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Technical method for measuring height of live standing tree and diameter of tree at any tree height position by using robot

A technology of robots and standing trees, applied in the direction of instruments, measuring devices, etc., can solve problems such as troubles and errors, achieve the effects of reducing workload, overcoming measurement errors, and reducing measurement difficulty

Inactive Publication Date: 2012-10-24
BEIJING FORESTRY UNIVERSITY
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  • Abstract
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Problems solved by technology

[0005] In order to overcome the many troubles and errors that the existing height measuring instruments inevitably bring in the process of measuring tree heights, the purpose of the present invention is to provide a tree measuring robot and its use method

Method used

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  • Technical method for measuring height of live standing tree and diameter of tree at any tree height position by using robot
  • Technical method for measuring height of live standing tree and diameter of tree at any tree height position by using robot
  • Technical method for measuring height of live standing tree and diameter of tree at any tree height position by using robot

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Embodiment Construction

[0014] 1. Select the target tree, put the tree-measuring robot with the altimeter on the trunk, remote control it to climb to the treetop, and control the altimeter signal transmitter on the robot to send a signal to automatically measure the tree height H .

[0015] 2. Using the advantages of the tree-measuring robot, the remote control makes the robot climb to any height of the target tree. The remote control robot carries sensors and automatically measures the coordinates of four points at the height. Assume that the coordinates at the root of the tree are (0, 0, 0) , the tree height H can be obtained according to step 1, then the coordinates of the treetop are (0, 0, H), the robot crawls down from the treetop, and climbs to the surface coordinates of the trunk at any height j (X i , Y i , H i )(i=1, 2, 3, 4), the coordinate formula of the center point of the circle obtained according to the coordinates of the three points on the known circle surface ① ② Measure the c...

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Abstract

Disclosed is a technical method for measuring the height of a live standing tree and a diameter of the tree at any tree height position by using a robot. The method comprises that the tree-climbing type robot is introduced under the condition that a target tree is shielded, the robot sends a signal to a ground receiver on the treetop, then the tree height is measured, coordinates of four points of a tree trunk surface are measured at the position of the same height in the descending process of the robot, and then any diameter of the live standing tree is further calculated. The robot which is a novel high-tech result is introduced into the measurement of the tree height, the robot is flexible and convenient to operate, the height of the live standing tree and the diameter of the tree at any tree height position are measured, the diameter at any position of the live standing tree can be measured conveniently and accurately, and relative data are provided for accurate measurement of live standing tree stock volume. According to the method, measurement errors due to various natural environments and weather factors are overcome, and the working amount and the measuring difficulty of measuring workers are greatly reduced.

Description

1. Technical field [0001] The invention relates to a method for measuring tree height in a canopy environment in forestry investigation, in particular to a method for measuring the diameter at any height of a living tree trunk by a robot. 2. Technical Background [0002] So far, tree heights are mainly measured with measuring instruments such as altimeters, laser altimeters, ultrasonic rangefinders, or compass combined with benchmarks. [0003] The altimeter is a tree height measurement tool commonly used in forestry, but this tool has a disadvantage: the elevation angle is limited, and to measure the height of a tree, you must retreat to a certain distance from the tree. The height of the tree can also be measured by using a compass combined with a pole, but the slope should not be too large. The laser altimeter also cannot avoid the visual obstruction of the branches in the dense forest. Therefore, it is inevitable to bring a lot of troubles and errors in the process of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B21/02G01B21/10
Inventor 冯仲科王永国王佳仇琪高原
Owner BEIJING FORESTRY UNIVERSITY
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