CN108278949A - A kind of standing tree dimension measurement method based on ribbon amount arm anchor ear - Google Patents
A kind of standing tree dimension measurement method based on ribbon amount arm anchor ear Download PDFInfo
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- CN108278949A CN108278949A CN201810055509.4A CN201810055509A CN108278949A CN 108278949 A CN108278949 A CN 108278949A CN 201810055509 A CN201810055509 A CN 201810055509A CN 108278949 A CN108278949 A CN 108278949A
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- standing tree
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0002—Arrangements for supporting, fixing or guiding the measuring instrument or the object to be measured
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B3/00—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements
- B05B3/18—Spraying or sprinkling apparatus with moving outlet elements or moving deflecting elements with elements moving in a straight line, e.g. along a track; Mobile sprinklers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0035—Measuring of dimensions of trees
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/08—Measuring arrangements characterised by the use of mechanical techniques 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
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- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a kind of standing tree dimension measurement method based on ribbon amount arm anchor ear, steps 1：By anchor ear hoop on tested standing tree；Step 2：It is measured at two on arm and displacement sensor is installed；Step 3：The distance X that two amount arms open is detected by displacement sensor；Step 4：Calculate the perimeter or diameter of tested standing tree；Step 5：It shows the value of perimeter or diameter, or the value of perimeter or diameter is sent to data receiver.The standing tree dimension measurement method based on ribbon amount arm anchor ear can realize remote detection, easy to implement.
Description
Technical field
The present invention relates to a kind of standing tree dimension measurement methods based on ribbon amount arm anchor ear.
Background technology
Existing Forest Growth monitoring relies on artificial progress standing tree size detection, and measurement efficiency is low, and time-consuming, and people
When the different surveyor of work measures, its consistency is poor, and human error is larger.Accordingly, it is desirable to provide a kind of novel monitoring
Mode.
In addition, for the monitoring of forest, it is also necessary to the further environmental data at monitoring forest scene, such as illumination, humiture
Deng, be conducive to obtain big data deep analysis and research are done with the growth course to trees.
Therefore, it is necessary to design a kind of standing tree dimension measurement method based on ribbon amount arm anchor ear.
Invention content
Technical problem to be solved by the invention is to provide a kind of standing tree dimension measurement method based on ribbon amount arm anchor ear,
The standing tree dimension measurement method based on ribbon amount arm anchor ear is easy to detect, easy to implement.
The technical solution of invention is as follows：
A kind of standing tree dimension measurement method based on ribbon amount arm anchor ear, includes the following steps：
Step 1：By anchor ear hoop on tested standing tree；
Step 2：It is measured at two on arm and displacement sensor is installed；
Step 3：The distance X that two amount arms open is detected by displacement sensor；
Step 4：Calculate the perimeter or diameter of tested standing tree；
Step 5：It shows the value of perimeter or diameter, or the value of perimeter or diameter is sent to data receiver.
In step 1, by anchor ear hoop after being tested on standing tree, also with the both ends of locking locking anchor ear, prevent anchor ear from quilt
It falls off on the standing tree of survey.
Implement to measure using Portable standing wood gauging instrument；
The Portable standing wood gauging instrument based on ribbon amount arm anchor ear include anchor ear (1) and be connected with anchor ear 2
Item amount arm；
Anchor ear embraces tested standing tree for binding round；
Anchor ear is that there are one the arc-shaped anchor ears being open for tool；
The first end of two amount arms is connect with 2 ends (i.e. 2 points of A, B in Fig. 3) of anchor ear opening；It is straight to measure arm
Line style, amount arm are vertical with the tangent line of the end of anchor ear；
Be equipped at the second end (i.e. outer end, i.e. 2 points of C, D in Fig. 3) of 2 amount arms measure 2 amount arms opening notches away from
Displacement sensor from (i.e. X)；
Standing tree size detecting device is equipped with power supply and the data processing module for calculating vertical wood diameter or perimeter,
Power supply is powered for data processing module；The data output end of displacement sensor is connected with data processing module；Displacement sensor packet
Include line wheel (6), bracing wire (5) and the code-disc that can be servo-actuated with line wheel with line wheel coaxial arrangement；Circuit, which is arranged, measures the outer of arm at first
End, for the one ends wound of bracing wire in line wheel, the other end of bracing wire is fixed on the outer end of Article 2 amount arm.Preferably, it is set on circuit
It is useful for tensing the torsional spring of bracing wire.
It is shaft that arm, which is measured, with the hinged hinge member of anchor ear (2)；Portable standing wood gauging instrument be equipped with at data
Manage the connected display screen of module.
Portable standing wood gauging instrument is equipped with the communication module being connected with data processing module.Communication module is close
Field communication module or remote communication module.
The communication module is GPRS, 3G, 4G or 5G communication module, and communication module is used to pass the data detected
It is defeated to arrive long-range monitoring platform.
Portable standing wood gauging instrument is equipped with the locating module being connected with data processing module.Locating module is GPS
Module or big dipper module, big dipper module also have the function of location communication.Such as send short message.
Battery button cell or lithium battery；Battery is connected with solar recharging module.
The calculation formula of perimeter is：
Perimeter c=L0+2* π * arcsin { X/ [2* (R0+L)] }；
The calculation formula of diameter is：
Diameter D=L0/ π+2*arcsin { X/ [2* (R0+L)] }；
Wherein, L0 indicates that the length of anchor ear, R0 are the radius of the last detection；L is the length for measuring arm, i.e. 2 points of AC
The distance between；π is pi, and arcsin () is arcsin function.
Portable standing wood gauging instrument is equipped with the field communications module communicated with the data convergence terminal at scene；It is described
Field communications module is WiFi module or bluetooth module；Data convergence terminal is adopted for collecting Portable standing wood gauging instrument
The data of collection and packing is transferred to long-range monitoring platform, data convergence terminal is additionally operable to receive the finger that long-range monitoring platform is sent out
It enables；
Data convergence terminal is mobile vehicle-mounted data collection station or aircraft.
Standing tree size detecting device also receives data convergence terminal by communication module or long-range monitoring platform sends out control
Instruction starts detection under the requirement of control instruction.
Battery is accumulator or lithium battery.
Vehicular platform is equipped with for the constant-current charging circuit for battery charging.
It is additionally provided with hydrojet mechanism in mobile detection terminal, is such as sprayed water, or spray waste material or pesticide etc..
Data monitoring platform and multiple mobile detection terminals can form a detecting system (i.e. monitoring system)；Mobile inspection
Terminal is surveyed to connect with data monitoring platform wireless communication；
Mobile detection terminal can be communicated with the multiple fixed detection terminals being arranged in the soil, and mobile detection is eventually
End can be used as mobile data aggregation node.
Fixed detection terminal is equipped with Temperature Humidity Sensor；Fixed detection terminal and data monitoring platform it is wired or
Wireless communication connection；
Mobile detection terminal has electric walking mechanism and lithium battery；Lithium battery is also used for driving electric walking mechanism
The detection device power supply being arranged on for mobile detection terminal；
At least provided with a wireless charging platform in monitoring area or outside monitoring area；It is equipped in wireless charging platform
Wireless charging mechanism can be that mobile detection terminal charges.
Agricultural monitoring system further includes the aircraft for having camera；When aircraft is dropped on wireless charging platform, wirelessly
Charging platform can be aircraft wireless charging, liquid reserve tank and spraying mechanism are additionally provided on aircraft, aircraft is for spraying agriculture
Medicine and the monitoring image or video for obtaining large scene.
Mobile detection terminal also is provided with spray equipment, for spraying special liquid, such as liquid fertilizer.
Mobile detection terminal can walk on the ground, and when necessary, mobile detection terminal can also snap into shifting by channel
In dynamic detection terminal.Vehicular platform (mobile detection terminal) is equipped with camera support bar, and the top of camera support bar is equipped with phase
Machine；The control terminal of camera is connected with MCU, and the image data of camera acquisition is transferred on the memory being connected with MCU, picture number
The display screen display connected according to MCU is also resided in.
MCU is also associated with wireless communication module and locating module.Locating module is the Big Dipper and GPS module, radio communication mold
Block is GPRS, 3G, 4G or 5G module or WiFi module.
The front end of spray gun is nozzle, and spray gun is equipped with the adjuster for adjusting flow size；The support base of spray gun is arranged in water
On flat rotating platform, support base is equipped with support column, and (water on the support columns is arranged by horizontal rotating shaft mechanism in spray gun setting
The axis horizontal of flat rotating shaft mechanism, the spray gun axis mechanism that can rotate rotates in a vertical plane, to raise or decline nozzle
Angle, support base can be relative to 360 ° of horizontal rotations of vehicular platform).
Horizontal rotatable platform and rotating shaft mechanism are driven by motor, and motor and adjuster are controlled by MCU.That is MCU can lead to
It crosses motor control spray gun to rotate in horizontal plane and perpendicular, moreover it is possible to flow size is controlled by adjuster, to control it
The distance of the water of injection.
Vehicular platform is equipped with camera support bar, and the top of camera support bar is equipped with camera；The control terminal and MCU of camera
It is connected, the image data of camera acquisition is transferred on the memory being connected with MCU, and image data also resides in the connected displays of MCU
Screen display.
Vehicular platform is equipped with the unmanned plane with camera, and after unmanned plane lift-off, the image information of acquisition is back to remotely
Monitoring center, remote monitoring center control or scheduling vehicular platform realize that remote assistant sprinkling, auxiliary include being advised for vehicular platform
Draw route etc..
Locking belt increases the stability of anchor ear installation for preventing anchor ear from falling off.
Advantageous effect：
The standing tree dimension measurement method based on ribbon amount arm anchor ear of the present invention, can detect diameter and the week of standing tree automatically
Long, measurement method is easy to implement.
In addition, system is monitored based on this standing tree size detecting device forest land, it is also with the following functions：
(1) acquisition and control of temperature, humidity, illumination parameter；
Fixed detection terminal collecting temperature, humidity and illumination parameter return to data monitoring platform；
Data monitoring platform realizes temperature, humidity and illumination detection；
(2) the monitoring image acquisition based on aircraft；
Aircraft flies by predetermined flight path, or controls its flight by the operator on backstage, to acquire image or regard
Frequently.
In addition, further including：
(3) prevention and control of plant diseases, pest control control based on aircraft；
Pest and disease damage data are obtained by the injurious insect detector being arranged at fixed detection terminal, if the data are more than pre-
If threshold value, then start aircraft occur pest and disease damage a certain region (or including adjacent area) spray insecticide it is (preferably organic
Pesticide).Specific flight path plan or controlled by consistency operation person automatically.
In addition, further including：
(4) charge control.
Aircraft and mobile detection terminal start wireless charging device to aircraft and movement when on charging platform
Detection terminal realizes wireless charging.
In conclusion forest land monitoring system functional is abundant, and it is easy to implement, Data Detection and sprinkling task can be executed, flexibly
Property is good.
Description of the drawings
Fig. 1 is forest zone monitoring system general frame figure；
Fig. 2 is standing tree size detecting device structural schematic diagram；
Fig. 3 is standing tree size Computing Principle schematic diagram；
Fig. 4 is the structural schematic diagram of moving detection vehicle (mobile vehicle-mounted data collection station)；
Fig. 5 is injurious insect detector schematic diagram；
Fig. 6 is current foldback circuit functional block diagram；
Fig. 7 is amplification factor adjustable amplifier schematic diagram；
Fig. 8 is the structural schematic diagram of hexagram holder and rotor；
Fig. 9 is the structural schematic diagram of crawler type sprayer；
Figure 10 is the structural schematic diagram of vehicle-mounted flusher；
Figure 11 is the general structure schematic diagram (side view) of mobile detection terminal wireless charging system；
Figure 12 is the general structure schematic diagram (vertical view) of mobile detection terminal wireless charging system；
Figure 13 is schematic diagram when cover plate lid is closed；
Schematic diagram when Figure 14 lifts for cover board；
Figure 15 is the structural schematic diagram of anti-press box；
Figure 16 is light adjusting circuit schematic diagram；
Figure 17 is constant-current charge schematic diagram；
Figure 18 is the electric functional block diagram of mobile detection terminal wireless charging system；
Figure 19 is the general structure schematic diagram (water tank is not shown) of multifunction aircraft；
Figure 20 is the structural schematic diagram (vertical view) of quadrotor telescope support and rotor；
Figure 21 be the aircraft with quadrotor telescope support structural schematic diagram (secondary rotor, cloud is not shown in upward view
The components such as platform and camera)；
Figure 22 is the position relationship schematic diagram of main rotor and secondary rotor；
Figure 23 is the explosive view of telescopic cantilever；
Figure 24 is the structural schematic diagram after telescopic cantilever is completed；
Figure 25 is the structural schematic diagram of lock；
Figure 26 is the structural schematic diagram of supporting leg；
Figure 27 is the structural schematic diagram of combined type camera lens and camera.
Label declaration：Label declaration：1- anchor ears, 2- bracing wire fixing ends, 3- amount arms, 4- locking belts, 5- bracing wires, 6- line wheels.
21- outer arms, 22- inner arms, 23- main rotors, 24- jacks, 25- locks；26- pair rotors, 27- ducted fans are fixed
Part, 28- supporting legs, the chassis 29-, 30- crossbeams, 31- intersect position, 32- holders；33- holders；51- shells, 52- pins, 53- fall
Thorn, 511- outer housings, 512- briquettings, 513- compression springs；Camera on 70- aircraft, 71- camera lenses, 72- combined type camera lenses, 73-
Shaft, 74- light-reflecting sheets, 75- photoemission and reception device, 76-CCD sensors, 77- fuselages；81- upper supporting legs, 82- bullets
Spring, 83- guide rods, supporting leg under 84-, 85- sleeves, 86- feet nail, 87- gasket rings.
111- crawler type walking mechanisms, 112- support platforms, the auxiliary water tanks of 113-；114- in-vehicle cameras, the auxiliary spray guns of 115-,
116- drawstrings, 117- spray gun driving motors, 118- rotating platforms, 119- driven gears, 120- support bases, 121- rotating platforms
Driving motor, the first driving gears of 122-.
201- recessed portions, 202- underlying activities platforms, 203- first motors, 204- limit switches, 205- guide rails, 206-
First rack rail, the second driving gears of 207-, 208- code-discs, 209- traveling wheels, 210- hoistable platforms, the second rack rails of 211-,
212- conducting wires, 213- connect plugs, 214- transmitting coils, 215- scissor-type lifting mechanisms, the upper layers 216- movable platform, 217-
Push rod, the anti-press boxes of 218-, 219- removable type cover plates.
301- monitoring areas, 302- subregions, 303- roads, the charging zones 304-, 305- measured objects, the quiet arms of 306-, 307-
Swing arm, 308- drawstring fixing pieces, 309- mounting bases, 310- pulleys, 311- drawstrings, 312- swing arm driving devices, 313- activities
End, 314- grooves, 315- fixing ends, the vertical telescopic rods of 316-, 317- horizontal extension bars, 318- collets.319- hydrojets mechanism.
401- gas-adding pipes, 402- air-cushion type pedestals, 403- insect receiving flasks, 404- fix strut, 405- shafts, 406-
Bottle fixed plate, 407- lure worm ceiling light, 408- Photoelectric Detection modules, 409- to lure worm bottom lamp, 410- mandrils, 411- top rod drivings
Mechanism, 412- solar panels.C is single clamp arm fixed width
Specific implementation mode
The present invention is described in further details below with reference to the drawings and specific embodiments：
Embodiment 1：
(1) standing tree size detecting device
Such as Fig. 2-3, a kind of Portable standing wood gauging instrument based on ribbon amount arm anchor ear, including anchor ear 1 and with anchor ear phase
2 amount arms even；
Anchor ear embraces tested standing tree for binding round；
Anchor ear is that there are one the arc-shaped anchor ears being open for tool；
The first end of two amount arms is connect with 2 ends (i.e. 2 points of A, B in Fig. 3) of anchor ear opening；It is straight to measure arm
Line style, amount arm are vertical with the tangent line of the end of anchor ear；
Be equipped at the second end (i.e. outer end, i.e. 2 points of C, D in Fig. 3) of 2 amount arms measure 2 amount arms opening notches away from
Displacement sensor from (i.e. X)；
Portable standing wood gauging instrument is equipped with power supply and the data processing mould for calculating vertical wood diameter or perimeter
Block, power supply are powered for data processing module；The data output end of displacement sensor is connected with data processing module.
Diameter and circumference calculating formulation process：
Such as Fig. 3, it is known that amount：R0, L0, X
R0 is the last half path length measured；
L0 indicates the length of anchor ear
X is the distance between the CD that detection obtains；
It asks, diameter D and perimeter c；
Derivation：Because arboreal growth is slower, and the assay intervals time is short, and a such as detection in month is primary, it is assumed that diameter
Do not change when the last time measures relatively, derive as follows：
(1) perimeter c=L0+s, s are AB arc length；--- --- ----formula 1；
Arc length s=π * b；--- --- --- formula 2；
B is the corresponding central angles of arc length AB；It is also the corresponding central angles of X.
(2) central angle b is sought；
For right angled triangle CEO；
According to triangle relation, have：CE length=(R0+L) * sin (b/2)；
CE length is the half of CD length, i.e. X/2；
Then above formula can be write as：X/2=(R0+L) * sin (b/2)；
Then have：B=2*arcsin { X/ [2* (R0+L)] } --- ----formula 3；
(3) perimeter is sought；
In conjunction with formula 1-3；
Have：C=L0+2* π * arcsin { X/ [2* (R0+L)] }；-- formula 4；
(4) diameter is sought；
Formula based on perimeter and diameter：C=π * D；Understand D=c/ π；Formula 4 is substituted into D=c/ π, then is had：
D=L0/ π+2*arcsin { X/ [2* (R0+L)] } -- formula 5；
arcsin{.It is arcsin function.
(2) standing tree detection method explanation：
A kind of standing tree dimension measurement method based on ribbon amount arm anchor ear, includes the following steps：
Step 1：By anchor ear hoop on tested standing tree；
Step 2：It is measured at two on arm and displacement sensor is installed；
Step 3：The distance X that two amount arms open is detected by displacement sensor；
Step 4：Calculate the perimeter or diameter of tested standing tree；
Step 5：It shows the value of perimeter or diameter, or the value of perimeter or diameter is sent to data receiver.
In step 1, by anchor ear hoop after being tested on standing tree, also with the both ends of locking locking anchor ear, prevent anchor ear from quilt
It falls off on the standing tree of survey.
Implement to measure using standing tree size detecting device.
(3) forest zone monitoring method and system explanation：
A kind of forest zone integrated information based on Internet of Things monitors system, including multiple remote monitoring platforms and is located at forest zone
Multiple Portable standing wood gauging instruments；Multiple Portable standing wood gauging instruments are arranged on tested multiple standing tree；
The standing tree dimension data of multiple Portable standing wood gauging instrument detections is sent to remote monitoring platform；
Forest zone parameter detecting system further includes the sensor group being arranged in forest zone；The sensor group includes humiture
At least one of sensor and optical sensor；The parameter of acquisition is transmitted to by sensor group directly or by aggregation node
Long-range monitoring platform.Aggregation node can be fixed the aggregation node that aggregation node can also be mobile.
Forest zone parameter detecting system further includes at least one Mobile data acquisition terminal as aggregation node, mobile
Formula data collection station is used for the image data at mobile collection scene and summarizes the data of the sensor group acquisition at scene, moves
Dynamic formula data collection station is communicated to connect with long-range monitoring platform.
Data convergence terminal is mobile vehicle-mounted data collection station or aircraft, mobile vehicle-mounted data collection station
Or aircraft is equipped with communication module and camera.
Hydrojet mechanism is additionally provided on data convergence terminal.For spraying insecticide or fertilizer.
A kind of forest zone integrated information monitoring method based on Internet of Things is integrated using the forest zone above-mentioned based on Internet of Things
Information monitoring system acquires forest zone data；
(1) standing tree dimension data is acquired；
(2) it is based on sensor group collection site environmental parameter；
(3) image data is acquired；
(4) implement the spraying operation of active.
Standing tree size detecting device also receives data convergence terminal by communication module or long-range monitoring platform sends out control
Instruction starts detection under the requirement of control instruction.
In addition, to certain component parts of system, detailed description are as follows：
1. injurious insect detector
Sensor group further includes injurious insect detector, as shown in figure 5, injurious insect detector has for being set with host node
The wireless communication module of standby (such as data convergence terminal) communication；Injurious insect detector has air-cushion type pedestal 402, holder and too
Positive energy plate 412；Holder is mounted on air-cushion type pedestal, and solar panels are arranged on holder, are supported by holder；Pest detection fills
It sets and is integrated with child node controller, Temperature Humidity Sensor, water level sensor, light intensity sensor and locating module；
Insect receiving flask 403 is additionally provided on air-cushion type pedestal；The bottom of insect receiving flask is equipped with and lures worm bottom lamp 409, insect
The top of receiving flask is equipped with and lures worm ceiling light 407；Insect receiving flask has the bottleneck of bending；(for going out after preventing insect from entering
It goes)；The neck of insect receiving flask is equipped with for detecting Photoelectric Detection module 408 that whether insect enters and realizing into bottle
Interior insect counts；Insect receiving flask is fixed by the bottle fixed plate 406 being arranged on holder；Temperature Humidity Sensor, water level pass
Sensor, Photoelectric Detection module, light intensity sensor and locating module are connected with child node controller.Collect on injurious insect detector
At having dissolved oxygen sensor, air pump and gas-adding pipe 401；Gas-adding pipe is more, is located at the bottom of cushion pedestal；Dissolved oxygen passes
Sensor is connected with child node controller；Gas-adding pipe is connected with air pump；Air pump is controlled by child node controller.The holder packet
The mandril 410 for including fixed strut 404 and being driven by top rod driving mechanism 411；The one of fixed strut support solar panel
Side；Mandril supports the other side of solar panel；Mandril is lifted to adjust the angle of inclination of solar panel.Insect is received
Collecting bottle, there is plug-type bottom plate, plug-type bottom plate to be driven by push-and-pull drive module, for the insect in periodic cleaning bottle.
The wireless communication module is ZigBee communication module, 315MHz wireless communication modules or 433MHz channel radios
Believe module (communication module that i.e. common remote controler is applicable in).The data of acquisition are sent to host node by injurious insect detector
Equipment, host node device are uploading to monitoring server after being collected into data；Monitoring server or host node device, which can be sent, to be referred to
Enable injurious insect detector；Multiple injurious insect detectors form monitoring network, and injurious insect detector is directly logical with host node device
Letter, alternatively, child node
Equipment is relayed by other injurious insect detectors and is communicated with host node device.Locating module is GPS or Big Dipper mould
Block.Injurious insect detector is equipped with aspect sensor and driving mechanism (such as Mini-type spiral paddle), and rotary drive mechanism is for driving
Dynamic injurious insect detector itself rotation and walking；Aspect sensor is used to detect the direction of injurious insect detector.Worm ceiling light is lured to use
In attracting the pest of eminence close, lure worm bottom lamp for attracting pest to enter bottle.Child node controller passes through relay module
Control lures worm ceiling light and lures the opening and closing of worm bottom lamp.Injurious insect detector acquisition humiture, water level, position, dissolved oxygen contain
Amount, illumination and disease pest data are sent to monitoring server through host node module, realize remote monitoring.Child node controller is preferred
Microcontroller or DSP；ZigBee communication module, working frequency is between 800M~2.4GHz, and communication distance is up to 100 meters.Pest
The data such as humiture, illumination and the insect numbers of detection device collection site, then by data summarization to host node device, it is upper
Machine is communicated with host node device, for collecting data, to realize long-range monitoring.Fixed strut passes through with shaft 405
Linkwork is connected with solar panel, convenient for adjusting angle.
2. automatic vehicle-mounted spray system：
Such as Fig. 4,9,10, automatic liquid-spraying system, including vehicular platform 112, main water box 104, water are equipped on vehicular platform
Pump 7, rotating platform 118, rotating platform driving motor 121；Main jet rifle (108) is arranged on rotating platform；Main water box and water pump
Water inlet by water pipe be connected, the water outlet of water pump is connected by water pipe with spray gun；It is set on the water pipe of connection water pump and spray gun
There is the first valve 13；
Rotating platform driving motor can drive rotating platform rotation by the first transmission mechanism；Rotating platform is equipped with spray
Rifle driving motor 117, spray gun driving motor can pass through the elevation angle of the second transmission mechanism control main jet rifle.
First transmission mechanism is gear drive.Gear drive includes being mounted on rotating platform to drive
The first driving gear 122 on machine shaft, and the driven gear 119 that is engaged with first driving gear, driven tooth
Wheel is arranged in the outer ring of rotating platform, is designed for integral type, and driven gear and rotating platform coaxial line, therefore, rotating platform drives
Dynamic motor can drive rotating platform to rotate.
Second transmission mechanism is drawstring 116, and the upper end of drawstring is arranged in the rear end of spray gun, the lower end of drawstring around
In the shaft of spray gun driving motor (or on the belt wheel filled in shaft).
It is hinged with gunjet rack, therefore, spray gun front end is under the effect of gravity since spray gun is mounted on gunjet rack
Downward, therefore, the elevation angle is controlled by drawstring completely.
Vehicular platform is equipped with main phase machine.Main phase machine is preferably arranged by camera strut on vehicular platform, is achieved in that
The wider array of visual field.The image of the sprinkling state of main phase machine monitoring main jet rifle, camera acquisition can be shown on driver's cabin, be convenient for
The manipulator of driver's cabin manipulates, or is transmitted to remote platform, and such manipulator can be with remote control water spray operation.
Vehicular platform is equipped with locating module (such as GPS or big dipper module) and wireless communication module；Wireless communication module is
PPRS, 3G, 4G or 5G communication module, vehicular platform module and remote control table or remote control terminal by radio communication
(such as PC machine, laptop and tablet computer) communicates to connect.Remotely monitor and remote control water spray may be implemented.
Vehicular platform is equipped with dynamic lithium battery and charging module, and charging module is the charging mould coordinated with charging pile
Block or charging module are wireless charging module；Wireless charging module coordinates with the wireless charging system of setting on the ground.
In addition, spray gun is equipped with the adjuster of regulating pondage, the distance of sprinkling may be implemented in regulating pondage.
3. aircraft
Such as Fig. 8 and 19-27, aircraft is one or more, because the working time of each aircraft is limited, such as half
Hour, multiple aircraft can use in turn, and one another takes off when making a return voyage, and realize and uninterrupted execute task.It is vehicle-mounted flat
Platform is equipped with the charging module for wirelessly or non-wirelessly charging for aircraft.Further, aircraft is equipped with water tank and spray
Pipe, on vehicular platform, the water tank of aircraft can the moisturizing from main water box.Appoint at this point, aircraft can not only execute monitoring
Business, moreover it is possible to implement water spray task, can also spray water in the impassable region of vehicle or creeper truck (crawler type sprayer).
Multi-functional aerial photography aircraft, including holder 32, rotor, bottom plate 29, holder 33, supporting leg 28 and camera 70；
Rotor and holder are arranged on holder；
Bottom plate is fixed on frame bottom；Camera is mounted on holder；
Supporting leg is fixed on the bottom of bottom plate；
Camera includes fuselage 77 and combined type camera lens 72；Ccd sensor 76 is equipped in fuselage, fuselage, which is equipped with, is used for mirror
The photoemission and reception device 75 of head alignment；
Combined type camera lens is equipped with shaft 73；4 sub- camera lenses 71 are integrated in combined type camera lens；Sub- camera lens is along combined type
Camera lens is arranged circumferentially；It is anti-that the rear end of combined type camera lens is additionally provided with the light being adapted to reception device with the photoemission
Penetrate piece 74；The stepper motor for driving rotation of lens is additionally provided in fuselage.Photoemission can with reception device and light-reflecting sheet
To be to cover, preferably 2 sets, be in axisymmetrical, and alignment result is more preferable more, only 2 sets of photoemission and reception device and light-reflecting sheet
After being all aligned, just think that camera lens is targeted by with ccd sensor, such alignment precision higher.
Supporting leg is 4, and supporting leg is vertically arranged, and horizontal crossbeam is provided between adjacent legs；Supporting leg includes upper supporting leg
81, lower supporting leg 84 and foot nail 86；Upper supporting leg lower end is equipped with guide groove；Lower supporting leg upper end is equipped with guide rod 83；Guide rod is inserted into
In guide groove；Spring 82 is equipped in guide groove；Roof (inner wall of innermost end) and guide rod top in guide groove is arranged in spring
Between end；The lower end of lower supporting leg is equipped with foot and follows closely 86.The outer wall of the lower end of lower supporting leg is equipped with external screw thread；The lower end of lower supporting leg
Portion is socketed with tapped sleeve 85, and the lower end of sleeve is equipped with gasket ring 87.Gyroscope and wireless communication are additionally provided on chassis
Module.For gyroscope for navigating, wireless communication module is used to receive the instruction of remote controler, and the photo of shooting and video are believed
Breath is transmitted to ground receiver end equipment.The holder is the cross-shaped cantilever being made of the identical telescopic cantilever of 4 structures
Frame；Each telescopic cantilever includes outer arm 21 and inner arm 22；The inner end of outer arm is with the outer end of inner arm by latching 25 phases
Even；Lock is equipped with the pin 52 with hangnail 53；Lock is multiple；The inner end of outer arm and the outer end of inner arm are equipped with more
The jack 24 that group is passed through for pin；Every group of jack includes at least two jack；Rotor includes main rotor and secondary rotor；In outer arm
Outer end be equipped with main rotor 23 and secondary cantilever 26；Main rotor and secondary cantilever are coaxially arranged, and main rotor is located at the upper of outer arm
Side, secondary rotor are located at the lower section of outer arm；The paddle diameter of main rotor is more than the paddle diameter of secondary rotor；Secondary rotor is ducted fan, secondary rotor
The bottom of outer arm is fixed on by ducted fan fixing piece 7；Lock has shell 51；Shell includes outer housing 511, briquetting 512
With compression spring 513；Pin is 2；Pin is fixed on outer housing；Briquetting is located in outer housing and is sleeved on 2 pins；Pressure
Block can be moved along pin；Compression spring is equipped between briquetting and pin, compression spring sleeve is mounted in the root of pin.The inner end of outer arm is equipped with 2
The jack that group is passed through for pin；Every group of jack on outer arm includes 2 jacks；Lock is 2；The outer end of inner arm is first-class
Spacing is equipped with 4 groups and is used for the jack that pin passes through；Every group of jack on inner arm includes 2 jacks.The paddle diameter of secondary rotor and main rotation
The ratio between paddle diameter of the wing is 0.2-0.35；Preferred value is 0.25 and 0.3.Gasket ring is rubber material, and foot nail is stainless steel.
Another aircraft, holder are the hexagram holder being made of the identical lateral strut of 6 root long degree；Magen David
Each angle position of shape holder is both provided with rotor.Rotor includes main rotor and secondary rotor；
It is equipped with main rotor 23 and secondary cantilever 26 in the outer end of outer arm；Main rotor and secondary cantilever are coaxially arranged, and main rotation
The wing is located at the top of outer arm, and secondary rotor is located at the lower section of outer arm；The paddle diameter of main rotor is more than the paddle diameter of secondary rotor；Secondary rotor is
Ducted fan, secondary rotor are fixed on the bottom of outer arm by ducted fan fixing piece 27.Further, in hexagram holder
Each intersect and be equipped with rotor at position, the position that intersects is that the X that adjacent lateral strut is formed intersects corresponding position
It sets；Such a aircraft just has 12 or 12 groups of rotors.The ratio between the paddle diameter of secondary rotor and the paddle diameter of main rotor be 0.25 or
0.3。
Aircraft has the characteristics that following prominent：
Aircraft camera uses the combined type camera lens from camera lens of switching, and 4 different focal lengths are integrated in combined type camera lens
Camera lens, the photo for shooting different visual angles to object, flexibility is good；The photoemission being arranged on camera is filled with reception
It sets and is aligned with ccd sensor for sub- camera lens with the light-reflecting sheet being arranged on camera lens, combined type camera lens is driven by stepper motor,
Alignment precision is high, and sub- Shot change is convenient.This camera has the outstanding quality of fixed-focus head, it may have changes the flexible of focal length
Property, therefore, practicability is good.
Using hexagram rotor；Using the hexagram holder of original creation, this support stability is good, due to each
Rotor be all located at angle position, and each angle position all in vertex of a triangle, by 2 strut supports, and due to triangle sheet
The stability of body, the vertex is there is no any offset or drift when flight, accordingly, with respect to regular hexagon, criss-cross
Holder or other holders are with the advantage in terms of great stability.In addition, the arrangement of 6 rotors, compares 2-4 rotors
Arrangement, have better aerodynamic arrangement, to sum up, this six rotorcraft clever structure, stability are good.
4. wireless charging module
It is arranged in fixed area；It charges for aircraft and vehicular platform.
Such as Figure 11-15, wireless charging module includes that the support platform being arranged in recessed portion 201 and setting are flat in support
Transmitting coil 214 on platform；
The support platform includes underlying activities platform 202, upper layer movable platform 216 and connection underlying activities platform
With the elevating mechanism of upper layer movable platform；Underlying activities platform is equipped with longitudinal translation mechanism；Upper layer movable platform is equipped with cross
To translation mechanism.
The elevating mechanism is cylinder formula elevating mechanism or scissor-type lifting mechanism 215.Cylinder formula elevating mechanism is push-down
Driving mechanism such as uses pneumatic cylinder or Driven by Hydraulic Cylinder.
Longitudinal translation mechanism includes the guide rail 205 and the first rack rail 206 being arranged in recessed portion bottom；
The guide rail is 2；Rack rail is one, rack rail and guide rail parallel arrangement；
Underlying activities mesa base is equipped with multiple traveling wheels 209 that can be rolled on the guide rail；Traveling wheel be 4, one
2, side.
The front end of underlying activities platform is equipped with first motor 203；The shaft of first motor be equipped with gear 207, gear with
The first rack rail engagement；When first motor rotates, underlying activities platform can be driven longitudinal (front and back) along the first rack rail
Translation.
Laterial translation mechanism includes the second rack rail 211 and the second motor；Second rack rail is laterally arranged, and described the
Two motor upper layer movable platform left or rights；The shaft of second motor is equipped with the tooth being meshed with second rack rail
Wheel when the second motor rotates, can drive upper layer movable platform along laterally (left and right) translation of the second rack rail.
It is equipped with code-disc 208 in first motor and the shaft of the second motor.Code-disc is used to detect the number of turns of motor rotation,
So as to be converted into the displacement of platform traveling.
The opening of recessed portion is equipped with electronic removable type cover plate 219.Electronic refers to motor driving or electric signal control
Hydraulic cylinder or cylinder driving.
Removable type cover plate is 2 pieces, and the push rod for driving removable type cover plate, the upper end of push rod and work are equipped in recessed portion
Dynamic formula cover board ground is connected.
The opening of recessed portion is additionally provided with anti-pushing-down mechanism 210, and when removable type cover plate flattens, anti-pushing-down mechanism can support activity
Formula cover board.
Anti-pushing-down mechanism is square frame-shaped.Using stainless steel or cast iron quality, intensity is high.
The mobile detection terminal wireless charging system further includes control unit, and control unit includes MCU, laterally flat
Telephone-moving structure and longitudinal translation mechanism are controlled by MCU；MCU is also associated with communication module.
In addition, limit switch and code-disc output signals to MCU；
The first motor and the second motor is stepper motor.
First rack rail is located between 2 guide rails.
The rear end of underlying activities platform is equipped with limit switch 204；The front end of motor is equipped with limit switch 204.Limit switch
Action, illustrates front or behind in place, stops motor rotation, to ensure whole equipment safe operation.
Underlying activities platform is equipped with the conducting wire with connect plug 213.Conducting wire obtains alternating current for connecting, to be hair
Penetrate coil power supply.
MCU and single-phase bridge rectification and inverter circuit are additionally provided on underlying activities platform；Single-phase bridge rectification and inversion
Circuit includes rectifier bridge and inverter bridge, and rectifier bridge is using 4 IGBT, connection type using 4 power diodes, inverter
The poles G of existing mature technology, IGBT are controlled by the pulse that MCU is sent out.The input side of rectifier bridge connects with alternating current, rectifier bridge
Outlet side connects transmitting coil by inverter；Rectifier bridge is used to alternating current becoming direct current, and inverter is used to turn in direct current
At the alternating current of different frequency, change frequency to improve charge efficiency.
Display screen is arranged in recessed portion, is connected with MCU, is used for field adjustable and real-time display presence states number
According to.
Mobile detection terminal end is equipped with constant-current charging circuit, for being efficiently that lithium battery charges.
Recessed portion opening is equipped with has the inductor of mobile detection terminal for incuding top, such as uses ultrasonic wave or light
Electric transducer；It is advantageously implemented automatic charging.
The charging system further includes for adjusting display screen (display location is in the driver's cabin of vehicular platform) light emission luminance
Brightness regulating circuit；The brightness regulating circuit includes MCU, LED light string, triode, potentiometer Rx and A/D converter；Three
Pole pipe is NPN type triode；The fixed frame Shanghai of display screen is coaxially connected equipped with rotary switch with potentiometer Rx；
Potentiometer Rx and first resistor R1 concatenates to form partial pressure branch, and partial pressure branch one terminates positive pole Vcc, partial pressure
The other end of branch is grounded；The tie point of potentiometer Rx and first resistor R1 connect the input terminal of A/D converter；A/D converter
The data-in port of output termination MCU；
LED light string includes the LED light of multiple concatenations；The anode of LED light string meets positive pole Vcc；The cathode of LED light string
The poles C of triode are connect, the poles E of triode are grounded through second resistance R2；The output end for meeting MCU of the poles B of triode.Power supply is just
Pole Vcc is 5V, and A/D converter is 8 Bits Serial output type converters.
6. being in mobile detection terminal by constant-current charging circuit after constant-current charge movement detection terminal receives electric energy
Battery charging；
Constant-current charging circuit includes constant pressure driving chip and current feedback circuit；
(1) voltage output end of constant pressure driving chip is the positive output end VOUT+ of constant-current charging circuit；Constant pressure drives core
The negative output terminal of piece is grounded；
Constant pressure driving chip is powered by DC-voltage supply end VIN+ and VIN-；
(2) current feedback circuit described in includes resistance R1, R2 and R5 and reference voltage end VREF+；
Reference voltage end VREF+ is grounded by resistance R1, R2 and the R5 being sequentially connected in series；
The tie point of resistance R5 and R2 are the negative output terminal VOUT- of constant-current charging circuit；
The tie point of resistance R1 and R2 meet the feedback end FB of constant pressure driving chip.
Constant-current charging circuit further includes voltage feedback circuit；
Voltage feedback circuit includes resistance R3 and R4 and diode D1；
Resistance R3 and R4 series connection is followed by between the positive output end VOUT+ and ground of constant-current charging circuit；Resistance R3's and R4
Tie point connects the anode of diode D1；The cathode of diode D1 meets the feedback end FB of constant pressure driving chip.
Operation principle explanation：
Using stable reference power supply as reference voltage, divide to obtain the voltage equal with FB using R1, R2, R5, to
The size of output current is controlled by the way that FB removes the inside PWM of adjustment DCDC IC.For example, when output current becomes larger, sampling
Voltage on resistance R5 will increase, and since VRFE+ is fixed value, to be that FB voltages become larger, FB becomes larger, and duty ratio is just
It can reduce, to be that output current is reduced, and completes a complete feedback, achieve the purpose that stabling current exports.
7. overcurrent protection
Such as Fig. 6-7, forest zone monitoring system further includes for monitoring the over-current detection of electric current and protection during wireless charging
Circuit；
Operation principle：It is inserted into current transformer (or coil), is made by alternating current wires (alternating current wires of charge coil)
Current transformer generates mutual inducing current, and live electric power is bigger, and mutual inducing current is also bigger, and live electric power is smaller, mutually
Inducing current is also just smaller, therefore utilizes voltage comparator, can export a signal waveform, and master controller (MCU) passes through included
AD acquisition just can be obtained scene size of current information, to reach detection effect.It is whole by four in circuit design
AC mutual induction electric current is converted into DC current by stream diode, output signal then there are two types of, one kind is analog quantity, defeated by VOUT
Go out, is output to MCU；Also a kind of is TTL low and high levels, directly controls power supply of the relay for being switched off and on motor.
Circuit describes：
The output signal of current transformer obtains Vin through bridge rectifier；Comparator compares Vin and reference voltage Vref,
If Vin ＞ Vref, comparator exports low level, and control relay disconnects.
In addition, Vin is amplified into the ports ADC (i.e. the port with A/D conversion functions) of MCU through amplifier；
Since signal may be more faint, devise the amplifier of adjustable amplification factor；Physical circuit connect and
Operation principle is as follows：
The output end Vin of bridge rectifier is signal end, and the signal end connects operational amplifier through resistance R0's
The noninverting input of the inverting input of LM393, operational amplifier LM393 is grounded through resistance R0, operational amplifier LM393's
Noninverting input also connects 44 input channels for selecting a selector through 4 resistance R01-R04 respectively, and 4 select the output of a selector
The output end vo ut, Vout that channel meets operational amplifier LM393 connect the ends ADC of MCU；
In addition 2 output ports of MCU connect 4 the channel of a selector are selected to select end A and B respectively；
The calculation formula of Vout and Vin：
Vout=Vin* (Rx+R0)/R0；Wherein, Rx=R01, R02, R03 or R04；Choosing is determined based on gated end AB
Which resistance selected；And R01, R02, R03 and R04 are different；Preferred R04=5*R03=25*R02=100*R01；
R01=5*R0. range and precision switching can be conveniently realized.
Claims (10)
1. a kind of standing tree dimension measurement method based on ribbon amount arm anchor ear, which is characterized in that include the following steps：
Step 1：By anchor ear hoop on tested standing tree；
Step 2：It is measured at two on arm and displacement sensor is installed；
Step 3：The distance X that two amount arms open is detected by displacement sensor；
Step 4：Calculate the perimeter or diameter of tested standing tree；
Step 5：It shows the value of perimeter or diameter, or the value of perimeter or diameter is sent to data receiver.
2. the standing tree dimension measurement method according to claim 1 based on ribbon amount arm anchor ear, which is characterized in that in step 1,
By anchor ear hoop after being tested on standing tree, also with the both ends of locking locking anchor ear, prevent anchor ear from falling off from tested standing tree.
3. the standing tree dimension measurement method according to claim 1 based on ribbon amount arm anchor ear, which is characterized in that using portable
Formula standing tree gauging instrument is implemented to measure；
The Portable standing wood gauging instrument based on ribbon amount arm anchor ear includes anchor ear (1) and 2 amounts being connected with anchor ear
Arm；
Anchor ear embraces tested standing tree for binding round；
Anchor ear is that there are one the arc-shaped anchor ears being open for tool；
The first end of two amount arms is connect with 2 ends (i.e. 2 points of A, B in Fig. 3) of anchor ear opening；Amount arm is linear type,
It is vertical with the tangent line of the end of anchor ear to measure arm；
It is equipped at the second end (i.e. outer end, i.e. 2 points of C, D in Fig. 3) of 2 amount arms and measures 2 amount arms and open notches apart from (i.e.
X displacement sensor)；
Standing tree size detecting device is equipped with power supply and the data processing module for calculating vertical wood diameter or perimeter, power supply are
Data processing module is powered；The data output end of displacement sensor is connected with data processing module；Displacement sensor includes line wheel
(6), bracing wire (5) and the code-disc that can be servo-actuated with line wheel with line wheel coaxial arrangement；The outer end that arm is measured at first, bracing wire is arranged in circuit
One ends wound in line wheel, the other end of bracing wire is fixed on the outer end of Article 2 amount arm.
4. the standing tree dimension measurement method according to claim 1 based on ribbon amount arm anchor ear, which is characterized in that measure arm and embrace
It is shaft to bind round hinged hinge member (2)；Portable standing wood gauging instrument is equipped with the display being connected with data processing module
Screen.
5. the standing tree dimension measurement method according to claim 1 based on ribbon amount arm anchor ear, which is characterized in that Portable standing
The wooden gauging instrument is equipped with the communication module being connected with data processing module.
6. the standing tree dimension measurement method according to claim 5 based on ribbon amount arm anchor ear, which is characterized in that described is logical
News module is GPRS, 3G, 4G or 5G communication module, the data transmission that communication module is used to detect to long-range monitoring platform.
7. the standing tree dimension measurement method according to claim 1 based on ribbon amount arm anchor ear, which is characterized in that Portable standing
The wooden gauging instrument is equipped with the locating module being connected with data processing module.
8. the standing tree dimension measurement method according to claim 1 based on ribbon amount arm anchor ear, which is characterized in that battery button
Battery or lithium battery；Battery is connected with solar recharging module.
9. the standing tree dimension measurement method according to claim 1 based on ribbon amount arm anchor ear, which is characterized in that the meter of perimeter
Calculating formula is：
Perimeter c=L0+2* π * arcsin { X/ [2* (R0+L)] }；
The calculation formula of diameter is：
Diameter D=L0/ π+2*arcsin { X/ [2* (R0+L)] }；
Wherein, L0 indicates that the length of anchor ear, R0 are the radius of the last detection；L is the length for measuring arm；π is pi,
Arcsin () is arcsin function.
10. according to standing tree dimension measurement method of the claim 1-9 any one of them based on ribbon amount arm anchor ear, feature exists
In Portable standing wood gauging instrument is equipped with the field communications module communicated with the data convergence terminal at scene；The scene is logical
Believe that module is WiFi module or bluetooth module；Data convergence terminal is used to collect the data of Portable standing wood gauging instrument acquisition
And be packaged and be transferred to long-range monitoring platform, data convergence terminal is additionally operable to receive the instruction that long-range monitoring platform is sent out；
Data convergence terminal is mobile vehicle-mounted data collection station or aircraft.
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| CN201810055509.4A CN108278949A (en) | 2018-01-19 | 2018-01-19 | A kind of standing tree dimension measurement method based on ribbon amount arm anchor ear |
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Application publication date: 20180713 |