CN112197684A - Tree position measuring device and method - Google Patents
Tree position measuring device and method Download PDFInfo
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- CN112197684A CN112197684A CN202010888818.7A CN202010888818A CN112197684A CN 112197684 A CN112197684 A CN 112197684A CN 202010888818 A CN202010888818 A CN 202010888818A CN 112197684 A CN112197684 A CN 112197684A
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Abstract
The utility model provides a trees position measuring device, relates to trees position measurement technical field, and this trees position measuring device includes: a base station, a mobile device; the base station comprises a bracket and five rod pieces; the bracket is provided with a node, one ends of five rod pieces are fixed on the node, and the other ends of the five rod pieces are provided with first UWB communication modules; wherein the four bar members are positioned in the same horizontal plane and form an angle of 90 degrees with each other; the fifth rod piece is arranged vertically to the horizontal plane upwards; an electronic device is arranged at the node position; a second UWB communication module capable of communicating with the first UWB communication module is integrated in the mobile device; the second UWB communication module communicates with the first UWB communication module to measure the distance between the mobile device and the first UWB communication module on each rod piece of the base station; and the mobile device calculates the position of the mobile device according to the measured distance. When the device is used for measuring the position of the tree, the device is quick, efficient, convenient to use and low in cost.
Description
Technical Field
The invention relates to the technical field of tree position measurement, in particular to a tree position measuring device and method.
Background
The tree position measurement is helpful for predicting the growth of the breast-height diameter of the trees and the development trend of the population, and has important ecological significance for revealing the relationship between trees and tree species.
For example, chinese patent CN201110164568.3 discloses a forest surveying method based on electronic theodolite and total station. In the technical scheme of the patent document, an electronic theodolite and a total station are used as tools to collect data of various factors of a forest stand, a Personal Digital Assistant (PDA) is used for storing and processing the data, and the coordinates of a tree are directly observed from a sampling measuring point by the electronic theodolite and the total station. The total station not only can measure square sample plot, but also can measure circular sample plot and polygon sample plot, and for traditional artifical tape measure measurement, it is more accurate to adopt the total station to measure, but the total station is too heavy, and the field is carried inconveniently, wastes time and energy, and is with high costs. In addition, there are new methods proposed or implemented at present, such as ground laser scanning, mobile phone with tof camera, close-up photogrammetry, etc., and their core methods are based on point cloud to extract data, so their equipment is expensive and the requirement for the computing performance of the processor is high.
Therefore, a tree position measuring mode which is fast, efficient, convenient to use and low in cost is lacked at present.
Disclosure of Invention
In view of the current state of the prior art, the present invention provides a tree position measuring device with simple structure, high efficiency and safety, the tree position measuring device includes: a base station and a mobile device;
the base station comprises a bracket and five rod pieces: the first rod piece, the second rod piece, the third rod piece, the fourth rod piece and the fifth rod piece; the bracket is provided with a node, one ends of five rod pieces are fixed on the node, and the other ends of the five rod pieces are provided with first UWB communication modules; the first rod piece, the second rod piece, the third rod piece and the fourth rod piece are positioned in the same horizontal plane and form an angle of 90 degrees with each other; the fifth rod piece is arranged vertically to the horizontal plane upwards; an electronic device is arranged at the node position;
a second UWB communication module capable of communicating with the first UWB communication module is integrated in the mobile device, and the second UWB communication module communicates with the first UWB communication module in front so as to measure the distance between the mobile device and the first UWB communication module on each rod piece on the base station; and the mobile device calculates the current position information of the mobile device according to the distance between the mobile device and the first UWB communication module on each rod piece on the base station.
Further, the mobile device is used for being placed at a preset position of the tree to be measured.
Further, the air conditioner is provided with a fan,
the mobile device is provided with a communication interface for indicating the second UWB communication module to communicate with the first UWB communication module
And whether the communication module starts to communicate or not.
Further, the air conditioner is provided with a fan,
the mobile device is also provided with a display screen and keys for interaction.
Further, the air conditioner is provided with a fan,
the electronic device of the base station is also integrated with a GPS.
Further, the air conditioner is provided with a fan,
distance Dis between mobile device and first UWB communication module on each bar of base station
The calculation formula of (A) is as follows:
Dis＝c*tp；
wherein:
c is the speed of light and c is the speed of light,
tp is a one-way communication time length between the second UWB communication module and the first UWB communication module.
Further, the air conditioner is provided with a fan,
the length of each of the five rod pieces is 1 meter;
the mobile device communicates with the first UWB communication module on each bar of the base station
The calculation process of the distance measurement of the self position is as follows:
in 5 equations:
(Xn+1)2+Yn2+Zn2＝AEn2
Xn2+(Yn-1)2+Zn2＝BEn2
(Xn-1)2+Yn2+Zn2＝CEn2
Xn2+(Yn+1)2+Zn2＝DEn2
Xn2+Yn2+(Zn-1)2＝GEn2
taking 3 pieces of the Chinese medicinal materials at a time,
there are 10 combinations in total; note that the coordinates of the 10 combinations solved by the equation of once three are respectively:
(Xn1，Yn1，Zn1)，(Xn2，Yn2，Zn2)，(Xn3，Yn3，Zn3)，(Xn4，Yn4，Zn4)，(Xn5，Yn5，Zn5)，(Xn6，Yn6，Zn6)，(Xn7，Yn7，Zn7)，(Xn8，Yn8，Zn8)，(Xn9，Yn9，Zn9)，(Xn10，Yn10，Zn10)；
the calculation formula for calculating the mobile device coordinates (Xn, Yn, Zn) is as follows:
wherein AEn, BEn, CEn, DEn and GEn are respectively the distance between the moving device and the first bar member,
Distances of the first UWB communication modules on the second bar, the third bar, the fourth bar, and the fifth bar;
(Xn, Yn, Zn) is the coordinates of the mobile device in the XY coordinate system; the origin of coordinates of the XY coordinate system is a node of the support, the X-axis is arranged along the direction of the first rod piece, the Y-axis is arranged along the direction of the second rod piece, and the Z-axis is arranged along the direction of the fifth rod piece.
Further, the air conditioner is provided with a fan,
a gyroscope capable of measuring an Euler attitude angle and an altimeter capable of measuring an altitude are integrated in the electronic device of the base station;
the calculation process of the mobile device for measuring and calculating the position of the mobile device further comprises the following steps: converting the mobile device coordinates (Xn, Yn, Zn) to coordinates (Xn ', Yn ', Zn ') in the east-north-sky coordinate system, the conversion calculation formula is as follows:
the psi, the theta and the phi are respectively a yaw angle, a pitch angle and a roll angle, and are measured by a gyroscope; h is the altitude of the electronic device.
A tree position measuring method is applied to a tree position measuring device and comprises the following steps:
measuring the distance between the mobile device and the first UWB communication module on each rod piece on the base station through the communication between the second UWB communication module and the first UWB communication module;
and calculating the position of the mobile device according to the distance between the mobile device and the first UWB communication module on each rod piece on the base station.
The application at least comprises the following beneficial effects:
this tree position measuring device includes: a base station, a mobile device; during measurement, the base station is arranged at a fixed position, and an investigator holds the mobile device for measurement; the base station is provided with five first UWB communication modules, and the mobile device is provided with a second UWB communication module; the second UWB communication module communicates with the first UWB communication module to measure the distance between the mobile device and the first UWB communication module on each rod piece of the base station; and the mobile device calculates the position of the mobile device according to the distance between the mobile device and the first UWB communication module on each rod piece on the base station. Wherein adopt five member pieces, four member pieces become 90 right angles and set up on the coplanar, and a member piece sets up perpendicularly with the plane that four member pieces are located, and the survey crew is owing to place four member pieces on the coplanar when setting up the basic station position, and it is more accurate to place the measuring angle that the one-level reaches to measuring result, it is more accurate.
When the tree position measuring device is used for measuring the position of a tree, the tree position measuring device is quick, efficient, convenient to use and low in cost.
Drawings
Fig. 1 is a schematic structural diagram of a tree position measuring device in an embodiment of the present application.
Fig. 2 is a schematic diagram of a tree position measuring device for measuring the position of a tree in the embodiment of the present application.
Fig. 3 is a schematic block diagram of a base station circuit in the embodiment of the present application.
Fig. 4 is a schematic block diagram of a mobile device in an embodiment of the present application.
Fig. 5 is a flowchart of a tree position measuring method in an embodiment of the present application.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
Referring to fig. 1, the tree position measuring apparatus includes: base station 10, mobile device 20; wherein, this basic station 10 is including a support 11, four-bar member: a first bar 12, a second bar 13, a third bar 14, a fourth bar 15, a fifth bar 17; the support 11 has a node point 16 which,
one end of each of the five rod pieces is fixed on the node 16, and the other end of each of the five rod pieces is provided with a first UWB communication module; the first rod 12, the second rod 13, the third rod 14 and the fourth rod 15 are positioned in the same horizontal plane and form an angle of 90 degrees with each other; the fifth bar 17 is arranged perpendicular to the horizontal plane; the node 16 is located with an electronic device 16 a.
Specifically, one end of the first rod 12 far away from the node 16 is provided with a first UWB communication module 12 a; one end of the second rod 13 far away from the node 16 is provided with a first UWB communication module 13 a; the end of the third pole 14 remote from the node 16 is provided with a first UWB communication module 14 a; one end of the fourth rod 15 far away from the node 16 is provided with a first UWB communication module 15 a; an end of the fifth lever 17 remote from the node 16 is provided with a first UWB communication module 17 a.
A second UWB communication module that can communicate with the first UWB communication module is integrated in the mobile device 20; the second UWB communication module communicates with the first UWB communication module to measure the distance between the mobile device 20 and the first UWB communication module on each bar of the base station 10; the mobile device 20 calculates its position based on the distance to the first UWB communication module on each bar of the base station 10.
Referring to fig. 2, in the measurement of the tree position measuring apparatus, a base station 10 is placed at a mark point P of a fixed sample, and the base station is initialized; the forest investigator holds the mobile device 20 to approach the trunk of each tree to be measured in sequence, so as to measure and calculate the distances between the mobile device 20 and the first UWB communication module 12a, the first UWB communication module 13a, the first UWB communication module 14a, the first UWB communication module 15a, and the first UWB communication module on the base station 10, which are respectively recorded as: AEn, BEn, CEn, DEn, and GEn. And calculating the coordinate position of the mobile device 20, namely the position of the trunk of the tree to be detected according to the distances AEn, BEn, CEn, DEn and GEn.
In this embodiment of the application, the mobile device 20 can be held by hand more conveniently, and when measuring, the coordinate position of the trunk of the tree to be measured can be obtained by only sequentially approaching the handheld mobile device 20 to the trunk of each tree to be measured, so that the measuring efficiency is higher. And the equipment cost related in the technical scheme of the application is lower. And four member bars set up at the coplanar in the basic station of this application to interval 90 degrees between four member bars, the plane at fifth member bar and four member bars place sets up perpendicularly, makes to measure more accurately, when placing, as long as the plane at four member bars places be the horizontal plane can, the operation is simpler, measures more accurately.
Further, the distance Dis between the mobile device 20 and the first UWB communication module on each rod of the base station 10 is calculated as:
Dis＝c*tp；
wherein: c is the speed of light; tp is a one-way communication time length between the second UWB communication module and the first UWB communication module.
It should be noted that UWB signals have better interference rejection and better penetration, and the measured distance is more accurate.
Fig. 3 is a schematic block diagram of a base station 10 in the embodiment of the present application, as shown in the figure, including: the device comprises a microprocessor, a gyroscope, a storage module, a data interface, a four-way UWB module, a GPS, a display screen, a key, an altimeter and a power supply module; the power module comprises a lithium battery, a power management chip and a switch. The storage module is used for storing the measurement data; the data interface is used for communicating with an upper computer and uploading the measurement data to the upper computer; the display screen can be used for displaying the measurement result; the altimeter is used for measuring the altitude; GPS is used to measure the approximate location of the plot; the gyroscope is used for measuring three attitude angles of the base station 10 under an east-north-sky coordinate system; the power module is used for supplying power.
The five UWB modules are a first UWB communication module 12a, a first UWB communication module 13a, a first UWB communication module 14a, a first UWB communication module 15a, and a first UWB communication module 17a, which are respectively disposed at one end of the five-bar member remote from the node 16.
The other components are centrally located in the electronics 16a at the location of the node 16.
Fig. 4 is a schematic block diagram of a mobile device in an embodiment of the present application. As shown, the mobile device 20 includes: the device comprises a microprocessor, a storage module, a data interface, a single-path UWB module, a display screen, a key, an indicator light and a power supply module; the power module comprises a lithium battery, a power management chip and a switch. The storage module is used for storing the measurement data, and the data interface is used for communicating with the upper computer and uploading the measurement data to the upper computer; the display screen can be used for displaying the measurement result; the single-path UWB module is a second UWB communication module; the keys may be used for corresponding setting operations.
In the embodiment of the present application, a storage module for storing measurement data is integrated in the mobile device 20; the mobile device 20 is provided with a data transmission interface so as to upload the measurement data to an upper computer.
In the embodiment of the present application, the mobile device 20 is provided with an indicator light for indicating whether the second UWB communication module and the first UWB communication module start to communicate. The operator can know the communication state through the indicator lamp.
In the embodiment of the present application, a display screen and keys for interaction are also provided on the mobile device 20.
In the embodiment of the application, the length of each of the five rod pieces is 1 meter; i.e. each first UWB
The distance of the communication module from the node 16 is 1 meter.
Firstly, establishing an XY coordinate system; the origin of coordinates of the XY-coordinate system is a node 16 of the support 11, the X-axis is arranged along the direction of the first rod 12, the Y-axis is arranged along the direction of the second rod 13, and the Z-axis is arranged along the direction of the fourth rod 15.
(Xn, Yn, Zn) is the coordinate position of the mobile device 20 in the xy coordinate system.
The calculation process of the mobile device 20 to calculate its own position according to the distance between the mobile device and the first UWB communication module on each bar of the base station 10 is as follows:
(Xn+1)2+Yn2+Zn2＝AEn2
Xn2+(Yn-1)2+Zn2＝BEn2
(Xn-1)2+Yn2+Zn2＝CEn2
Xn2+(Yn+1)2+Zn2＝DEn2
Xn2+Yn2+(Zn-1)2＝GEn2
taking 3 pieces of the Chinese medicinal materials at a time,
there are 10 combinations in total; note that the coordinates of the 10 combinations solved by the equation of once three are respectively:
(Xn1，Yn1，Zn1)，(Xn2，Yn2，Zn2)，(Xn3，Yn3，Zn3)，(Xn4，Yn4，Zn4)，(Xn5，Yn5，Zn5)，(Xn6，Yn6，Zn6)，(Xn7，Yn7，Zn7)，(Xn8，Yn8，Zn8)，(Xn9，Yn9，Zn9)，(Xn10，Yn10，Zn10)；
the calculation formula for calculating the mobile device coordinates (Xn, Yn, Zn) is as follows:
wherein AEn, BEn, CEn, DEn and GEn are respectively the distance between the moving device and the first bar member,
Distances of the first UWB communication modules on the second bar, the third bar, the fourth bar, and the fifth bar;
this application adopts five member bars to measure trees position, and measuring result is more accurate, and it is more convenient to use.
In some embodiments, the electronics 16a of the base station 10 also have integrated within them a gyroscope of measurable euler attitude angle and an altimeter of measurable altitude; the calculation process of the mobile device 20 for calculating the self position further includes:
the calculation process of the mobile device for measuring and calculating the position of the mobile device further comprises the following steps: converting the mobile device coordinates (Xn, Yn, Zn) to coordinates (Xn ', Yn ', Zn ') in the east-north-sky coordinate system, the conversion calculation formula is as follows:
the psi, the theta and the phi are respectively a yaw angle, a pitch angle and a roll angle, and are measured by a gyroscope; h is the altitude of the electronic device.
FIG. 5 is a flow chart of a method of measuring a location of a tree in an embodiment of the present application; the tree position measuring method is applied to a tree position measuring device and comprises the following steps:
step S501: measuring the distance between the mobile device and the first UWB communication module on each rod piece on the base station through the communication between the second UWB communication module and the first UWB communication module;
step S502: and calculating the position of the mobile device according to the distance between the mobile device and the first UWB communication module on each rod piece on the base station.
During measurement, the forest investigator holds the mobile device to be close to the trunk of each tree to be measured in sequence, so that the position of the mobile device obtained in step S502 is the position of the tree to be measured.
Since the tree position measuring method shown in this embodiment is applied to the tree position measuring device, the related contents have been described in detail in the embodiment of the tree position measuring device, and are not described again here.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (9)
1. A tree position measuring device, comprising: a base station and a mobile device;
the base station comprises a bracket and five rod pieces: the first rod piece, the second rod piece, the third rod piece, the fourth rod piece and the fifth rod piece; the bracket is provided with a node, one ends of five rod pieces are fixed on the node, and the other ends of the five rod pieces are provided with first UWB communication modules; the first rod piece, the second rod piece, the third rod piece and the fourth rod piece are positioned in the same horizontal plane and form an angle of 90 degrees with each other; the fifth rod piece is arranged vertically to the horizontal plane upwards; an electronic device is arranged at the node position;
a second UWB communication module capable of communicating with the first UWB communication module is integrated in the mobile device, and the second UWB communication module communicates with the first UWB communication module in front so as to measure the distance between the mobile device and the first UWB communication module on each rod piece on the base station; and the mobile device calculates the current position information of the mobile device according to the distance between the mobile device and the first UWB communication module on each rod piece on the base station.
2. A tree position measuring device according to claim 1, wherein said moving means is adapted to be placed at a predetermined position of the tree to be measured.
3. The tree position measuring device of claim 1, wherein the mobile device is provided with an indicator light for indicating whether the second UWB communication module and the first UWB communication module start to communicate.
4. The tree position measuring device of claim 1, wherein the mobile device further comprises a display screen and keys for interaction.
5. The tree position measurement device of claim 1, wherein the base station electronics further incorporate a GPS.
6. The tree position measuring device of claim 1, wherein the distance Dis between the mobile device and the first UWB communication module on each rod of the base station is calculated as:
dis ═ c × tp; wherein:
c is the speed of light and c is the speed of light,
tp is a one-way communication time length between the second UWB communication module and the first UWB communication module.
7. The tree position measuring device of claim 1, wherein the five-bar members are each 1 meter in length;
the calculation process of the mobile device for calculating the self position according to the distance between the mobile device and the first UWB communication module on each rod piece on the base station is as follows:
in 5 equations:
(Xn+1)2+Yn2+Zn2＝AEn2
Xn2+(Yn-1)2+Zn2＝BEn2
(Xn-1)2+Yn2+Zn2＝CEn2
Xn2+(Yn+1)2+Zn2＝DEn2
Xn2+Yn2+(Zn-1)2＝GEn2
taking 3 in each time, and totally 10 combinations; note that the coordinates of the 10 combinations solved by the equation of once three are respectively:
(Xn1，Yn1，Zn1)，(Xn2，Yn2，Zn2)，(Xn3，Yn3，Zn3)，(Xn4，Yn4，Zn4)，(Xn5，Yn5，Zn5)，(Xn6，Yn6，Zn6)，(Xn7，Yn7，Zn7)，(Xn8，Yn8，Zn8)，(Xn9，Yn9，Zn9)，(Xn10，Yn10，Zn10)；
the calculation formula for calculating the mobile device coordinates (Xn, Yn, Zn) is as follows:
wherein AEn, BEn, CEn, DEn, and GEn are distances from the mobile device to the first UWB communication module on the first bar, the second bar, the third bar, the fourth bar, and the fifth bar, respectively;
(Xn, Yn, Zn) is the coordinates of the mobile device in the XY coordinate system; the origin of coordinates of the XY coordinate system is a node of the support, the X-axis is arranged along the direction of the first rod piece, the Y-axis is arranged along the direction of the second rod piece, and the Z-axis is arranged along the direction of the fifth rod piece.
8. The tree position measuring device of claim 7, wherein said base station electronics further integrate a gyroscope for measuring euler attitude angle and an altimeter for measuring altitude;
the calculation process of the mobile device for measuring and calculating the position of the mobile device further comprises the following steps: converting the mobile device coordinates (Xn, Yn, Zn) to coordinates (Xn ', Yn ', Zn ') in the east-north-sky coordinate system, the conversion calculation formula is as follows:
the psi, the theta and the phi are respectively a yaw angle, a pitch angle and a roll angle, and are measured by a gyroscope; h is the altitude of the electronic device.
9. A tree position measuring method is characterized in that the tree position measuring method is applied to a tree position measuring device and comprises the following steps:
measuring the distance between the mobile device and the first UWB communication module on each rod piece on the base station through the communication between the second UWB communication module and the first UWB communication module;
and calculating the position of the mobile device according to the distance between the mobile device and the first UWB communication module on each rod piece on the base station.
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Application publication date: 20210108 |
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