CN105136107B - The measuring method and measuring system of a kind of target location, tree height and diameter - Google Patents
The measuring method and measuring system of a kind of target location, tree height and diameter Download PDFInfo
- Publication number
- CN105136107B CN105136107B CN201510480720.7A CN201510480720A CN105136107B CN 105136107 B CN105136107 B CN 105136107B CN 201510480720 A CN201510480720 A CN 201510480720A CN 105136107 B CN105136107 B CN 105136107B
- Authority
- CN
- China
- Prior art keywords
- measuring
- target
- tree
- unit
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/22—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length at, near, or formed by the object
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The measuring method and measuring system of a kind of target location, tree height and diameter are related to target positioning and forest survey technique field.The present invention is for the technological deficiency in target location, trees height and diameter measurement in the prior art, the relative position of target is measured using the method for two sighting devices run-home simultaneously, relative position also can be exchanged into relative coordinate and absolute coordinate, if target is trees, then its line aims at treetop while two sighting devices aim at tree base respectively, measures related angle and length just can obtain the diameter of the position of trees, the high and specified tree high-order bit of tree.The present invention discloses the measuring systems for realizing the above method.The present invention can complete the measurement of every plant of tree positions, tree height and diameter at measuring point, it can be additionally used in Land area measure, measurement result precision is high, it dramatically reduces the labor intensity of forest inventory investigation and workload, improves work efficiency and measurement accuracy, may replace existing study plot investigation method.
Description
Technical field
The present invention relates to target positioning and forest survey technique fields, high and straight more particularly to a kind of target location, tree
The measuring method and measuring system of diameter.
Background technology
At present, the common method for measuring target location is global position system.Global position system can realize positioning device
The positioning of itself, but in many application scenarios, not only need to obtain the self poisoning information of positioning device, but also need this device
The location information of the object of surrounding.Certainly there are also the patent positioned about target, such as notification number CN103017740B
It is a kind of using video monitoring apparatus to the localization method and alignment system of monitoring objective, technical solution be control two with monitoring
Video monitoring apparatus that target is not arranged on the same straight line while the monitoring monitoring objective, but this needs two video monitorings
Device measures the absolute position of measuring point comprising GPS module, and due to the positioning accuracy of GPS, the position essence calculated
Degree is not very high, is not suitable for standing tree measurement, is also not suitable for carrying use.
In forest inventory investigation, tree height is very important the factor, and it is always one insoluble to set high measurement
Problem, generally use eye estimating method or height finder are surveyed high in real work.Eye estimating method and personal experience are closely related, measurement accuracy
Have no to ensure.The most commonly used is Bu Lulaisi at present for height finder（Blume-Leiss) height finder.It is measured with Bu Lulaisi height finders
When setting high, it is desirable that before the height of one plant of standing tree of every survey, it is necessary to measure the water of a full-length with auxiliary tool first
Flat distance（15th, 20,30 or 40m).It is limited in forest by factors such as landform, the gradient, understory species, the densities of crop, standard water
The measurement of flat distance is very inconvenient or very difficult, even if having measured standard level distance, due to blocking for crown canopy, often again
Treetop is can't see, therefore, Bu Lulaisi height finders are in the slightly larger forest of with a varied topography, density or to measure many standing tree
It is inapplicable or inefficient during height.Also Chris collects（Christen) height finder, Chris, which collects height finder, to be needed
The mark post of conjunction measuring is placed before tree as auxiliary tool, and read text scale gradually becomes close with high increase is set, and measures
Error is larger, and when tree is up to more than 15m, it has been difficult reading that Chris, which collects height finder, so, the base in high work is surveyed at present
This is eliminated.In view of the foregoing, invention one kind is simple and practical, is not required to measurement horizontal distance, without placing conjunction measuring before tree
Mark post, the height finder of measuring point can arbitrarily be selected to become the target that field forest workers pursues always for many years, surveying
Horizontal distance can also be preferably measured while high.In order to reach this target, people have invented various height finders in succession, but
It is eventually because practicability is not high, and to fail to substitute the status of Bu Lulaisi height finders.Publication No. is the one of CN102183236A
Kind, which measures the high device of tree, can facilitate the measurement for realizing that tree is high, but due to being mechanical, aiming operation inconvenience, precision is not high,
Horizontal distance cannot be surveyed.
In forest inventory investigation, the diameter of trees is also very important the factor, most important of which is that the diameter of a cross-section of a tree trunk 1.3 meters above the ground, certainly
Other diameters such as trunk mid diameter is also critically important, available for calculating form quotient and figurate number, and then calculates trees accumulation, but due to
Measurement is inconvenient, and is hardly used in real work at present.The diameter of a cross-section of a tree trunk 1.3 meters above the ground is the abbreviation of standing tree breastheight position diameter, it is standing tree
One of most basic factor measured.The method that ruler and diameter of a cross-section of a tree trunk 1.3 meters above the ground slide calliper rule are enclosed using the diameter of a cross-section of a tree trunk 1.3 meters above the ground requires survey crew to stand in quilt when measuring
It surveys on standing tree side, measurement accuracy is relatively low, and untouchable forest can not then measure, while needs to record a large amount of measurement data, labor
Fatigue resistance is larger, and for the larger standing tree of diameter grade, and it is larger to measure difficulty, and traditional measurement method is with enclosing the measurements such as ruler, caliper scale
The diameter of a cross-section of a tree trunk 1.3 meters above the ground, then hand-kept data again.Obviously, traditional method is increasingly not suitable with Investigation Forestry Resources informationization, precision
The requirements such as data are stored with real-time mobilism.
Currently used stand investigation method is sample plot method, and this method requirement measures every in certain areal extent
The diameter of a cross-section of a tree trunk 1.3 meters above the ground of strain forest will also measure tree height if with two-dimentional Volume table, and usually the square of 1 mu of area, is surveyed with compass
The side for arriving every plant of standing tree behind the boundary of the fixed square and label again is carried out per wooden dipping, and workload is very big, labor intensity
Greatly, it while also easily omits or repeats, and because tree height measurement is very inconvenient, usually only survey one factor of the diameter of a cross-section of a tree trunk 1.3 meters above the ground, calculate
It is larger to accumulate error.
So invention it is a kind of can accurately measure the position of target, that if target is that standing tree can also measure the high and specified tree of tree is high
The measuring method and measuring system of position diameter just become the target that people pursue, and the measuring method and measuring system will also use
Flexibly, the workload and labor intensity of study plot investigation can be mitigated significantly, and can realize a wide range of, telemeasurement.
Invention content
The purpose of the present invention is be directed to target location in the prior art, the high and specified tree high-order bit diameter measurement of tree
In technological deficiency, and the measuring method and measuring system of a kind of target location are provided, if target is standing tree, moreover it is possible to measure tree
The diameter of high and specified tree high-order bit, another object of the present invention be to provide it is a kind of can significantly reduce labor intensity and workload,
Instead of existing standard the management volume investigation method of investigation method.
The technical solution adopted to achieve the purpose of the present invention is：
There are relative position, relative coordinate in the measuring method of a kind of target location, tree height and diameter, target location and absolutely sit
Mark three kinds of representation methods, relative relief, the target of horizontal distance of the relative position target away from measuring point of target, target and measuring point
The horizontal sextant angle of line and inceptive direction to measuring point represents that inceptive direction can arbitrarily be set, and relative position is convertible into relatively
Coordinate or absolute coordinate if target is standing tree, also have two factors of diameter for setting high and specified tree high-order bit, including as follows
Step,
1）By two sighting devices（B and C）Same point in run-home respectively（E）, one of sighting device（B）Position
In measuring point（A）Surface, if target is standing tree, described two sighting devices aim at the same point on tree base respectively（E）, institute
The line for stating two sighting devices aims at treetop（F）；Described two sighting devices comprising aim at unit, rotary drive unit and
At least one angle measuring unit；Measuring point is then measured to sighting device right over it if you need to the relative relief for obtaining target and measuring point
Height（h）；It is noted that inceptive direction can both be previously set or set automatically when measuring first aim, i.e., same
Direction when first aim is measured on one measuring point is defaulted as inceptive direction namely when measuring first aim on same observation station
Target to the line of measuring point and the horizontal sextant angle of inceptive direction is zero, and inceptive direction will be reset after replacing measuring point；Measure mesh
Sometimes the relative relief of target and measuring point is required no knowledge about during mark, then is not required to measure measuring point at this time to sighting device right over it
It is high（h）, such as generally there is no need to know this height difference when target is standing tree；
2）Control system reads the aiming sight of described two sighting devices and the angle of horizontal plane（α2And α3）, described two
Air line distance between a sighting device（a）And its angle of line and horizontal plane（α1）, described two sighting device lines with
The horizontal sextant angle of inceptive direction；If described two are aimed at the plane that sight is formed and are not orthogonal to horizontal plane, also to read described
Two sighting device lines are relative to the horizontal sextant angle for aiming at sight（β1And β2）；It is noted that described two are aimed at dress
The line or distance put refer to the line or distance between the rotary shaft midpoint of the aiming unit in sighting device.
3）Control system calculates relative position and the output of target according to the angle and distance information of reading, if target
It is that standing tree then calculates the relative position of tree base and sets high and export；
4）When needing to measure the diameter of specified tree high-order bit, the aiming point on base is set（E）To be located at tree base edge, that is, set
Basic circle arc and the point of contact for aiming at sight, after tree height and horizontal distance is obtained, the position for keeping sighting device on measuring point is constant, erects
Nogata reads the aiming sight of the sighting device and the angle of horizontal plane to aiming unit therein, control system is rotated（α2）And
The height at position, if measuring the tree high-order bit of diameter needed for reaching, rotates horizontally the sighting device measured by calculating and exporting,
Make its aiming sight and the circular arc of the tree high-order bit tangent, measure the rotation angle of the sighting device（γ1）, continue to rotate horizontally
The sighting device makes its aiming sight and the position opposite side circular arc tangent, measures the rotation angle of the sighting device（γ2）,
Control system calculates the vertical wood diameter of the tree high-order bit and output.
The advantageous effect of the measuring method is to be not required at measuring point by other ancillary equipments, be not required to the satellite positionings such as GPS
The accurate measurement of target relative position can be completed in module, if target is standing tree, it is high can also to measure the high and specified tree of tree simultaneously
The diameter at position, so as to suitable for doing round study plot investigation, can greatly mitigate workload and labor intensity.In addition, because first
Beginning direction can flexibly be set, thus can easily selected target position object of reference.
In some embodiments, the sighting device wherein on measuring point is also comprising compass unit, for determining initial side
To the angle with direct north, the relative position of target is converted into relative coordinate.Advantage is, can be opposite by what is measured
Position is converted to using the measuring point relative coordinate parallel with world coordinate system corresponding axis as origin, each reference axis.
In some embodiments, the sighting device wherein on measuring point also includes compass unit and satellite positioning unit,
For determining the angle of inceptive direction and direct north and obtaining absolute coordinate of the measuring point in world coordinate system, by target
Relative position be converted to absolute coordinate in world coordinate system.Advantage is to be converted to the relative position of target
Relative coordinate or the absolute coordinate being further converted into world coordinate system.
In some embodiments, the aiming unit in two of which sighting device is laser emitter or imaging device,
When it is imaging device to aim at unit, aiming point imaging will be in image centre in target.Advantage is to make this hair
Bright aiming mode adapts to the needs of different application occasion.Aiming point imaging also can be into not in image centre in target
Row angle modification, can be according to the position of the parameter and target of imaging device in the picture come computed correction during amendment.
A kind of target location, tree be high and the measuring system of diameter, including two comprising aim at unit, rotary drive unit and
The sighting device of vertical angles measuring unit, wherein sighting device when measuring right over measuring point also carries and includes horizontal angle
The connector of measuring unit and inclination angle measuring unit is spent, rotary drive unit aims at unit horizontal or vertical direction rotation for driving
Turn, described two sighting devices are linked together by a stock；
Control module is rotated, for controlling and driving rotary drive unit；
Key-press module, for input data and key information；The module is referred not only on physical keyboard or screen
Soft keyboard；
Data processing module, for storing data and the progress that data, reception key information and angle measuring unit measure
It calculates, obtains the location information of target；It is noted that if target is standing tree, this location information also comprising tree height and refers to
The diameter of Ding Shu high-order bits, the result calculated can be also kept in while display module is output to for bulk transfer
To external equipment；
Display module, for receiving the result of calculation of data processing module and being shown.
The advantageous effect of the measuring system is, should under the conditions of no satellite positioning and navigation system and other ancillary equipments
System can also measure the relative position of target and the diameter of tree height and specified tree high-order bit, such as in the middle part of the diameter of a cross-section of a tree trunk 1.3 meters above the ground and trunk directly
Diameter, and high certainty of measurement.
The measuring system is also comprising communication module in some embodiments, for data processing module and external equipment
Or/and carry out data transmission between sighting device.Communication module is used to carry out data transmission with external equipment, it can also be used to taking aim at
Standard apparatus carries out data transmission, because the data transfer mode between data processing module and sighting device can be wired or nothing
Line, if wired, can directly carry out, if wireless, then it to be transmitted by communication module, beneficial to effect
Fruit is that this measuring system is facilitated to transmit the measurement result of record to external equipments such as computers, and the record for mitigating measure field is born
Load；If sighting device can be imaged, imaging can also be included on display module, facilitate aiming.
In some embodiments, wherein sighting device when measuring right over measuring point also includes compass unit,
The data of the compass unit measuring are transferred to data processing module to obtain the relative coordinate of target.Advantage is to make
The relative position of measurement can be converted to and be put down by origin, each reference axis and world coordinate system corresponding axis of measuring point by measuring system
Capable relative coordinate.
In some embodiments, wherein when measuring sighting device right over measuring point also comprising compass unit and
Satellite positioning unit, the data of the two unit measurings are transferred to data processing module to obtain the absolute coordinate of target.It has
Beneficial effect is to enable measuring system that the relative position of target is converted to relative coordinate or is further converted into world coordinate system
Absolute coordinate.
In some embodiments, the aiming unit in two sighting devices is laser emitter or imaging device.It has
Beneficial effect is the needs that the aiming mode of measuring system is made to adapt to different application occasion.
In some embodiments, wherein one or two described sighting device is separated from the measuring system,
Described two sighting devices are with the connector comprising level angle measuring unit and inclination angle measuring unit, each separation unit at this time
Divide comprising intercom unit, intercom unit is used to exchange information with data processing module and rotation control module, respectively
Angle measuring unit by intercom unit output angle signal to data processing module, by inside led to by rotation control module
Letter unit exports rotary drive unit of the rotation control signal to the sighting device.Because two sighting devices are not attached to
Together, so sighting device is other than vertical angles measurement module to be had, it is also necessary to will have level angle measurement module and incline
Angular measurement module, the plane that easily could aim at sight composition at two carry out the survey of target location when being not orthogonal to horizontal plane
Amount.Advantage is that measuring system is made to adapt to different application requirement, as measured standing tree when if that measuring system is needed to have is portable
Property, this requires that two sighting devices link together；And in certain application scenarios, need the distance of two sighting devices
Draw far such as 1km to 5km to improve measurement accuracy and measurement distance, this requires that the separation of two sighting devices, and survey
Other modules of amount system can follow one of sighting device, also can independently be located at a place.
The measuring principle of the present invention is told about below.
It directly measures to obtain with Angle Measurement Module with the horizontal sextant angle of inceptive direction.
If setting a height of H, the horizontal distance of target or tree base to measuring point is L, and target or the relative relief of tree base and measuring point are
H2, the relative relief of treetop and measuring point is H1, height difference is negative value if height is less than measuring point, then H=H1-H2,
The air line distance of two sighting devices is a, inclination angle α1,
During run-home, if the inclination angle that sighting device B aims at sight at measuring point A is α2, sighting device C aims at sight and inclines
Angle is α3, angle is positive value when above the horizontal plane, below horizontal plane when be negative value, if sighting device C is to the distance of treetop F
For x,
First, when the plane of sighting device and target configuration is perpendicular to horizontal plane,
1st, work as α1、α2、α3When being not equal to 90 degree,
There is equation（1）L=(a+x) cos α1
（2）H=x sin α1-x•cosα1 tanα3=H1-H2
（3）H2=Ltan α2
（4）H1=Ltan α1
This equation group is solved, obtains measuring point to target or the horizontal distance of tree base
The relative relief of target or tree base and sighting device at measuring point
With relative relief=H of measuring point2+ h, h are measuring point to sighting device thereon（B）Height；
Tree is high
2nd, work as α1When being 90 degree, it is readily available according to geometrical relationship
Horizontal distance L=a/ (tan α2-tanα3)
With relative relief=L tan α of measuring point2+h
3rd, work as α2When being 90 degree, it is readily available according to geometrical relationship
Horizontal distance L=0
With relative relief=a cos α of measuring point1tanα3 -a•sinα1+h
4th, work as α3When being 90 degree, it is readily available according to geometrical relationship
Horizontal distance L=a cos α1
With relative relief=L tan α of measuring point2+h
2nd, when the plane of sighting device and target configuration is not orthogonal to horizontal plane,
It for convenience of calculating, needs to set auxiliary line, as shown in Fig. 2, keeping the inclination alpha of two sighting device lines1It is and long
Spend a it is constant, sighting device C is rotated to C ' positions, makes B and C ' and target configuration perpendicular to the plane of horizontal plane, thus become
Into the previous case, then the α in the previous case result of calculation3Actually C ' and the inclination angle of target link, if this inclination angle is α5,
α only need to be found out5α in such cases3Relationship then can,
If two sighting device lines are β relative to the sighting device B horizontal sextant angles for aiming at sight1, filled relative to aiming at
The horizontal sextant angle for putting C aiming sights is β2,
For ease of calculating, B, C, E are projected on a horizontal plane, A, C, D as shown in Figure 2 have equation
（1）CD•sinβ2= AD•sinβ1
（2）AD•cosβ1- CD•cosβ2 = AC
（3）tanα5 = DE/(AD-AC’) = CD•tanα3/(AD-AC)
This equation group is solved, is obtained
With tan α in this calculating formula5Value replace aforementioned α1、α2、α3Horizontal distance L and height difference H when not equal to 90 degree2
Tan α in calculating formula3, you can obtain the horizontal distance of target and the relative relief with measuring point.
3rd, the diameter of specified tree high-order bit is calculated
Calculate the tree height that the sighting device on measuring point aims at position：
Aim at position tree height=Ltan α2 - H2, H herein2It is the value that front is calculated
Calculate radius：
Radius OE '=BO sin (γ2/ 2)={ BE/cos [γ1+(γ2/2)]}•sin(γ2/2)= L•sin(γ2/2)/
cos[γ1+(γ2/2)]
Calculated diameter：
The OE ' of diameter=2
In the calculating formula of above-mentioned radius, due to γ1Value it is usually very small, it is generally negligible in the range of diameter accuracy,
So radius calculating formula can also be replaced with following approximate formulas：OE’≈ L•tan(γ2/2)。
The prominent substantive distinguishing features of the present invention are can to calculate the opposite of target by two sighting device run-homes
Position and the high and specified tree high-order bit diameter of tree.Relative position can also be converted into relative coordinate or absolute coordinate as needed.
The prominent substantive distinguishing features of the present invention, which also reside in two sighting devices, both can connect or separate, to adapt to
Different application scenarios.
Compared with prior art, significant progress of the present invention can be not required to global position system and accurately measure target
Relative position, the absolute coordinate that the relative position of target can also be converted into world coordinate system；Because it can accurately measure
So as to measure the area in variously-shaped soil, it is each only need to measure the soil boundary at measuring point for the relative position of target
The relative position of point can accurately calculate the area in the soil, greatly alleviate workload, with existing GPS measuring methods or
The method of measuring is compared by hand, considerably improves precision.
Significant progress of the present invention also resides in the diameter that tree high and specified tree high-order bit can also be measured when target is standing tree,
Can optional measuring point, the factors such as tree height, the diameter of a cross-section of a tree trunk 1.3 meters above the ground, trunk mid diameter, horizontal distance away from measuring point can be completed at measuring point
It measures, is not required to place mark post by other auxiliary devices such as standing tree.
Significant progress of the present invention is also resided in because horizontal distance, the diameter of a cross-section of a tree trunk 1.3 meters above the ground and tree height can be measured, in management volume
Round study plot can be used to replace existing study plot investigation method completely in investigation, can be completed at measuring point every in study plot
The measurement of strain forest dramatically reduces the labor intensity of forest inventory investigation and workload, improves work efficiency and measure
Precision.
Description of the drawings
Fig. 1 be two aim at sights form planes perpendicular to horizontal plane when instrumentation plan；
Fig. 2 is two instrumentation plans aimed at when the plane that sight is formed is not orthogonal to horizontal plane；
Fig. 3 is to measure to set high schematic diagram；
Fig. 4 is the schematic diagram for measuring specified tree high-order bit diameter；
Fig. 5 is measuring system structure diagram when two sighting devices link together.
Wherein, A- measuring points, B- sighting devices, C- sighting devices, D- targets are in the projection of horizontal plane, E- measured targets or tree
Base, F- treetops, radius at OE- tree bases, the radius of OE '-specified tree high-order bit, BG- horizontal lines, two sighting devices of 101- connections
Stock, the connector of 102- sighting devices institute band, 103- rotary shafts.
Specific embodiment
The embodiment of the present invention is described in further details below in conjunction with attached drawing.It is it should be appreciated that described herein specific
Embodiment is illustrative rather than limited, it is impossible to limit protection scope of the present invention according to following embodiment.
Embodiment one：As shown in Fig. 1, Fig. 3, Fig. 4, the measuring method of target location, tree height and diameter described in the present embodiment
For：
Include the following steps,
1）Two sighting devices are distinguished into the same point in run-home（E）, one of sighting device is located at measuring point（A）
Surface simultaneously sets inceptive direction, if target is standing tree, the two sighting devices aim at same point on tree base respectively（E）,
The line of described two sighting devices aims at treetop（F）；The two sighting devices are comprising laser emitter, measurement vertical angles
Angular transducer and rotary drive unit, laser emitter is used for run-home, and the sighting device right over the measuring point
Also comprising the angular transducer and obliquity sensor for measuring level angle；It is then measured if you need to the relative relief for obtaining target and measuring point
Measuring point is to the height of sighting device right over it（h）, this height be using the rotary shaft midpoint of the laser emitter in sighting device as
It is accurate；Inceptive direction can not also be previously set and be set automatically when measuring first aim, i.e., first is measured on same observation station
Direction during a target is defaulted as inceptive direction, and inceptive direction will be reset after replacing measuring point.It is not required to sometimes when measuring target
It is to be understood that the relative relief of target and measuring point, then be not required to measure measuring point to the height of sighting device right over it（h）, such as target is
Generally there is no need to know this height difference during standing tree；
2）Control system reads the aiming sight i.e. angle of laser central axes and horizontal plane of the two sighting devices（α2With
α3）, air line distance between the two sighting devices（a）And its angle of line and horizontal plane（α1）, described two sighting devices
The horizontal sextant angle of line and inceptive direction；Described two planes for aiming at sight composition are always perpendicular to horizontal plane；Described two
The line or distance of a sighting device refer to the line or distance between the rotary shaft midpoint of the laser emitter in sighting device.
Air line distance between two sighting devices（a）It can be set as a fixed value such as 50cm or 100cm is stored in measuring system in advance；
3）Control system calculates target according to the angle and distance information of reading by the formula that aforementioned principles part provides
Relative position and output, relative position and the tree that tree base is calculated if target is standing tree it is high and export；
4）When needing to measure the diameter of specified tree high-order bit, the aiming point on base is set（E）To be located at tree base edge, that is, set
Basic circle arc and the point of contact for aiming at sight, after tree height and horizontal distance is obtained, the position for keeping sighting device on measuring point is constant, erects
Nogata reads aiming sight i.e. laser central axes and the level of the sighting device to laser emitter therein, control system is rotated
The angle in face（α2）And the height at position measured by calculating and exporting, it is horizontal if measuring the tree high-order bit of diameter needed for reaching
The sighting device is rotated, makes its aiming sight i.e. laser central axes and the circular arc of the tree high-order bit tangent, measures the sighting device
Rotation angle（γ1）, continue to rotate horizontally the sighting device, it made to aim at sight i.e. laser central axes and the position opposite side
Circular arc is tangent, measures the rotation angle of the sighting device（γ2）, control system calculates by the formula that aforementioned principles part provides
The vertical wood diameter of the tree high-order bit and output.
Embodiment two：Difference lies in the aiming lists on sighting device with measuring method described in embodiment one for the present embodiment
Member is not laser emitter but zoom and focusing is adjusted in camera, camera, to improve precision, in target aiming point institute into
Picture will be in image centre.At this time observation aim at sight with circular arc is tangent can be by whether observing aiming point in image centre
To determine.
Embodiment three：Difference lies in the aiming dresses on measuring point with the measuring method of embodiment one or two for the present embodiment
It puts（B）The connector of institute's band also includes digital compass, for determining the angle of direct north and inceptive direction, to simplify the calculation,
This angle can be set as to zero, i.e., direct north is set to inceptive direction.The relative position of measurement can be converted at this time with measuring point
The relative coordinate parallel with world coordinate system corresponding axis for origin, each reference axis, such as 54 rectangular coordinate system of Beijing.
Example IV：Difference lies in the sighting devices on measuring point with measuring method described in embodiment three for the present embodiment（B）
The connector of institute's band also comprising GPS satellite locating module, can obtain the absolute coordinate of measuring point in this way, so that it may which opposite by target is sat
Mark is further converted into absolute coordinate, for example the WGS-84 geodetic coordinates of measuring point first is converted to 54 rectangular co-ordinate of Beijing, then will
The relative coordinate of target is converted to 54 rectangular co-ordinate of Beijing, is reconverted into WGS-84 geodetic coordinates.
Embodiment five：As shown in Fig. 2, the present embodiment is with measuring method described in previous embodiment, difference lies in aim at dress
It puts（C）With sighting device（B）It is separation, sighting device at this time（C）With a connector, equally it is useful on the connector
Carry out the obliquity sensor of level correction and the high-precision angle sensor for measuring horizontal rotation angle.And two at this time
Sighting device is with wireless communication unit such as bluetooth, for obtaining the angle-data of measurement and control aiming in real time when measuring
The rotation of device；
During measurement, two connectors are all placed on supporting rack, connector is corrected to horizontal, setting inceptive direction；Measure two
The air line distance at the rotary shaft midpoint of the aiming unit in sighting device is simultaneously stored in systems；
Again by sighting device（B）Aim at sighting device（C）, the inclination alphas of two sighting device lines can be obtained1；Again as rise
Beginning position rotation sighting device（B）With run-home, inclination alpha can be obtained2With horizontal sextant angle β1；
By sighting device（C）Aim at sighting device（B）, rotate sighting device as start bit（C）It, can with run-home
Obtain inclination alpha3With horizontal sextant angle β2；There is the relative position that these data systems can calculate target.
Embodiment six：As shown in figure 5, the measuring system of a kind of target location, tree height and diameter described in the present embodiment, including
Two include laser emitter, the high-precision angle sensor of measurement straight-bar and laser emitter angle and rotary drive unit
Sighting device, there are one high-precision angle sensors for measuring straight-bar and horizontal plane for the sighting device right over measuring point
Angle, the two sighting devices are linked together by a stock, and rotary shaft is at 0.5 meter, this numerical value deposit data
It is called when reason module is for calculating, when installation will ensure the laser of two laser transmitter projects always in the same plane；It measures
When sighting device right over measuring point also with a connector, which includes the height for measuring horizontal rotation angle
Precision angular transducer and the obliquity sensor for carrying out level correction, rotary drive unit are used to drive laser emitter water
The rotation of flat or vertical direction；Each sensor will be converted with A/D with direct output digit signals；Straight-bar is with laser emitter angle
Angle with aiming at sight, the measurement accuracy of angular transducer will be within 0.003 degree；
Control module is rotated, for controlling and driving rotary drive unit；
Key-press module, for input data and key information；
Data processing module, data, reception key information and angular transducer for the input of storage button module measure
Data and calculated, obtain the location information of target and kept in；
Display module, for receiving the result of calculation of data processing module and being shown.
Embodiment seven：Difference lies in also comprising communication module, be used for the present embodiment with measuring system described in embodiment six
Data processing module carries out data transmission with external equipment, it can also be used to carry out data transmission with sighting device.It can will such as measure
As a result computer, palm PC etc. are uploaded to.The communication module can be serial communication module or wireless communication module.
Embodiment eight：Difference lies in taking aim at right over measuring point with measuring system described in embodiment six for the present embodiment
Standard apparatus is also comprising digital compass, and when horizontal angle sensor sets inceptive direction, digital compass can indicate initial side in real time
To the angle with direct north.
Embodiment nine：Difference lies in taking aim at right over measuring point with measuring system described in embodiment eight for the present embodiment
For standard apparatus also comprising GPS satellite locating module, the data that satellite positioning module measures are transferred to data processing module to generate mesh
Target absolute coordinate.
Embodiment ten：Difference lies in the aiming lists on sighting device with measuring system described in embodiment six for the present embodiment
Member is not laser emitter, but zoom and focusing is adjusted in camera, camera, to improve precision.
Embodiment 11：Difference lies in two sighting devices with the measuring system of embodiment six to ten for the present embodiment
In one or two can be separated into independent sector, at this time the two sighting devices with include measure horizontal rotation angle
High-precision angle sensor and obliquity sensor connector, each separate section is comprising intercom unit, intercommunication
For exchanging information with data processing module and rotation control unit, each angular transducer is exported unit by intercom unit
Angle signal exports rotation control signal by intercom unit and is driven to rotation to data processing module, rotation control module
Unit.Intercom unit can use wireless communication such as bluetooth.Angular transducer on connector is used to measure feathering angle
Degree.
Embodiment 12：Difference lies in taking aim on sighting device with 11 measuring system of embodiment for the present embodiment
Quasi- unit is not laser emitter but camera；Camera be not two but three, these three cameras row triangular in shape
Row, the triangle length of side are no more than 5 kilometers, and each two camera forms a measuring system, these three can be used when measuring in this way
The measurement result of measuring system averages to improve measurement accuracy.Zoom and focusing is adjusted in camera, to improve precision.This
When camera on connector be fixedly mounted on platform, the distance and inclination angle and azimuth between camera can measure in advance deposits
Enter the data processing module of measuring system.
Embodiment 13：Difference lies in taking aim on sighting device with 12 measuring system of embodiment for the present embodiment
Quasi- unit is not camera, but the video camera with telescope.The connector on video camera is fixedly mounted on platform at this time,
Distance and inclination angle and azimuth between video camera can measure the data processing module of good deposit measuring device in advance.
The above is only the preferred some embodiments of the present invention, it is noted that for the art
For those of ordinary skill, various improvements and modifications may be made without departing from the principle of the present invention, these improvement
Protection scope of the present invention is also should be regarded as with retouching.
Claims (10)
1. a kind of measuring method for measuring target location, is additionally operable to measure tree height and diameter, target position when target is standing tree
It is equipped with three kinds of relative position, relative coordinate and absolute coordinate representation methods, level of the relative position target away from measuring point of target
The horizontal sextant angle of distance, target and the relative relief of measuring point, the line of target to measuring point and inceptive direction represents that inceptive direction can
Arbitrary setting, relative position is convertible into relative coordinate or absolute coordinate, if target is standing tree, also has and sets high and specified tree
Two factors of diameter of high-order bit, it is characterised in that：Include the following steps,
1）By two sighting devices（B and C）Same point in run-home respectively（E）, one of sighting device（B）Positioned at survey
Point（A）Surface, if target is standing tree, described two sighting devices aim at the same point on tree base respectively（E）, described two
The line of a sighting device aims at treetop（F）；Described two sighting devices are comprising aiming at unit, rotary drive unit and at least
One angle measuring unit；Measuring point is measured to the height of sighting device right over it（h）；
2）Control system reads the aiming sight of described two sighting devices and the angle of horizontal plane（α2And α3）, described two take aim at
Air line distance between standard apparatus（a）And its angle of line and horizontal plane（α1）, described two sighting device lines with it is initial
The horizontal sextant angle in direction；If described two are aimed at the plane that sight is formed and are not orthogonal to horizontal plane, also to read described two
Sighting device line is relative to the horizontal sextant angle for aiming at sight（β1And β2）；
3）Control system calculates relative position and the output of target according to the angle and distance information of reading, if target is vertical
Relative position that is wooden then calculating tree base and tree height simultaneously export；
4）When needing to measure the diameter of specified tree high-order bit, the aiming point on base is set（E）To be located at tree base edge, that is, set basic circle
Arc and the point of contact for aiming at sight, after tree height and horizontal distance is obtained, the position for keeping sighting device on measuring point is constant, vertical side
To aiming unit therein is rotated, control system reads the aiming sight of the sighting device and the angle of horizontal plane（α2）And it calculates
With output measured by position height, if measuring the tree high-order bit of diameter needed for reaching, rotate horizontally the sighting device, make it
It aims at sight and the circular arc of the tree high-order bit is tangent, measure the rotation angle of the sighting device（γ1）, continue to rotate horizontally this and take aim at
Standard apparatus makes its aiming sight and the position opposite side circular arc tangent, measures the rotation angle of the sighting device（γ2）, control
System-computed goes out the vertical wood diameter of the tree high-order bit and output.
2. measuring method according to claim 1, it is characterised in that：Sighting device on the measuring point also includes compass
The relative position of target for determining the angle of inceptive direction and direct north, is converted into relative coordinate by unit.
3. measuring method according to claim 1, it is characterised in that：Sighting device on the measuring point also includes compass
Unit and satellite positioning unit, for determining the angle of inceptive direction and direct north and obtaining measuring point in world coordinate system
In absolute coordinate, the relative position of target is converted to the absolute coordinate in world coordinate system.
4. according to the measuring method described in claim 1,2 or 3, it is characterised in that：Aiming list in described two sighting devices
Member is laser emitter or imaging device, and when it is imaging device to aim at unit, aiming point imaging will be in image in target
Centre.
5. a kind of measuring system for measuring target location, is additionally operable to measure tree height and diameter, feature when target is standing tree
It is：The sighting device for aiming at unit, rotary drive unit and vertical angles measuring unit is included including two, wherein when measuring
Sighting device right over measuring point is also with the connector comprising level angle measuring unit and inclination angle measuring unit, rotation
For driving unit for aiming unit horizontal or vertical direction to be driven to rotate, described two sighting devices are connected to one by a stock
It rises；
Control module is rotated, for controlling and driving rotary drive unit；
Key-press module, for input data and key information；
Data processing module, for storing the data of the data of input, reception key information and the measurement of each angle measuring unit simultaneously
It is calculated, obtains the location information of target；
Display module, for receiving the result of calculation of data processing module and being shown.
6. measuring system according to claim 5, it is characterised in that：Also comprising communication module, for data processing module
Carry out data transmission between external equipment or for carrying out data transmission between data processing module and sighting device.
7. measuring system according to claim 5, it is characterised in that：Aiming dress during the measurement right over measuring point
It puts also comprising compass unit, the data of the compass unit measuring are transferred to data processing module and are sat with obtaining the opposite of target
Mark.
8. measuring system according to claim 5, it is characterised in that：Aiming dress during the measurement right over measuring point
It puts also comprising compass unit and satellite positioning unit, the data of the two unit measurings are transferred to data processing module to obtain
The absolute coordinate of target.
9. according to the measuring system described in claim 5,6,7 or 8, it is characterised in that：Aiming in described two sighting devices
Unit is laser emitter or imaging device.
10. according to the measuring system described in claim 5,6,7 or 8, it is characterised in that：One or two described sighting device from
It is separated in the measuring system, described two sighting devices are carried and surveyed comprising level angle measuring unit and inclination angle at this time
Measure the connector of unit, each separate section comprising intercom unit, intercom unit be used for data processing module and
It rotates control module and exchanges information, each angle measuring unit gives data processing mould by intercom unit output angle signal
Block, rotation control module export rotary drive unit of the rotation control signal to the sighting device by intercom unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510480720.7A CN105136107B (en) | 2015-07-07 | 2015-08-09 | The measuring method and measuring system of a kind of target location, tree height and diameter |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510393230 | 2015-07-07 | ||
| CN2015103932303 | 2015-07-07 | ||
| CN201510480720.7A CN105136107B (en) | 2015-07-07 | 2015-08-09 | The measuring method and measuring system of a kind of target location, tree height and diameter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105136107A CN105136107A (en) | 2015-12-09 |
| CN105136107B true CN105136107B (en) | 2018-06-08 |
Family
ID=54721547
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510480720.7A Expired - Fee Related CN105136107B (en) | 2015-07-07 | 2015-08-09 | The measuring method and measuring system of a kind of target location, tree height and diameter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105136107B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106403886B (en) * | 2016-11-24 | 2019-02-05 | 桂林理工大学 | A kind of triangulation measuring total station height of instrument |
| CN111336933A (en) * | 2019-07-03 | 2020-06-26 | 广东森霖造绿有限公司 | Tree detection method using unmanned aerial vehicle shooting |
| CN113587896B (en) * | 2021-08-16 | 2023-06-20 | 山东省林业科学研究院 | High-precision measurement method for tree trunk length and crown length under arbitrary terrain condition |
| CN114035186B (en) * | 2021-10-18 | 2022-06-28 | 北京航天华腾科技有限公司 | Target position tracking and indicating system and method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4820041A (en) * | 1986-11-12 | 1989-04-11 | Agtek Development Co., Inc. | Position sensing system for surveying and grading |
| CN2068226U (en) * | 1990-02-27 | 1990-12-26 | 山东省林业学校 | Height indicator reading tray |
| CN102538693A (en) * | 2012-02-14 | 2012-07-04 | 北京林业大学 | Vertical wood diameter detection method based on laser and vision technology |
| CN102749054A (en) * | 2012-04-24 | 2012-10-24 | 北京林业大学 | Technical method for measuring height of live standing tree and diameter of tree at any tree height position by using robot |
| CN203744936U (en) * | 2013-12-03 | 2014-07-30 | 南京森林警察学院 | Standing tree diameter measuring device |
-
2015
- 2015-08-09 CN CN201510480720.7A patent/CN105136107B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4820041A (en) * | 1986-11-12 | 1989-04-11 | Agtek Development Co., Inc. | Position sensing system for surveying and grading |
| CN2068226U (en) * | 1990-02-27 | 1990-12-26 | 山东省林业学校 | Height indicator reading tray |
| CN102538693A (en) * | 2012-02-14 | 2012-07-04 | 北京林业大学 | Vertical wood diameter detection method based on laser and vision technology |
| CN102749054A (en) * | 2012-04-24 | 2012-10-24 | 北京林业大学 | Technical method for measuring height of live standing tree and diameter of tree at any tree height position by using robot |
| CN203744936U (en) * | 2013-12-03 | 2014-07-30 | 南京森林警察学院 | Standing tree diameter measuring device |
Non-Patent Citations (2)
| Title |
|---|
| 手持式数字化多功能电子测树枪的研制与试验;徐伟恒 等;《农业工程学报》;20130228;第29卷(第3期);第90-98页 * |
| 航空数字摄影测量对林分立木测高及精度分析;王佳 等;《测绘科学》;20111130;第36卷(第6期);第77-79页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105136107A (en) | 2015-12-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20030103651A1 (en) | Photogrammetric apparatus | |
| CN105136107B (en) | The measuring method and measuring system of a kind of target location, tree height and diameter | |
| CN105021211B (en) | A kind of attitude test device and method based on autocollimator | |
| CN1677060B (en) | Survey data processing system, storage medium for working data, and electronic map display device | |
| CN102620710B (en) | Method and system for measuring and calculating data | |
| US20120026322A1 (en) | Method, tool, and device for determining the coordinates of points on a surface by means of an accelerometer and a camera | |
| CN108828554B (en) | Coordinate transformation-based measuring method, system and device without laser drop point | |
| CN111260870B (en) | Accurate target positioning method | |
| CN105388494B (en) | A kind of laser ranging localization method applied to RTK receiver | |
| CN105571636B (en) | One kind is used to position mesh calibration method and measuring apparatus | |
| CN103196382A (en) | Standing-tree diameter measuring device based on laser ranging and image technologies | |
| CN109297426B (en) | Large-scale precision industrial equipment deformation and servo angle detection method | |
| CN102749052A (en) | Electronic tree measurement gun and forest measurement method thereof | |
| CN1670474A (en) | Video super-station instrument and forest measuring method | |
| CN105547282B (en) | One kind being used for running fix mesh calibration method and measuring device | |
| CN108152838A (en) | It is a kind of that the device and method for measuring target location are taken aim at based on sight | |
| CN108571931A (en) | It is a kind of using TOF depth cameras as the tree survey method of tool | |
| CN205825952U (en) | A kind of device gathering base station engineering parameter under tower | |
| JP2007206046A (en) | Survey method and survey program, and survey apparatus | |
| CN109631836A (en) | A kind of height of cloud base method for fast measuring | |
| CN206132066U (en) | Rhumb automatic measuring device | |
| CN101539411A (en) | Method for measuring artificial form-quotient of trees | |
| CN115406408B (en) | Method for detecting and correcting vertical axis tilt error of photoelectric theodolite | |
| CN105116407B (en) | A kind of method that vegetation coverage is measured using handheld laser range finder | |
| CN106289205A (en) | A kind of rhumb self-operated measuring unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210310 Address after: 152000 Suihua teachers' College, Beilin District, Suihua, Heilongjiang (Room 408, innovation and entrepreneurship base) Patentee after: Suihua Cheng Mei Sheng Shi Network Technology Co.,Ltd. Address before: No.96 Chengjiang Avenue, Chengjiang Town, Taihe County, Ji'an City, Jiangxi Province 343700 Patentee before: Open water |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180608 Termination date: 20210809 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |