CN210626655U - Tree root system three-dimensional scanning system - Google Patents
Tree root system three-dimensional scanning system Download PDFInfo
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- CN210626655U CN210626655U CN201921467958.6U CN201921467958U CN210626655U CN 210626655 U CN210626655 U CN 210626655U CN 201921467958 U CN201921467958 U CN 201921467958U CN 210626655 U CN210626655 U CN 210626655U
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Abstract
The utility model relates to a tree root system stereo scanning system, an unmanned tree root detection vehicle comprises a vehicle body, a driving wheel, an autonomous navigation module, a RTK-GPS module, a data transmission module, a central control system and an energy supply system; the bottom of the vehicle body is provided with a driving wheel, the driving wheel is connected with the vehicle body through a telescopic shaft, and each driving wheel is provided with an independent motor; the unmanned tree root detection vehicle is provided with an autonomous navigation module for controlling the movement track, an RTK-GPS module for forest positioning of the unmanned tree root detection vehicle and a data transmission module for communication between the unmanned tree root detection vehicle and a ground station. The tree root three-dimensional scanning module comprises a ground penetrating radar and a holder, and the tree positioning module comprises a two-dimensional laser range finder and an image sensor. The utility model discloses can in time, simple, survey woodland trees root system effectively, can not harm trees root system, and the radar installations of a plurality of nimble placements of setting has guaranteed the accuracy of exploration result, reduces artifical, raise the efficiency simultaneously.
Description
Technical Field
The utility model relates to a plant protection technical field, concretely relates to tree root system three-dimensional scanning system.
Background
The root system is used as an important organ of the tree, absorbs water and nutrients from soil, provides healthy growth for the overground part of the tree, and has great significance for maintaining energy flow and material circulation of an ecological system. In recent years, studies on the role of plant root systems in global climate change have shown that: the biomass of the crude roots (diameter >2mm) increases with increasing carbon dioxide concentration, which indicates that the crude roots can absorb and store excess carbon dioxide in the environment around the roots for a long period of time, which is of paramount importance for carbon recycling in ecosystems. The ground penetrating radar is a technology for carrying out nondestructive detection on an underground target by using electromagnetic waves, has great potential in the aspects of directly carrying out nondestructive detection on the distribution form of roots and the biomass of root systems as a nondestructive detection tool, can detect the growth conditions of large-scale tree farms, rare ancient trees, urban landscaping, parks, fruit trees and the like, ensures that the roots can be detected without being damaged, and realizes the nondestructive detection in the field of forestry.
The tree root system is a circle extended from a trunk as a circle center, the straight root system and the fibrous root system are complicated, the shape of all the tree roots is difficult to detect by the existing method for detecting the tree root system, and the detection tools such as a ground penetrating radar and the like are inconvenient to use in the detection of the tree root system due to the characteristic of the annular structure of the tree roots.
In order to solve the above problems, a new and reasonable system is needed to make the ground penetrating radar be suitable for the environment with complex tree root systems, and improve the efficiency of tree root system detection operation.
Disclosure of Invention
The utility model aims at providing a trees root system three-dimensional scanning system based on unmanned root probe vehicle, through unmanned root probe vehicle and additional structure, according to planning be fit for carrying out the route of the approach formula helix type that trees root system scanned, through ground penetrating radar equipment transmission ultrasonic signal, scan plant roots in order to acquire plant roots three-dimensional distribution diagram.
In order to achieve the above purpose, the utility model provides a technical scheme is:
a tree root system three-dimensional scanning system comprises an unmanned tree root detection vehicle, a tree root three-dimensional scanning module and a tree positioning module;
the unmanned tree root detection vehicle comprises a vehicle body, a driving wheel, an autonomous navigation module, an RTK-GPS module, a data transmission module, a central control system and an energy supply system; the driving wheels are mounted at the bottom of the vehicle body and are connected with the vehicle body through telescopic shafts, and each driving wheel is provided with an independent motor so as to realize the in-situ rotation of each driving wheel and the lifting of the vehicle body and further adjust the traveling route in real time; the unmanned tree root detection vehicle is provided with an autonomous navigation module for controlling a movement track, an RTK-GPS module for forest positioning of the unmanned tree root detection vehicle and a data transmission module for communication between the unmanned tree root detection vehicle and a ground station, and the autonomous navigation module, the RTK-GPS module and the data transmission module are connected with a central control system;
the tree root three-dimensional scanning module comprises a ground penetrating radar and a cradle head, and the ground penetrating radar and the cradle head are installed at the lower part of the vehicle body and are used for scanning the tree root system below; the tree root three-dimensional scanning module is connected with the central control system and sends a ground detection signal to the ground station through the data transmission module connected with the central control system;
the tree positioning module comprises a two-dimensional laser range finder and an image sensor, the image sensor is installed on the upper portion of the laser range finder, and the tree positioning module is connected with the central control system.
Further, energy supply system includes solar panel and battery, solar panel installs on unmanned root probe vehicle upper portion, the battery is installed inside the automobile body and is connected solar panel.
Furthermore, ultrasonic obstacle avoidance modules are installed around the unmanned tree root detection vehicle.
Furthermore, the number of the ground penetrating radars is 3-6.
Further, the autonomous navigation module comprises two modes of autonomous navigation and manual control.
Furthermore, the two-dimensional laser range finder is a telescopic rotary laser range finder.
The operation method of the tree root system three-dimensional scanning system comprises the following steps:
the unmanned tree root detection vehicle is controlled by the autonomous navigation module to firstly run along the edge of a forest according to a preset main motion track, and the tree positioning module starts to detect;
when the image sensor finds that the tree exists, the autonomous navigation module is switched to a tree root detection mode, the autonomous navigation module runs along a approaching spiral track, and the autonomous navigation module automatically runs from outside to inside towards the center of the tree root;
when the tree root detection is carried out, when the unmanned tree root detection vehicle runs for a certain distance, the tree root three-dimensional scanning module below the vehicle body scans the tree root part in the soil right below the vehicle body in real time, and transmits the collected tree root three-dimensional information and the collected positioning information to the ground station through the data transmission module;
and when the unmanned tree root detection vehicle finishes scanning the whole tree root range, switching back to the main motion track, and continuing to perform root three-dimensional scanning on the next tree until the root three-dimensional scanning of all trees is finished.
When the unmanned tree root detection vehicle is switched to a tree root detection mode to drive, the two-dimensional laser range finder of the tree positioning module detects the relative position relation between the tree and the unmanned tree root detection vehicle in real time, so that the side face of the vehicle is always ensured to be over against the center of the tree, and the vehicle body is ensured to drive at a constant speed according to a spiral line.
The tree positioning module establishes a three-dimensional coordinate system by taking a trunk as an original point so that the ground penetrating radar equipment can detect and record tree root system data according to the coordinate position.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses a plant roots three-dimensional scanning system of unmanned root probe vehicle both can in time, simply, survey woodland trees root system effectively, can not harm trees root system, and the radar installations of a plurality of nimble placements that set up moreover has guaranteed the accuracy of exploration result, reduces artifical, raise the efficiency simultaneously.
Drawings
Fig. 1 is the overall structure schematic diagram of the tree root system stereo scanning system of the utility model.
Fig. 2 is a schematic structural diagram of the working position adjusting system of the present invention.
Fig. 3 is a schematic structural diagram of the tree root stereo scanning module of the present invention.
Fig. 4 is a schematic structural view of the tree positioning module of the present invention.
Fig. 5 is a working track diagram of the tree root system three-dimensional scanning system of the utility model.
Fig. 6 is a schematic view of the scanning process of the tree root system stereo scanning system of the present invention.
Wherein: 1-unmanned tree root detecting vehicle, 2-tree positioning module and 3-tree root stereo scanning module; 101-RTK-GPS module, 102-solar panel, 103-autonomous navigation module and data transmission module, 104-storage battery, 105-ultrasonic obstacle avoidance module, 106-telescopic driving shaft, 107-driving wheel and 108-single direct current motor; 201-cloud deck, 202-baffle, 203-ground penetrating radar; 301-image sensor, 302-laser rangefinder; 4-advancing direction, 5-trunk section, 6-tree positioning mode and 7-three-dimensional scanning mode.
Detailed Description
The present invention will be further described with reference to the following specific embodiments.
A tree root system three-dimensional scanning system is used for detecting the distribution condition of tree root systems and comprises an unmanned tree root detection vehicle 1, a tree root three-dimensional scanning module 3 and a tree positioning module 2; wherein, unmanned root of tree probe vehicle 1 includes: the system comprises a vehicle body, a driving wheel 107, a solar panel 102, a storage battery 104, an autonomous navigation module, a data transmission module 103, an RTK-GPS module 101 and an ultrasonic obstacle avoidance module 105. The vehicle body is of a cuboid thick plate structure, driving wheels 107 are mounted at the bottom of the vehicle body, the driving wheels 107 are connected with the cuboid thick plate through telescopic shafts, and each driving wheel 107 is provided with an independent motor, so that the in-situ rotation of each driving wheel 107 and the lifting of the vehicle body are realized, and the vehicle body is used for adjusting the advancing route in real time; the solar panel 102 is arranged on the upper part of the vehicle body and provides a power source for the whole device; the storage battery 104 is arranged in the vehicle body and used for storing electric quantity; the autonomous navigation module is arranged in the vehicle body and is used for controlling the main motion track of the unmanned tree root detection vehicle 1 along the edge of a forest and the approaching spiral detection motion track around the root system of the tree; the RTK-GPS module 101 is installed at the upper part of the vehicle body and used for positioning unmanned vehicle in a forest; the data transmission module is arranged in the vehicle body and is used for communicating the unmanned vehicle with the ground station, so that the ground station can conveniently control the unmanned vehicle and transmit the scanning data back to the ground station in real time; the ultrasonic obstacle avoidance module 105 is installed around the vehicle body, and the environment where the unmanned vehicle is located is monitored in real time by utilizing ultrasonic waves, so that collision is avoided.
The tree root stereo scanning module 3 comprises: 3-6 ground penetrating radars 203 and a cradle head 201, wherein the ground penetrating radars 203 and the cradle head 201 are installed on the lower portion of the vehicle body, the ground penetrating radars 203 are used for scanning tree root systems right below the vehicle body, and the obtained tree root data are uploaded to a ground station through a data transmission module in real time and stored; the tree positioning module 2 includes: the system comprises a two-dimensional laser range finder 302 and an image sensor 301, wherein the two-dimensional laser range finder is installed inside a vehicle body, and the laser range finder 302 is arranged in a telescopic rotary mode and is more convenient to detect and adjust the relative position relation between a tree and an unmanned vehicle in real time; the image sensor 301 is installed on the upper side of the laser range finder 302 and used for sensing and detecting the position condition of the trees.
The operation method of the tree root system three-dimensional scanning system comprises the following steps: the unmanned tree root detection vehicle 1 is controlled by the autonomous navigation module to firstly run along the edge of a forest according to a preset main motion track, the tree positioning module 2 starts to detect, when the image sensor 301 finds that a tree exists, the unmanned tree root detection vehicle 1 is switched to a tree root detection mode, runs according to a approaching spiral track and automatically runs from outside to inside towards the center of the tree root; when the unmanned tree root detection vehicle 1 is switched to a tree root detection mode to run, the two-dimensional laser range finder 302 of the tree positioning module 2 detects the relative position relation between the tree and the unmanned tree root detection vehicle 1 in real time, so that the side face of the vehicle is always ensured to be opposite to the center of the tree, and the center of the vehicle body runs at a constant speed strictly according to a spiral line; when in detection, when the unmanned tree root detection vehicle 1 runs for a certain distance, the tree root three-dimensional scanning module 3 below the vehicle body scans the tree root part in the soil right below in real time, and the collected tree root three-dimensional information and positioning information are automatically stored and transmitted to a ground station for collection through data transmission; when the unmanned tree root detection vehicle 1 finishes scanning the whole tree root range, the main motion track is automatically switched back, and the three-dimensional scanning of the root of the next tree is continuously carried out until the three-dimensional scanning of the roots of all trees is finished.
The ground workstation for controlling the unmanned tree root detection vehicle 1 comprises information receiving and processing equipment which is respectively connected with the tree positioning module 2, the tree root three-dimensional scanning module 3, the autonomous navigation module and the RTK-GPS module 101 through a data transmission module and is used for recording, analyzing and comparing data of the ground penetrating radar 203 and controlling the advancing track of the unmanned vehicle; and sending the radar data obtained by the information receiving and processing equipment to a ground station, acquiring detection data by a detector through the ground station, and synthesizing the obtained three-dimensional information of the root of each tree into a tree root whole body through programming processing or commercial synthesis software and displaying the tree root whole body.
The tree positioning module 2 is connected with the ground penetrating radar 203 device through wireless transmission equipment, and the tree positioning module 2 establishes a three-dimensional coordinate system by taking a trunk as an original point so that the ground penetrating radar 203 device can detect and record tree root system data according to coordinate positions; and controlling the unmanned vehicle to walk around the trunk according to a spiral line type route through a detection track in the autonomous navigation module, recording x and y coordinates of a three-dimensional coordinate system in real time, and recording a z-axis coordinate and storing and uploading the z-axis coordinate and x and y coordinate data recorded by the RTK-GPS module 101 when the ground penetrating radar 203 detects that a tree root system exists in the z-coordinate direction. The ground penetrating radar 203 support device is arranged below the frame, 3-6 radar devices can be arranged at one time, necessary conditions are provided for detecting three-dimensional data, different schemes are provided for different detection conditions, detection efficiency is improved, and accuracy of detection data is improved. The ground penetrating radar 203 device scans the cross section parallel to the z axis during detection, so that the accuracy of detection data is improved. The autonomous navigation module comprises an autonomous navigation mode and a manual control mode, the autonomous navigation mode is completed by the GPS positioning module, and the vehicle walks according to a preset route; the manual control mode is controlled and completed by a technician through a remote controller, and the remote controller can control the driving of the unmanned vehicle and monitor the state of the system; the system can eliminate the interference of soil and other soil internal components, walks according to the tree root of the spiral line loop, and acquires the radar data of the tree root system through the established three-dimensional coordinate system. After a group of radar detection is finished, the unmanned tree root detection vehicle 1 autonomously navigates to the position above the root system of the next tree according to a specified route; and the radar detection work of the tree root systems in the forest is finished in sequence by taking the process as a flow.
The above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention in any form, and any skilled person familiar with the art will not depart from the technical scope of the present invention, and the technical spirit of the present invention will be any simple modification, equivalent replacement, and improvement made by the above embodiments, and the like, all still belong to the technical scope of the present invention.
Claims (6)
1. A tree root system stereo scanning system is characterized in that: the tree root three-dimensional scanning device comprises an unmanned tree root detection vehicle, a tree root three-dimensional scanning module and a tree positioning module;
the unmanned tree root detection vehicle comprises a vehicle body, a driving wheel, an autonomous navigation module, an RTK-GPS module, a data transmission module, a central control system and an energy supply system; the bottom of the vehicle body is provided with a driving wheel, the driving wheel is connected with the vehicle body through a telescopic shaft, and each driving wheel is provided with an independent motor; the unmanned tree root detection vehicle is provided with an autonomous navigation module for controlling a movement track, an RTK-GPS module for forest positioning of the unmanned tree root detection vehicle and a data transmission module for communication between the unmanned tree root detection vehicle and a ground station, and the autonomous navigation module, the RTK-GPS module and the data transmission module are connected with a central control system;
the tree root three-dimensional scanning module comprises a ground penetrating radar and a cradle head, and the ground penetrating radar and the cradle head are installed at the lower part of the vehicle body and are used for scanning the tree root system below; the tree root three-dimensional scanning module is connected with the central control system and sends a ground detection signal to the ground station through the data transmission module connected with the central control system;
the tree positioning module comprises a two-dimensional laser range finder and an image sensor, the image sensor is installed on the upper portion of the laser range finder, and the tree positioning module is connected with the central control system.
2. The tree root system stereo scanning system of claim 1, wherein: energy supply system includes solar panel and battery, solar panel installs on unmanned root of a tree detection car upper portion, the battery is installed inside the automobile body and is connected solar panel.
3. The tree root system stereo scanning system of claim 1, wherein: and ultrasonic obstacle avoidance modules are arranged around the vehicle body of the unmanned tree root detection vehicle.
4. The tree root system stereo scanning system of claim 1, wherein: the number of the ground penetrating radars is 3-6.
5. The tree root system stereo scanning system of claim 1, wherein: the autonomous navigation module comprises an autonomous navigation mode and a manual control mode.
6. The tree root system stereo scanning system of claim 1, wherein: the two-dimensional laser range finder is a telescopic rotary laser range finder.
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| CN201921467958.6U CN210626655U (en) | 2019-09-05 | 2019-09-05 | Tree root system three-dimensional scanning system |
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| CN201921467958.6U CN210626655U (en) | 2019-09-05 | 2019-09-05 | Tree root system three-dimensional scanning system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412589A (en) * | 2019-09-05 | 2019-11-05 | 南京林业大学 | A kind of tree root stereoscopic scanning system and method |
| US11420491B2 (en) * | 2017-09-19 | 2022-08-23 | Commonwealth Scientific And Industrial Research Organisation | Plant scanning vehicle |
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2019
- 2019-09-05 CN CN201921467958.6U patent/CN210626655U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11420491B2 (en) * | 2017-09-19 | 2022-08-23 | Commonwealth Scientific And Industrial Research Organisation | Plant scanning vehicle |
| CN110412589A (en) * | 2019-09-05 | 2019-11-05 | 南京林业大学 | A kind of tree root stereoscopic scanning system and method |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Nanjing Linwei Ecological Agricultural Technology Co.,Ltd. Assignor: NANJING FORESTRY University Contract record no.: X2020320000106 Denomination of utility model: A stereo scanning system for tree roots Granted publication date: 20200526 License type: Common License Record date: 20201102 Assignee: Nanjing Yousilande Control Technology Co. Assignor: NANJING FORESTRY University Contract record no.: X2020320000105 Denomination of utility model: A stereo scanning system for tree roots Granted publication date: 20200526 License type: Common License Record date: 20201102 |
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| EE01 | Entry into force of recordation of patent licensing contract |