CN111854616A - Tree breast height diameter vision measurement method and system under assistance of laser - Google Patents
Tree breast height diameter vision measurement method and system under assistance of laser Download PDFInfo
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- 210000000481 breast Anatomy 0.000 title claims abstract description 52
- 238000000691 measurement method Methods 0.000 title claims abstract description 8
- 238000005259 measurement Methods 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 13
- 238000012545 processing Methods 0.000 claims abstract description 10
- 230000000007 visual effect Effects 0.000 claims abstract description 6
- 238000003709 image segmentation Methods 0.000 claims description 9
- 238000004422 calculation algorithm Methods 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 5
- 238000012935 Averaging Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 238000012417 linear regression Methods 0.000 claims description 3
- 238000013528 artificial neural network Methods 0.000 claims description 2
- 210000000038 chest Anatomy 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
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- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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- G—PHYSICS
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- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
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Abstract
A tree breast height diameter visual measurement method and system under the assistance of laser, the hardware device includes: the tree diameter measuring method comprises the steps that a smart phone, laser emitting equipment, RFID read-write equipment and handheld equipment are used, two beams of parallel laser are emitted to a tree to be measured to mark the tree during measurement, a tree photo with laser points is collected, two laser points in the photo are located at the position of the breast diameter of the tree to be measured, the connecting line of the two laser points is parallel to the growth extension direction of the tree, the photo is subjected to image processing, the breast diameter of the tree to be measured is obtained, meanwhile, the RFID read-write equipment identifies the RFDI label of the tree, and the measured breast diameter is stored corresponding to the corresponding tree label. The device is simple and convenient to carry, and can improve the tree breast-height diameter measurement rate.
Description
Technical Field
The invention relates to the technical field of forestry measurement, in particular to a tree breast height diameter vision measurement method and system under the assistance of laser.
Background
The breast height is an important basis for measuring the price of the nursery stock, and the measurement of the breast height of the tree is extremely important in the breast height inventory of the tree in the nursery.
The existing measurement technologies can be divided into two main categories: contact measurement and non-contact measurement. The contact measurement mainly passes through the breast diameter chi, and around the trunk a week, the person of measuring must be close to the trunk, and measurement efficiency is very low, for many hundreds of thousands of nursery stocks quantity, the measurement of nursery stock breast diameter is difficult to accomplish. In a non-contact measuring device, a measuring system using the principles such as the triangulation principle and the laser ranging requires a relatively stable platform to measure. In addition, the current measuring device using image acquisition and processing cannot avoid using a ranging rod to measure the distance between an image acquisition point and a tree to be measured, the measuring speed is relatively slow, and the device cannot be applied to the measuring environment with large nursery stock quantity.
Disclosure of Invention
The invention aims to solve the problems that: aiming at the defects of the prior art, a non-contact tree breast height diameter measuring mode is provided, and meanwhile, the requirements for rapidness and accuracy are met.
The technical scheme of the invention is as follows: a tree breast-height diameter visual measurement method under the assistance of laser, the tree has RFID labels, through launching two bunches of parallel laser marks trees to the tree to be measured, gather the picture of the tree with laser spot, make two spot lasers locate at the position of breast-height diameter of the tree to be measured in the picture, two laser spot connecting lines are parallel to the extension direction of growth of the tree, carry on the image processing to the picture, obtain the breast-height diameter of the tree to be measured, meanwhile, discern RFDI label of the tree by RFID read-write equipment, and will measure breast-height diameter and correspondent tree label to store correspondingly; wherein the image processing is: searching and determining the position of a laser point in the picture through the characteristic point, and calculating according to the pixel distance in the 2 laser point images and the actual distance of a laser emitter of the two beams of laser to obtain the shooting distance with the breast diameter of the tree to be measured so as to obtain the geometric relation between the pixel and the actual; and then obtaining the tree outline according to an image segmentation algorithm, and further obtaining the actual tree breast diameter.
Furthermore, inclination verification is carried out before the photo is collected, the photo is collected through the smart phone, the current inclination of the smart phone is obtained through a gyroscope inside the smart phone, and when the inclination is within an allowable interval, the photo collection is allowed.
Preferably, the feature point search specifically includes: converting the image from an RGB color space to an HSV color space, filtering out a laser color area in the image by using a threshold value set based on experience, and expanding; then converting the image into a gray image, and filtering out a high-brightness area according to a set threshold value; calculating the intersection of the expansion area and the high-brightness area to obtain the connected areas and the mass center of each connected area, and obtaining the position of the high-brightness laser point pair; and if the high-brightness laser spot cannot be detected, performing closed operation on the laser color area and then directly executing the subsequent steps.
Preferably, the image segmentation and the chest diameter calculation are specifically: removing two laser points in the picture, and cutting the image, thereby reducing the complexity of the image background and reducing the image area; segmenting a trunk region in the image by adopting an interactive image segmentation algorithm based on a depth convolution neural network to obtain a trunk contour with the contour line width of one pixel; dividing the trunk outline into four equal-height parts along the vertical direction of the tree, correspondingly dividing the trunk outline into 4 groups of approximate parallel edges, applying a least square method to pixel points on each group of edges for linear regression, estimating a 2-edge straight line expression, calculating an included angle between 2-edge straight lines, measuring approximate distances between the 2-edge straight lines if the included angle is smaller than a specified threshold value and the mean square error of the 2-edge straight lines is smaller than a specified threshold value, and finally averaging the measured approximate distances to obtain the breast diameter of the tree pixel; and converting the breast diameter of the tree pixel into the actual breast diameter according to the geometric relation.
The invention also provides a laser-assisted tree breast height diameter vision measuring system, which comprises: the detection method comprises the following steps that a smart phone, laser emission equipment, RFID read-write equipment and handheld equipment are installed on the handheld equipment, the smart phone, the laser emission equipment and the RFID read-write equipment are loaded on the handheld equipment, a computer program is configured in the smart phone, and the detection method is realized when the computer program is executed; the laser emission device comprises two point lasers, the distance between the two point lasers is fixed, the two point lasers are used for emitting two beams of parallel laser, and two red laser points are marked on the tree to be detected; and the RFID reading and writing equipment is used for reading the RFID label of the tree.
Furthermore, the smart phone supplies power to the laser emitting device and the RFID read-write device through the serial port and receives data from the RFID read-write device.
Furthermore, the handheld device is provided with a mobile phone support with adjustable width, and the mobile phone support is suitable for loading and supporting mobile phones of different models; the handheld device is provided with two switches, the two switches are arranged on the serial port circuit and are respectively used for controlling the power on-off of the laser emission device circuit and the RFID read-write device, the handheld device is further provided with a charging socket, and the charging socket is connected with the serial port circuit and used for external charging.
The existing tree breast height diameter measuring method mostly needs to be in contact with trees, the measuring process is complicated, and inconvenience is caused in the scene that a large number of trees need to be measured and recorded. In order to solve the problem, the tree breast-height diameter measuring device can complete the measurement of the tree breast-height diameter under the condition of not contacting the tree through the cooperative work of software and hardware, and stores the measurement result in the server and displays the measurement result at the same time. The invention provides a non-contact tree breast height diameter measuring method and system, which can be used for calculating the proportion of a pixel distance to an actual distance through point laser, obtaining the actual breast height diameter of a tree under the condition of not contacting the tree, improving the measuring efficiency, and ensuring that a colleague device is simple and convenient to carry.
Drawings
Fig. 1 is a schematic diagram of a hardware device for measuring the breast height diameter of a tree according to an embodiment of the present invention.
Fig. 2 is a schematic flow chart of a method for measuring the breast height diameter of a tree according to an embodiment of the present invention.
Fig. 3 is a schematic flow chart of image processing in tree breast-height diameter measurement according to an embodiment of the present invention.
Fig. 4 is a schematic view of a geometric relationship in image processing in tree breast-height diameter measurement according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a device for measuring the diameter at breast height of a tree according to an embodiment of the present invention, and the embodiment of the present invention is described in detail below with reference to fig. 1.
As shown in fig. 1, the system for measuring the breast height diameter of a tree in a non-contact manner provided by the present embodiment includes: the system comprises a smart phone 1, a laser emitting device 7, an RFID reading and writing device and a handheld device 6, wherein the smart phone 1 and the laser emitting device 7 are arranged on the handheld device 6; the camera 2 of the smart phone 1 and the laser emitting device 7 face in the same direction, and the laser emitting device 7 is used for emitting laser to the tree to be measured when the smart phone 1 collects the breast diameter picture of the tree to be measured so as to form two laser points in the obtained breast diameter picture of the tree to be measured.
The width-adjustable mobile phone support 3 is arranged on the handheld device 6 and used for placing the smart phone 1, 2 point lasers are emitted by the laser emitting device on the tree to be measured, the smart phone collects the tree breast-height diameter picture to be measured with the 2 point lasers, and the 2 point lasers are used for calculating the distance between the non-contact tree breast-height diameter measuring device and the tree to be measured. As shown in fig. 1, the laser emitting device is disposed on the left side of the smartphone camera, as long as the smartphone camera and the laser emitting device are not shielded from each other, so as to ensure that the smartphone can collect 2 point lasers formed by the laser emitting device on the tree to be measured, and the specific position of the smartphone is not specifically limited in the embodiment of the present invention.
In addition, in the device provided by the embodiment of the invention, the smart phone 1 supplies power to the whole hardware circuit through a serial port. The hand-held device is provided with a main switch 4 and a laser emitting device switch 5 which are respectively used for controlling the starting of the device and the emitting of the laser. The serial port can complete the data transmission function while supplying power.
The laser emission device comprises 2 point lasers. Because the red laser is relatively distinct with respect to the tree color, 2 red point lasers may be used in embodiments of the present invention. Of course, other laser emitting devices, such as 2 blue spot lasers, may also be used according to the needs, and the embodiment of the present invention is not limited in particular.
The invention provides a method for measuring the breast height diameter of a tree, which is realized by combining the device in a computer program mode. As shown in fig. 2, the measurement method specifically includes: the tree is provided with an RFID tag, the tree is marked by emitting two beams of parallel laser to the tree to be detected, a tree photo with laser points is collected, two laser points in the photo are located at the position of the breast diameter of the tree to be detected, the connecting line of the two laser points is parallel to the growth extension direction of the tree, the photo is subjected to image processing to obtain the breast diameter of the tree to be detected, meanwhile, RFID read-write equipment identifies the RFDI tag of the tree, and the detected breast diameter is correspondingly stored with the corresponding tree tag; wherein the image processing is: searching and determining the position of a laser point in the picture through the characteristic point, and calculating according to the pixel distance in the 2 laser point images and the actual distance of a laser emitter of the two beams of laser to obtain the shooting distance with the breast diameter of the tree to be measured so as to obtain the geometric relation between the pixel and the actual; and then obtaining the tree outline according to an image segmentation algorithm, and further obtaining the actual tree breast diameter. Preferably, the inclination check is performed before the photo is collected, the photo is collected through the smart phone, the current inclination of the smart phone is obtained through a gyroscope inside the smart phone, and when the inclination is within an allowable interval, the photo collection is allowed.
As shown in fig. 3, the feature point search is used to narrow the search range of the laser spot and reduce the error rate of laser spot detection: converting the image from an RGB color space to an HSV color space, filtering out a red area in the image by using an experience-based threshold value, and expanding; then converting the image into a gray image, and filtering out a high-brightness area by using an experience-based threshold; calculating the connected areas and the mass center of each connected area for the intersection of the two partial areas, and accurately obtaining the positions of the high-brightness laser point pairs; when the high-brightness laser point is failed to be obtained, the intersection of the red area and the high-brightness area is not used, and the subsequent steps are directly executed after the red area is subjected to closed operation; the stability of laser point detection is effectively improved.
The image segmentation and the breast diameter calculation specifically comprise the following steps: removing two laser points in the picture, and cutting the image, thereby reducing the complexity of the image background and reducing the image area; adopting the existing Interactive Image Segmentation algorithm (CVPR2018, MIT license is commercially available) based on the deep convolutional neural network, segmenting a trunk region in the image to obtain a trunk contour with the contour line width of one pixel; dividing the trunk contour into four equal-height parts along the vertical direction of the tree, correspondingly dividing the trunk contour into 4 groups of approximately parallel edges, linear regression is carried out on pixel points on each group of edges by applying a least square method, a linear expression of 2 edges is estimated, and calculating the included angle between the 2 edge straight lines, if the included angle is less than the specified threshold value and the mean square error of the 2 straight lines is less than the specified threshold value, measuring the approximate distance between the edge straight lines of the 2 edges, and finally averaging the measured approximate distances to obtain the breast height of the tree pixel; the tree pixel breast diameter is converted into the actual breast diameter according to the geometric relationship (as shown in figure 4).
The method, the device and the system for measuring the tree breast height diameter provided by the embodiment of the invention have the advantages that the structure is simple, the carrying is convenient, the 2 point lasers are used, the smart phone can quickly and accurately acquire the tree breast height diameter to be measured after acquiring the tree breast height diameter picture to be measured, and the tree breast height diameter measuring efficiency and precision are improved.
Claims (7)
1. A laser-assisted visual measurement method for the breast height diameter of a tree is characterized in that the tree is provided with an RFID label, the tree is marked by emitting two parallel lasers to the tree to be measured, a tree photo with laser points is collected, the lasers of the two points in the photo are positioned at the breast height diameter position of the tree to be measured, the connecting line of the two laser points is parallel to the growth extension direction of the tree, the photo is subjected to image processing to obtain the breast height diameter of the tree to be measured, meanwhile, RFID read-write equipment identifies the RFDI label of the tree, and the measured breast height diameter is stored corresponding to the corresponding tree label; wherein the image processing is: searching and determining the position of a laser point in the picture through the characteristic point, and calculating according to the pixel distance in the 2 laser point images and the actual distance of a laser emitter of the two beams of laser to obtain the shooting distance with the breast diameter of the tree to be measured so as to obtain the geometric relation between the pixel and the actual; and then obtaining the tree outline according to an image segmentation algorithm, and further obtaining the actual tree breast diameter.
2. The laser-assisted visual tree breast-height diameter measuring method as claimed in claim 1, wherein before the photo is collected, a slope check is performed, the photo is collected through a smart phone, a gyroscope inside the smart phone obtains the current slope of the smart phone, and when the slope is within an allowable range, the photo collection is allowed.
3. The laser-assisted visual measurement method for the breast height diameter of the tree as claimed in claim 1, wherein the feature point search is specifically: converting the image from an RGB color space to an HSV color space, filtering out a laser color area in the image by using a threshold value set based on experience, and expanding; then converting the image into a gray image, and filtering out a high-brightness area according to a set threshold value; calculating the intersection of the expansion area and the high-brightness area to obtain the connected areas and the mass center of each connected area, and obtaining the position of the high-brightness laser point pair; and if the high-brightness laser spot cannot be detected, performing closed operation on the laser color area and then directly executing the subsequent steps.
4. The laser-assisted visual tree breast-height diameter measuring method as claimed in claim 1, wherein the image segmentation and breast-height diameter calculation specifically comprises: removing two laser points in the picture, and cutting the image, thereby reducing the complexity of the image background and reducing the image area; segmenting a trunk region in the image by adopting an interactive image segmentation algorithm based on a depth convolution neural network to obtain a trunk contour with the contour line width of one pixel; dividing the trunk outline into four equal-height parts along the vertical direction of the tree, correspondingly dividing the trunk outline into 4 groups of approximate parallel edges, applying a least square method to pixel points on each group of edges for linear regression, estimating a 2-edge straight line expression, calculating an included angle between 2-edge straight lines, measuring approximate distances between the 2-edge straight lines if the included angle is smaller than a specified threshold value and the mean square error of the 2-edge straight lines is smaller than a specified threshold value, and finally averaging the measured approximate distances to obtain the breast diameter of the tree pixel; and converting the breast diameter of the tree pixel into the actual breast diameter according to the geometric relation.
5. The utility model provides a trees chest diameter vision measurement system under laser is supplementary, characterized by includes: the system comprises a smart phone, a laser emitting device, an RFID reading and writing device and a handheld device, wherein the handheld device is used for loading the smart phone, the laser emitting device and the RFID reading and writing device, a computer program is configured in the smart phone, and the computer program realizes the method of any one of claims 1-3 when executed; the laser emission device comprises two point lasers, the distance between the two point lasers is fixed, the two point lasers are used for emitting two beams of parallel laser, and two red laser points are marked on the tree to be detected; and the RFID reading and writing equipment is used for reading the RFID label of the tree.
6. The laser-assisted tree breast-height diameter vision measuring system as claimed in claim 5, wherein the smart phone supplies power to the laser emitting device and the RFID read-write device through a serial port and receives data from the RFID read-write device.
7. The laser-assisted tree breast-height diameter vision measuring system as claimed in claim 6, wherein said hand-held device is equipped with a mobile phone holder with adjustable width for accommodating different models of mobile phones; the handheld device is provided with two switches, the two switches are arranged on the serial port circuit and are respectively used for controlling the power on-off of the laser emission device circuit and the RFID read-write device, the handheld device is further provided with a charging socket, and the charging socket is connected with the serial port circuit and used for external charging.
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