rack to be started, the light source irradiates the canopy, meanwhile, the camera collects an upper image in real time, and the collected real-time image is stored in the data storage module through the control of the controller;
when the unmanned aerial vehicle body flies, the radar transmitters and the receivers on the periphery of the rack are used for detecting whether the unmanned aerial vehicle body encounters a trunk or not, and if the unmanned aerial vehicle body encounters the trunk, the controller controls the unmanned aerial vehicle flight control module to change the flight attitude and automatically avoid the trunk;
step 5: after the unmanned aerial vehicle body flies through the area range needing to fly, the collection of the canopy density information is completed, the controller firstly calls the real-time image stored in the data storage module and transmits the real-time image to the image analysis module, the image analysis module carries out image analysis, firstly, the camera-pictures continuously collected in the investigation sample plot are automatically spliced into a whole picture, then, the whole image is analyzed, since the part of the light source irradiating the blade is reflected, white spots can be formed on the image, the part of the light source which irradiates towards the sky can not be reflected, black spots are formed on the image, the image analysis module is responsible for distinguishing the black spots from the white spots in the image, and the controller transmits the image analysis result, namely the areas of the black spots and the white spots, to the data analysis module for data calculation and analysis, and calculates the percentage of the white spots in the whole image area, namely the canopy density value of the sample plot. After the test is finished, the unmanned aerial vehicle automatically flies back to the departure place.
The invention has the beneficial effects that: introduce unmanned aerial vehicle into the forestry field, for survey forest stand canopy density provide a new device and new test method, the device simple structure, with low costs, portable, its application method is simple, survey the degree of accuracy height, availability factor height.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a connection block diagram of the present invention;
FIG. 3 is a schematic representation of the steps of the present invention;
wherein, 1, unmanned aerial vehicle body; 11. a landing gear; 12. a frame; 13. four rotary wings; 2. a flight control module; 3. an obstacle avoidance module; 4. a light source; 5. an image analysis module; 6. a data analysis module; 7. a data storage module; 8. a GPS positioning and navigation module; 9. a camera module; 91. a first camera; 92. a second camera; 10. a controller; d1, a power supply module; 111. positioning the pile; 112. a reflective tape.
Detailed Description
The invention will be described in detail below with reference to the following drawings:
embodiment one, as shown in fig. 1-2:
the forest branch canopy density measuring device comprises an unmanned aerial vehicle body 1, wherein the unmanned aerial vehicle body 1 comprises an undercarriage 11, a rack 12 fixed on the undercarriage and a quadrotor 13 of the unmanned aerial vehicle, and further comprises a flight control module 2, an obstacle avoidance module 3, a light source 4, an image analysis module 5, a data analysis module 6, a data storage module 7, a GPS positioning and navigation module 8, a camera module 9, a power supply module D1 and a controller 10, wherein the flight control module 2, the obstacle avoidance module 3, the light source 4, the image analysis module 5, the data analysis module 6, the data storage module 7, the GPS positioning and navigation module 8, the camera module 9 and the power supply module D1 are respectively connected with the controller 10;
The obstacle avoidance module 3 is used for avoiding a trunk, and the obstacle avoidance module 3 comprises a plurality of groups of radar transmitters and receivers which are respectively arranged at the front end, the rear end, the left side and the right side of the rack 12;
the light source 4 is arranged at the upper end of the frame 12, and the light source 4 is preferably laser; light source 4 is used for shining to the canopy, and light can be directive to the sky when meetting the space between the leaf, and light can reflect when meetting the leaf, and light source 4 mainly used cooperates first 91 of camera to gather image information, is convenient for distinguish canopy and sky.
The camera module 9 includes a first camera 91 and a second camera 92, and the first camera 91 and the second camera 92 are respectively installed above and below the frame 12.
GPS location and navigation module 8 for the location and the navigation of unmanned aerial vehicle body 1, the operator can set for the longitude and latitude value on target place, and the controller can control GPS location and navigation module 8 design the navigation route and control flight control module 2 and go to the destination according to the navigation route.
And the data storage module 7 is used for storing the real-time picture information acquired by the first camera 91 and the second camera 92, the recorded longitude and latitude values of the positioning pile 111 and the input overlook pictures at the positioning pile 111.
The image analysis module 5 is used for controlling the controller 10 to call the image information of the upper layer of the tree crown acquired by the first camera 91 from the data storage module, analyzing the proportion of black spots and white spots, and then controlling the data analysis module 6 to analyze the image and analyze the proportion of the tree crown to the sky by the controller 10; and the second analysis camera 92 is used for analyzing and comparing the real-time image information below the position where the unmanned aerial vehicle is located and the image of the positioning pile 111 in the data storage module 7.
And the data analysis module 6 is used for calling data in the image analysis module 5 from the data storage module 7 under the control of the controller 10, and the controller 10 is used for controlling the data analysis module 6 to calculate the percentage of the white spots in the whole image area so as to obtain the canopy value of the forest stand.
And the power supply module D1 supplies power to the whole unmanned aerial vehicle system.
Example two, as shown in fig. 3:
a method for measuring forest stand canopy density by using the forest stand canopy density measuring device in the embodiment comprises the following steps:
step 1: establishing a rectangular survey sample plot in a test field in the daytime, fixing positioning piles 111 at four corners of the sample plot, enclosing the survey sample plot by using a reflective belt 112, marking the upper end surfaces of the four positioning piles 111 respectively, recording longitude and latitude values of the positions of the four positioning piles 111 by using a handheld GPS, and taking a top view picture of the positions of the four positioning piles by using a camera;
step 2: respectively inputting the longitude and latitude values and overlook pictures of the positions of the four positioning piles 111 into the controller 10, controlling the data storage module 7 to store by the controller 10, and setting the flying height of the unmanned aerial vehicle body 1 to be 6-8m away from the ground on the controller 10;
step 3: in the night 22:00, flying the unmanned aerial vehicle body 1, designing a navigation route by the GPS positioning and navigation module 8 according to longitude and latitude values recorded in the Step of Step2, controlling the flight control module 2 to drive according to the navigation route by the controller 10, sequentially finding the positions of the four positioning piles 111 in the same sample, but using the GPS positioning possibly having errors, simultaneously using the camera 92 below the rack to collect ground information, mainly real-time image information of the reflective belt 112 and the four positioning piles 111, controlling the image analysis module 5 by the controller 10 to analyze and compare the real-time image information with the overlooking photos of the positioning piles 111 in the data storage module 7, when the images are compared and matched, automatically recording the boundary points where the unmanned aerial vehicle needs to fly by the controller 10, wherein the range where the unmanned aerial vehicle body needs to fly is the range surrounded by the sequential connection of every two adjacent positioning piles 111, the controller 10 analyzes and controls to record the area range of the unmanned aerial vehicle body needing to fly and plans a flight route, and the controller 10 controls the flight control module 2 to fly according to the planned route;
step 4: after the flight range of the unmanned aerial vehicle body 1 is determined, the controller 10 controls the flight height of the unmanned aerial vehicle body 1 to be 8m away from the ground, the unmanned aerial vehicle body 1 can be basically located above a shrub layer, obstacles are reduced, the controller 10 controls the light source 4 above the rack to be turned on, the light source 4 irradiates the canopy, meanwhile, the first camera 91 collects an upper image in real time, and the collected real-time image is controlled by the controller 10 to be stored in the data storage module 7;
when the unmanned aerial vehicle body 1 flies, radar transmitters and receivers around the frame 12 are used for detecting whether the unmanned aerial vehicle body meets a trunk or not, and if the unmanned aerial vehicle body meets the trunk, the controller controls the unmanned aerial vehicle to automatically avoid the trunk;
step 5: after the unmanned aerial vehicle body 1 flies over the area range of the required flight, the collection of the canopy density information is completed, the controller firstly calls the real-time images stored in the data storage module 7 and transmits the real-time images to the image analysis module 5, the image analysis module 5 performs image analysis, firstly, the pictures continuously collected by the camera 91 in the investigation sample plot are automatically spliced into a whole picture, then the areas of white patches and black patches in the pictures are respectively analyzed, then, the controller 10 transmits the image analysis result to the data analysis module 6 for data analysis, the area ratio of the white patches to the whole picture is calculated, and the canopy density value of the sample plot is obtained.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims. The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (1)
1. A method for measuring the canopy density of stand is characterized in that: the forest stand canopy density measuring device used in the forest stand canopy density measuring method comprises an unmanned aerial vehicle body (1), the unmanned aerial vehicle body (1) comprises an undercarriage (11), a rack (12) fixed on the undercarriage, a quadrotor (13) of the unmanned aerial vehicle, a flight control module (2), an obstacle avoidance module (3), a light source (4), an image analysis module (5), a data analysis module (6), a data storage module (7), a GPS positioning and navigation module (8), a camera module (9), a power supply module (D1) and a controller (10), the flight control module (2), the obstacle avoidance module (3), the light source (4), the image analysis module (5), the data analysis module (6), the data storage module (7), the GPS positioning and navigation module (8), the camera module (9) and the power supply module (D1) are respectively connected with the controller (10);
the obstacle avoidance module (3) comprises a plurality of groups of radar transmitters and receivers which are respectively arranged at the front end, the rear end, the left side and the right side of the rack (12);
the light source (4) is arranged at the upper end of the rack (12), and the light source (4) is laser;
the camera module (9) comprises a first camera (91) and a second camera (92), wherein the first camera (91) and the second camera (92) are respectively arranged above and below the rack (12);
the forest stand canopy density determination method comprises the following steps:
step 1: establishing a rectangular survey sample plot in a test field in the daytime, fixing positioning piles (111) at four corners of the sample plot, enclosing the survey sample plot by using a reflective tape (112), marking the upper end surfaces of the four positioning piles (111) respectively, and recording longitude and latitude values of positions of the four positioning piles (111) by using a handheld GPS;
step 2: respectively inputting longitude and latitude values of the positions of the four positioning piles (111) into the controller (10), and setting the flying height of the unmanned aerial vehicle body (1) to be 6-8m away from the ground on the controller (10);
step 3: the unmanned aerial vehicle body (1) is flown at night, a GPS positioning and navigation module (8) designs a navigation route according to longitude and latitude values recorded in the Step of Step2, a controller (10) controls a flight control module (2) to run according to the navigation route, the positions of four positioning piles (111) in a sample plot are sequentially found, and the controller (10) analyzes and controls to record the area range of the unmanned aerial vehicle body (1) needing to fly;
step 4: after the flight range of the unmanned aerial vehicle body (1) is determined, the controller (10) controls the flight height of the unmanned aerial vehicle body (1) to be 6-8m away from the ground, the controller (10) controls the light source (41) above the rack to be turned on, the light source (41) irradiates the canopy, meanwhile, the camera I (91) collects images above in real time, and the collected real-time images are controlled and stored in the data storage module (7) through the controller (10);
when the unmanned aerial vehicle body (1) flies, radar transmitters and receivers around the rack (12) are used for detecting whether the unmanned aerial vehicle body meets a trunk or not, and if the unmanned aerial vehicle body meets the trunk, the controller (10) controls the unmanned aerial vehicle to automatically avoid the trunk;
step 5: after the unmanned aerial vehicle body (1) flies over the area range of the required flight, the collection of the canopy density information is completed, the controller firstly calls the real-time image stored in the data storage module (7) and transmits the real-time image to the image analysis module (5), the image analysis module (5) performs image analysis, then the controller transmits the image analysis result to the data analysis module (6) for data analysis, and finally the canopy density value of the sample plot is calculated.
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| CN110617847A (en) * | 2018-06-20 | 2019-12-27 | 福建农林大学 | Automatic forest branch canopy density measuring system and method |
| CN109829372A (en) * | 2018-12-26 | 2019-05-31 | 北京木业邦科技有限公司 | Trees intermediate cutting method, apparatus, electronic equipment and computer readable storage medium |
| CN116817865A (en) * | 2023-08-30 | 2023-09-29 | 中国科学院地理科学与资源研究所 | Multi-point synchronous measuring device for canopy closure degree and vegetation coverage degree under forest |
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