CN1670474A - Video super-station instrument and forest measuring method - Google Patents

Abstract

This invention discloses video super station design and a method of forest measurement integrated with the station. The device is based on WinCE PDA core and integrated with CCD cameral, GPS, and electronic total station. The video super station device is used for observation of the forest.

Description

Video super-station instrument and method for measuring forest

One, technical field

The present invention is collection digital CCD (Charge-Coupled Device) area array cameras, GPS (Global Position System, GPS), electronic total station (Electronic Total Station) is in a novel device of one, be used for the information acquisition of quick three-dimensional close-range target, can resolve and store the space three-dimensional coordinate of target area to be measured automatically, fast, in real time.With this equipment is core, be equipped with digital picture three-dimensional information extraction and objective model and generate software, formation has the close-range target fast imaging three-dimension measuring system of location, accurate some position measurement, close-range target imaging, automatic or semi-automatic three-dimensional measurement, three-dimensional model generation jointly.Especially measure for stem analysis in the forest resource monitoring, comprise the diameter of a cross-section of a tree trunk 1.3 meters above the ground, any height of tree diameter, the height of tree, canopy structure etc.

Two, technical background

From the domestic and international application situation, in urban ground measurement and all kinds of engineering survey, the general some acquisition mode (total powerstation, GPS receiver etc.) that adopts is the characteristics that though this mode has flexibly, precision is high, but picking rate is slow, efficient is low, and inconvenience generates three-dimensional model; Though close-range photogrammetry has overcome the shortcoming of single-point acquiring pattern, need to paste survey mark at object space, resolve the elements of exterior orientation of taking the photograph the station by object space control, and for can't contact target and danger can not measure.

CCD (Charge-Coupled Device) area array cameras, GPS (Global Position System, GPS), each single technology of electronic total station (Electronic Total Station) is all ripe, also well-known about their functions separately, then, also do not have a kind of instrument three kinds of instruments can be integrated together at present, solve concrete, practical problem.

In photogrammetric field, the photo of camera is used to the structure of resolving of space three-dimensional coordinate and various ground models already, but depend on the acquisition methods that resolves parameter (elements of interior orientation and elements of exterior orientation) is a problem always, particularly for close-range photogrammetry.On the other hand, digital CCD area array cameras is appearing on the market, and development of computer, make the target three-dimensional information extraction adopt the digital close range photogrammetry technology and method to become necessary, corresponding air coordinates resolves also to become and trends towards robotization, real time implementation, and the present invention provides a kind of concrete, practical method for this application.

In the tree surveying field, the measurement of standing tree is a problem that is difficult to solve always, traditional method is to adopt stem analysis to carry out, promptly cut down tree, round log is got in segmentation, the annual ring of respectively growing on the disk is measured, structure stem analysis curve, and then resolve the index (height of tree, the volume of timber, figurate number and increment) of each single tree; Pierce trunk with growth cone exactly in addition, get the brill bar of bark to medulla, measure the increment of each annual ring in the above, this method need not be cut down trees, but error is bigger.These methods all can not well be done well monitoring to the growing state of single tree, and the present invention can solve this problem.

Three, Fa Ming content

For the Rational Management and the sustainable development of the forest reserves, the reasonable arrangement felled and the renewal of forest, and administrative authority need carry out forest inventory investigation, to investigate thoroughly the forest reserves and structure thereof and geographic distribution, the quality of evaluation forest, grow dynamic and economic target.Video super-station instrument assize technology utilize total powerstation range finding angle measurement function, GPS real-time navigation capability and utilize digital camera to obtain the left and right sides camera station image of sample tree, cooperate the diameter of a cross-section of a tree trunk 1.3 meters above the ground, any place diameter that palm PC can the fast measuring sample tree, thereby accurately calculate the quality and the volume of timber of sample tree, for forestry administrative authority provides the foundation of economic planning accurately, decision-making foundation.

Concrete summary of the invention comprises:

1) video super-station instrument;

2) video super-station instrument Survey Software;

3) tree survey method of video super-station instrument.

This invention has the following advantages: utilize controller, storer, the processor of PDA as the video super-station instrument, help the effective integration of GPS, digital CCD area array cameras, total powerstation, and give full play to its function alone, realize automatically, in real time, measure fast, make and use that this instrument is more practical, application surface is wideer.Utilize the video super-station instrument to measure the diameter of a cross-section of a tree trunk 1.3 meters above the ground of sample tree, the diameter of trunk arbitrary height, tree crown volume and surface area have fast, accurately, characteristics such as make things convenient for.Arbitrary height diameter measurement precision can reach the millimeter level, volume of timber measuring accuracy can be better than 1%, and the precision of tree crown volume and surface area is determined by many factors such as accuracy of model, digital camera resolution, camera lens quality, focal length determination mainly, the results showed, precision can reach 5% requirement.

Four, description of drawings

Fig. 1 is a video super-station instrument exterior structure synoptic diagram, wherein: be gps antenna 1., be used for receiving satellite signal, location; 2. be total powerstation, be used for range finding, angle measurement; 3. be cable, be used for steering order and data transmission; 4. be palm PC PDA, be used for control instrument, data storage, data processing; 5. be digital camera, be used for photogrammetric area, volume.

Fig. 2 is video super-station instrument function combinations figure.

Fig. 3 is any height of tree place diameter measurement synoptic diagram.

Fig. 4 is a height of tree instrumentation plan.

Five, embodiment:

1) video super-station instrument: collection CCD (Charge-Coupled Device) face battle array digital camera, GPS (Global PositionSystem, GPS), electronic total station (Electronic Total Station) is in one, camera is installed in the telescope upside and telescope is fixed together, camera primary optical axis direction and telescope equality are crossed the total powerstation transverse axis as the plane; Gps antenna places in the mode that can roll over dress on the carrying handle of total powerstation, and is coaxial with total powerstation.

2) video super-station instrument Survey Software: with PDA is instrument, is operating platform with Win CE, and integrated gps data collection, coordinate resolve, store; Total powerstation resolves, stores the measuring process control at object space reference mark, automatic record, coordinate; Resolving etc. of storage of the automatic shooting of digital camera, image and space three-dimensional air coordinates in one, realize automatically, fast, the space three-dimensional coordinate of real-time resolving target area to be measured.

3) each video super-station instrument parts is a platform with Win CE, carry out data record, storage, exchange, resolve.In the video super-station instrument, digital camera works the function of the photographs that obtains target area to be measured, enters PDA by data line then; GPS is used to obtain survey station point three-dimensional coordinate, waits to clap each reference mark relevant parameter of zone with the place ahead that total powerstation obtains, and resolves each reference mark three-dimensional coordinate in PDA, for the digital camera shot digital images provides corresponding elements of interior orientation and elements of exterior orientation; In PDA, realize resolving in real time, automatically, fast the three-dimensional coordinate of target area.

4) super-station instrument digital close range photogrammetry mode of operation is provided with two stations to obtain stereogram, and for face battle array digital camera, the photo center is a center pixel.The principal point offset X ₀, Y ₀And lens focus f need obtain by detecting; Three corners of elements of exterior orientation are α+α ₀, ω ₀, κ+κ ₀, wherein: _α0, ω ₀, κ ₀The constant that obtains when detecting by super-station instrument, α, κ are tried to achieve by the horizontal angle reading and the vertical angle calculating of total powerstation; Take the photograph the base length between the station and take the photograph the station discrepancy in elevation and join full prism measurement by total powerstation and obtain; Digital image is found the solution according to analytic space forward intersection principle the three-dimensional coordinate that carries out required position after semi-automatic three-dimensional coupling; Each diameter of the height of sample tree can directly be measured in stereoscopic model;

5) total powerstation assize.When the diameter of a cross-section of a tree trunk 1.3 meters above the ground of tree and the measurement of the height of tree, selection can see that the ground of treetop and tree bottom sets up total powerstation, roughly places Laser emission sheet or prism with eminence at instrument one side and instrument, and is flat apart from D with total station survey, measures the zenith distance V that sets the end ₁And the sky item of treetop is apart from V ₂, and measure the subtended angle θ of this height instrument to trunk.By formula (1) calculates any height of tree place diameter, and formula (2) calculates the height of tree.

In real time, when accurately measuring the volume of timber of standing tree alive, measure the radius r of tree bottom ₀, the radius r of a plurality of positions of areal survey on the trunk of tree ₁, the vertical angle of relevant position is α _i, calculate each height of tree place basal area and discrepancy in elevation h by (3) formula _i, calculate by asking the volume of timber by (4) formula again:

$d=2\·D\·\sin (\mathrm{\θ}/2)---\left(1\right)$

H＝I+DsinV1[tg(90-V2)-tg(90-V1)] (2)

$S_i=\mathrm{\π}\·{\left(\frac{d}{2}\right)}^2---\left(3\right)$

$V=\frac{1}{3}\underset{i=1}{\overset{n}{\mathrm{\Σ}}}(S_{i-1}+S_i+\sqrt{S_{i-1}{S}_i})\·h_i---\left(4\right)$

(4) S0=Sn=0 in the formula, (i=1,2 ..., n)

Claims (5)

1) video super-station instrument: collection CCD (Charge-Coupled Device) face battle array digital camera, GPS (Global PositionSystem, GPS), electronic total station (Electronic Total Station) is in one, camera is installed in the telescope upside and telescope is fixed together, camera primary optical axis direction and telescope equality are crossed the total powerstation transverse axis as the plane; Gps antenna places in the mode that can roll over dress on the carrying handle of total powerstation, and is coaxial with total powerstation.

2) video super-station instrument Survey Software: with PDA is instrument, is operating platform with Win CE, and integrated gps data collection, coordinate resolve, store; Total powerstation resolves, stores the measuring process control at object space reference mark, automatic record, coordinate; Resolving etc. of storage of the automatic shooting of digital camera, image and space three-dimensional air coordinates in one, realize automatically, fast, the space three-dimensional coordinate of real-time resolving target area to be measured.

3) each video super-station instrument parts is a platform with Win CE, carry out data record, storage, exchange, resolve.In the video super-station instrument, digital camera works the function of the photographs that obtains target area to be measured, enters PDA by data line then; GPS is used to obtain survey station point three-dimensional coordinate, waits to clap each reference mark relevant parameter of zone with the place ahead that total powerstation obtains, and resolves each reference mark three-dimensional coordinate in PDA, for the digital camera shot digital images provides corresponding elements of interior orientation and elements of exterior orientation; In PDA, realize resolving in real time, automatically, fast the three-dimensional coordinate of target area.

4) super-station instrument digital close range photogrammetry mode of operation is provided with two stations to obtain stereogram, and for face battle array digital camera, the photo center is a center pixel.The principal point offset X ₀, Y ₀And lens focus f need obtain by detecting; Three corners of elements of exterior orientation are α+α ₀, ω ₀, κ+κ ₀, wherein: α ₀, ω ₀, κ ₀The constant that obtains when detecting by super-station instrument, α, κ are tried to achieve by the horizontal angle reading and the vertical angle calculating of total powerstation; Take the photograph the base length between the station and take the photograph the station discrepancy in elevation and join full prism measurement by total powerstation and obtain; Digital image is found the solution according to analytic space forward intersection principle the three-dimensional coordinate that carries out required position after semi-automatic three-dimensional coupling; Each diameter of the height of sample tree can directly be measured in stereoscopic model;

5) total powerstation assize.When the diameter of a cross-section of a tree trunk 1.3 meters above the ground of tree and the measurement of the height of tree, selection can see that the ground of treetop and tree bottom sets up total powerstation, roughly places Laser emission sheet or prism with eminence at instrument one side and instrument, and is flat apart from D with total station survey, measures the zenith distance V that sets the end ₁And the zenith distance V of treetop ₂, and measure the subtended angle θ of this height instrument to trunk.By formula (1) calculates any height of tree place diameter, and formula (2) calculates the height of tree.

In real time, when accurately measuring the volume of timber of standing tree alive, measure the diameter d of tree bottom ₀, the diameter d of a plurality of positions of areal survey on the trunk of tree _i, the zenith distance of relevant position is V _i, calculate each height of tree place basal area and discrepancy in elevation h by (1), (2), (3) formula _i, calculate by asking the volume of timber by (4) formula again:

d＝2·D·sin(θ/2) (1)

H＝I+DsinV1[tg(90-V2)-tg(90-V1)] (2)

$S_i=\mathrm{\π}\·{\left(\frac{d}{2}\right)}^2---\left(3\right)$

$V=\frac{1}{3}\underset{i=1}{\overset{n}{\mathrm{\Σ}}}(S_{i-1}+S_i+\sqrt{S_{i-1}{S}_i})\·h_i---\left(4\right)$

(4) S0=Sn=0 in the formula, (i=1,2 ..., n)

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