CN111854598A - Forestry area measurement device based on unmanned aerial vehicle and edge correction module - Google Patents
Forestry area measurement device based on unmanned aerial vehicle and edge correction module Download PDFInfo
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- G—PHYSICS
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Abstract
The invention belongs to the technical field of forestry equipment, and particularly relates to a forestry area measuring device based on an unmanned aerial vehicle and an edge correction module, which comprises the unmanned aerial vehicle, a positioning module, the edge correction module, an unmanned aerial vehicle controller and a terminal processing module; the edge correction module is used for detecting the position of the unmanned aerial vehicle, and the terminal processing module judges whether the unmanned aerial vehicle is positioned at the edge of the forest land or not according to the position information; the unmanned aerial vehicle controller is used for controlling the unmanned aerial vehicle to adjust the position according to the judgment result of the edge correction module, so that the unmanned aerial vehicle is positioned at the edge of the forest land; the positioning module is used for acquiring the position information of the unmanned aerial vehicle when the unmanned aerial vehicle is positioned at the edge of the forest land; the terminal processing module is also used for drawing the flight track of the unmanned aerial vehicle according to the position information and then calculating the area of the forest land. The invention utilizes the principle that trees at the edge of the forest land have height difference with the ground and utilizes the radar technology to accurately distinguish the edge of the forest land and improve the accuracy of measuring the area of the forest land.
Description
Technical Field
The invention belongs to the technical field of forestry equipment, and particularly relates to a forestry area measuring device based on an unmanned aerial vehicle and an edge correction module.
Background
The equipment for land area detection comprises a handheld GPS measuring instrument, an unmanned aerial vehicle aerial photography device and the like, the handheld GPS measuring instrument drives the GPS measuring instrument to walk depending on measuring personnel, the land area is measured and calculated by utilizing the generated GPS track, and the equipment is limited in manpower and energy and only suitable for small-area land measurement. Unmanned aerial vehicle ware of taking photo by plane after the formation of image people control the ware of taking photo by plane and fly in taking the measurement land boundary, then calculate the land area through the flight orbit, can carry out the land survey of large tracts of land, practice thrift the manpower. But contain a large amount of trees in the geographic environment that forest land area measurement relates to, trees height is high and the area is big, and unmanned aerial vehicle ware of taking photo by plane need fly to a take a photograph to certain height just can make a video recording, at this moment because high influence, artificially judge behind the formation of image of making a video recording that the land border that awaits measuring easily produces visual error, lead to measuring accuracy to reduce. Therefore, it is necessary to develop a device with higher accuracy suitable for forest land area measurement.
Disclosure of Invention
In order to solve the technical problem, the invention provides a forestry area measuring device based on an unmanned aerial vehicle and an edge correction module.
The invention aims to provide a forestry area measuring device based on an unmanned aerial vehicle and an edge correction module, which comprises the unmanned aerial vehicle, a positioning module, the edge correction module, an unmanned aerial vehicle controller and a terminal processing module, wherein the positioning module and the edge correction module are carried on the unmanned aerial vehicle;
the edge correction module is used for detecting the position of the unmanned aerial vehicle, and the terminal processing module judges whether the unmanned aerial vehicle is positioned at the edge of the forest land or not according to the position information;
the unmanned aerial vehicle controller is used for controlling the unmanned aerial vehicle to adjust the position according to the judgment result of the edge correction module, so that the unmanned aerial vehicle is positioned at the edge of the forest land;
the positioning module is used for acquiring the position information of the unmanned aerial vehicle when the unmanned aerial vehicle is positioned at the edge of the forest land;
the terminal processing module is also used for drawing the flight track of the unmanned aerial vehicle according to the position information acquired by the positioning module, and then calculating the forest land area according to the flight track.
Preferably, above-mentioned forestry area measurement device based on unmanned aerial vehicle and edge correction module, edge correction module is two radars, installs respectively in unmanned aerial vehicle's bottom both sides, orientation module is located two midpoint department between the radar.
Preferably, in the forestry area measuring device based on the unmanned aerial vehicle and the edge correction module, the unmanned aerial vehicle controller controls the unmanned aerial vehicle to fly to a position, close to the edge, of the forest land to be measured;
the unmanned aerial vehicle control radar L1 and the radar L2 vertically transmit electromagnetic waves to the ground through transmitting antennas respectively, meanwhile, receiving antennas of the radar L1 and the radar L2 receive the electromagnetic waves returned from the ground respectively, the time taken by the radar L1 from transmitting the electromagnetic waves to receiving the electromagnetic waves is T1, the time taken by the radar L2 from transmitting the electromagnetic waves to receiving the electromagnetic waves is T2, and the unmanned aerial vehicle transmits time data T1 and T2 to the terminal processing module;
the unmanned aerial vehicle controller controls the unmanned aerial vehicle to hover and rotate in the horizontal direction, and the terminal processing module judges whether the unmanned aerial vehicle is located at the edge of a forest land or not according to time data T1 and T2 and a preset critical time value T0; if so, the positioning module acquires the current position information of the unmanned aerial vehicle and transmits the current position information to the terminal processing module for displaying and recording; if the unmanned aerial vehicle is not located at the edge of the forest land, the unmanned aerial vehicle controller controls the unmanned aerial vehicle to adjust the position, then the unmanned aerial vehicle hovers and rotates in the horizontal direction until the terminal processing module determines that the unmanned aerial vehicle is located at the edge of the forest land;
the unmanned aerial vehicle controller controls the unmanned aerial vehicle to fly around the forest land to obtain n forest land edge position information, the terminal processing module draws a closed flight track according to the position information, and then the forest land area is calculated according to the flight track.
Preferably, in the forestry area measurement apparatus based on the unmanned aerial vehicle and the edge correction module, the critical time value T0 is determined by the terminal processing module according to the propagation speed of the electromagnetic wave and the average height of trees in the forest land, and when the difference between the received time data T1 and T2 is greater than or equal to T0, the data processing terminal considers that the two radars are located on two sides of the edge of the forest land and the unmanned aerial vehicle is located on the edge of the forest land;
when the difference value between the received time data T1 and T2 is smaller than T0, the data processing terminal considers that the two radars are not positioned on two sides of the edge of the forest land and the unmanned aerial vehicle is not positioned on the edge of the forest land.
Preferably, the forestry area measurement device based on unmanned aerial vehicle and edge correction module, the orientation module is GPS locator or big dipper locator, terminal processing module is computer or smart mobile phone.
Preferably, in the forestry area measuring device based on the unmanned aerial vehicle and the edge correction module, the distance between the radar L1 and the radar L2 is 30-100 cm.
Preferably, above-mentioned forestry area measurement device based on unmanned aerial vehicle and edge correction module, the symmetry installation detachable wing on the unmanned aerial vehicle, every it has a radar to correspond to carry on the wing.
Preferably, above-mentioned forestry area measurement device based on unmanned aerial vehicle and edge correction module, unmanned aerial vehicle's flight height is 50-150 meters.
Preferably, the forestry area measurement device based on unmanned aerial vehicle and edge correction module, the woodland that awaits measuring is the broadleaf forest, or the woodland of broadleaf trees and coniferous trees mixed planting.
Compared with the prior art, the forestry area measuring device based on the unmanned aerial vehicle and the edge correction module, provided by the invention, has the following beneficial effects:
the device can distinguish the edge of the forest land by utilizing the principle that the height difference exists between trees at the edge of the forest land and the ground and utilizing the radar technology without using a camera or visually observing the edge of the forest land; the unmanned aerial vehicle technology reduces the workload of manual walking; the device has improved unmanned aerial vehicle at the marginal accuracy in woodland, has improved woodland area measurement's precision.
Drawings
Fig. 1 is a schematic structural diagram of a forestry area measuring device based on an unmanned aerial vehicle and an edge correction module;
fig. 2 is a flight trajectory displayed by a terminal processing module of the forestry area measuring device based on the unmanned aerial vehicle and the edge correction module according to the invention;
fig. 3 is a working principle diagram of the forestry area measuring device based on the unmanned aerial vehicle and the edge correction module.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention to be implemented, the present invention will be further described with reference to the following specific embodiments and accompanying drawings. The following examples, as well as test methods not specifically identified in the summary of the invention, were conducted according to methods and conditions conventional in the art.
The invention provides a forestry area measuring device based on an unmanned aerial vehicle and an edge correction module, which comprises the unmanned aerial vehicle, a positioning module, the edge correction module, an unmanned aerial vehicle controller and a terminal processing module, wherein the positioning module and the edge correction module are loaded on the unmanned aerial vehicle;
the edge correction module is used for detecting the position of the unmanned aerial vehicle, and the terminal processing module judges whether the unmanned aerial vehicle is positioned at the edge of the forest land or not according to the position information; the edge correction die is a radar;
the unmanned aerial vehicle controller is used for controlling the unmanned aerial vehicle to adjust the position according to the judgment result of the edge correction module, so that the unmanned aerial vehicle is positioned at the edge of the forest land;
the positioning module is used for acquiring the position information of the unmanned aerial vehicle when the unmanned aerial vehicle is positioned at the edge of a forest land, and the positioning module is a GPS (global positioning system) positioner or a Beidou positioner;
the terminal processing module is also used for drawing the flight track of the unmanned aerial vehicle according to the position information acquired by the positioning module, and then calculating the forest land area according to the flight track. The terminal processing module is a computer or a smart phone,
example 1
A forestry area measuring device based on an unmanned aerial vehicle and an edge correction module is shown in figure 1 and comprises the unmanned aerial vehicle, a positioning module, the edge correction module, an unmanned aerial vehicle controller and a terminal processing module, wherein the positioning module and the edge correction module are mounted on the unmanned aerial vehicle; the edge correction model is composed of two radars which are named as a radar L1 and a radar L2 respectively, one side of the bottom of the unmanned aerial vehicle is provided with a radar L1, and the other side, opposite to the upper bottom of the unmanned aerial vehicle, is provided with a radar L2; the positioning module is a GPS positioner and is positioned at the midpoint of the two radars on the unmanned aerial vehicle; and the positioning module and the edge correction module are in wireless connection with the terminal processing module.
The method for measuring the forest land area by using the device comprises the following steps:
firstly, an unmanned aerial vehicle is controlled by an unmanned aerial vehicle controller to fly to a position close to the edge of a forest land to be detected, the unmanned aerial vehicle controls radar L1 and radar L2 to respectively vertically transmit electromagnetic waves to the ground through a transmitting antenna, meanwhile, receiving antennas of the radar L1 and the radar L2 respectively receive the electromagnetic waves returned from the ground, the time for the electromagnetic waves to reach the receiving antennas after being reflected from the trees and after being reflected from the ground is different because the heights of the trees in the forest land are several meters to dozens of meters, the time for the radar L1 to reach the electromagnetic waves from transmitting to receiving is T1, the time for the radar L2 to reach the electromagnetic waves from transmitting to receiving is T2, and the unmanned aerial vehicle transmits time data T1 and T2 to a terminal processing module;
presetting a critical time value T0 in the terminal processing module according to the propagation speed of the electromagnetic wave and the average height of the trees in the forest land (for example, setting T0 as the time taken for the electromagnetic wave to propagate for half of the average height of the trees in the forest land); the unmanned aerial vehicle controller controls the unmanned aerial vehicle to hover and rotate in the horizontal direction; the terminal processing module judges whether the unmanned aerial vehicle is at the edge of the forest land or not according to the time data T1 and T2 and a preset critical time value T0; when the difference value between T1 and T2 received by the terminal processing module is greater than or equal to T0, the data processing terminal considers that the two radars are positioned at two sides of the edge of the forest land, the unmanned aerial vehicle is positioned at the edge of the forest land, and the GPS locator records the position information of the unmanned aerial vehicle at the moment and transmits the position information to the terminal processing module for displaying and recording; when the terminal processing module calculates that the difference value between the T1 and the T2 received by the terminal processing module is smaller than T0, the data processing terminal considers that the two radars are not positioned on two sides of the edge of the forest land, the unmanned aerial vehicle is not positioned on the edge of the forest land, the unmanned aerial vehicle controller controls the unmanned aerial vehicle to adjust the position, then the unmanned aerial vehicle hovers and rotates in the horizontal direction until the terminal processing module determines that the unmanned aerial vehicle is positioned on the edge of the forest land, and then the GPS locator records the position information of the unmanned aerial vehicle at the moment.
Step two, the unmanned aerial vehicle controller controls the unmanned aerial vehicle to fly around the forest land, n pieces of forest land edge position information are obtained according to the method in the step one, and the terminal processing module draws a closed flight track according to the position information, which is shown in figure 2; and then the terminal processing module calculates the forest land area according to the flight track.
The embodiment utilizes the principle that trees at the edge of the forest land have height difference with the ground, can distinguish the edge of the forest land by utilizing the radar technology, does not need to use a camera, and does not need to visually observe the edge of the forest land; the unmanned aerial vehicle technology reduces the workload of manual walking; this embodiment has improved unmanned aerial vehicle at the marginal accuracy in woodland, has improved the precision of woodland area measurement.
In the embodiment of the invention, the distance between the radar L1 and the radar L2 is 30-100 cm, the preferable distance is 30-60 cm, the height of most trees in the forest land is about several meters to dozens of meters, the width of a crown is 2-4 meters, and the radar distance is 30-60 cm. And unmanned aerial vehicle's flying height can reach more than tens meters, and this height is convenient for control unmanned aerial vehicle flies above the woodland.
Example 2
A forestry area measuring device based on an unmanned aerial vehicle and an edge correction module comprises the unmanned aerial vehicle, a camera, a positioning module, the edge correction module, an unmanned aerial vehicle controller and a terminal processing module, wherein the camera, the positioning module and the edge correction module are mounted on the unmanned aerial vehicle; the edge correction model is composed of two radars which are named as a radar L1 and a radar L2 respectively, one side of the bottom of the unmanned aerial vehicle is provided with a radar L1, and the other side, opposite to the upper bottom of the unmanned aerial vehicle, is provided with a radar L2; the positioning module is a GPS positioner and is positioned at the middle point of the two radars on the unmanned aerial vehicle. The camera, the positioning module and the edge correction module are all in wireless connection with the terminal processing module. The camera is used for shooting real-time pictures of the forest land and transmitting the pictures to the terminal processing module, and the terminal processing module is also used for displaying the real-time pictures.
The method for measuring the forest land area by using the device comprises the following steps:
the method comprises the following steps that firstly, a camera is used for shooting real-time pictures of a forest land, an operator looks at the real-time pictures at a terminal processing module to estimate the edge position of the forest land, and then an unmanned aerial vehicle controller is used for controlling the unmanned aerial vehicle to fly to the position, close to the edge, of the forest land to be detected; the rest of the procedure was the same as in example 1.
This embodiment can find the roughly position in woodland edge rapidly through setting up the camera, improves measurement of efficiency, and the real-time picture of camera shooting simultaneously can help operating personnel to know the woodland condition.
Preferably, in the device according to embodiment 1 or embodiment 2 of the present invention, detachable wings are symmetrically installed on the unmanned aerial vehicle in a bolt connection manner, and each of the wings is correspondingly equipped with one radar. The length of the wing is 50-100 cm, and the radar can be conveniently carried.
Preferably, in embodiment 1 or embodiment 2 of the present invention, the forest land to be tested is a broadleaf forest or a forest land in which broadleaf trees and coniferous trees are mixed. The heights of the broad-leaved trees and the coniferous trees are higher, and the errors of the measured time T0, T1 and T2 are small.
In the above embodiments, components and devices used are commercially available as they are unless otherwise specified, and the structures of these existing components are not described in detail since they do not relate to the invention.
It should be noted that, when the present invention relates to a numerical range, it should be understood that two endpoints of each numerical range and any value between the two endpoints can be selected, and since the steps and methods adopted are the same as those in the embodiment, in order to prevent redundancy, the present invention describes a preferred embodiment. While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A forestry area measurement device based on an unmanned aerial vehicle and an edge correction module is characterized by comprising the unmanned aerial vehicle, a positioning module, the edge correction module, an unmanned aerial vehicle controller and a terminal processing module, wherein the positioning module and the edge correction module are mounted on the unmanned aerial vehicle;
the edge correction module is used for detecting the position of the unmanned aerial vehicle, and the terminal processing module judges whether the unmanned aerial vehicle is positioned at the edge of the forest land or not according to the position information;
the unmanned aerial vehicle controller is used for controlling the unmanned aerial vehicle to adjust the position according to the judgment result of the edge correction module, so that the unmanned aerial vehicle is positioned at the edge of the forest land;
the positioning module is used for acquiring the position information of the unmanned aerial vehicle when the unmanned aerial vehicle is positioned at the edge of the forest land;
the terminal processing module is also used for drawing the flight track of the unmanned aerial vehicle according to the position information acquired by the positioning module, and then calculating the forest land area according to the flight track.
2. A forestry area measurement device based on an unmanned aerial vehicle and an edge correction module according to claim 1, wherein the edge correction module is two radars respectively installed at both sides of the bottom of the unmanned aerial vehicle, and the positioning module is located at a midpoint between the two radars.
3. The forestry area measurement device based on the unmanned aerial vehicle and the edge correction module according to claim 2, wherein the unmanned aerial vehicle controller controls the unmanned aerial vehicle to fly to a position close to the edge of the forest land to be measured;
the unmanned aerial vehicle control radar L1 and the radar L2 vertically transmit electromagnetic waves to the ground through transmitting antennas respectively, meanwhile, receiving antennas of the radar L1 and the radar L2 receive the electromagnetic waves returned from the ground respectively, the time taken by the radar L1 from transmitting the electromagnetic waves to receiving the electromagnetic waves is T1, the time taken by the radar L2 from transmitting the electromagnetic waves to receiving the electromagnetic waves is T2, and the unmanned aerial vehicle transmits time data T1 and T2 to the terminal processing module;
the unmanned aerial vehicle controller controls the unmanned aerial vehicle to hover and rotate in the horizontal direction, and the terminal processing module judges whether the unmanned aerial vehicle is located at the edge of a forest land or not according to time data T1 and T2 and a preset critical time value T0; if so, the positioning module acquires the current position information of the unmanned aerial vehicle and transmits the current position information to the terminal processing module for displaying and recording; if the unmanned aerial vehicle is not located at the edge of the forest land, the unmanned aerial vehicle controller controls the unmanned aerial vehicle to adjust the position, then the unmanned aerial vehicle hovers and rotates in the horizontal direction until the terminal processing module determines that the unmanned aerial vehicle is located at the edge of the forest land;
the unmanned aerial vehicle controller controls the unmanned aerial vehicle to fly around the forest land to obtain n forest land edge position information, the terminal processing module draws a closed flight track according to the position information, and then the forest land area is calculated according to the flight track.
4. A forestry area measurement device according to claim 3, wherein the critical time value T0 is determined by the terminal processing module according to the propagation speed of electromagnetic waves and the average height of trees in the forest land, and when the difference between the received time data T1 and T2 is greater than or equal to T0, the data processing terminal considers that two radars are located at two sides of the forest land edge and the unmanned aerial vehicle is located at the forest land edge;
when the difference value between the received time data T1 and T2 is smaller than T0, the data processing terminal considers that the two radars are not positioned on two sides of the edge of the forest land and the unmanned aerial vehicle is not positioned on the edge of the forest land.
5. A forestry area measurement device based on an unmanned aerial vehicle and an edge correction module according to claim 3, wherein the positioning module is a GPS locator or a beidou locator, and the terminal processing module is a computer or a smart phone.
6. A forestry area measurement device based on a drone and an edge correction module according to claim 3, wherein the distance between the radar L1 and the radar L2 is 30-100 centimeters.
7. A forestry area measurement device based on an unmanned aerial vehicle and an edge correction module according to claim 6, wherein detachable wings are symmetrically installed on the unmanned aerial vehicle, and each wing is correspondingly provided with a radar.
8. A forestry area measurement device based on an unmanned aerial vehicle and an edge correction module according to claim 6, wherein the unmanned aerial vehicle has a flight height of 50-150 m.
9. A forestry area measurement device based on an unmanned aerial vehicle and an edge correction module according to claim 3, wherein the forest land to be measured is a broadleaf forest or a forest land mixed by broadleaf trees and coniferous trees.
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| CN114018205A (en) * | 2021-11-18 | 2022-02-08 | 广东电网有限责任公司江门供电局 | Method and system for measuring blue and green claim area of power line |
| CN114018205B (en) * | 2021-11-18 | 2023-06-30 | 广东电网有限责任公司江门供电局 | Method and system for measuring green and dead area of power line |
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