CN112857269A - Novel leaf area index instrument and leaf area index measuring method thereof - Google Patents

Novel leaf area index instrument and leaf area index measuring method thereof Download PDF

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Publication number
CN112857269A
CN112857269A CN202110275210.1A CN202110275210A CN112857269A CN 112857269 A CN112857269 A CN 112857269A CN 202110275210 A CN202110275210 A CN 202110275210A CN 112857269 A CN112857269 A CN 112857269A
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Prior art keywords
leaf area
area index
module
canopy
image
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苏宏新
谢贤胜
祝晓光
刘东方
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Beijing Tianhang Huachuang Technology Co ltd
Nanning Normal University
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Beijing Tianhang Huachuang Technology Co ltd
Nanning Normal University
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • G01B11/28Measuring arrangements characterised by the use of optical techniques for measuring areas
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04Interpretation of pictures
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/14Receivers specially adapted for specific applications
    • GPHYSICS
    • G08SIGNALLING
    • G08CTRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

Abstract

The invention discloses a novel leaf area index instrument and a leaf area index measuring method thereof, wherein the leaf area index instrument comprises a fisheye lens, a camera module, a data collector, an image analysis module and a power supply module; the fisheye lens and the camera module are respectively connected with a data collector, the data collector is connected with the image analysis module through GPRS communication, and the power supply module is a solar cell panel and is connected with the battery pack. The data collector controls the fisheye lens and the camera module to automatically acquire the hemispherical digital image of the plant canopy at regular time, the image is sent to the image analysis module through the GPRS network, the local end can acquire the hemispherical digital image through the image analysis module, the image is analyzed by corresponding software, and finally the leaf area index value is calculated.

Description

Novel leaf area index instrument and leaf area index measuring method thereof
Technical Field
The invention relates to the technical field of leaf area index observation, in particular to a novel leaf area index instrument and a leaf area index measuring method thereof.
Background
The vegetation is the key component of the earth system, and the leaves are the main carriers of the vegetation for the physiological processes of photosynthesis, respiration, transpiration and the like. The Leaf Area Index (LAI) is an important surface vegetation parameter that characterizes the degree of Leaf density and describes the state of vegetation growth and canopy architecture, and is generally defined as half of the total Leaf surface Area per unit of land surface Area. By continuously monitoring the leaf area index, the productivity of the ecosystem can be quickly measured and the ecological process evolution of a community can be simulated, so that the method is widely applied to ecosystem research.
Currently, LAI measurement methods are mainly classified into direct methods and indirect methods. The direct method mainly includes litter collection and destructive sampling, and the LAI is estimated by Specific Leaf Area (SLA). However, the direct method is time consuming, labor intensive and difficult to replicate, and does not allow for efficient observation of the time-dynamic characteristics of the leaf area. Indirect methods often use Radiation or image based optical instruments to measure LAI from the bottom up, such as canopy analyzers such as LAI-2200(LiCor Inc, Lincoln, Nebraska, USA), trac (tracking Radiation and Architecture of hoopes), and Digital camera + lens hemispherical Photography (DHP), represented by HemiView. The indirect measuring instruments are researched and developed by foreign researchers, and are expensive. Meanwhile, the above measurement methods require an observer to go to the site to perform field operation, and automatic and continuous observation cannot be performed, which requires much labor cost and time.
In fact, in a land ecosystem, especially a forest ecosystem, the ecological system has the characteristics of complex structure and function, delayed environmental effect and the like, and the complex relationships between organisms and between the environments are difficult to be exactly revealed by short-term investigation or experimental research, so that the dynamic observation of long-time positioning is required to be carried out on the same observation point, data is continuously acquired, and the dynamic change rule of the ecosystem and the interaction and feedback mechanism between the environments are further analyzed. At present, all the LAI measurement optical instruments in the market are portable, although the operation is simple and convenient, the LAI measurement optical instruments are not suitable for being used as long-term fixed monitoring instruments, measurement errors caused by factors such as measurement time, height, angle, direction and inconsistency of measurement points of different users are difficult to eliminate, accurate positioning observation cannot be well achieved, and comparability of observation data is reduced.
The existing optical measurement instrument based on images usually adopts a hemispherical photography method, a canopy image is obtained through a fisheye lens and a digital camera, analysis work on the canopy image is realized in software based on the beer law and the theory related to the porosity and the canopy structure of the canopy, and then the leaf area index value is calculated, but more limitations exist in actual measurement. In addition to the above disadvantages, HemiView also has a problem of limited battery capacity of the camera, and the battery needs to be replaced frequently during long-time measurement, which is not suitable for large-area fixed sample monitoring.
In conclusion, because the leaf area index is a key parameter for researching energy exchange of a land ecosystem, researchers in agriculture and forestry science, remote sensing science and the like in China have large requirements on measuring instruments, but at the present stage, the instruments have the defects of high cost, difficulty in long-time positioning monitoring, incapability of transmitting data in real time, limited battery capacity, time and labor waste, incapability of ensuring measuring precision and the like, so that a set of automatic leaf area index measuring instrument with low manufacturing cost, timing and positioning observation is automatically researched, and the method has great significance for breaking foreign monopoly, meeting domestic market requirements and scientific research. The invention further makes up the above disadvantages on the basis of the technical scheme of image measurement.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a novel leaf area index instrument and a leaf area index measuring method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme: a novel leaf area index instrument comprises a fisheye lens, a camera module, a data acquisition device, an image analysis module and a power supply module; the fisheye lens and the camera module are respectively connected with a data collector, the data collector is connected with the image analysis module through GPRS communication, and the power supply module is a solar cell panel and is connected with the battery pack.
Furthermore, the battery pack is respectively connected with the fisheye lens, the camera module and the data collector.
Further, the battery pack is configured with a power management module.
Furthermore, the leaf area index meter also comprises a GPRS communication module, so that the data collector and the image analysis module transmit the hemispherical digital image through the GPRS communication module and store the hemispherical digital image in the image analysis module.
Further, leaf area index appearance still includes aluminum alloy casing and the camera lens protection casing of mutually supporting the connection, fisheye camera lens, GPRS communication module, power management module, group battery, data collection station all set up in aluminum alloy casing.
Furthermore, a level gauge is arranged at the upper end of the lens protective cover.
Furthermore, the lower end of the aluminum alloy shell is provided with a detachable stainless steel support, and the solar cell panel is fixed on the stainless steel support.
Furthermore, the stainless steel bracket comprises an upright post, and a U-shaped groove is formed at the matching position of the solar cell panel and the upright post; be equipped with on the stainless steel support and screw up the pole setting mounting, and it passes through the bolt fastening in the pole setting, solar cell panel's the back is equipped with the connecting piece, and the connecting piece passes through the bolt with screwing up the pole setting mounting and articulates, the arc guide slot has been seted up on the connecting piece, it is equipped with the bolt to screw up the pole setting mounting, and the bolt passes the arc guide slot to make the connecting piece rotate in a certain angle along the pin joint, thereby adjust solar cell panel's angle. An intelligent solar power supply system composed of a solar cell panel, a storage battery and an intelligent controller is widely applied to daily monitoring, meteorological monitoring, ecological monitoring, solar street lamps and other practical applications requiring solar power supply and the like.
A leaf area index measuring method based on the novel leaf area index instrument comprises the following steps:
s1: controlling a fisheye lens and a camera module through a data collector, and automatically acquiring a hemispherical digital image of a plant canopy at regular time;
s2: the data acquisition unit sends the image to an image analysis module through a GPRS network;
s3: the image analysis module analyzes the canopy image based on the canopy radiation transmission theory, calculates the solar radiation transmittance, the size of the canopy pores, the clearance rate parameters and the like, and further calculates the effective leaf area index.
Further, the step S3 specifically includes:
extracting the porosity of the canopy from the canopy image based on the international general Beer law (Lambert-Beer law), and then calculating the leaf area index according to a leaf area index inversion model; the basic principle is that the porosity of the canopy is extracted through the acquired canopy image, and then the porosity, the leaf area index and a mathematical model of the canopy structure are utilized to calculate the leaf area index; assuming that the porosity of the canopy extracted from the image by the instrument is P (θ), then:
Figure BDA0002976344020000041
p (theta) represents the porosity of the canopy at a certain zenith angle, G (theta) is a projection function at the certain zenith angle, which represents the projection area of a unit blade at the viewing angle theta, and LAI is the index of the blade area.
Further, in step S2, the mobile phone or the computer is connected to the image analysis module, so that the user can log in an account on the mobile phone or the computer to check the data of each monitored site in real time, and download the data to the client, thereby rapidly implementing data statistical analysis. The module has the advantages of advanced technology, large data capacity, friendly man-machine interface and high reliability, and is widely applied to the fields of meteorology, agriculture, oceans, environment, airports, ports, industry and agriculture, traffic and the like.
Further, the MVVM architecture is utilized to separate the page from the data, and a dynamic binding mode is adopted for binding. And the View layer binds the data ID with the data corresponding to the ViewModel layer through a reflection mechanism, and informs the View to update and render the data display when the ViewModel data is updated.
Furthermore, through control modularization processing, a general module such as a digital display module, a text enumeration module, a two-dimensional three-dimensional image display module, a video display module and the like can be abstracted, front-end page style layout can be quickly defined through interface layout, and Html and Javascript codes of a front-end interface are generated through compiling. The front-end dynamic building module is built by using Vue tool technology and a HighChart chart display module, which is described in detail below.
The invention has the following beneficial effects:
(1) the cost is low. By designing the standardized module, the corresponding structure is simplified, the rapid production and assembly of the instrument are realized, and the corresponding manufacturing cost is reduced.
(2) And positioning continuous observation. The instrument can be fixed to a specific point position through a stainless steel support, and a GPS module is arranged in the instrument, so that the specific geographic position and synchronous acquisition time of a data acquisition point can be determined.
(3) And automatically collecting at regular time. The data acquisition device is used for controlling the fisheye lens and the camera module, the hemispherical digital image of the plant canopy is automatically acquired at regular time, personalized setting can be carried out according to customer requirements, and the dynamic observation requirements of different time scales are met.
(4) And (5) real-time transmission. The collected data are sent to the image analysis module through the GPRS mobile network by using the signal antenna and the collector, so that a user can log in an account at a mobile phone or a computer end to check the data of each monitoring station in real time and can download the data to a client.
(5) Ultra-low power consumption design and solar power supply. The controller is used for adjusting the power supply voltage and the output current, and low power consumption control in the instrument sleep state is guaranteed. Meanwhile, the solar cell panel is installed, so that the solar cell panel is green and environment-friendly, is maintenance-free, and ensures sufficient power supply of the instrument power supply.
In summary, based on the technical scheme of image measurement, the invention designs the standardized module, simplifies the corresponding structure, greatly reduces the manufacturing cost, can meet the requirement of long-time automatic positioning observation of leaf area indexes of different vegetation types and different time scales, and solves the problem of poor data availability and comparability caused by the fact that a leaf area index measuring instrument cannot repeatedly observe the same point at the present stage. Meanwhile, the interference of human factors is effectively avoided by utilizing an automatic acquisition technology, and the measurement precision and quality are further improved. The fish-eye image capturing device is composed of a fish-eye lens, a camera shooting module, a data acquisition unit, an image analysis module and a power supply module, and has the characteristics of accuracy, time and labor saving, rapidness and convenience; the instrument and equipment are quickly installed, and the appearance is exquisite and beautiful. The user can log in the image analysis module through the webpage end or the mobile phone end, check and download historical data, and can determine the specific geographic position and the synchronous standard time of the equipment and the data acquisition point through the GPS.
Drawings
FIG. 1 is a schematic view of the connection relationship of the novel leaf area index instrument disclosed by the invention;
FIG. 2 is a schematic structural diagram of a novel leaf area index instrument disclosed by the invention;
FIG. 3 is a schematic view of the connection of a solar panel to a stainless steel frame;
FIG. 4 is a flow chart of the novel leaf area index meter disclosed by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and 2, an embodiment of the present invention is provided: a novel leaf area index instrument comprises a fisheye lens, a camera module, a data acquisition device, an image analysis module and a power supply module; the fisheye lens and the camera module are respectively connected with a data collector, the data collector is connected with the image analysis module through GPRS communication, and the power supply module is a solar cell panel and is connected with the battery pack. The data collector controls the fisheye lens and the camera module to obtain a hemispherical digital image, the image is sent to the image analysis module through the GPRS network, the local end can obtain the hemispherical digital image of the plant canopy through the image analysis module, the canopy image is analyzed and processed, and finally the leaf area index value is obtained.
In this embodiment, a solar cell panel of the leaf area index meter is connected with a battery pack, and the battery pack is respectively connected with a fisheye lens, a camera module, a data collector and an image analysis module; the battery pack is configured with a power management module.
In this embodiment, the leaf area index meter further includes a GPRS communication module, so that the data collector and the image analysis module transmit the hemispherical digital image through the GPRS communication module.
In this embodiment, the leaf area index meter further comprises an aluminum alloy shell and a lens protective cover which are mutually matched and connected, and the fisheye lens, the GPRS communication module, the power management module, the battery pack and the data acquisition unit are all arranged in the aluminum alloy shell; a level gauge is arranged at the upper end of the lens protective cover; the lower end of the aluminum alloy shell is provided with a detachable stainless steel support, and the solar cell panel is fixed on the stainless steel support.
In this embodiment, the leaf area index instrument data collector is designed as a low power consumption structure. As shown in FIG. 1, a Micro Controller Unit (MCU) employs the ST corporation ultra low power TM32L476VCT 6. The digital power supplies all adopt high-efficiency DC/DC voltage reducers. The power supply of the main controller STM32L467 adopts a DC/DC voltage reduction regulator TPS62175, and the output current reaches 500 mA. The system is provided with an enabling end and a sleep mode control end, the maximum current is input to 10uA and the output current is 15mA in the sleep mode, and the system automatically enters the sleep mode in an idle state, so that low power consumption control is facilitated. The power supply in the GPRS module adopts a DC/DC voltage reduction regulator TPS 5632201, the output current reaches 3A, the output voltage is adjustable, the GPRS module has an enabling end, and the maximum leakage current is 10uA in the off state. When the GPRS communication module works, the efficiency reaches more than 90 percent. The power supply of the image acquisition module is controlled by a power switch TPS22810, and the power switch integrates an N-channel MOSFET, so that the leakage current of the power switch is low, the cost is low, and the size is small compared with that of a relay. Through the low-power-consumption design, the working current is 0.5A, the standby power consumption is 0.4mA, and the continuous 15-day work can be realized under the condition of no solar power supply.
As shown in fig. 3, the stainless steel bracket comprises an upright, and a U-shaped groove is formed at the matching position of the solar panel and the upright; be equipped with on the stand and screw up the pole setting mounting, and it passes through the bolt fastening in the pole setting, solar cell panel's the back is equipped with the connecting piece, and the connecting piece passes through the bolt with screwing up the pole setting mounting and articulates, the arc guide slot has been seted up on the connecting piece, it is equipped with the bolt to screw up the pole setting mounting, and the bolt passes the arc guide slot to make the connecting piece rotate in a certain angle along the pin joint, thereby adjust solar cell panel's angle. The solar energy power supply system is composed of a solar cell panel, a storage battery and an intelligent controller and is widely applied to daily monitoring, meteorological monitoring, ecological monitoring, solar street lamps and other practical applications requiring solar energy power supply.
A leaf area index measuring method based on the novel leaf area index instrument comprises the following steps:
s1: controlling a fisheye lens and a camera module through a data collector, and automatically acquiring a hemispherical digital image of a plant canopy at regular time;
s2: the data acquisition unit sends the image to an image analysis module through a GPRS network;
s3: the image analysis module analyzes the canopy image based on the canopy radiation transmission theory, calculates the solar radiation transmittance, the size of the canopy pores, the clearance rate parameters and the like, and further calculates the effective leaf area index.
In this embodiment, the step S3 specifically includes:
extracting the porosity of the canopy from the canopy image based on the international general Beer law (Lambert-Beer law), and then calculating the leaf area index according to a leaf area index inversion model; the basic principle is that the porosity of the canopy is extracted through the acquired canopy image, and then the porosity, the leaf area index and a mathematical model of the canopy structure are utilized to calculate the leaf area index; assuming that the porosity of the canopy extracted from the image by the instrument is P (θ), then:
Figure BDA0002976344020000081
p (theta) represents the porosity of the canopy at a certain zenith angle, G (theta) is a projection function at the certain zenith angle, which represents the projection area of a unit blade at the viewing angle theta, and LAI is the index of the blade area.
The existing image analysis module is completely compatible with the instrument, and can be loaded on a cloud server for statistics, analysis and calculation according to needs. The collector sends the collected data to the image analysis module through the GPRS mobile network, so that a user can log in an account at a mobile phone or a computer end to check the data of each monitoring station in real time, and can download the data to a client, thereby rapidly realizing data statistical analysis; the module has the advantages of advanced technology, large data capacity, friendly man-machine interface and high reliability, and is widely applied to the fields of meteorology, agriculture, oceans, environment, airports, ports, industry and agriculture, traffic and the like.
And separating the page from the data by utilizing the MVVM architecture, and binding in a dynamic binding mode. And the View layer binds the data ID with the data corresponding to the ViewModel layer through a reflection mechanism, and informs the View to update and render the data display when the ViewModel data is updated.
Through control modularization processing, a general module such as a digital display module, a text enumeration module, a two-dimensional three-dimensional image display module, a video display module and the like can be abstracted, front-end page style layout can be quickly defined through interface layout software, and Html and Javascript codes of a front-end interface are generated through compiling. The front-end dynamic construction module is constructed using Vue tool technology and the HighChart chart display module, which is described in detail below (see FIG. 4).
Vue is a set of progressive front-end MVVM frameworks for building user interfaces. Unlike other large frames, Vue is designed to be applied layer by layer from the bottom up. Vue, the core library only focuses on the viewing layer, not only is it easy to get on hand, but also it is easy to integrate with third party libraries or existing projects. On the other hand, Vue is also fully capable of providing drivers for complex single page applications when used in conjunction with modern tool chains and various supporting class libraries.
Vue is a framework for building data-driven web interfaces with the goal of implementing responsive data-binding and composed view components through as simple APIs as possible. Js is characterized as follows: lightweight framework, bidirectional data binding, instruction, and plug-in.
The method supports the requirement that the original page is returned after page switching, the data of the original page is not lost, and determines that the Browser end is a single page Web application (SPA), namely an application with only one Web page, and is a Web application program which loads a single HTML page and dynamically updates the page when a user interacts with the application program. Routing is often required for single-page applications, and a plug-in (vue-router) of vue is used for realizing a routing function, so that local content is updated without refreshing the whole page. With the plug-in (vue-resource) of vue, the state of a component that is difficult to synchronize among a large number of used components is managed.
The invention analyzes and calculates the obtained image and data to obtain the relevant indexes and parameters of the canopy, develops the user side, and the user can log in the image analysis module through the webpage side or the mobile phone side to check and download historical data. The invention is configured with GPS function, and can know the specific geographic position of the equipment and the data acquisition point through the GPS.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims (10)

1. A novel leaf area index appearance which characterized in that: the device comprises a fisheye lens, a camera module, a data acquisition unit, an image analysis module and a power supply module; the fisheye lens and the camera module are respectively connected with a data collector, the data collector is connected with the image analysis module through GPRS communication, and the power supply module is a solar cell panel and is connected with the battery pack.
2. The novel leaf area index instrument according to claim 1, wherein: solar cell panel is connected with the group battery among the power module, the group battery is connected with fisheye lens, the module of making a video recording, data collection station respectively.
3. The novel leaf area index instrument according to claim 2, wherein: the battery pack is configured with a power management module.
4. The novel leaf area index instrument of claim 3, wherein: the leaf area index meter also comprises a GPRS communication module so that the data collector and the image analysis module transmit the hemispherical digital image through the GPRS communication module.
5. The novel leaf area index instrument of claim 4, wherein: the leaf area index instrument further comprises an aluminum alloy shell and a lens protective cover which are mutually matched and connected, and the fisheye lens, the GPRS communication module, the power management module, the battery pack and the data acquisition unit are all arranged in the aluminum alloy shell.
6. The novel leaf area index instrument of claim 5, wherein: the upper end of the lens protective cover is provided with a level gauge.
7. The novel leaf area index instrument of claim 6, wherein: the lower end of the aluminum alloy shell is provided with a detachable stainless steel support, and the solar cell panel is fixed on the stainless steel support.
8. A method for measuring a leaf area index of a novel leaf area index instrument according to any one of claims 1 to 7, comprising the steps of:
s1: controlling a fisheye lens and a camera module through a data collector, and automatically acquiring a hemispherical digital image of a plant canopy at regular time;
s2: the data acquisition unit sends the image to an image analysis module through a GPRS network;
s3: the image analysis module analyzes the canopy image based on the canopy radiation transmission theory, calculates the solar radiation transmittance, the size of the canopy pores, the clearance rate parameters and the like, and further calculates the effective leaf area index.
9. The leaf area index measurement method of claim 8, wherein: the step S3 specifically includes:
extracting the porosity of the canopy from the canopy image based on the international general Beer law (Lambert-Beer law), and then calculating the leaf area index according to a leaf area index inversion model; the basic principle is as follows: extracting the porosity of the canopy through the acquired canopy image, and further calculating the leaf area index by using the porosity, the leaf area index and a mathematical model of the canopy structure; assuming that the porosity of the canopy extracted from the image by the instrument is P (θ), then:
Figure FDA0002976344010000021
p (theta) represents the porosity of the canopy at a certain zenith angle, G (theta) is a projection function at the certain zenith angle, which represents the projection area of a unit blade at the viewing angle theta, and LAI is the index of the blade area.
10. The leaf area index measurement method of claim 8, wherein: in step S2, the mobile phone or the computer is connected to the image analysis module.
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CN113503839A (en) * 2021-07-13 2021-10-15 电子科技大学 Vegetation parameter is measuring robot independently
CN113503839B (en) * 2021-07-13 2022-04-19 电子科技大学 Vegetation parameter is measuring robot independently
CN117607063A (en) * 2024-01-24 2024-02-27 中国科学院地理科学与资源研究所 Forest vertical structure parameter measurement system and method based on unmanned aerial vehicle
CN117607063B (en) * 2024-01-24 2024-04-19 中国科学院地理科学与资源研究所 Forest vertical structure parameter measurement system and method based on unmanned aerial vehicle

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Application publication date: 20210528