CN110986891B - System for accurately and rapidly measuring crown width of tree by using unmanned aerial vehicle - Google Patents
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Abstract
The utility model provides a system for accurately and rapidly measuring the crown width of a tree by using an unmanned aerial vehicle, which comprises the unmanned aerial vehicle, a high-altitude reference rod, a ground horizontal reference rod and a processor, wherein the unmanned aerial vehicle is provided with a camera, the high-altitude reference rod is hung at the bottom of the unmanned aerial vehicle through a connecting rope, and the ground horizontal reference rod is arranged on the ground below the crown width of the tree to be measured; obtaining a first proportional coefficient and a second proportional coefficient by utilizing the actual length between two points of the edge of any crown, the length of the high-altitude reference rod and the length ratio of the high-altitude reference rod in the first image or the second image to the length of the two points of the edge of any crown, which are obtained through calculation, converting the dimension of the crown width obtained through measurement in the image into the dimension of the actual crown width through the first coefficient, and converting the measured crown width product in the image into the area of the actual crown width through the second coefficient; the method can accurately and efficiently measure the size and the area of the crown width, improves the intellectualization, the automation and the high efficiency of the measurement of the crown width, and reduces the labor cost.
Description
Technical Field
The utility model relates to a trees crown width of cloth measurement calculation field, in particular to utilize system of accurate rapid survey trees crown width of cloth of unmanned aerial vehicle.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In forestry investigation and garden planning, the crown width of trees usually needs to be measured, accurate crown width measurement has important meaning to the investigation of forest resources, forest productivity estimation, and garden planning evaluation. The traditional crown measurement needs cooperation of multiple persons, the lengths of the crown in the east-west direction and the south-north direction are measured by using a tape measure respectively, then the area of the crown is calculated by an elliptical area or rectangular area calculation method, the labor cost is high, and the measurement result is not accurate enough. The existing various crown width measuring tools are not beneficial to field investigation of complex terrains, and the measurement result with higher labor cost is not accurate enough. With the popularization of the unmanned aerial vehicle aerial photography technology, the photography of large-area forest canopies and landscaping is not difficult.
The inventor of the present disclosure finds that, in the existing method for measuring the crown width by using the unmanned aerial vehicle, the crown width measurement work is carried out by depending on the distance measurement capability of the unmanned aerial vehicle, the distance measurement quality is seriously interfered by external factors, and the measured terrain height does not have integral representativeness in the complex terrain condition, so that the accuracy of the method for measuring the crown width by using the unmanned aerial vehicle for distance measurement needs to be improved; the laser measurement method is fast, but the accuracy is still to be improved.
Disclosure of Invention
In order to solve the not enough of prior art, this disclosure provides an utilize accurate rapid survey system of trees crown width of cloth of unmanned aerial vehicle, can obtain trees crown width of cloth yardstick and area fast, has improved the work efficiency of field investigation.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
a system for accurately and quickly measuring the crown width of trees by using an unmanned aerial vehicle comprises the unmanned aerial vehicle, a high-altitude reference rod, a ground horizontal reference rod and at least one processor in communication connection with the unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with a camera, the high-altitude reference rod is hung at the bottom of the unmanned aerial vehicle through a connecting rope, and the ground horizontal reference rod is arranged below the crown width of trees to be measured;
during measurement, the high-altitude reference rod is kept horizontal, the unmanned aerial vehicle crosses the crown until the full appearance of the crown appears in the visual angle of the camera, the connecting rope is straightened, after the high-altitude reference rod is stabilized, the airborne camera vertically shoots downwards to obtain a first image, the unmanned aerial vehicle is kept immobile in the horizontal direction, and after the unmanned aerial vehicle is vertically lifted for a first distance, the airborne camera vertically shoots downwards to obtain a second image;
the processor calculates a first distance according to the length ratio of the high-altitude reference rod in the first image to the ground horizontal reference rod in the second image, and obtains the actual length between two points of the edge of any crown according to the length ratio of the high-altitude reference rod in the first image to the two points of the edge of the any crown, the length of the high-altitude reference rod, the length of the ground horizontal reference rod and the first distance;
the method comprises the steps of obtaining a first proportional coefficient and a second proportional coefficient through calculating the actual length between two points at the edge of any crown, the length of a high-altitude reference rod and the length ratio of the two points at the edge of any crown between the two points in the first image or the second image, converting the measured crown size in the first image or the second image into the actual crown size through the first coefficient, and converting the measured crown size in the first image or the second image into the actual crown size through the second coefficient.
As some possible implementation manners, the specific calculation manner of the first distance is as follows:
wherein alpha is1For the length and the ground level of the high-altitude reference rod in the first imageLength ratio of reference rod, alpha2The length ratio of the high altitude reference rod in the second image to the length of the ground horizontal reference rod, l is the length of the high altitude reference rod, CLFor the length of ground level reference pole, L is the length of connecting the rope.
As a further limitation, said α1The calculating method specifically comprises the following steps:
wherein, C1For the ground level in the first image with reference to the bar CLProjecting the height of the high-altitude reference rod to the plane with the corresponding length;
as a further limitation thereof,
a is said2The calculating method specifically comprises the following steps:
wherein, C2For the ground level in the second image with reference to the bar CLProjected to the plane of the high altitude reference bar by the corresponding length.
As a further limitation, the calculation method of the actual length between two points of the edge of any crown is specifically as follows:
wherein, beta1The length ratio of the high-altitude reference rod in the first image to the length of two points on the edge of the crown, beta2The length ratio of the high-altitude reference rod in the second image to the length ratio of two points on the edge of the crown.
As a further limitation, said β1The calculation method of (1) is specifically;
wherein, K1The lengths of the two points K of the crown edge in the first image projected to the plane of the high-altitude reference rod are corresponding.
As a further limitation, said β2The calculation method of (1) is specifically;
wherein, K2And the lengths of the two points K of the crown edge in the second image projected to the plane of the high-altitude reference rod are corresponding.
As a further limitation, the first coefficient is specifically:
in the first image:
in the second image:
and dividing the measured crown size in the first image or the second image by the first coefficient to obtain the actual crown size.
As a further limitation, the second coefficient is specifically:
in the first image:
in the second image:
and dividing the measured crown area in the first image or the second image by the second coefficient to obtain the actual crown area.
As some possible implementation manners, when the ground horizontal reference rod is projected to the plane where the high-altitude reference rod is located in the first image or the second image, and the projection and the high-altitude reference rod are not in the same straight line, the mutual included angle does not influence the calculation result of the first distance.
As some possible implementation manners, the image processing software loaded in the processor is used to outline the crown edge in the first image or the second image, circle a polygon close to the crown edge, and calculate the polygon area to obtain the area of the irregular crown in the first image or the second image.
Compared with the prior art, the beneficial effect of this disclosure is:
1. the system can accurately and efficiently measure the size and the area of the crown by utilizing the high-altitude shooting of the unmanned aerial vehicle and processing the images by the computer, so that a more accurate measurement result is obtained, the intellectualization, automation and high efficiency of the crown measurement are greatly improved, and the labor cost is reduced.
2. Although the system disclosed by the disclosure sets the high-altitude reference rod and the ground horizontal reference rod, the included angle between the high-altitude reference rod and the ground horizontal reference rod is not required to be specifically limited, and crown width measurement can be rapidly carried out only by placing the ground horizontal reference rod under a tree.
3. The system disclosed only needs to shoot the first image and the second image, the actual size and the actual area of the crown width can be obtained quickly through the analysis of the images, the calculation speed is high, and the efficiency of large-scale crown width measurement is greatly improved.
4. The method can accurately and quickly obtain the size and the dimension of the crown of the tree, solve the problem that the existing crown measuring method and tool cannot adapt to quick and accurate measurement of the crown under the complex terrain condition, solve the problem that the large-area crown is difficult to effectively measure, solve the problem that the crown of the existing unmanned aerial vehicle is not accurate enough due to the influence of the terrain in the measurement, and improve the working efficiency of field experiment investigation.
Drawings
Fig. 1(a) and 1(b) are schematic diagrams of determining an altitude change of a position of a drone by using images of the drone captured twice according to an embodiment of the present disclosure.
Fig. 2 is an image schematic diagram obtained by shooting twice by the unmanned aerial vehicle according to the embodiment of the present disclosure.
Fig. 3(a) and 3(b) are schematic diagrams of determining an actual crown size by taking images twice by using an unmanned aerial vehicle according to an embodiment of the present disclosure.
Fig. 4 is a schematic diagram of a crown width area in a measurement image provided by an embodiment of the present disclosure.
1. An unmanned aerial vehicle; 2. connecting ropes; 3. a high altitude reference bar; 4. a tree to be detected; 5. a ground level reference bar; 6. a crown; 7. and calculating the polygon circled by the area of the crown.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
Example 1:
the embodiment 1 of the present disclosure provides a system for accurately and rapidly measuring the crown width of a tree by using an unmanned aerial vehicle, wherein a ground horizontal reference rod 5 (C) is placed under a tree 4 to be measuredL2-5m), utilize and connect rope 2 (L2-5 m) and connect unmanned aerial vehicle 1 and high altitude reference pole 5 (L1-2 m), control unmanned aerial vehicle 1, the 6 full looks of crown appears in the camera visual angle to connect 2 staffs of rope, high altitude reference pole 3Keeping the horizontal state, crossing the crown until the appearance of the full appearance of the crown 6 in the visual angle of the camera, straightening the connecting rope 2, and vertically shooting a first image downwards by the airborne camera after the high-altitude reference rod 3 is stabilized, as shown in fig. 1(a) and fig. 3 (a). Keeping the unmanned aerial vehicle horizontal direction motionless, vertical direction rising delta h equals 5-10 m's distance, airborne camera shoots the second image perpendicularly downwards, like 1(b), fig. 3 (b).
And (3) introducing the shot image into a computer provided with software (such as AutoCAD, ArcGIS and the like) capable of measuring the length and the area of the object in the picture, and processing the image.
In fig. 1(a), the vertical distance from the plane of the ground horizontal reference rod to the camera of the unmanned aerial vehicle is H1Ground level reference bar CLProjected to the plane of the high-altitude reference rod and corresponding to the length C1The length ratio of the high-altitude reference bar to the ground horizontal reference bar in the image is alpha1I.e. by
In fig. 1(b), the vertical distance from the plane of the ground horizontal reference rod to the camera of the unmanned aerial vehicle is H2Ground level reference bar CLProjected to the plane of the high-altitude reference rod and corresponding to the length C2So that the length ratio of the high-altitude reference bar to the ground horizontal reference bar in the image is alpha2I.e. by
As can be seen from FIG. 2, the ground level reference bar CLProjection C1/C2Not in line with the overhead reference bar
At this time:
namely:
therefore, the angle theta does not influence the final result, and the delta h is independent of the theta.
In the actual operation process, the length of the ground horizontal reference rod and the height reference rod in the image can be measured by using the measuring tool, and the alpha can be obtained by calculating the ratio1、α2。
In fig. 3(a), the vertical distance from the plane where the crown edge is located to the unmanned aerial vehicle camera is h1The corresponding length of the two points K of the crown edge projected to the plane of the high-altitude reference rod is K1And the length ratio of two points at the edge of the crown in the shot image to the length of the horizontal reference rod on the ground is equal to the length ratio of the two points K at the edge of the crown projected to the plane where the high altitude reference rod is located, so that the length of the high altitude reference rod in the shot image is equal to the length K of the two points at the edge of the crown1Ratio of beta1I.e. by
In fig. 3(b), the vertical distance from the plane where the crown edge is located to the unmanned aerial vehicle camera is h2The corresponding length of the two points K of the crown edge projected to the plane of the high-altitude reference rod is K2So that the length of the overhead reference bar in the image is equal to the length K of two points on the edge of the crown2Ratio of beta2I.e. by
Δ h is independent of θ, from
Δh＝H2-H1＝h2-h1Obtaining:
in the actual operation process, the lengths of two points on the edge of any crown in the image and the length of the high-altitude reference rod can be measured by using the measuring tool, and the ratio can be calculated to obtain the beta1、β2。
Therefore, the two points of the crown edge projected to the plane of the high-altitude reference rod in FIG. 3(a) correspond to a length K1The ratio of the actual length K of two points on the edge of the crown is
Therefore, when the crown scale measured in FIG. 3(a) is converted into the actual crown scale, it is necessary to divide by the coefficient λ11In fig. 3(a), a polygon is circled by clinging to the crown edge, and the area of the polygon is calculated as the area of the crown width in fig. 3(a), and when the area of the crown width measured in fig. 3(a) is converted into the actual area of the crown width, the area needs to be divided by the coefficient λ21Wherein
Thereby obtaining the size and area of the crown width.
If the image shot in FIG. 3(b) is used for measurement, two points on the edge of the crown are projected to the plane of the high-altitude reference rod to form a corresponding length K1The ratio of the actual length K of two points on the edge of the crown is
Therefore, when the measured crown size in the captured image of fig. 3(b) is converted into the actual crown size, it is necessary to divide by the coefficient λ12Thereby obtaining the real size of the crown; in the image shot in fig. 3(b), a polygon is circled by clinging to the crown edge, the polygon area is calculated, namely the crown area in the image, and when the crown area measured in the image is converted into the actual crown area, the actual crown area needs to be divided by the coefficient lambda22Wherein
Thereby obtaining the real area of the crown width.
The present measurement system assumes that the crown edges are in the same plane, which is the assumption that most tree measurements are satisfied.
In this embodiment, computer software such as AutoCAD, ArcGIS, etc. is used to outline a complex crown edge, circle a polygon 7 used for calculating the area of the crown by being attached to the crown edge, and calculate the area of the polygon, that is, the area of the irregular crown in fig. 3(a) or fig. 3(b) can be obtained, so as to improve the image processing efficiency.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (11)
1. A system for accurately and quickly measuring the crown width of trees by using an unmanned aerial vehicle is characterized by comprising the unmanned aerial vehicle, a high-altitude reference rod, a ground horizontal reference rod and at least one processor in communication connection with the unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with a camera, the high-altitude reference rod is hung at the bottom of the unmanned aerial vehicle through a connecting rope, and the ground horizontal reference rod is arranged below the crown width of trees to be measured;
during measurement, the high-altitude reference rod is kept horizontal, the unmanned aerial vehicle crosses the crown until the full appearance of the crown appears in the visual angle of the camera, the connecting rope is straightened, after the high-altitude reference rod is stabilized, the airborne camera vertically shoots downwards to obtain a first image, the unmanned aerial vehicle is kept immobile in the horizontal direction, and after the unmanned aerial vehicle is vertically lifted for a first distance, the airborne camera vertically shoots downwards to obtain a second image;
the processor calculates a first distance according to the length ratio of the high-altitude reference rod in the first image to the ground horizontal reference rod in the second image, and obtains the actual length between two points of the edge of any crown according to the length ratio of the high-altitude reference rod in the first image to the two points of the edge of the any crown, the length of the high-altitude reference rod, the length of the ground horizontal reference rod and the first distance;
the method comprises the steps of obtaining a first coefficient and a second coefficient through calculating the actual length between two points on the edge of any crown, the length of a high-altitude reference rod and the length ratio of the high-altitude reference rod in a first image or a second image to the length of the two points on the edge of any crown, converting the crown size obtained through measurement in the first image or the second image into the actual crown size through the first coefficient, and converting the crown size obtained through measurement in the first image or the second image into the actual crown size through the second coefficient.
2. The system for accurately and rapidly measuring the crown width of a tree by using an unmanned aerial vehicle as claimed in claim 1, wherein the first distance is calculated by:
wherein alpha is1The length ratio of the high-altitude reference bar in the first image to the ground horizontal reference bar, alpha2The length ratio of the high altitude reference rod in the second image to the length of the ground horizontal reference rod, l is the length of the high altitude reference rod, CLFor the length of ground level reference pole, L is the length of connecting the rope.
3. The system for accurately and rapidly measuring crown width of trees using unmanned aerial vehicle as claimed in claim 2, wherein said α is1The calculating method specifically comprises the following steps:
wherein, C1For the ground level in the first image with reference to the bar CLProjected to the plane of the high altitude reference bar by the corresponding length.
4. The system for accurately and rapidly measuring crown width of trees by using unmanned aerial vehicle as claimed in claim 2,
a is said2The calculating method specifically comprises the following steps:
wherein, C2For the ground level in the second image with reference to the bar CLProjected to the plane of the high altitude reference bar by the corresponding length.
5. The system for accurately and rapidly measuring the crown width of a tree by using an unmanned aerial vehicle as claimed in claim 2, wherein the calculation mode of the actual length between two points of any crown edge is specifically as follows:
wherein, beta1The length ratio of the high-altitude reference rod in the first image to the length of two points on the edge of the crown, beta2The length ratio of the high-altitude reference rod in the second image to the length ratio of two points on the edge of the crown.
6. The system for accurately and rapidly measuring crown width of trees using unmanned aerial vehicle as claimed in claim 5, wherein said β is β1The calculation method of (1) is specifically;
wherein, K1The lengths of the two points K of the crown edge in the first image projected to the plane of the high-altitude reference rod are corresponding.
7. The system for accurately and rapidly measuring crown width of trees using unmanned aerial vehicle as claimed in claim 5, wherein said β is β2The calculation method of (1) is specifically;
wherein, K2And the lengths of the two points K of the crown edge in the second image projected to the plane of the high-altitude reference rod are corresponding.
8. The system for accurately and rapidly measuring the crown width of a tree by using an unmanned aerial vehicle as claimed in claim 5, wherein the first coefficient is specifically:
in the first image:
in the second image:
and dividing the measured crown size in the first image or the second image by the first coefficient to obtain the actual crown size.
9. The system for accurately and rapidly measuring the crown width of a tree by using an unmanned aerial vehicle as claimed in claim 5, wherein the second coefficient is specifically:
in the first image:
in the second image:
and dividing the measured crown area in the first image or the second image by the second coefficient to obtain the actual crown area.
10. The system for accurately and rapidly measuring the crown width of trees by using the unmanned aerial vehicle as claimed in claim 1, wherein when the ground level reference rod is projected to the plane where the high altitude reference rod is located in the first image or the second image, and the projection and the high altitude reference rod are not in the same straight line, the included angle between the two does not affect the calculation result of the first distance.
11. The system of claim 1, wherein the image processing software installed in the processor is used to outline the crown edge in the first image or the second image, to circle a polygon against the crown edge, and to calculate the area of the polygon, so as to obtain the area of the irregular crown in the first image or the second image.
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