CN108225234B - Standing tree size detection device based on angle sensor - Google Patents
Standing tree size detection device based on angle sensor Download PDFInfo
- Publication number
- CN108225234B CN108225234B CN201810046464.4A CN201810046464A CN108225234B CN 108225234 B CN108225234 B CN 108225234B CN 201810046464 A CN201810046464 A CN 201810046464A CN 108225234 B CN108225234 B CN 108225234B
- Authority
- CN
- China
- Prior art keywords
- data
- hoop
- size detection
- stumpage
- module
- 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
- 238000001514 detection method Methods 0.000 title claims abstract description 104
- 238000012545 processing Methods 0.000 claims abstract description 22
- 239000002023 wood Substances 0.000 claims abstract description 4
- 238000012544 monitoring process Methods 0.000 claims description 48
- 238000004891 communication Methods 0.000 claims description 46
- 230000007246 mechanism Effects 0.000 claims description 39
- 238000007600 charging Methods 0.000 claims description 34
- 238000005507 spraying Methods 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 10
- 238000005286 illumination Methods 0.000 claims description 9
- 239000007788 liquid Substances 0.000 claims description 9
- 230000002776 aggregation Effects 0.000 claims description 8
- 238000004220 aggregation Methods 0.000 claims description 8
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 7
- 229910052744 lithium Inorganic materials 0.000 claims description 7
- 239000000575 pesticide Substances 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 5
- 239000003337 fertilizer Substances 0.000 claims description 3
- 238000004806 packaging method and process Methods 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 31
- 239000007921 spray Substances 0.000 description 28
- 241000607479 Yersinia pestis Species 0.000 description 23
- 241000238631 Hexapoda Species 0.000 description 14
- 238000010586 diagram Methods 0.000 description 10
- 238000010277 constant-current charging Methods 0.000 description 9
- 238000003825 pressing Methods 0.000 description 6
- 238000013519 translation Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 239000002131 composite material Substances 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 229910052760 oxygen Inorganic materials 0.000 description 3
- 239000001301 oxygen Substances 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000009795 derivation Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- HEZMWWAKWCSUCB-PHDIDXHHSA-N (3R,4R)-3,4-dihydroxycyclohexa-1,5-diene-1-carboxylic acid Chemical compound O[C@@H]1C=CC(C(O)=O)=C[C@H]1O HEZMWWAKWCSUCB-PHDIDXHHSA-N 0.000 description 1
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 241000239290 Araneae Species 0.000 description 1
- 229910001018 Cast iron Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/10—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring diameters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The invention discloses a standing tree size detection device based on an angle sensor, which comprises a hoop (1) and a scissor type angle measuring device, wherein the hoop is provided with a pair of scissors; the hoop is used for hooping the measured standing timber; the scissor type angle measuring device comprises 2 articulated measuring arms (3); 2 measuring arms are the same length; 2 opened end parts of the measuring arm are respectively hinged with two ends of the hoop; an angle sensor is arranged on the scissor type angle measuring device; the stumpage size detection device is provided with a power supply and a data processing module for calculating the diameter or the circumference of the stumpage, and the power supply supplies power to the data processing module; and the data output end of the angle sensor is connected with the data processing module. This founds wood size detection device based on angle sensor structure is ingenious, easy to carry out.
Description
Technical Field
The invention relates to a standing tree size detection device based on an angle sensor.
Background
The existing forest growth monitoring relies on manual standing tree size detection, the measurement efficiency is low, the consumed time is long, and when different measurers perform measurement, the consistency is poor, and the human error is large. Therefore, a new monitoring method is needed.
In addition, for forest monitoring, environmental data of a forest site, such as illumination, temperature and humidity, needs to be further monitored, and the method is favorable for obtaining big data to carry out deep analysis and research on the growth process of trees.
Therefore, it is necessary to design a stumpage size detection device based on an angle sensor.
Disclosure of Invention
The invention aims to solve the technical problem of providing the standing timber size detection device based on the angle sensor, and the standing timber size detection device based on the angle sensor is ingenious in structure and easy to implement.
The technical solution of the invention is as follows:
a standing tree size detection device based on an angle sensor comprises a hoop (1) and a scissor type angle measuring device;
the hoop is used for hooping the measured standing timber;
the scissor type angle measuring device comprises 2 articulated measuring arms (3); 2 measuring arms are the same length; 2 opened end parts of the measuring arm are respectively hinged with two ends of the hoop;
an angle sensor is arranged on the scissor type angle measuring device;
the stumpage size detection device is provided with a power supply and a data processing module for calculating the diameter or the circumference of the stumpage, and the power supply supplies power to the data processing module; and the data output end of the angle sensor is connected with the data processing module.
The hinge component (2) for hinging the measuring arm and the hoop is a rotating shaft.
And a locking belt (4) is also arranged between the two ends of the hoop.
And a display screen connected with the data processing module is arranged on the scissor type angle measuring device.
And the scissor-type angle measuring device is provided with a communication module connected with the data processing module. The communication module is a near field communication module or a remote communication module.
The communication module is a GPRS, 3G, 4G or 5G communication module and is used for transmitting detected data to the remote monitoring platform.
And a positioning module connected with the data processing module is arranged on the scissor type angle measuring device. The positioning module is a GPS module or a Beidou module, and the Beidou module further has a position communication function. Such as sending short messages.
A battery button cell or lithium cell; the battery is connected with a solar charging module.
The calculation formula of the perimeter is as follows:
a perimeter c ═ L0+ π × arccos [ (2 × R0^2- (2 × L × sin (a/2)). times.2)/(2 × R0^2) ];
the diameter is calculated as:
a diameter D ═ L0+ π ^ arccos [ (2 ^ R0^2- (2 ^ L ^ sin (a/2)) ^2)/(2 ^ R0^2) ]/π;
wherein, L0 represents the length of the hoop, and R0 is the radius of the latest detection; a is the included angle of 2 measuring arms; l is the effective length of the measuring arm (i.e. the distance between the connecting point of the measuring arm and the hoop and the hinge point of 2 measuring arms); pi is the circumferential ratio and arccos (.) is the inverse cosine function.
The scissor-type angle measuring device is provided with a field communication module which is communicated with a field data gathering terminal; the field communication module is a WiFi module or a Bluetooth module; the data aggregation terminal is used for collecting data collected by the stumpage size detection device, packaging the data and transmitting the data to the remote monitoring platform, and is also used for receiving an instruction sent by the remote monitoring platform;
the data gathering terminal is a mobile vehicle-mounted data acquisition terminal or an aircraft.
The stumpage size detection device also receives a control instruction sent by the data aggregation terminal or the remote monitoring platform through the communication module, and starts detection under the requirement of the control instruction.
The battery is a storage battery or a lithium battery.
And the vehicle-mounted platform is provided with a constant current charging circuit for charging the battery.
The mobile detection terminal is also provided with a liquid spraying mechanism, such as spraying water, or spraying waste materials, or spraying pesticides, and the like.
The data monitoring platform and the plurality of mobile detection terminals can form a detection system (namely a monitoring system); the mobile detection terminal is in wireless communication connection with the data monitoring platform;
the mobile detection terminal can be communicated with a plurality of fixed detection terminals arranged in soil, and the mobile detection terminal can be used as a mobile data sink node.
A temperature and humidity sensor is arranged on the fixed detection terminal; the fixed detection terminal is in wired or wireless communication connection with the data monitoring platform;
the mobile detection terminal is provided with an electric walking mechanism and a lithium battery; the lithium battery is used for driving the electric walking mechanism and also used for supplying power to detection equipment arranged on the mobile detection terminal;
at least one wireless charging platform is arranged in the monitoring area or outside the monitoring area; be equipped with wireless charging mechanism in the wireless charging platform and can charge for mobile detection terminal.
The agricultural monitoring system also includes an aircraft having a camera; when the aircraft descends on wireless charging platform, wireless charging platform can be for the wireless charging of aircraft, still is equipped with the liquid reserve tank and sprays the mechanism on the aircraft, and the aircraft is used for spraying the pesticide and obtains the monitoring image or the video of big scene.
The mobile detection terminal is also provided with a spraying device for spraying special liquid, such as liquid fertilizer and the like.
The mobile detection terminal can walk on the ground, and can also be clamped to the mobile detection terminal through a channel when necessary. A camera support rod is arranged on the vehicle-mounted platform (mobile detection terminal), and a camera is arranged at the top end of the camera support rod; the control end of the camera is connected with the MCU, image data collected by the camera is transmitted to the memory connected with the MCU, and the image data is displayed on the display screen connected with the MCU.
The MCU is also connected with a wireless communication module and a positioning module. The positioning module is a Beidou and GPS module, and the wireless communication module is a GPRS, 3G, 4G or 5G module or a WiFi module.
The front end of the spray gun is provided with a nozzle, and the spray gun is provided with a regulator for regulating the water flow; the supporting seat setting of spray gun is equipped with the support column on the supporting seat on the horizontal rotation platform, and the spray gun setting is through the setting of horizontally pivot mechanism on the support column (the axis level of horizontally pivot mechanism, the spray gun can revolute pivot mechanism at vertical plane internal rotation to raise or descend the angle of nozzle, the supporting seat can be for 360 horizontal rotation of vehicle-mounted platform).
The horizontal rotating platform and the rotating shaft mechanism are both driven by a motor, and the motor and the regulator are both controlled by the MCU. MCU can pass through the motor control spray gun at horizontal plane and vertical plane internal rotation promptly, can also pass through the size of regulator control rivers to the distance of the water of its ejection of control.
A camera support rod is arranged on the vehicle-mounted platform, and a camera is arranged at the top end of the camera support rod; the control end of the camera is connected with the MCU, image data collected by the camera is transmitted to the memory connected with the MCU, and the image data is displayed on the display screen connected with the MCU.
Be equipped with the unmanned aerial vehicle of taking the camera on the vehicle-mounted platform, after unmanned aerial vehicle rose to the air, the image information who acquires returned remote monitoring center, and remote monitoring center control or scheduling vehicle-mounted platform realize that long-range supplementary sprays, and the supplementary including for vehicle-mounted platform planning route etc..
The locking band is used for preventing that the staple bolt from droing, increases the stability of staple bolt installation.
Has the advantages that:
the stumpage size detection device based on the angle sensor can automatically detect the diameter and the perimeter of the stumpage, and is compact in structure and easy to implement.
In addition, based on this kind of standing tree size detection device forest land monitoring system, still have the following function:
(1) collecting and controlling temperature, humidity and illumination parameters;
the fixed detection terminal collects temperature, humidity and illumination parameters and returns the temperature, humidity and illumination parameters to the data monitoring platform;
the data monitoring platform realizes temperature, humidity and illumination detection;
(2) monitoring image acquisition based on an aircraft;
the aircraft flies according to a preset flight route or is controlled by a background operator to fly, so that images or videos are collected.
In addition, still include:
(3) pest control based on aircraft;
pest and disease damage data are obtained through a pest detection device arranged at a fixed detection terminal, and if the data exceed a preset threshold value, an aircraft is started to spray pesticide (preferably organic pesticide) in a certain area (or adjacent area) where the pest and disease damage occurs. The specific flight path is automatically planned or controlled by a background operator.
In addition, still include:
(4) and (5) controlling charging.
When the aircraft and the mobile detection terminal are on the charging platform, the wireless charging device is started to wirelessly charge the aircraft and the mobile detection terminal.
In conclusion, the forest land monitoring system is rich in functions, easy to implement, capable of executing data detection and spraying tasks and good in flexibility.
Drawings
FIG. 1 is a diagram of the overall architecture of a forest area monitoring system;
FIG. 2 is a schematic structural view of a standing tree size detection device;
FIG. 3 is a schematic diagram illustrating the principle of calculation of stumpage size;
FIG. 4 is a schematic structural diagram of a mobile inspection vehicle (mobile vehicle-mounted data acquisition terminal);
FIG. 5 is a schematic view of a pest detection device;
FIG. 6 is a schematic block diagram of an overcurrent protection circuit;
FIG. 7 is a schematic diagram of an amplifier with adjustable amplification factor;
FIG. 8 is a schematic view of a hexagram spider and rotor;
FIG. 9 is a schematic structural view of a track-mounted water jet vehicle;
FIG. 10 is a schematic view of the structure of the vehicle-mounted spraying device;
fig. 11 is a schematic view (side view) of the general structure of a wireless charging system for a mobile detection terminal;
fig. 12 is a schematic general structural diagram (top view) of a wireless charging system of a mobile detection terminal;
FIG. 13 is a schematic view of the cover plate when closed;
FIG. 14 is a schematic view of the cover plate when raised;
FIG. 15 is a schematic structural view of a press-proof frame;
FIG. 16 is a schematic diagram of a dimming circuit;
fig. 17 is a schematic diagram of a constant current charging;
FIG. 18 is an electrical schematic block diagram of a wireless charging system for a mobile test terminal;
FIG. 19 is a schematic view of the general structure of the multi-purpose aircraft (water tank not shown);
fig. 20 is a schematic structural view (top view) of a quad-rotor telescopic boom and rotors;
fig. 21 is a schematic structural view of an aircraft with a quad-rotor telescopic boom (bottom view, with sub-rotor, pan/tilt and camera components not shown);
FIG. 22 is a schematic view of the position relationship of the main rotor and the auxiliary rotor;
FIG. 23 is an exploded view of the telescoping boom;
FIG. 24 is a schematic view of the assembled telescopic boom;
FIG. 25 is a schematic view of the latch;
FIG. 26 is a schematic structural view of a leg;
fig. 27 is a schematic structural diagram of a compound lens and a camera.
Description of reference numerals: 1-anchor ear, 2-hinged part, 3-measuring arm and 4-locking belt;
21-outer arm, 22-inner arm, 23-main rotor, 24-jack, 25-lock catch; 26-auxiliary rotor, 27-ducted fan mount, 28-leg, 29-chassis, 30-beam, 31-cross, 32-cradle; 33-a pan-tilt head;
51-shell, 52-pin, 53-barb, 511-shell, 512-pressing block, 513-pressing spring;
70-on-board camera, 71-sub-lens, 72-compound lens, 73-rotating shaft, 74-light reflection sheet, 75-photoelectric emitting and receiving device, 76-CCD sensor, 77-fuselage;
81-upper leg, 82-spring, 83-guide bar, 84-lower leg, 85-sleeve, 86-foot nail, 87-grommet.
111-crawler type traveling mechanism, 112-supporting platform, 113-auxiliary water tank; 114-vehicle camera, 115-auxiliary spray gun, 116-pull rope, 117-spray gun driving motor, 118-rotary platform, 119-driven gear, 120-support seat, 121-rotary platform driving motor and 122-first driving gear.
201-a concave part, 202-a bottom movable platform, 203-a first motor, 204-a limit switch, 205-a guide rail, 206-a first rack rail, 207-a second driving gear, 208-a coded disc, 209-a walking wheel, 210-a lifting platform, 211-a second rack rail, 212-a lead, 213-a power-on plug, 214-a transmitting coil, 215-a scissor type lifting mechanism, 216-an upper movable platform, 217-a push rod, 218-a pressure-proof frame and 219-a movable cover plate.
301-monitoring area, 302-sub-area, 303-road, 304-charging area, 305-object to be tested, 306-static arm, 307-movable arm, 308-stay cord fixing piece, 309-mounting base, 310-pulley, 311-stay cord, 312-movable arm driving device, 313-movable end, 314-groove, 315-fixed end, 316-vertical telescopic rod, 317-horizontal telescopic rod and 318-chuck. 319-liquid spray mechanism.
401-air filling pipe, 402-air cushion type base, 403-insect collecting bottle, 404-fixed support rod, 405-rotating shaft, 406-bottle body fixed plate, 407-insect attracting top lamp, 408-photoelectric detection module, 409-insect attracting bottom lamp, 410-top rod, 411-top rod driving mechanism and 412-solar panel. And c is the fixed width of a single clamping arm.
Detailed Description
The invention will be described in further detail below with reference to the following figures and specific examples:
example 1:
(I) standing tree size detection device
2-3, the standing tree size detection device based on the angle sensor comprises a hoop (1) and a scissor type angle measuring device;
the hoop is used for hooping the measured standing timber;
the scissor type angle measuring device comprises 2 articulated measuring arms (3); 2 measuring arms are the same length; 2 opened end parts of the measuring arm are respectively hinged with two ends of the hoop;
an angle sensor is arranged on the scissor type angle measuring device;
the stumpage size detection device is provided with a power supply and a data processing module for calculating the diameter or the circumference of the stumpage, and the power supply supplies power to the data processing module; and the data output end of the angle sensor is connected with the data processing module.
Derivation process of calculation formula of diameter and perimeter:
as shown in FIG. 3, a is the included angle of 2 measuring arms, and b is the central angle; l is the arm length of the detection device; r0 is the most recently measured radius length;
the derivation process is as follows:
(1) the L1 is obtained by the method,
setting the chord length corresponding to the central angle b as L1, namely the length of AB;
for Δ QAB, according to the trigonometric relationship, L1 ═ 2 × L sin (a/2);
(2) calculating the arc length s;
for Δ OAB, cos (b) (2R 0^2-L1^ 2)/(2R 0^2) according to the cosine theorem;
r0^2 represents the square of R0; 2 represents the square;
then the central angle b ═ arccos [ (2 ^ R0^2-L1^2)/(2 ^ R0^2) ]
An arc length s ═ pi ═ b ═ pi ═ arccos [ (2 ^ R0^2-L1^2)/(2 ^ R0^2) ];
(3) determining the circumference and diameter
A circumference c ═ L0+ s ═ L0+ pi ^ arccos [ (2 ^ R0^2- (2 ^ L ^ sin (a/2)) ^2)/(2 ^ R0^2) ];
l0 denotes the length of the hoop;
a diameter D ═ c/π ═ L0+ π ^ arccos [ (2 ^ R0^2- (2 ^ L ^ sin (a/2)) ^2)/(2 ^ R0^2) ]/π;
(II) standing wood detection method description:
a standing tree size detection method based on an angle sensor comprises the following steps:
step 1: hooping the hoop on the vertical wood to be measured;
step 2: connecting the opening ends of 2 measuring arms of the scissor type angle measuring device with two ends of a hoop;
and step 3: detecting the opening angles of the two measuring arms by an angle sensor in the scissor-type angle measuring device;
and 4, step 4: calculating the perimeter or the diameter of the measured standing tree;
and 5: displaying the value of the circumference or the diameter, or transmitting the value of the circumference or the diameter to the data receiving end.
In the step 1, after the hoop is hooped on the standing timber to be measured, the two ends of the hoop are locked by the locking belt, so that the hoop is prevented from falling off from the standing timber to be measured.
And measuring by using a standing tree size detection device.
(III) forest zone monitoring method and system description:
a forest region parameter detection system comprises a plurality of remote monitoring platforms and a plurality of standing tree size detection devices located in a forest region; the plurality of standing timber size detection devices are arranged on the plurality of standing timbers to be detected;
the stumpage size data detected by the stumpage size detection devices are sent to a remote monitoring platform;
the standing tree size detection device comprises a hoop (1) and a scissor type angle measuring device;
the hoop is used for hooping the measured standing timber;
the scissor type angle measuring device comprises 2 articulated measuring arms (3); 2 measuring arms are the same length; 2 opened end parts of the measuring arm are respectively hinged with two ends of the hoop;
an angle sensor is arranged on the scissor type angle measuring device;
the stumpage size detection device is provided with a power supply and a data processing module for calculating the diameter or the circumference of the stumpage, and the power supply supplies power to the data processing module; the data output end of the angle sensor is connected with the data processing module;
and the scissor-type angle measuring device is provided with a communication module connected with the data processing module. The communication module is a near field communication module or a remote communication module.
The forest region parameter detection system also comprises a sensor group arranged in the forest region; the sensor group comprises at least one of a temperature and humidity sensor and an illumination sensor; the sensor group transmits the acquired parameters to the remote monitoring platform directly or through the aggregation node. The sink node may be a fixed sink node or a mobile sink node.
The forest zone parameter detection system further comprises at least one mobile data acquisition terminal serving as a sink node, the mobile data acquisition terminal is used for mobile acquisition of on-site image data and gathering of on-site sensor group acquired data, and the mobile data acquisition terminal is in communication connection with the remote monitoring platform.
The data aggregation terminal is a mobile vehicle-mounted data acquisition terminal or an aircraft, and a communication module and a camera are arranged on the mobile vehicle-mounted data acquisition terminal or the aircraft.
And the data aggregation terminal is also provided with a liquid spraying mechanism. Used for spraying pesticides or fertilizers.
A forest region monitoring method adopts the forest region parameter detection system to collect forest region data;
(1) collecting stumpage size data;
(2) collecting field environment parameters based on a sensor group;
(3) collecting image data;
(4) and performing active spraying operation.
The stumpage size detection device also receives a control instruction sent by the data aggregation terminal or the remote monitoring platform through the communication module, and starts detection under the requirement of the control instruction.
In addition, some components of the system are described in detail as follows:
1. pest detection device
The sensor group further includes a pest detection device having a wireless communication module for communicating with a master node apparatus (e.g., a data sink terminal), as shown in fig. 5; the pest detection device is provided with an air cushion type base 402, a bracket and a solar panel 412; the support is arranged on the air cushion type base, and the solar panel is arranged on the support and supported by the support; a sub-node controller, a temperature and humidity sensor, a water level sensor, a light intensity sensor and a positioning module are integrated on the pest detection device;
an insect collecting bottle 403 is also arranged on the air cushion type base; the bottom of the insect collecting bottle is provided with an insect luring bottom lamp 409, and the top of the insect collecting bottle is provided with an insect luring top lamp 407; the insect collecting bottle is provided with a bent bottle mouth; (to prevent insects from entering and then exiting); the neck of the insect collecting bottle is provided with a photoelectric detection module 408 for detecting whether the insects enter or not and counting the insects entering the bottle body; the insect collecting bottle is fixed by a bottle body fixing plate 406 arranged on the bracket; the temperature and humidity sensor, the water level sensor, the photoelectric detection module, the light intensity sensor and the positioning module are all connected with the sub-node controller. A dissolved oxygen sensor, an air pump and an air adding pipe 401 are integrated on the pest detection device; the air adding pipes are arranged at the bottom of the cushion type base; the dissolved oxygen sensor is connected with the sub-node controller; the air filling pipe is connected with the air pump; the air pump is controlled by the sub-node controller. The bracket comprises a fixed support rod 404 and a top rod 410 driven by a top rod driving mechanism 411; the fixed support rod supports one side of the solar cell panel; the ejector rod supports the other side of the solar cell panel; the ejector pin goes up and down with the inclination of adjusting solar cell panel. The insect collecting bottle is provided with a push-pull type bottom plate, and the push-pull type bottom plate is driven by a push-pull driving module and is used for regularly cleaning insects in the bottle.
The wireless communication module is a ZigBee communication module, a 315MHz wireless communication module or a 433MHz wireless communication module (namely a communication module applicable to a common remote controller). The pest detection device sends the acquired data to the main node equipment, and the main node equipment uploads the data to the monitoring server after collecting the data; the monitoring server or the master node device can send instructions to the pest detection device; a plurality of pest detection devices forming a monitoring network, the pest detection devices communicating directly with the main node apparatus, or, sub-nodes
The device relays communication with the master node device through other pest detection means. The positioning module is a GPS or Beidou module. The pest detection device is provided with a position sensor and a driving mechanism (such as a miniature propeller and the like), and the rotary driving mechanism is used for driving the pest detection device to rotate and walk; the orientation sensor is used for detecting the direction of the pest detection device. The top light of luring the worm is used for attracting the pest of eminence to be close to, and the end light of luring the worm is used for attracting the pest to get into the bottle. And the sub-node controller controls the opening and closing of the top light and the bottom light through the relay module. The pest detection device collects temperature, humidity, water level, position, dissolved oxygen content, illumination and pest data and sends the data to the monitoring server through the main node module, and remote monitoring is achieved. The sub-node controller preferably selects a single chip microcomputer or a DSP; the ZigBee communication module has the working frequency of 800M-2.4 GHz and the communication distance of 100 meters. The pest detection device collects data such as temperature, humidity, illumination and insect quantity on site, and then gathers the data to the main node equipment, and the upper computer is communicated with the main node equipment and used for collecting the data, so that remote monitoring is realized. The fixed support rod is connected with the solar cell panel through a hinge mechanism with a rotating shaft 405, so that the angle can be adjusted conveniently.
2. Automatic vehicle-mounted liquid spraying system:
as shown in fig. 4,9 and 10, the automatic liquid spraying system includes a vehicle platform 112, on which a main water tank 104, a water pump 7, a rotary platform 118 and a rotary platform driving motor 121 are arranged; the main spray gun (108) is arranged on the rotary platform; the main water tank is connected with a water inlet of the water pump through a water pipe, and a water outlet of the water pump is connected with the spray gun through a water pipe; a first valve 13 is arranged on a water pipe connecting the water pump and the spray gun;
the rotating platform driving motor can drive the rotating platform to rotate through the first transmission mechanism; and a spray gun driving motor 117 is arranged on the rotating platform, and the spray gun driving motor can control the elevation angle of the main spray gun through a second transmission mechanism.
The first transmission mechanism is a gear transmission mechanism. Gear drive is including installing in the epaxial first driving gear 122 of rotary platform driving motor, and with first driving gear engaged with driven gear 119, driven gear sets up in rotary platform's outer lane, design as an organic whole, driven gear and rotary platform coaxial line, consequently, rotary platform driving motor can drive rotary platform rotatory.
The second transmission mechanism is a pull rope 116, the upper end of the pull rope is arranged at the rear end of the spray gun, and the lower end of the pull rope is wound on a rotating shaft of the spray gun driving motor (or a belt wheel arranged on the rotating shaft).
Because the spray gun is arranged on the spray gun frame and is hinged with the spray gun frame, the front end of the spray gun is downward under the action of gravity, and the elevation angle of the spray gun is completely controlled by the pull rope.
The vehicle-mounted platform is provided with a main camera. The main camera is preferably arranged on the vehicle platform by means of a camera post, so that a wider field of view is obtained. The spraying state of main spray gun is monitored to main camera, and the image of camera collection can show on the driver's cabin, and the operator of driver's cabin of being convenient for controls, or conveys remote platform, and the operator can remote control the operation of spraying water like this.
A positioning module (such as a GPS or Beidou module) and a wireless communication module are arranged on the vehicle-mounted platform; the wireless communication module is a PPRS (personal computer system), a 3G, a 4G or a 5G communication module, and the vehicle-mounted platform is in communication connection with a remote control platform or a remote control terminal (such as a PC (personal computer), a notebook computer, a tablet computer and the like) through the wireless communication module. Remote monitoring can be realized, and water spraying can be remotely controlled.
The vehicle-mounted platform is provided with a power lithium battery and a charging module, the charging module is matched with the charging pile, or the charging module is a wireless charging module; the wireless charging module is matched with a wireless charging system arranged on the ground.
In addition, a regulator for regulating water quantity is arranged on the spray gun, and the spraying distance can be realized by regulating the water quantity.
3. Aircraft with a flight control device
As shown in fig. 8 and 19-27, there are 1 or more aircraft, because each aircraft has limited working time, such as half an hour, multiple aircraft can be used by turns, and when one returns, another takes off to perform tasks without interruption. And the vehicle-mounted platform is provided with a charging module for charging the aircraft wirelessly or in a wired manner. Furthermore, a water tank and a spray pipe are arranged on the aircraft, and on the vehicle-mounted platform, the water tank of the aircraft can be replenished with water from the main water tank. At this time, the aircraft can perform not only the monitoring task but also the water spraying task, and water can be sprayed in an area where a vehicle or a crawler (crawler type water spraying vehicle) cannot pass.
The multifunctional aerial photography aircraft comprises a bracket 32, a rotor wing, a bottom plate 29, a tripod head 33, supporting legs 28 and a camera 70;
the rotor and the holder are arranged on the bracket;
the bottom plate is fixed at the bottom of the bracket; the camera is arranged on the holder;
the supporting legs are fixed at the bottom of the bottom plate;
the camera includes a body 77 and a compound lens 72; a CCD sensor 76 is arranged in the machine body, and a photoelectric transmitting and receiving device 75 for lens alignment is arranged on the machine body;
the composite lens is provided with a rotating shaft 73; 4 sub-lenses 71 are integrated in the compound lens; the sub-lenses are uniformly arranged along the circumferential direction of the composite lens; the rear end of the composite lens is also provided with a light reflection sheet 74 matched with the photoelectric transmitting and receiving device; a stepping motor for driving the lens to rotate is further arranged in the machine body. The photoelectric transmitting and receiving device and the light reflection sheet can be a plurality of sets, preferably 2 sets, are axially symmetrical, have better alignment effect, and only after the 2 sets of photoelectric transmitting and receiving device and the light reflection sheet are aligned, the lens is considered to be aligned with the CCD sensor, so that the alignment precision is higher.
4 support legs are vertically arranged, and a horizontal cross beam is arranged between every two adjacent support legs; the legs include an upper leg 81, a lower leg 84 and a foot peg 86; the lower end of the upper leg is provided with a guide groove; the upper end of the lower leg is provided with a guide rod 83; the guide rod is inserted in the guide groove; a spring 82 is arranged in the guide groove; the spring is arranged between the top wall (the inner wall at the innermost end) of the guide groove and the top end of the guide rod; the lower end of the lower leg is provided with a foot peg 86. The outer wall of the lower end part of the lower supporting leg is provided with an external thread; the lower end of the lower supporting leg is sleeved with a sleeve 85 with internal threads, and the lower end of the sleeve is provided with a backing ring 87. The chassis is also provided with a gyroscope and a wireless communication module. The gyroscope is used for navigation, and the wireless communication module is used for receiving an instruction of the remote controller and transmitting shot pictures and video information to the ground receiving end equipment. The bracket is a cross cantilever bracket consisting of 4 telescopic cantilevers with the same structure; each telescopic boom comprises an outer arm 21 and an inner arm 22; the inner end part of the outer arm is connected with the outer end part of the inner arm through a lock catch 25; the lock catch is provided with a pin 52 with a barb 53; the number of the lock catches is multiple; a plurality of groups of jacks 24 for pins to pass through are arranged at the inner end of the outer arm and the outer end of the inner arm; each group of jacks comprises at least 2 jacks; the rotor comprises a main rotor and an auxiliary rotor; the outer end part of the outer arm is provided with a main rotor 23 and an auxiliary cantilever 26; the main rotor and the auxiliary cantilever are coaxially arranged, the main rotor is positioned above the outer arm, and the auxiliary rotor is positioned below the outer arm; the diameter of the main rotor wing is larger than that of the auxiliary rotor wing; the auxiliary rotor wing is a ducted fan and is fixed at the bottom of the outer arm through a ducted fan fixing part 7; the lock catch has a housing 51; the shell comprises an outer shell 511, a pressing block 512 and a pressure spring 513; the number of the pins is 2; the pins are fixed on the outer shell; the pressing block is positioned in the outer shell and sleeved on the 2 pins; the pressing block can move along the pin; a pressure spring is arranged between the pressing block and the pin, and the pressure spring is sleeved at the root of the pin. The inner end of the outer arm is provided with 2 groups of jacks for the pins to pass through; each group of jacks on the outer arm comprises 2 jacks; the number of the lock catches is 2; 4 groups of jacks for the pins to pass through are arranged at the outer end part of the inner arm at equal intervals; each set of jacks on the inner arm includes 2 jacks. The ratio of the diameter of the auxiliary rotor to the diameter of the main rotor is 0.2-0.35; preferred values are 0.25 and 0.3. The backing ring is made of rubber, and the foot nails are made of stainless steel.
In the other type of aircraft, the support is a hexagonal star-shaped support consisting of 6 transverse struts with the same length; each angular position of the hexagonal star-shaped support is provided with a rotor wing. The rotor comprises a main rotor and an auxiliary rotor;
the outer end part of the outer arm is provided with a main rotor 23 and an auxiliary cantilever 26; the main rotor and the auxiliary cantilever are coaxially arranged, the main rotor is positioned above the outer arm, and the auxiliary rotor is positioned below the outer arm; the diameter of the main rotor wing is larger than that of the auxiliary rotor wing; the auxiliary rotor is a ducted fan and is fixed to the bottom of the outer arm by a ducted fan fixing member 27. Furthermore, each cross position of the hexagram-shaped support is provided with a rotor wing, and the cross position is a position corresponding to X cross formed by the adjacent transverse struts; such an aircraft would have 12 or 12 sets of rotors. The ratio of the diameter of the auxiliary rotor to the diameter of the main rotor is 0.25 or 0.3.
The aircraft has the following outstanding characteristics:
the aircraft camera adopts a switched composite lens of a self-lens, 4 lenses with different focal lengths are integrated in the composite lens and are used for shooting pictures with different visual angles on a target object, and the flexibility is good; the photoelectric transmitting and receiving device arranged on the camera and the light reflection sheet arranged on the lens are used for aligning the sub-lens with the CCD sensor, the combined type lens is driven by the stepping motor, the alignment precision is high, and the sub-lens is convenient to switch. The camera has the excellent quality of a fixed focus head and also has the flexibility of changing the focal length, so the camera has good practicability.
Adopting a hexagonal star-shaped rotor wing; the novel hexagram-shaped support is adopted, the stability of the support is good, each rotor wing is located at an angular position, each angular position is located at a vertex of a triangle and is supported by 2 supporting rods, and due to the stability of the triangle, the vertex cannot have any offset or drift in flight, so that the support has great stability advantages relative to a regular hexagon support or a cross-shaped support or other supports. In addition, the arrangement mode of 6 rotors has better aerodynamic configuration than the arrangement mode of 2-4 rotors, and in conclusion, the six-rotor aircraft has ingenious structure and good stability.
4. Wireless charging module
Is arranged in the fixed area; charging the aircraft and the vehicle-mounted platform.
As shown in fig. 11-15, the wireless charging module includes a support platform disposed in the recess 201 and a transmitting coil 214 disposed on the support platform;
the supporting platform comprises a bottom layer movable platform 202, an upper layer movable platform 216 and a lifting mechanism for connecting the bottom layer movable platform and the upper layer movable platform; a longitudinal translation mechanism is arranged on the bottom layer movable platform; the upper layer movable platform is provided with a transverse translation mechanism.
The lifting mechanism is a cylinder type lifting mechanism or a scissor type lifting mechanism 215. The cylinder type lifting mechanism is a push rod type driving mechanism, such as a pneumatic cylinder or a hydraulic cylinder.
The longitudinal translation mechanism comprises a guide rail 205 and a first rack rail 206 arranged at the bottom of the recess;
the number of the guide rails is 2; the rack rail is one, and the rack rail and the guide rail are arranged in parallel;
a plurality of travelling wheels 209 capable of rolling on the guide rails are arranged at the bottom of the bottom layer movable platform; the number of the walking wheels is 4, and one side of the walking wheels is 2.
The front end of the bottom layer movable platform is provided with a first motor 203; a gear 207 is arranged on a rotating shaft of the first motor, and the gear is meshed with the first rack rail; when the first motor rotates, the bottom layer movable platform can be driven to longitudinally (front and back) translate along the first rack rail.
The transverse translation mechanism comprises a second rack rail 211 and a second motor; the second rack rail is transversely arranged, and the left end or the right end of the upper movable platform of the second motor is arranged; and a gear meshed with the second rack rail is arranged on a rotating shaft of the second motor, and when the second motor rotates, the upper movable platform can be driven to transversely (leftwards and rightwards) translate along the second rack rail.
The rotating shafts of the first motor and the second motor are both provided with a code disc 208. The code wheel is used for detecting the number of turns of the motor rotation, so that the displacement of the platform in advancing can be converted.
An electrically movable cover 219 is provided at the opening of the recess. The electric driving means motor driving or electric signal control hydraulic cylinder or air cylinder driving.
The movable cover plate is 2, a push rod for driving the movable cover plate is arranged in the concave part, and the upper end of the push rod is connected with the movable cover plate ground.
The opening of the depressed part is also provided with a pressure-proof mechanism 210, and when the movable cover plate is unfolded, the pressure-proof mechanism can support the movable cover plate.
The pressure-proof mechanism is in a square frame shape. Stainless steel or cast iron is adopted, and the strength is high.
The mobile detection terminal wireless charging system also comprises a control unit, wherein the control unit comprises an MCU, and the transverse translation mechanism and the longitudinal translation mechanism are controlled by the MCU; the MCU is also connected with a communication module.
In addition, the limit switch and the code disc output signals to the MCU;
the first motor and the second motor are both stepping motors.
The first rack rail is located between the 2 rails.
The rear end of the bottom layer movable platform is provided with a limit switch 204; the front end of the motor is provided with a limit switch 204. The limit switch acts to indicate that the front or the rear is in place, and the motor stops rotating, so that the safe operation of the whole equipment is guaranteed.
The bottom movable platform is provided with a lead with a connecting plug 213. The wire is used for connecting and obtaining commercial power, thereby supplying power for the transmitting coil.
The bottom layer movable platform is also provided with an MCU and a single-phase bridge type rectification and inversion circuit; the single-phase bridge type rectification and inversion circuit comprises a rectifier bridge and an inverter bridge, wherein the rectifier bridge adopts 4 power diodes, the inverter adopts 4 IGBTs, the connection mode is the existing mature technology, and the G pole of the IGBT is controlled by the pulse sent by the MCU. The input side of the rectifier bridge is connected with the commercial power, and the output side of the rectifier bridge is connected with the transmitting coil through the inverter; the rectifier bridge is used for changing alternating current into direct current, and the inverter is used for changing direct current into alternating current of different frequencies, changes the frequency in order to improve charge efficiency.
The display screen is arranged in the concave part, is connected with the MCU and is used for field debugging and displaying field state data in real time.
The mobile detection terminal is provided with a constant current charging circuit for efficiently charging the lithium battery.
An inductor for inducing a mobile detection terminal above is arranged at the opening of the concave part, such as an ultrasonic or photoelectric sensor; and the automatic charging is realized.
The charging system also comprises a brightness adjusting circuit for adjusting the brightness of the display screen (the display screen is positioned in the cab of the vehicle-mounted platform); the brightness adjusting circuit comprises an MCU, an LED lamp string, a triode, a potentiometer Rx and an A/D converter; the triode is an NPN type triode; a knob switch is arranged above a fixing frame of the display screen and is coaxially connected with the potentiometer Rx;
the potentiometer Rx and the first resistor R1 are connected in series to form a voltage division branch, one end of the voltage division branch is connected with the positive electrode Vcc of the power supply, and the other end of the voltage division branch is grounded; the connection point of the potentiometer Rx and the first resistor R1 is connected with the input end of the A/D converter; the output end of the A/D converter is connected with the data input port of the MCU;
the LED lamp string comprises a plurality of LED lamps which are connected in series; the anode of the LED lamp string is connected with the anode Vcc of the power supply; the negative electrode of the LED lamp string is connected with the C electrode of the triode, and the E electrode of the triode is grounded through a second resistor R2; the B pole of the triode is connected with the output end of the MCU. The power supply positive pole Vcc is 5V, and the A/D converter is an 8-bit serial output type converter.
6. After receiving the electric energy, the constant-current charging mobile detection terminal charges a battery in the mobile detection terminal through a constant-current charging circuit;
the constant-current charging circuit comprises a constant-voltage driving chip and a current feedback circuit;
(1) the voltage output end of the constant voltage driving chip is a positive output end VOUT + of the constant current charging circuit; the negative output end of the constant voltage driving chip is grounded;
the constant voltage driving chip is powered by a direct current voltage power supply end VIN + and VIN-;
(2) the current feedback circuit comprises resistors R1, R2 and R5 and a reference voltage end VREF +;
the reference voltage end VREF + is grounded through resistors R1, R2 and R5 which are sequentially connected in series;
the connecting point of the resistor R5 and the resistor R2 is a negative output end VOUT < - >;
the connection point of the resistors R1 and R2 is connected with the feedback terminal FB of the constant voltage driving chip.
The constant current charging circuit also comprises a voltage feedback circuit;
the voltage feedback circuit comprises resistors R3 and R4 and a diode D1;
the resistors R3 and R4 are connected in series and then connected between the positive output end VOUT + of the constant current charging circuit and the ground; the connection point of the resistors R3 and R4 is connected with the anode of the diode D1; the cathode of the diode D1 is connected to the feedback terminal FB of the constant voltage driving chip.
Description of the working principle:
the stable reference power supply is used as a reference voltage, and the voltage which is equal to the voltage FB is obtained by dividing the voltage by R1, R2 and R5, so that the internal PWM of the DCDC IC is adjusted by the voltage FB to control the magnitude of the output current. For example, when the output current becomes larger, the voltage across the sampling resistor R5 will increase, and since VRFE + is a fixed value, the FB voltage becomes larger, FB becomes larger, the duty cycle will decrease, and the output current decreases, thereby completing a complete feedback to achieve the purpose of stabilizing the current output.
7. Overcurrent protection
As shown in fig. 6-7, the forest area monitoring system further includes an overcurrent detection and protection circuit for monitoring the current during the wireless charging process;
the working principle is as follows: the current transformer (or coil) is inserted into the alternating current wire (the alternating current wire of the charging coil), so that the current transformer generates mutual-inductance current, the larger the field power consumption is, the larger the mutual-inductance current is, the smaller the field power consumption is, and the smaller the mutual-inductance current is, therefore, a signal waveform can be output by using the voltage comparator, and the Main Controller (MCU) can acquire the field current size information through the self-contained AD acquisition, thereby achieving the detection effect. In the circuit design, alternating current mutual inductance current is converted into direct current through four rectifier diodes, two output signals are provided, one is analog quantity, and the output signals are output by VOUT and output to an MCU; and the direct control relay is used for switching off and switching on the power supply of the motor at the high and low levels of TTL.
Description of the circuit:
vin is obtained from an output signal of the current transformer through a bridge rectifier; the comparator compares Vin with reference voltage Vref, and if Vin is greater than Vref, the comparator outputs low level to control the relay to be disconnected.
In addition, Vin enters an ADC port (namely, a port with an A/D conversion function) of the MCU after being amplified by the amplifier;
because the signal is weak, an amplifier with adjustable amplification factor is designed; the specific circuit connection and working principle are as follows:
the output end Vin of the bridge rectifier is a signal end, the signal end is connected with the inverting input end of the operational amplifier LM393 through a resistor R0, the homodromous input end of the operational amplifier LM393 is grounded through a resistor R0, the homodromous input end of the operational amplifier LM393 is also connected with 4 input channels of the 4-out-of-one selector through 4 resistors R01-R04 respectively, the output channel of the 4-out-of-one selector is connected with the output end Vout of the operational amplifier LM393, and the Vout is connected with the ADC end of the MCU;
in addition, 2 output ports of the MCU are respectively connected with a channel selection end A and a channel selection end B of a 4-selection selector;
calculation formula of Vout and Vin:
vout ═ Vin, (Rx + R0)/R0; wherein Rx ═ R01, R02, R03, or R04; determining which resistance to select based on the gate terminal AB; and R01, R02, R03 and R04 are each different; preferred R04-5-R03-25-R02-100-R01; r01-5 × R0. can conveniently achieve span and precision switching.
Claims (1)
1. The utility model provides a forest zone parameter detecting system with found tree size detection device based on angle sensor which characterized in that:
the standing tree size detection device based on the angle sensor comprises a hoop (1) and a scissor type angle measuring device;
the hoop is used for hooping the measured standing timber;
the scissor type angle measuring device comprises 2 hinged measuring arms (3), wherein the 2 measuring arms are the same in length, and 2 opened end parts of the measuring arms are respectively hinged with two ends of a hoop;
an angle sensor is arranged on the scissor type angle measuring device;
the stumpage size detection device is provided with a power supply and a data processing module for calculating the diameter or the circumference of the stumpage, the power supply supplies power to the data processing module, and the data output end of the angle sensor is connected with the data processing module;
a hinge component (2) for hinging the measuring arm and the hoop is a rotating shaft;
a locking belt (4) is arranged between the two ends of the hoop;
the scissor-type angle measuring device is provided with a display screen connected with the data processing module;
the scissor-type angle measuring device is provided with a communication module connected with the data processing module;
the communication module is a GPRS, 3G, 4G or 5G communication module and is used for transmitting detected data to the remote monitoring platform;
the scissor-type angle measuring device is provided with a positioning module connected with the data processing module;
the battery is a button battery or a lithium battery, and is connected with a solar charging module;
the calculation formula of the perimeter is as follows:
perimeter c = L0+ R0 arccos [ (2R 0^2- (2L x sin (a/2)) ^ 2)/(2R 0^2) ];
the diameter is calculated as:
diameter D = L0/π + R0^ arccos [ (2 ^ R0^2- (2 ^ L ^ sin (a/2)) ^2)/(2 ^ R0^2) ]/π;
wherein, L0 represents the length of the hoop, R0 is the radius of the last detection, a is the included angle of 2 measuring arms, L is the effective length of the measuring arms, pi is the circumferential rate, and arccos (.) is the inverse cosine function;
the scissor-type angle measuring device is provided with a field communication module which is communicated with a field data gathering terminal, the field communication module is a WiFi module or a Bluetooth module, the data gathering terminal is used for collecting data collected by the stumpage size detection device and packaging and transmitting the data to the remote monitoring platform, and the data gathering terminal is also used for receiving an instruction sent by the remote monitoring platform;
the data aggregation terminal is a mobile vehicle-mounted data acquisition terminal or an aircraft;
the stumpage size detection method based on the angle sensor comprises the following steps:
step 1: hooping the hoop on the vertical wood to be measured;
step 2: connecting the opening ends of 2 measuring arms of the scissor type angle measuring device with two ends of a hoop;
and step 3: detecting the opening angles of the two measuring arms by an angle sensor in the scissor-type angle measuring device;
and 4, step 4: calculating the perimeter or the diameter of the measured standing tree;
and 5: displaying the value of the perimeter or the diameter, or sending the value of the perimeter or the diameter to a data receiving end;
step 1, after hooping the hoop on the standing timber to be measured, locking the two ends of the hoop by using a locking belt to prevent the hoop from falling off from the standing timber to be measured;
the forest region parameter detection system comprises a plurality of remote monitoring platforms and a plurality of standing tree size detection devices positioned in a forest region, wherein the plurality of standing tree size detection devices are arranged on a plurality of standing trees to be detected;
the stumpage size data detected by the stumpage size detection devices are sent to a remote monitoring platform;
the forest region parameter detection system also comprises at least one mobile data acquisition terminal serving as a sink node, wherein the mobile data acquisition terminal is used for movably acquiring image data of a site and summarizing data acquired by a sensor group of the site, and the mobile data acquisition terminal is in communication connection with the remote monitoring platform;
the mobile vehicle-mounted data acquisition terminal or the aircraft is provided with a communication module and a camera;
the data gathering terminal is also provided with a liquid spraying mechanism for spraying pesticide or fertilizer;
the forest region parameter detection system also comprises a sensor group arranged in the forest region, wherein the sensor group comprises a temperature and humidity sensor and an illumination sensor, the sensor group transmits the acquired parameters to the remote monitoring platform directly or through a sink node, and the sink node is a fixed sink node or a movable sink node;
the forest region monitoring method comprises the steps of collecting forest region data by adopting the forest region parameter detection system;
(1) collecting stumpage size data;
(2) collecting field environment parameters based on a sensor group;
(3) collecting image data;
(4) performing active spraying operation;
the stumpage size detection device also receives a control instruction sent by the data aggregation terminal or the remote monitoring platform through the communication module, and starts detection under the requirement of the control instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810046464.4A CN108225234B (en) | 2018-01-17 | 2018-01-17 | Standing tree size detection device based on angle sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810046464.4A CN108225234B (en) | 2018-01-17 | 2018-01-17 | Standing tree size detection device based on angle sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108225234A CN108225234A (en) | 2018-06-29 |
| CN108225234B true CN108225234B (en) | 2020-11-20 |
Family
ID=62667289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810046464.4A Expired - Fee Related CN108225234B (en) | 2018-01-17 | 2018-01-17 | Standing tree size detection device based on angle sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108225234B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111307021B (en) * | 2020-03-03 | 2021-06-04 | 浙江中技建设工程检测有限公司 | Diameter measuring device for outer wall of cambered surface structure and using method thereof |
| CN114234789A (en) * | 2022-02-24 | 2022-03-25 | 四川省林业和草原调查规划院(四川省林业和草原生态环境监测中心) | Tree diameter measuring method |
| CN115355832B (en) * | 2022-10-18 | 2023-01-17 | 青岛日森机电有限公司 | Vehicle body measuring device |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60501975A (en) * | 1984-01-04 | 1985-11-14 | バッテル・メモリアル・インスティチュ−ト | electronic dendrometer |
| CN2153038Y (en) * | 1992-10-05 | 1994-01-12 | 徐祯祥 | Tree trunk diameter quick-measurer-open-close angle board |
| DE10112222A1 (en) * | 2001-03-14 | 2002-09-19 | Argus Electronic Gmbh Mestechn | Measurement device for determining the geometry of bodies, especially tree trunks or columns, is based on a hinged arrangement of measurement arms, the rotational displacement of which is linked in a computer to a diameter reading |
| CN2667454Y (en) * | 2004-01-13 | 2004-12-29 | 陈文龙 | Digital display combined calliper gauge |
| CN102426005A (en) * | 2011-11-18 | 2012-04-25 | 北京林业大学 | Automatic measurement device for treewalk growth |
| CN202442663U (en) * | 2012-02-22 | 2012-09-19 | 桂林市晶瑞传感技术有限公司 | Digital display angle snap gauge |
| CN202770427U (en) * | 2012-09-24 | 2013-03-06 | 北京林业大学 | Portable digital tree diameter detecting and recording device |
| CN104422419A (en) * | 2013-08-23 | 2015-03-18 | 怀集登云汽配股份有限公司 | Outer diameter V-shaped measurement method and V-shaped gauge of valve retainer outer diameter |
| CN204329846U (en) * | 2014-12-30 | 2015-05-13 | 中钢集团邢台机械轧辊有限公司 | Induction furnace furnace lining inside caliper |
| CN204902810U (en) * | 2015-04-22 | 2015-12-23 | 张纯 | Outside diameter measuring apparatu |
| CN205175303U (en) * | 2015-11-09 | 2016-04-20 | 赵有志 | Tree radial growth monitoring device |
| CN105783694A (en) * | 2016-04-22 | 2016-07-20 | 无锡职业技术学院 | Tree diameter at breast height automatic measurer |
| CN206208171U (en) * | 2016-10-18 | 2017-05-31 | 福建农林大学 | A kind of forest diameter of a cross-section of a tree trunk 1.3 meters above the ground monitoring device |
| CN106907973A (en) * | 2017-05-05 | 2017-06-30 | 西北农林科技大学 | A kind of Portable tree tree breast diameter survey device and measuring method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9377288B2 (en) * | 2013-06-07 | 2016-06-28 | Global Change Solutions LLC | Dendrometer |
-
2018
- 2018-01-17 CN CN201810046464.4A patent/CN108225234B/en not_active Expired - Fee Related
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60501975A (en) * | 1984-01-04 | 1985-11-14 | バッテル・メモリアル・インスティチュ−ト | electronic dendrometer |
| CN2153038Y (en) * | 1992-10-05 | 1994-01-12 | 徐祯祥 | Tree trunk diameter quick-measurer-open-close angle board |
| DE10112222A1 (en) * | 2001-03-14 | 2002-09-19 | Argus Electronic Gmbh Mestechn | Measurement device for determining the geometry of bodies, especially tree trunks or columns, is based on a hinged arrangement of measurement arms, the rotational displacement of which is linked in a computer to a diameter reading |
| CN2667454Y (en) * | 2004-01-13 | 2004-12-29 | 陈文龙 | Digital display combined calliper gauge |
| CN102426005A (en) * | 2011-11-18 | 2012-04-25 | 北京林业大学 | Automatic measurement device for treewalk growth |
| CN202442663U (en) * | 2012-02-22 | 2012-09-19 | 桂林市晶瑞传感技术有限公司 | Digital display angle snap gauge |
| CN202770427U (en) * | 2012-09-24 | 2013-03-06 | 北京林业大学 | Portable digital tree diameter detecting and recording device |
| CN104422419A (en) * | 2013-08-23 | 2015-03-18 | 怀集登云汽配股份有限公司 | Outer diameter V-shaped measurement method and V-shaped gauge of valve retainer outer diameter |
| CN204329846U (en) * | 2014-12-30 | 2015-05-13 | 中钢集团邢台机械轧辊有限公司 | Induction furnace furnace lining inside caliper |
| CN204902810U (en) * | 2015-04-22 | 2015-12-23 | 张纯 | Outside diameter measuring apparatu |
| CN205175303U (en) * | 2015-11-09 | 2016-04-20 | 赵有志 | Tree radial growth monitoring device |
| CN105783694A (en) * | 2016-04-22 | 2016-07-20 | 无锡职业技术学院 | Tree diameter at breast height automatic measurer |
| CN206208171U (en) * | 2016-10-18 | 2017-05-31 | 福建农林大学 | A kind of forest diameter of a cross-section of a tree trunk 1.3 meters above the ground monitoring device |
| CN106907973A (en) * | 2017-05-05 | 2017-06-30 | 西北农林科技大学 | A kind of Portable tree tree breast diameter survey device and measuring method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108225234A (en) | 2018-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108693807B (en) | Data acquisition and monitoring system based on Internet of things | |
| CN108225234B (en) | Standing tree size detection device based on angle sensor | |
| CN108204797B (en) | Standing tree size detection method based on angle sensor | |
| CN108860637B (en) | Auxiliary take-off and landing flight platform and auxiliary take-off and landing flight method of unmanned aerial vehicle | |
| CN108549441A (en) | A kind of integrated agriculture monitoring method based on Internet of Things Yu intelligent operation vehicle | |
| CN108132654A (en) | A kind of agriculture multinode monitoring method based on Internet of Things | |
| CN207665864U (en) | Unmanned plant protection robot | |
| CN108052084A (en) | A kind of agricultural monitoring system based on Internet of Things | |
| CN108112457A (en) | A kind of plant detection method based on Multifunctional mobile detection vehicle | |
| CN108145562B (en) | Intelligence steel form system of polishing | |
| CN108968116A (en) | A kind of wisdom agricultural data acquisition method and system based on Internet of Things | |
| CN108655011A (en) | A kind of intelligent sorting device, method for sorting and comprehensive detection system | |
| CN108225163B (en) | Forest area comprehensive information monitoring system based on ring type stumpage size measurement terminal | |
| CN108460953B (en) | Freezing disaster monitoring and early warning and forecasting system | |
| CN109510972A (en) | A kind of wild animal intelligent surveillance method based on Internet of Things | |
| CN108460954B (en) | Freezing disaster monitoring, early warning and forecasting method | |
| CN108132655A (en) | A kind of Multifunctional mobile detection device for farmland | |
| CN109571405A (en) | A kind of underground cables network managing intelligent crusing robot | |
| CN109510971A (en) | A kind of wild animal intelligence observation system based on Internet of Things | |
| CN108012825A (en) | One kind automation hydrojet control method | |
| CN108154671B (en) | Forest area comprehensive information monitoring method and system based on Internet of things | |
| CN108278962B (en) | Forest area comprehensive information monitoring system based on ring type standing tree size measuring terminal | |
| CN108181856B (en) | Forest area comprehensive information monitoring method and system based on Internet of things | |
| CN108127525B (en) | Multifunctional steel formwork grinding machine | |
| CN108413838A (en) | A kind of vertical wood diameter method for continuous measuring of back-shaped ruler terminal |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201120 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |