| Many environmental and human factors greatly affected the operating efficiency. To express its features designed of large operation range, strong passing ability and high efficiency, it is urgent to curtail the time interval. Therefore, in order to solve the current problems, to optimize the cutting and cultivating operation, to improve the utilization of forest resources, forest recognition and observation, and to establish non-contact laser scanning system, we have to investigate the stumpage identification and position, diameter measurement and interval calculation so that to obtain critical data for the accurate model of target stumpage and to provide obstacle detection for operations during walking on forest land. Finally, it will lay the technical foundation for multi-function forest felling &cultivation equipment to enhance the level of automatic identification which can be profusely applied into theoretical research of auxiliary operations in complex environment.This paper mainly researched for non-contact laser scanning system theoretical research and applications in the forestry felling & cultivation machine. It mainly included severe aspects as follows:1. It summarized the current situation of laser scanning measuring system applications at home and abroad, analyzed and explored the typical foreign current situation of it.By bring in foreign advanced experience, combining with our research application situation and environment of cutting and cultivating operations, the research programs and technology route of multi-function forest felling & cultivation machine non-contact laser scanning system have been proposed, which were suited for China's national conditions and forestry situation.2. In accordance with the existing situation of WCF-1 multi-functional forest felling &cultivation equipment, we selected the LMS291 laser scanner as a core component of non-contact measurement system, and have compiled the software of communication and control between the host computer and laser scanner. Meanwhile, according to operating parameters of the machine, the non-contact measurement was reasonably configured and many groups of field data were collected.3. According to the form of the laser scanner output data, based on Matlab and the filtering algorithm compiled by corrosion expansion and cluster calculation principle background noise and other non-target noise were filtered out in the original laser scan data so that we can obtain profile data of target stumpage, etc. 4. According to the profile data after being filtered, we assumed that all the objectives as the standard circle, and utilized the two algorithms of triangle formula and least-squares fitting to separately calculate the target stumpage diameter. In accordance with the results and its comparison with manual measurement, we chose the least squares fitting with high accuracy as the method for stumpage diameter calculation.5. For the complex environment of forest land, besides the target stumpage, there probably exist other large obstacles such as rocks, houses, walls, which may affcct the operation. According to the least squares method, we sorted the results data of target stumpage by Hierarchical cluster method based on multivariate statistics analysis in case of false operation of the device, and then we can effectively distinguish between the target stumpage and large obstacles.6 To operate a lot of tending felling, the multi-functional forest felling & cultivation equipment needs to walk in the forest. However, the row spacing of stumpage does a great influence on whether it can pass through successfully. In this paper, with the laser scanning system, we obtained the data of the stumpage row spacing in order to provide supplementary information for the operators, and to provide data support for the equipment walking, obstacle avoidance, passing ability, path planning and other further studies.
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