CN108564583A - Sample ground monitoring method, apparatus and system - Google Patents
Sample ground monitoring method, apparatus and system Download PDFInfo
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- CN108564583A CN108564583A CN201810372096.2A CN201810372096A CN108564583A CN 108564583 A CN108564583 A CN 108564583A CN 201810372096 A CN201810372096 A CN 201810372096A CN 108564583 A CN108564583 A CN 108564583A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20024—Filtering details
- G06T2207/20032—Median filtering
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
- G06T2207/30188—Vegetation; Agriculture
Abstract
The present invention provides a kind of sample monitoring method, apparatus and system include sample the unit sample of multiple area equations, and method is applied to monitoring platform, monitoring platform and the unmanned plane wireless communication for carrying image collecting device, and method includes：For each unit sample, the longitude and latitude range information and the preset longitude and latitude positional information of trees to be detected each of in unit sample ground for sending preset unit sample ground；Receive by image acquisition device unit sample corresponding with longitude and latitude range information the image, and trees elevation information corresponding with each longitude and latitude positional information and Tree image that unmanned plane is sent；According to unit sample image, trees elevation information, Tree image and preset Species Characteristics information, determine the diameter of a cross-section of a tree trunk 1.3 meters above the ground factor and the hat width factor of the understory species factor and each trees to be detected in sample ground, the technical issues of alleviating monitoring process inefficiency existing in the prior art has reached the technique effect for improving monitoring process efficiency.
Description
Technical field
The present invention relates to sample monitoring technical field, more particularly, to a kind of sample monitoring method, apparatus and system.
Background technology
It refer to sample the location for sampling and limiting range for vegetation investigation.By to sample being monitored, it will be appreciated that
The composed structure of typical group and species diversity variation etc. in sample ground.
In practical applications, technical staff needs to enter in person in sample ground, and the vegetation in sample ground is supervised with carrying out sample
Survey the monitoring of the factor (diameter of a cross-section of a tree trunk 1.3 meters above the ground, tree height and hat width etc.).Due to being all manually to be monitored, during monitoring, need to expend
The a large amount of time could complete the monitoring process on sample ground, the problem of causing monitoring process inefficiency.
Invention content
In view of this, the purpose of the present invention is to provide a kind of sample monitoring method, apparatus and system, to alleviate existing skill
Present in art the technical issues of monitoring process inefficiency.
In a first aspect, a kind of an embodiment of the present invention provides sample monitoring method, includes the sample multiple area equations
Unit sample, method is applied to monitoring platform, the monitoring platform and the unmanned plane channel radio for carrying image collecting device
Letter, method include：
For each unit sample, the longitude and latitude range information on the preset unit sample ground is sent and positioned at described
The preset longitude and latitude positional information of trees to be detected each of in unit sample ground；
Receive acquired by the described image harvester and longitude and latitude range information pair that the unmanned plane is sent
The unit sample answered ground image, and trees elevation information corresponding with each longitude and latitude positional information and trees are schemed
Picture；
According to the unit sample image, the trees elevation information, the Tree image and preset Species Characteristics letter
Breath determines the diameter of a cross-section of a tree trunk 1.3 meters above the ground factor and the hat width factor of the understory species factor and each trees to be detected in the sample ground.
With reference to first aspect, an embodiment of the present invention provides the first possible embodiments of first aspect, wherein root
According to the unit sample image and the Species Characteristics information determine the understory species factor in the sample ground, including：
For the unit sample every frame image in image, using preset image segmentation algorithm, to described per frame figure
As carrying out image segmentation, bianry image is obtained；
Using preset filtering algorithm, the bianry image is filtered, obtains filtering bianry image；
Using preset contours extract operator, the profile of the filtering bianry image is extracted, profile bianry image is obtained；
In the Species Characteristics information, determine that the species corresponding to the profile consistent with the profile bianry image are
The understory species factor.
With reference to first aspect, an embodiment of the present invention provides second of possible embodiments of first aspect, wherein institute
Stating filtering algorithm includes：Mean Filtering Algorithm and median filtering algorithm.
With reference to first aspect, an embodiment of the present invention provides the third possible embodiments of first aspect, wherein institute
Stating trees elevation information includes：Whole tree height and clear bole height degree.
With reference to first aspect, an embodiment of the present invention provides the 4th kind of possible embodiments of first aspect, wherein institute
Stating Tree image includes：Described image harvester is acquired with preset vertical collection distance and preset level acquisition distance
Tree breast-height diameter image determines the diameter of a cross-section of a tree trunk 1.3 meters above the ground factor of each trees to be detected according to the Tree image, including：
According to the monitoring angle of the level acquisition distance and preset described image harvester, the trees chest is determined
Simulate length in the vertical side of diameter image；
Using described image partitioning algorithm, image segmentation is carried out to the tree breast-height diameter image, obtains diameter of a cross-section of a tree trunk 1.3 meters above the ground bianry image；
Using the filtering algorithm, the diameter of a cross-section of a tree trunk 1.3 meters above the ground bianry image is filtered, obtains filtering diameter of a cross-section of a tree trunk 1.3 meters above the ground bianry image；
Using the contours extract operator, the profile of the filtering diameter of a cross-section of a tree trunk 1.3 meters above the ground bianry image is extracted, diameter of a cross-section of a tree trunk 1.3 meters above the ground profile two-value is obtained
Image；
Increase a horizontal line by central point, the horizontal line and diameter of a cross-section of a tree trunk 1.3 meters above the ground wheel on the diameter of a cross-section of a tree trunk 1.3 meters above the ground profile bianry image
Exterior feature intersection, obtains the first intersection point and the second intersection point；
According to the pixel coordinate of the pixel coordinate of first intersection point and second intersection point, determine first intersection point and
The first length in pixels between second intersection point；
According to the pixel coordinate of two endpoints of the vertical side of the diameter of a cross-section of a tree trunk 1.3 meters above the ground profile bianry image, the vertical side is determined
Second length in pixels on side；
According to the vertical side simulation length, first length in pixels and second length in pixels, determine described in
The diameter of a cross-section of a tree trunk 1.3 meters above the ground factor.
With reference to first aspect, an embodiment of the present invention provides the 5th kind of possible embodiments of first aspect, wherein institute
The monitoring angle according to the level acquisition distance and preset described image harvester is stated, determines the tree breast-height diameter image
Vertical side simulate length, including：
By the monitoring angle divided by two, half monitoring angle is obtained；
The tangent value of the half monitoring angle is calculated, obtained result is multiplied by the level acquisition distance, obtains half
Simulate length in vertical side；
The vertical side simulation length of the half is multiplied by two, the vertical side simulation length is calculated.
With reference to first aspect, an embodiment of the present invention provides the 6th kind of possible embodiments of first aspect, wherein institute
Stating Tree image further includes：The trees hat width image of described image harvester acquisition, the trees elevation information further include：Institute
Maximum height when stating height of the tree crown of trees to be detected away from ground and obtaining the trees hat width image, according to the trees
Elevation information and the Tree image determine the hat width factor of each trees to be detected, including：
Height of the tree crown away from ground is subtracted with the maximum height, tree crown is calculated away from machine height；
The tangent value of the half monitoring angle is calculated, obtained result is multiplied by the tree crown away from machine height, obtains half
Simulate length in side；
Using described image partitioning algorithm, image segmentation is carried out to the trees hat width image, obtains hat width bianry image；
Using the filtering algorithm, the hat width bianry image is filtered, obtains filtering hat width bianry image；
Using the contours extract operator, the profile of the filtering hat width bianry image is extracted, hat width profile two-value is obtained
Image；
Make a line perpendicular to side from the central point of the hat width profile bianry image, the intersection point of vertical line and side is
Third intersection point；
According to the pixel coordinate of the pixel coordinate of the central point and the third intersection point, the central point and described is determined
Third length in pixels between third intersection point；
The line segment for connecting arbitrary point-to-point transmission on the hat width profile, obtains multiple connecting line segments；
In multiple connecting line segments, determine that two endpoints of the longest line segment of length are respectively the 4th intersection point and the 5th
Intersection point；
According to the pixel coordinate of the pixel coordinate and the 5th intersection point of the 4th intersection point, determine the 4th intersection point and
The 4th length in pixels between 5th intersection point；
According to the third length in pixels, the 4th length in pixels and the half side simulate length, determine described in
The hat width factor.
Second aspect, a kind of sample is also provided monitoring device of the embodiment of the present invention, including：Sending module, receiving module and
Determining module；
The sending module, for for each unit sample, sending the longitude and latitude range on the preset unit sample ground
Information and the preset longitude and latitude positional information of trees to be detected each of in unit sample ground；
The receiving module, for receive unmanned plane transmission by image acquisition device and the longitude and latitude model
With enclosing the corresponding unit sample of information image, and trees elevation information corresponding with each longitude and latitude positional information and
Tree image；
The determining module, for according to the unit sample image, the trees elevation information, the Tree image and
Preset Species Characteristics information determines the diameter of a cross-section of a tree trunk 1.3 meters above the ground factor of the understory species factor and each trees to be detected in the sample ground
With the hat width factor.
The third aspect, the embodiment of the present invention monitor system with also providing a kind of sample, including：It is multiple to carry image collector
The monitoring platform of the unmanned plane set and any the method for an application such as first aspect.
Fourth aspect, the embodiment of the present invention also provide a kind of meter for the non-volatile program code that can perform with processor
Calculation machine readable medium, said program code make the processor execute such as any the method for first aspect.
The embodiment of the present invention brings following advantageous effect：The embodiment of the present invention provides sample ground monitoring method, the sample
Unit sample including multiple area equations, method are applied to monitoring platform, the monitoring platform and carry image collector
The unmanned plane wireless communication set, method include：For each unit sample, the longitude and latitude on the preset unit sample ground is sent
Spend range information and the preset longitude and latitude positional information of trees to be detected each of in unit sample ground；Receive the nothing
The unit sample corresponding with the longitude and latitude range information of man-machine transmission acquired by described image harvester ground image, with
And trees elevation information corresponding with each longitude and latitude positional information and Tree image；According to the unit sample map
Picture, the trees elevation information, the Tree image and preset Species Characteristics information, determine the understory species in the sample ground
The diameter of a cross-section of a tree trunk 1.3 meters above the ground factor and the hat width factor of the factor and each trees to be detected.
So when to sample to be monitored, for each unit sample, the monitoring platform sends pre-
If the unit sample ground longitude and latitude range information and the preset warp of trees to be detected each of in unit sample ground
Position Latitude information；Receive that the unmanned plane sends acquired by described image harvester believe with the longitude and latitude range
With ceasing corresponding unit sample image, and trees elevation information corresponding with each longitude and latitude positional information and trees
Image；According to the unit sample image, the trees elevation information, the Tree image and preset Species Characteristics information,
Determine the diameter of a cross-section of a tree trunk 1.3 meters above the ground factor and the hat width factor of the understory species factor and each trees to be detected in the sample ground, such technology
Personnel need not in person enter in sample ground, so that it may with the unit sample that is received according to the monitoring platform image, institute
Trees elevation information, the Tree image and preset Species Characteristics information are stated, determines the understory species factor in the sample ground
With the diameter of a cross-section of a tree trunk 1.3 meters above the ground factor and the hat width factor of each trees to be detected, avoid needing to expend caused by personal monitoring a large amount of
Time could complete the monitoring process on sample ground, caused by the problem of monitoring process inefficiency, therefore, alleviate existing
Present in technology the technical issues of monitoring process inefficiency, the technique effect for improving monitoring process efficiency is reached.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and is obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, other drawings may also be obtained based on these drawings.
The first flow chart of Fig. 1 for sample provided in an embodiment of the present invention monitoring methods；
Second of flow chart of Fig. 2 for sample provided in an embodiment of the present invention monitoring methods；
The third flow chart of Fig. 3 for sample provided in an embodiment of the present invention monitoring methods；
Fig. 4 monitors the structural schematic diagram of system for sample provided in an embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
Currently, sample refer to being sampled for vegetation investigation and limiting the location of range.It, can be with by sample being monitored
The composed structure of typical group and species diversity variation etc. in desampling ground.
In practical applications, technical staff needs to enter in person in sample ground, and the vegetation in sample ground is supervised with carrying out sample
Survey the monitoring of the factor (diameter of a cross-section of a tree trunk 1.3 meters above the ground, tree height and hat width etc.).Due to being all manually to be monitored, during monitoring, need to expend
The a large amount of time could complete the monitoring process on sample ground, the problem of causing monitoring process inefficiency, be based on this, the present invention is implemented
A kind of sample ground monitoring method, the apparatus and system that example provides, can alleviate monitoring process inefficiency existing in the prior art
The technical issues of, reach the technique effect for improving monitoring process efficiency.
For ease of understanding the present embodiment, first to a kind of sample disclosed in the embodiment of the present invention monitoring method into
Row is discussed in detail, and includes the sample the unit sample of multiple area equations, and method is applied to monitoring platform, the monitoring platform
With carry image collecting device unmanned plane wirelessly communicate, as shown in Figure 1, the sample monitoring method may include following step
Suddenly.
Illustratively, it may include the sample the unit sample of multiple area equations, include four lists with the sample
Position illustrates for sample ground.Include the sample：Unit sample 1, unit sample 2, unit sample 3 and unit sample 4.Unit
Sample 1, unit sample 2, unit sample 3 and unit sample 4 area equation.The sample and the unit sample ground position believe
Breath is all just set in first monitoring.
Step S101 for each unit sample sends the longitude and latitude range information on the preset unit sample ground
With the preset longitude and latitude positional information of trees to be detected each of in unit sample ground.
Illustratively, when the longitude range on the sample ground is (a1, a3), and latitude scope is (b1, b3), the longitude and latitude
Range information can be as shown in table 1.
Table 1
| Number to unit sample | Longitude range | Latitude scope |
| 1 | (a1,a2) | (b2,b3) |
| 2 | (a2,a3) | (b2,b3) |
| 3 | (a1,a2) | (b1,b2) |
| 4 | (a2,a3) | (b1,b2) |
Wherein,
Illustratively, may include multiple trees to be detected in each unit sample ground.For each unit sample
Ground, by unit sample 1 is interior including being illustrated for five trees to be detected, and the longitude and latitude positional information can be such as 2 institute of table
Show.
Table 2
| Trees are numbered | Longitude and latitude position |
| 1 | (m1,n1) |
| 2 | (m2,n2) |
| 3 | (m3,n3) |
| 4 | (m4,n4) |
| 5 | (m5,n5) |
Longitude station in table 2 is respectively positioned in longitude range (a1, a2), and Position Latitude is respectively positioned on latitude scope (b2, b3)
It is interior.
Step S102 receives acquired by the described image harvester and longitude and latitude model that the unmanned plane is sent
With enclosing the corresponding unit sample of information image, and trees elevation information corresponding with each longitude and latitude positional information and
Tree image.
Illustratively, the trees elevation information may include：Whole tree height and clear bole height degree.
Step S103, according to the unit sample image, the trees elevation information, the Tree image and preset object
Kind of characteristic information, determine the understory species factor and each trees to be detected in the sample ground the diameter of a cross-section of a tree trunk 1.3 meters above the ground factor and hat width because
Son.
Illustratively, as shown in Fig. 2, according to the unit sample image and the Species Characteristics information, determine the sample
The understory species factor in ground, may comprise steps of.
Step S201, for the unit sample every frame image in image, using preset image segmentation algorithm, to institute
It states every frame image and carries out image segmentation, obtain bianry image.
Illustratively, described image partitioning algorithm can be histogram divion algorithm, Optimal-threshold segmentation algorithm or
Otsu Threshold Segmentation Algorithms.
Step S202 is filtered the bianry image using preset filtering algorithm, obtains filtering binary map
Picture.
Illustratively, the filtering algorithm may include：Mean Filtering Algorithm and median filtering algorithm.
Step S203 extracts the profile of the filtering bianry image, obtains profile two using preset contours extract operator
It is worth image.
Illustratively, the contours extract operator can be Roberts operators, Sobel operators, Prewitt operators or
Laplacian operators.
Step S204 determines that the profile institute consistent with the profile bianry image is right in the Species Characteristics information
The species answered are the understory species factor.
Illustratively, it is illustrated so that the Species Characteristics information includes N number of species as an example.The Species Characteristics information can
With as shown in table 3.
Table 3
Illustratively, it is one-to-one between profile and species.
Illustratively, flower feature can be based on and carries out image segmentation, flower bianry image be obtained, then to flower two-value
Image is filtered and extracts profile, obtains flower profile bianry image, in the Species Characteristics information, determines and the flower
Species corresponding to piece consistent flower profile of profile bianry image are the understory species factor.The Species Characteristics information
It can be as shown in table 4.
Table 4
Illustratively, leaf feature can be based on and carries out image segmentation, leaf bianry image be obtained, then to leaf two-value
Image is filtered and extracts profile, obtains leaf profile bianry image, in the Species Characteristics information, determines and the leaf
Species corresponding to the consistent leaf profile of sub- profile bianry image are the understory species factor.The Species Characteristics information
It can be as shown in table 5.
Table 5
Illustratively, the Tree image includes：Described image harvester is with preset vertical collection distance and presets
Level acquisition distance acquisition tree breast-height diameter image, as shown in figure 3, being determined according to the Tree image each described to be detected
The diameter of a cross-section of a tree trunk 1.3 meters above the ground factor of trees, may comprise steps of.
Step S301 is determined according to the monitoring angle of the level acquisition distance and preset described image harvester
Simulate length in the vertical side of the tree breast-height diameter image.
Illustratively, the vertical collection distance could be provided as 1.3 meters.
Illustratively, the monitoring angle according to the level acquisition distance and preset described image harvester,
The vertical side simulation length for determining the tree breast-height diameter image, may comprise steps of.
By the monitoring angle divided by two, half monitoring angle is obtained.
Illustratively, the monitoring angle is known, is illustrated so that the monitoring angle is α as an example.Angle will be monitored
α divided by two is spent, half monitoring angle is obtained
The tangent value of the half monitoring angle is calculated, obtained result is multiplied by the level acquisition distance, obtains half
Simulate length in vertical side.
Illustratively, the level acquisition distance could be provided as a meters, then can obtain the vertical side simulation length of half
For
The vertical side simulation length of the half is multiplied by two, the vertical side simulation length is calculated.
Illustratively, when the vertical side simulation length of half isWhen, then vertical side simulation can be calculated
Length is
Step S302 carries out image segmentation to the tree breast-height diameter image, obtains the diameter of a cross-section of a tree trunk 1.3 meters above the ground using described image partitioning algorithm
Bianry image.
Illustratively, described image partitioning algorithm can be histogram divion algorithm, Optimal-threshold segmentation algorithm or
Otsu Threshold Segmentation Algorithms.
Step S303 is filtered the diameter of a cross-section of a tree trunk 1.3 meters above the ground bianry image using the filtering algorithm, obtains the filtering diameter of a cross-section of a tree trunk 1.3 meters above the ground
Bianry image.
Illustratively, the filtering algorithm may include：Mean Filtering Algorithm and median filtering algorithm.
Step S304 extracts the profile of the filtering diameter of a cross-section of a tree trunk 1.3 meters above the ground bianry image, obtains the diameter of a cross-section of a tree trunk 1.3 meters above the ground using the contours extract operator
Profile bianry image.
Illustratively, the contours extract operator can be Roberts operators, Sobel operators, Prewitt operators or
Laplacian operators.
Step S305 increases a horizontal line by central point, the level on the diameter of a cross-section of a tree trunk 1.3 meters above the ground profile bianry image
Line and the intersection of diameter of a cross-section of a tree trunk 1.3 meters above the ground profile, obtain the first intersection point and the second intersection point.
Step S306, according to the pixel coordinate of the pixel coordinate of first intersection point and second intersection point, determine described in
The first length in pixels between first intersection point and second intersection point.
Step S307 is determined according to the pixel coordinate of two endpoints of the vertical side of the diameter of a cross-section of a tree trunk 1.3 meters above the ground profile bianry image
Second length in pixels of the vertical side.
Step S308 simulates length, first length in pixels and second length in pixels according to the vertical side,
Determine the diameter of a cross-section of a tree trunk 1.3 meters above the ground factor.
Illustratively, when vertical side, simulation length isRice, the first length in pixels are p, and the second pixel is long
When degree is q, determine that the diameter of a cross-section of a tree trunk 1.3 meters above the ground factor isRice.
Illustratively, the Tree image further includes：The trees hat width image of described image harvester acquisition, the tree
The wooden elevation information further includes：When height of the tree crown of the trees to be detected away from ground and the acquisition trees hat width image most
Height determines the hat width factor of each trees to be detected according to the trees elevation information and the Tree image, can
To include the following steps.
Height of the tree crown away from ground is subtracted with the maximum height, tree crown is calculated away from machine height.
Illustratively, the maximum height when obtaining the trees hat width image is 6 meters, and height of the tree crown away from ground is 4
Meter Shi, it is 2 meters that tree crown, which can be calculated, away from machine height.
The tangent value of the half monitoring angle is calculated, obtained result is multiplied by the tree crown away from machine height, obtains half
Simulate length in side.
Illustratively, when tree crown is d meters away from machine height, half side simulation length is
Using described image partitioning algorithm, image segmentation is carried out to the trees hat width image, obtains hat width bianry image.
Illustratively, described image partitioning algorithm can be histogram divion algorithm, Optimal-threshold segmentation algorithm or
Otsu Threshold Segmentation Algorithms.
Using the filtering algorithm, the hat width bianry image is filtered, obtains filtering hat width bianry image.
Illustratively, the filtering algorithm may include：Mean Filtering Algorithm and median filtering algorithm.
Using the contours extract operator, the profile of the filtering hat width bianry image is extracted, hat width profile two-value is obtained
Image.
Illustratively, the contours extract operator can be Roberts operators, Sobel operators, Prewitt operators or
Laplacian operators.
Make a line perpendicular to side from the central point of the hat width profile bianry image, the intersection point of vertical line and side is
Third intersection point.
According to the pixel coordinate of the pixel coordinate of the central point and the third intersection point, the central point and described is determined
Third length in pixels between third intersection point.
The line segment for connecting arbitrary point-to-point transmission on the hat width profile, obtains multiple connecting line segments.
In multiple connecting line segments, determine that two endpoints of the longest line segment of length are respectively the 4th intersection point and the 5th
Intersection point.
According to the pixel coordinate of the pixel coordinate and the 5th intersection point of the 4th intersection point, determine the 4th intersection point and
The 4th length in pixels between 5th intersection point.
According to the third length in pixels, the 4th length in pixels and the half side simulate length, determine described in
The hat width factor.
Illustratively, when half side, simulation length isRice, third length in pixels are e, and the 4th length in pixels is
When f, determine that the hat width factor isRice.
In the embodiment of the present invention, the embodiment of the present invention provides sample ground monitoring method, includes the sample multiple area equations
Unit sample, method is applied to monitoring platform, the monitoring platform and the unmanned plane channel radio for carrying image collecting device
Letter, method include：For each unit sample, it sends the longitude and latitude range information on the preset unit sample ground and is located at
The preset longitude and latitude positional information of trees to be detected each of in unit sample ground；Receive the unmanned plane transmission passes through institute
With stating the unit sample corresponding with the longitude and latitude range information of image acquisition device image, and with each longitude and latitude
Spend the corresponding trees elevation information of location information and Tree image；According to the unit sample image, the trees height
Information, the Tree image and preset Species Characteristics information determine the understory species factor in the sample ground and each described
The diameter of a cross-section of a tree trunk 1.3 meters above the ground factor and the hat width factor of trees to be detected.
So when to sample to be monitored, for each unit sample, the monitoring platform sends pre-
If the unit sample ground longitude and latitude range information and the preset warp of trees to be detected each of in unit sample ground
Position Latitude information；Receive that the unmanned plane sends acquired by described image harvester believe with the longitude and latitude range
With ceasing corresponding unit sample image, and trees elevation information corresponding with each longitude and latitude positional information and trees
Image；According to the unit sample image, the trees elevation information, the Tree image and preset Species Characteristics information,
Determine the diameter of a cross-section of a tree trunk 1.3 meters above the ground factor and the hat width factor of the understory species factor and each trees to be detected in the sample ground, such technology
Personnel need not in person enter in sample ground, so that it may with the unit sample that is received according to the monitoring platform image, institute
Trees elevation information, the Tree image and preset Species Characteristics information are stated, determines the understory species factor in the sample ground
With the diameter of a cross-section of a tree trunk 1.3 meters above the ground factor and the hat width factor of each trees to be detected, avoid needing to expend caused by personal monitoring a large amount of
Time could complete the monitoring process on sample ground, caused by the problem of monitoring process inefficiency, therefore, alleviate existing
Present in technology the technical issues of monitoring process inefficiency, the technique effect for improving monitoring process efficiency is reached.
In another embodiment of the present invention, to a kind of sample disclosed in the embodiment of the present invention monitoring device carries out detailed
It introduces, including：Sending module, receiving module and determining module；
The sending module, for for each unit sample, sending the longitude and latitude range on the preset unit sample ground
Information and the preset longitude and latitude positional information of trees to be detected each of in unit sample ground；
The receiving module, for receive unmanned plane transmission by image acquisition device and the longitude and latitude model
With enclosing the corresponding unit sample of information image, and trees elevation information corresponding with each longitude and latitude positional information and
Tree image；
The determining module, for according to the unit sample image, the trees elevation information, the Tree image and
Preset Species Characteristics information determines the diameter of a cross-section of a tree trunk 1.3 meters above the ground factor of the understory species factor and each trees to be detected in the sample ground
With the hat width factor.
In another embodiment of the present invention, the system that monitored to a kind of sample disclosed in the embodiment of the present invention carries out detailed
It introduces, including：Multiple unmanned planes for carrying image collecting device and any the method for an application such as above-described embodiment
Monitoring platform.
Illustratively, it is monitored for system includes four unmanned planes for carrying image collecting device and is carried out by the sample
Explanation.As shown in figure 4, the sample monitor system and may include：Four unmanned planes for carrying image collecting device and one
Monitoring platform 41.Four unmanned planes for carrying image collecting device are respectively：Unmanned plane 42, unmanned plane 43,44 and of unmanned plane
Unmanned plane 45.Monitoring platform 41 is wirelessly communicated with unmanned plane 42, unmanned plane 43, unmanned plane 44 and unmanned plane 45 respectively.
In another embodiment of the present invention, to disclosed in the embodiment of the present invention it is a kind of with processor can perform it is non-
The computer-readable medium of volatile program code describes in detail, and said program code makes the processor execute above-mentioned reality
Apply any the method for example.
Unless specifically stated otherwise, the opposite step of the component and step that otherwise illustrate in these embodiments, digital table
It is not limit the scope of the invention up to formula and numerical value.
The technique effect and preceding method embodiment phase of the device that the embodiment of the present invention is provided, realization principle and generation
Together, to briefly describe, device embodiment part does not refer to place, can refer to corresponding contents in preceding method embodiment.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
It with the specific work process of device, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
In all examples being illustrated and described herein, any occurrence should be construed as merely illustrative, without
It is as limitation, therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
Flow chart and block diagram in attached drawing show the system, method and computer journey of multiple embodiments according to the present invention
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part for a part for one module, section or code of table, the module, section or code includes one or more uses
The executable instruction of the logic function as defined in realization.It should also be noted that in some implementations as replacements, being marked in box
The function of note can also occur in a different order than that indicated in the drawings.For example, two continuous boxes can essentially base
Originally it is performed in parallel, they can also be executed in the opposite order sometimes, this is depended on the functions involved.It is also noted that
It is the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart, can uses and execute rule
The dedicated hardware based system of fixed function or action is realized, or can use the group of specialized hardware and computer instruction
It closes to realize.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for the description present invention and simplify description, do not indicate or imply the indicated device or element must have a particular orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for description purposes only, and is not understood to indicate or imply relative importance.
The progress sample that the embodiment of the present invention is provided monitoring method computer program product, including store processor
The computer readable storage medium of executable non-volatile program code, the instruction that said program code includes can be used for executing
Method described in previous methods embodiment, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of division of logic function, formula that in actual implementation, there may be another division manner, in another example, multiple units or component can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be by some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer read/write memory medium of a processor.Based on this understanding, of the invention
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the present invention
State all or part of step of method.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with
Store the medium of program code.
Finally it should be noted that：Embodiment described above, only specific implementation mode of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, it can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of sample ground monitoring method, which is characterized in that include the sample the unit samples of multiple area equations, method application
In monitoring platform, the monitoring platform and the unmanned plane for carrying image collecting device wirelessly communicate, and method includes：
For each unit sample, it sends the longitude and latitude range information on the preset unit sample ground and is located at the unit
The preset longitude and latitude positional information of trees to be detected each of in sample ground；
It is corresponding with the longitude and latitude range information to receive being acquired by described image harvester for the unmanned plane transmission
Unit sample ground image, and trees elevation information corresponding with each longitude and latitude positional information and Tree image；
According to the unit sample image, the trees elevation information, the Tree image and preset Species Characteristics information, really
The diameter of a cross-section of a tree trunk 1.3 meters above the ground factor and the hat width factor of the understory species factor and each trees to be detected in the fixed sample ground.
2. sample according to claim 1 ground monitoring method, which is characterized in that according to the unit sample image and the object
Kind characteristic information, determines the understory species factor in the sample ground, including：
For the unit sample every frame image in image, using preset image segmentation algorithm, to it is described per frame image into
Row image segmentation, obtains bianry image；
Using preset filtering algorithm, the bianry image is filtered, obtains filtering bianry image；
Using preset contours extract operator, the profile of the filtering bianry image is extracted, profile bianry image is obtained；
In the Species Characteristics information, determine that the species corresponding to the profile consistent with the profile bianry image are described
The understory species factor.
3. sample according to claim 2 ground monitoring method, which is characterized in that the filtering algorithm includes：Mean filter is calculated
Method and median filtering algorithm.
4. sample according to claim 3 ground monitoring method, which is characterized in that the trees elevation information includes：Whole tree is high
Degree and clear bole height degree.
5. sample according to claim 4 ground monitoring method, which is characterized in that the Tree image includes：Described image is adopted
Acquisition means are with the tree breast-height diameter image of preset vertical collection distance and the distance acquisition of preset level acquisition, according to the trees
Image determines the diameter of a cross-section of a tree trunk 1.3 meters above the ground factor of each trees to be detected, including：
According to the monitoring angle of the level acquisition distance and preset described image harvester, the tree breast-height diameter figure is determined
Simulate length in the vertical side of picture；
Using described image partitioning algorithm, image segmentation is carried out to the tree breast-height diameter image, obtains diameter of a cross-section of a tree trunk 1.3 meters above the ground bianry image；
Using the filtering algorithm, the diameter of a cross-section of a tree trunk 1.3 meters above the ground bianry image is filtered, obtains filtering diameter of a cross-section of a tree trunk 1.3 meters above the ground bianry image；
Using the contours extract operator, the profile of the filtering diameter of a cross-section of a tree trunk 1.3 meters above the ground bianry image is extracted, diameter of a cross-section of a tree trunk 1.3 meters above the ground profile bianry image is obtained；
Increase a horizontal line by central point, the horizontal line and diameter of a cross-section of a tree trunk 1.3 meters above the ground profile phase on the diameter of a cross-section of a tree trunk 1.3 meters above the ground profile bianry image
It hands over, obtains the first intersection point and the second intersection point；
According to the pixel coordinate of the pixel coordinate of first intersection point and second intersection point, first intersection point and described is determined
The first length in pixels between second intersection point；
According to the pixel coordinate of two endpoints of the vertical side of the diameter of a cross-section of a tree trunk 1.3 meters above the ground profile bianry image, the vertical side is determined
Second length in pixels；
According to the vertical side simulation length, first length in pixels and second length in pixels, the diameter of a cross-section of a tree trunk 1.3 meters above the ground is determined
The factor.
6. sample according to claim 5 ground monitoring method, which is characterized in that described according to the level acquisition distance and pre-
If described image harvester monitoring angle, determine the tree breast-height diameter image vertical side simulation length, including：
By the monitoring angle divided by two, half monitoring angle is obtained；
The tangent value of the half monitoring angle is calculated, obtained result is multiplied by the level acquisition distance, it is vertical to obtain half
Simulate length in side；
The vertical side simulation length of the half is multiplied by two, the vertical side simulation length is calculated.
7. sample according to claim 6 ground monitoring method, which is characterized in that the Tree image further includes：Described image
The trees hat width image of harvester acquisition, the trees elevation information further include：The tree crown of the trees to be detected is away from ground
Height and maximum height when obtaining the trees hat width image, according to the trees elevation information and the Tree image,
Determine the hat width factor of each trees to be detected, including：
Height of the tree crown away from ground is subtracted with the maximum height, tree crown is calculated away from machine height；
The tangent value of the half monitoring angle is calculated, obtained result is multiplied by the tree crown away from machine height, obtains half side
Simulate length；
Using described image partitioning algorithm, image segmentation is carried out to the trees hat width image, obtains hat width bianry image；
Using the filtering algorithm, the hat width bianry image is filtered, obtains filtering hat width bianry image；
Using the contours extract operator, the profile of the filtering hat width bianry image is extracted, hat width profile bianry image is obtained；
Make a line perpendicular to side from the central point of the hat width profile bianry image, the intersection point of vertical line and side is third
Intersection point；
According to the pixel coordinate of the pixel coordinate of the central point and the third intersection point, the central point and the third are determined
Third length in pixels between intersection point；
The line segment for connecting arbitrary point-to-point transmission on the hat width profile, obtains multiple connecting line segments；
In multiple connecting line segments, determine that two endpoints of the longest line segment of length are respectively that the 4th intersection point and the 5th hand over
Point；
According to the pixel coordinate of the pixel coordinate and the 5th intersection point of the 4th intersection point, the 4th intersection point and described is determined
The 4th length in pixels between 5th intersection point；
Length is simulated according to the third length in pixels, the 4th length in pixels and the half side, determines the hat width
The factor.
8. a kind of sample ground monitoring device, which is characterized in that including：Sending module, receiving module and determining module；
The sending module, for for each unit sample, sending the longitude and latitude range information on the preset unit sample ground
With the preset longitude and latitude positional information of trees to be detected each of in unit sample ground；
The receiving module, for receiving believing by image acquisition device and the longitude and latitude range for unmanned plane transmission
With ceasing corresponding unit sample image, and trees elevation information corresponding with each longitude and latitude positional information and trees
Image；
The determining module for according to the unit sample image, the trees elevation information, the Tree image and is preset
Species Characteristics information, determine the diameter of a cross-section of a tree trunk 1.3 meters above the ground factor and hat of the understory species factor in the sample ground and each trees to be detected
The width factor.
9. monitoring system to a kind of sample, which is characterized in that including：Multiple unmanned planes for carrying image collecting device and one answer
With the monitoring platform of such as any the methods of claim 1-7.
10. a kind of computer-readable medium for the non-volatile program code that can perform with processor, which is characterized in that described
Program code makes the processor execute described any the methods of claim 1-7.
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