阅读说明：本技术 一种立木位置测量装置及方法 (standing tree position measuring device and method ) 是由 孙林豪 方陆明 刘江俊 郑似青 任俊俊 杨来邦 于 2019-09-24 设计创作，主要内容包括：本发明提出了一种立木位置测量装置及方法,涉及树木位置测量技术领域,该立木位置测量装置包括：基站、移动装置；该基站包括有一支架、四杆件：第一杆件、第二杆件、第三杆件、第四杆件；所述支架具有一节点,四杆件的一端均固定在节点上,另一端均设置有第一UWB通信模块；第一杆件、第二杆件、第三杆件位于同一水平面内且互成120°角；第四杆件垂直于水平面设置；移动装置内集成有可与第一UWB通信模块进行通信的第二UWB通信模块；第二UWB通信模块与第一UWB通信模块之间进行通信,以测量移动装置与基站上各杆件上的第一UWB通信模块之间的距离；移动装置根据测量的距离测算自身位置。本装置在测量树木位置时,快捷高效、使用方便、且成本较低。(The invention provides standing tree position measuring devices and methods, and relates to the technical field of tree position measurement, the standing tree position measuring device comprises a base station and a moving device, the base station comprises a support and four rods, the 0 th rod, the second rod, the third rod and the fourth rod are arranged on the base station, the support is provided with a 1 node, ends of the four rods are fixed on the node, th UWB communication modules are arranged at ends of the four rods, the th rod, the second rod and the third rod are positioned in the same horizontal plane and form an angle of 120 degrees with each other, the fourth rod is arranged perpendicular to the UWB horizontal plane, a second UWB communication module capable of communicating with an th communication module is integrated in the moving device, the second UWB communication module and the th communication module are communicated to measure the distance between the moving device and the th UWB communication module on each rod on the base station, and the moving device measures the position of a tree according to the measured distance.)

1, standing tree position measurement device, characterized in that, this standing tree position measurement device includes:

the base station comprises a support, four-bar members, a th bar member, a second bar member, a third bar member and a fourth bar member, wherein the support is provided with a node, ends of the four bar members are all fixed on the node, and the other ends are all provided with UWB communication modules;

the mobile device is internally integrated with a second UWB communication module capable of communicating with an UWB communication module, the second UWB communication module communicates with a UWB communication module to measure the distance between the mobile device and a UWB communication module on each rod on the base station, and the mobile device calculates the position of the mobile device according to the distance between the mobile device and a UWB communication module on each rod on the base station.

2. A stumpage position measurement device according to claim 1, wherein a storage module for storing measurement data is integrated within the mobile device.

3. A standing tree position measuring device as claimed in claim 2, wherein the moving device is provided with a data transmission interface for uploading measured data to an upper computer.

4. The standing timber position measuring device of claim 1, wherein an indicator light for indicating whether the second UWB communication module and the th UWB communication module start to communicate is provided on the mobile device.

5. A standing tree position measuring device as claimed in claim 1, wherein the mobile device is further provided with a display screen and keys for interaction.

6. A standing timber position measuring device as claimed in claim 1, wherein the base station further incorporates a GPS within its electronics.

7. A standing tree position measuring device as claimed in claim 1, wherein the distance Dis between the mobile device and th UWB communication module on each rod of the base station is calculated as Dis ═ c × t_p(ii) a Where c is the speed of light, t_pIs the time length of one-way communication between the second UWB communication module and the th UWB communication module.

8. A stumpage position measuring device according to claim 1, wherein the four-bar members are each 1 meter long;

the calculation process of the mobile device for calculating the self position according to the distance between the mobile device and the th UWB communication module on each rod piece on the base station is as follows:

in 4 equations:taking 3 combinations at each time, wherein the total number of the combinations is 4, and the coordinates of the 4 combinations solved by the ternary th-order equation are respectively (X)_n1,Y_n1,Z_n1),(X_n2,Y_n2,Z_n2),(X_n3,Y_n3,Z_n3),(X_n4,Y_n4,Z_n4)；

Calculating mobile device coordinates (X)_n,Y_n,Z_n) Is calculated as follows:

wherein AE is_n、BE_n、CE_n、DE_nDistance between the mobile device and the UWB communication module on the th rod piece, the second rod piece, the third rod piece and the fourth rod piece respectively, (X)_n,Y_n,Z_n) The coordinate origin of the XY coordinate system is a node of the support, the X axis is arranged along the th rod piece direction, the Y axis is obtained by rotating the X axis along the horizontal plane by 90 degrees anticlockwise in a top view angle, and the Z axis is arranged along the fourth rod piece direction.

9. The standing log position measuring device of claim 8, wherein a gyroscope capable of measuring an euler attitude angle and an altimeter capable of measuring an altitude are further integrated in the electronic device of the base station;

the calculation process of the mobile device for measuring and calculating the position of the mobile device further comprises the following steps:

will move the device coordinate (X)_n,Y_n,Z_n) Conversion to coordinates (X) in the east-North-sky coordinate System_n'，Y_n'，Z_n'), the conversion is calculated as follows:

the psi, the theta and the phi are respectively a yaw angle, a pitch angle and a roll angle, and are measured by a gyroscope; h is the altitude of the electronic device.

10, standing tree position measuring method, characterized in that, the standing tree position measuring method is applied to the standing tree position measuring device, including the step:

measuring the distance between the mobile device and a UWB communication module on each rod piece on the base station through the communication between the second UWB communication module and the UWB communication module;

and calculating the position of the mobile device according to the distance between the mobile device and th UWB communication modules on each rod piece on the base station.

Technical Field

The invention relates to the technical field of tree position measurement, in particular to standing tree position measuring devices and methods.

Background

However, the single tree position is usually measured by using a total station, for example, chinese patent CN201110164568.3 discloses forest measurement methods based on an electronic theodolite and the total station, in the technical scheme of the patent document, the electronic theodolite and the total station are used as tools to collect various factors of forest stand data, a Personal Digital Assistant (PDA) is used to store and process the data, the electronic theodolite and the total station are used to directly observe the coordinates of the tree from a sampling point.

Therefore, standing tree position measuring modes which are quick and efficient, convenient to use and low in cost are lacked at present.

Disclosure of Invention

The invention aims to solve the technical problem that standing tree position measuring devices and methods are provided for overcoming the defects in the prior art, so that the device and the method are fast and efficient, convenient to use and low in cost when the position of a tree is measured.

This standing tree position measurement device includes:

the base station comprises a support, four-bar members, a th bar member, a second bar member, a third bar member and a fourth bar member, wherein the support is provided with a node, ends of the four bar members are all fixed on the node, and the other ends are all provided with UWB communication modules;

the mobile device is internally integrated with a second UWB communication module capable of communicating with an UWB communication module, the second UWB communication module communicates with a UWB communication module to measure the distance between the mobile device and a UWB communication module on each rod on the base station, and the mobile device calculates the position of the mobile device according to the distance between the mobile device and a UWB communication module on each rod on the base station.

Further , a memory module for storing measurement data is integrated within the mobile device.

, a data transmission interface is arranged on the mobile device to upload the measurement data to an upper computer.

, an indicator light is set on the mobile device to indicate whether the second UWB communication module and UWB communication module start to communicate.

, the mobile device is also provided with a display screen and keys for interaction.

Further , the base station has a GPS integrated within its electronics.

, the distance Dis between the mobile device and UWB communication modules on the bars of the base station is calculated as Dis ═ c × t_p(ii) a Where c is the speed of light, t_pIs the time length of one-way communication between the second UWB communication module and the th UWB communication module.

, the length of the four-bar components is 1 meter;

the calculation process of the mobile device for calculating the self position according to the distance between the mobile device and the th UWB communication module on each rod piece on the base station is as follows:

in 4 equations:

taking 3 combinations at each time, wherein the total number of the combinations is 4, and the coordinates of the 4 combinations solved by the ternary th-order equation are respectively (X)_n1,Y_n1,Z_n1),(X_n2,Y_n2,Z_n2),(X_n3,Y_n3,Z_n3),(X_n4,Y_n4,Z_n4)；

Calculating mobile device coordinates (X)_n,Y_n,Z_n) Is calculated as follows:

wherein AE is_n、BE_n、CE_n、DE_nDistance between the mobile device and the UWB communication module on the th rod piece, the second rod piece, the third rod piece and the fourth rod piece respectively, (X)_n,Y_n,Z_n) The coordinate origin of the XY coordinate system is a node of the support, the X axis is arranged along the th rod piece direction, the Y axis is obtained by rotating the X axis along the horizontal plane by 90 degrees anticlockwise in a top view angle, and the Z axis is arranged along the fourth rod piece direction.

, integrating a gyroscope of Euler attitude angle and an altimeter of altitude;

the calculation process of the mobile device for measuring and calculating the position of the mobile device further comprises the following steps:

will move the device coordinate (X)_n,Y_n,Z_n) Conversion to coordinates (X) in the east-North-sky coordinate System_n'，Y_n'，Z_n'), the conversion is calculated as follows:

the psi, the theta and the phi are respectively a yaw angle, a pitch angle and a roll angle, and are measured by a gyroscope; h is the altitude of the electronic device.

In addition , the application also provides standing tree position measuring methods, which are applied to a standing tree position measuring device and comprise the following steps:

measuring the distance between the mobile device and a UWB communication module on each rod piece on the base station through the communication between the second UWB communication module and the UWB communication module;

and calculating the position of the mobile device according to the distance between the mobile device and th UWB communication modules on each rod piece on the base station.

The standing tree position measuring device comprises a base station and a mobile device, wherein the base station is arranged at a fixed position during measurement, an investigator holds the mobile device for measurement by hands, the base station is provided with four UWB communication modules, the mobile device is provided with a second UWB communication module, the second UWB communication module is communicated with the UWB communication module to measure the distance between the mobile device and the UWB communication module on each rod piece on the base station, and the mobile device measures the position of the mobile device according to the distance between the mobile device and the UWB communication module on each rod piece on the base station.

Drawings

Fig. 1 is a schematic structural diagram of a standing timber position measuring device in an embodiment of the present application.

Fig. 2 is a schematic diagram of a standing timber position measuring device for measuring the position of a standing timber in the embodiment of the application.

Fig. 3 is a schematic block diagram of a base station circuit in the embodiment of the present application.

Fig. 4 is a schematic block diagram of a mobile device in an embodiment of the present application.

Fig. 5 is a flowchart of a standing tree position measuring method in the embodiment of the present application.

Detailed Description

The following is a description of specific embodiments of the present invention with reference to the drawings, but the present invention is not limited to these embodiments.

Referring to fig. 1, the standing position measuring device comprises a base station 10 and a moving device 20, wherein the base station 10 comprises brackets 11 and four-bar elements, namely a th bar element 12, a second bar element 13, a third bar element 14 and a fourth bar element 15, the brackets 11 are provided with nodes 16, ends of the four bar elements are all fixed on the nodes 16, UWB communication modules are arranged at ends of the four bar elements, the th bar element 12, the second bar element 13 and the third bar element 14 are located in the same horizontal plane and form an angle of 120 degrees with each other, the fourth bar element 15 is arranged perpendicular to the horizontal plane, and an electronic device 16a is arranged at the position of each node 16.

Specifically, the end of the th rod 12 far away from the node 16 is provided with a th UWB communication module 12a, the end of the second rod 13 far away from the node 16 is provided with a th UWB communication module 13a, the end of the third rod 14 far away from the node 16 is provided with a th UWB communication module 14a, and the end of the fourth rod 15 far away from the node 16 is provided with a th UWB communication module 15 a.

The mobile device 20 is integrated with a second UWB communication module capable of communicating with the UWB communication module, the second UWB communication module communicates with the UWB communication module to measure the distance between the mobile device 20 and the UWB communication module on each rod of the base station 10, and the mobile device 20 calculates the position of the mobile device according to the distance between the mobile device 20 and the UWB communication module on each rod of the base station 10.

Referring to fig. 2, the standing tree position measuring device places a base station 10 at a mark point P of a fixed sample during measurement, initializes the base station, and a forest investigator holds a mobile device 20 to approach the trunk of each trees to be measured in order to measure and calculate the distances between the mobile device 20 and UWB communication module 12a, UWB communication module 13a, UWB communication module 14a, and UWB communication module 15a on the base station 10, which are respectively marked as AEn, BEn, CEn, and DEn.

In the embodiment of the present application, the mobile device 20 can be held by hand more conveniently, and when measuring, the coordinate position of the trunk of the tree to be measured can be obtained only by sequentially approaching the handheld mobile device 20 to the trunks of every trees to be measured, which has higher measurement efficiency.

, the distance Dis between the mobile device 20 and the UWB communication module on each rod of the base station 10 is calculated as Dis ═ c × t_p(ii) a Where c is the speed of light, t_pIs the time length of one-way communication between the second UWB communication module and the th UWB communication module.

It should be noted that UWB signals have better interference rejection and better penetration, and the measured distance is more accurate.

Fig. 3 is a schematic block diagram of a base station 10 in an embodiment of the present application, and as shown in the drawing, the base station includes a microprocessor, a gyroscope, a storage module, a data interface, a four-way UWB module, a GPS, a display screen, a key, an altimeter, and a power module, where the power module includes a lithium battery, a power management chip, and a switch, the storage module is used to store measurement data, the data interface is used to communicate with an upper computer and upload the measurement data to the upper computer, the display screen is used to display the measurement result, the altimeter is used to measure the altitude, the GPS is used to measure the approximate position of a sample plot, the gyroscope is used to determine three attitude angles of the base station 10 under an east-north-day coordinate system, the UWB power module is used to supply power, the four-way UWB module is an -th UWB module 12a, a -th UWB module 13a, a -th UWB module 14a, and a- -th UWB module 15a which are respectively disposed at ends of four-bar members.

Fig. 4 is a schematic block diagram of a mobile device in an embodiment of the present application. As shown, the mobile device 20 includes: the device comprises a microprocessor, a storage module, a data interface, a single-path UWB module, a display screen, a key, an indicator light and a power supply module; the power module comprises a lithium battery, a power management chip and a switch. The storage module is used for storing the measurement data, and the data interface is used for communicating with the upper computer and uploading the measurement data to the upper computer; the display screen can be used for displaying the measurement result; the single-path UWB module is a second UWB communication module; the keys may be used for corresponding setting operations.

In the embodiment of the present application, a storage module for storing measurement data is integrated in the mobile device 20; the mobile device 20 is provided with a data transmission interface so as to upload the measurement data to an upper computer.

In the embodiment of the present application, the mobile device 20 is provided with an indicator lamp for indicating whether the second UWB communication module and the th UWB communication module start to communicate.

In the embodiment of the present application, a display screen and keys for interaction are also provided on the mobile device 20.

In the embodiment of the application, the length of the four-bar component is 1 meter, namely, the distance of each UWB communication module from the node 16 is 1 meter.

Firstly, an XY coordinate system is established, the origin of coordinates of the XY coordinate system is a node 16 of the bracket 11, the X axis is arranged along the th rod piece 12 in the positive direction, the Y axis is obtained by rotating 90 degrees along the horizontal plane in a counterclockwise direction in a top view, and the Z axis is arranged along the fourth rod piece 15 in the positive direction_n,Y_n,Z_n) Is the coordinate position of the mobile device 20 in the xy coordinate system.

The calculation process of the mobile device 20 to calculate its own position according to the distance from the th UWB communication module on each bar of the base station 10 is as follows:

in 4 equations:taking 3 combinations at each time, wherein the total number of the combinations is 4, and the coordinates of the 4 combinations solved by the ternary th-order equation are respectively (X)_n1,Y_n1,Z_n1),(X_n2,Y_n2,Z_n2),(X_n3,Y_n3,Z_n3),(X_n4,Y_n4,Z_n4)；

Calculating Mobile device 20 coordinates (X)_n,Y_n,Z_n) Is calculated as follows:

wherein AE is_n、BE_n、CE_n、DE_nThe distance of the mobile device 20 from the th pole 12, the second pole 13, the third pole 14, the th UWB communication module on the fourth pole 15, respectively;

in , the electronic device 16a of the base station 10 further has integrated therein a gyroscope of measurable euler attitude angle and an altimeter of measurable altitude;

the calculation process of the mobile device 20 for calculating the self position further includes:

move the device 20 coordinate (X)_n,Y_n,Z_n) Conversion to coordinates (X) in the east-North-sky coordinate System_n'，Y_n'，Z_n'), the conversion is calculated as follows:

the psi, the theta and the phi are respectively a yaw angle, a pitch angle and a roll angle, and are measured by a gyroscope; h is the altitude of the electronic device 16 a.

FIG. 5 is a flow chart of a standing timber position measuring method in an embodiment of the present application; the standing tree position measuring method is applied to a standing tree position measuring device and comprises the following steps:

step S501, through the communication between the second UWB communication module and the UWB communication module, the distance between the mobile device and the UWB communication module on each rod piece on the base station is measured;

step S502, the position of the mobile device is calculated according to the distance between the mobile device and UWB communication modules on each rod piece on the base station.

During measurement, the forest investigator holds the mobile device to be close to the trunk of each trees to be measured in turn, so the position of the mobile device obtained in step S502 is the position of the tree to be measured.

Since the standing timber position measuring method shown in this embodiment is applied to the standing timber position measuring device, related contents have been described in detail in the embodiment of the standing timber position measuring device, and are not described again here.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.