Leaf cutting and sampling device for forestry monitoring

Abstract

The present invention relates to the technical field of plant leaf sampling equipment, and specifically to a leaf cutting and sampling device for forestry monitoring, comprising a frame, a mobile component, a sampling tool, a suction and holding component, a first acquisition module and a controller, wherein the frame is arranged on the mobile component, and the mobile component is used to drive the frame to move. The present invention is provided with a suction and holding component, a sampling tool, a first acquisition module and a controller, and when sampling leaves of a target tree, it is possible to avoid the sampling tool cutting the lateral veins of the target sampling leaves as much as possible, and in the case where it is inevitable to cut the lateral veins of the target sampling leaves, the controller can also calculate the best sampling position, so that the sampling area of ​​the sampling tool in the proposed sampling area adjacent to the target sampling area is minimized, so that the incision length of the lateral veins is shorter, which is conducive to the rapid self-repair of the leaves after sampling, and will not cause significant damage to the target sampling leaves.

Description

Technical Field

[0001] The invention relates to the technical field of plant leaf sampling instruments, in particular to a leaf cutting and sampling device for forestry monitoring. Background Art

[0002] Cutting and sampling plant leaves is an indispensable part of forestry monitoring. By cutting and sampling plant leaves, the characteristics of plant leaf mesophyll tissue (such as chlorophyll content and photosynthesis efficiency, etc.) can be monitored, which helps forestry workers to understand the growth and development status of plants in a timely manner. It provides valuable data support for the sustainable management of forestry resources. The cutting and sampling methods of plant leaves are divided into whole-piece cutting and sampling and partial cutting and sampling. As the name suggests, whole-piece cutting and sampling is to cut the whole plant leaf from the root of the plant leaf; partial cutting and sampling is to sample a rectangular area or a circular area from part of the plant leaf. Different cutting methods are applied to different detection directions. Whole-piece cutting is mainly used in morphological and anatomical research and biochemical and physiological analysis, and partial cutting is mainly used in pathological analysis and damage response research in specific areas, which is also the main monitoring aspect in forestry monitoring.

[0003] In the prior art, manual cutting technology is mostly used for partial cutting of plant leaves in forestry environments. However, many trees in forestry environments are relatively high. When sampling leaves in upper areas such as the upper crown and the middle crown, samplers need to use climbing tools such as ladders to reach the sampling area. In addition, during manual sampling, random sampling is usually only performed at non-main vein positions of plant leaves. For example, a crop leaf sampling device disclosed in a Chinese invention patent application with publication number CN115561008A, although it clamps and protects the main veins and effectively prevents the main veins from being cut by the sampling device, it is still easy to cause the incision of the lateral veins of the plant leaves to be longer, and the self-repair period of the plant leaves after sampling is longer. In severe cases, the plant leaves after sampling will become dry, yellow, or even wither. Summary of the invention

[0004] Based on this, it is necessary to provide a leaf cutting and sampling device for forestry monitoring to address the problems existing in the current plant leaf cutting device, so as to solve the problem that when the existing cutting equipment cuts plant leaves, the incision length of the side veins of the plant leaves is long, which is not conducive to the rapid self-repair of the plant leaves after sampling.

[0005] The above purpose is achieved through the following technical solutions:

[0006] A leaf cutting and sampling device for forestry monitoring comprises:

[0007] frame;

[0008] A moving component, which is used to drive the frame to move;

[0009] A suction and holding component, which is arranged on the frame and is used to suction and fix the target sampling blade;

[0010] A sampling tool, which is arranged on the suction and holding component and is used for partially cutting the target sampling leaf;

[0011] A first acquisition module is used to successively acquire a first image and a second image at a proposed sampling position of a target tree;

[0012] The first image is a panoramic image of the proposed sampling location of the target tree;

[0013] The second image is a magnified image of the target sampling leaf at the intended sampling position;

[0014] A controller, configured to receive a first image and select target sampling leaves from leaves included in the first image in a first screening mode;

[0015] and receiving the second image, and first defining the area between two adjacent lateral veins of all lateral veins of the target sampling leaf as the proposed sampling area, and then calculating the distance between two lateral veins corresponding to each proposed sampling area according to the second image, and finally recording the number and position of the proposed sampling areas whose distance is greater than the preset distance;

[0016] If the number of the proposed sampling areas with a spacing greater than the preset spacing is one, the controller controls the moving component to move downward, so that the sampling tool samples from the proposed sampling area in a first sampling mode;

[0017] If the number of the proposed sampling areas with a spacing greater than the preset spacing is greater than one, the controller selects the target sampling area from the proposed sampling areas with a spacing greater than the preset spacing in a second screening mode, and controls the moving component to move downward, so that the sampling tool samples from the target sampling area in a first sampling mode;

[0018] If the number of proposed sampling areas with a spacing greater than a preset spacing is less than one, the controller screens out the target sampling area from all the proposed sampling areas in a third screening mode, and controls the moving component to move downward, so that the sampling tool samples from the target sampling area in a second sampling mode; the suction component includes a three-axis robotic arm, a connecting block and a suction plate, one end of the three-axis robotic arm is fixedly arranged on a frame, the other end of the three-axis robotic arm is fixedly connected to the connecting block, the suction plate is fixedly arranged on a side of the connecting block away from the three-axis robotic arm, a plurality of suction holes are provided on the suction surface of the suction plate, and a first blowing and suction machine is also provided on the connecting block, the suction holes are connected to the first blowing and suction machine, and are used to allow the suction holes to suck air inward through the first blowing and suction machine.

[0019] In one embodiment, the first screening mode includes measuring the leaf surface area of ​​the leaves in the first image, and randomly selecting one from the leaves whose leaf surface area is greater than a first preset value and less than a second preset value, and defining it as a target sampling leaf, and the second preset value is greater than the first preset value.

[0020] In one embodiment, the second screening mode includes selecting the line connecting the two end points of the main vein of the target sampling leaf as the Y axis and the perpendicular bisector of the line connecting the two end points of the main vein as the X axis, thereby establishing a two-dimensional coordinate system;

[0021] Calculate the ratio of the absolute value of the X coordinate to the absolute value of the Y coordinate of the center point coordinates of each proposed sampling area ;

[0022] Will The proposed sampling area with the largest value is defined as the target sampling area.

[0023] In one embodiment, the third screening mode includes:

[0024] The proposed sampling area with the largest distance between two adjacent lateral leaf veins was selected and defined as the target sampling area.

[0025] In one embodiment, the first sampling mode includes:

[0026] The sampling tool is controlled to sample in the blank area between two adjacent lateral leaf veins.

[0027] In one embodiment, the second sampling mode includes:

[0028] The sampling tool is controlled to sample in the target sampling area and the adjacent proposed sampling area, and the sampling area of ​​the sampling tool in the proposed sampling area adjacent to the target sampling area is minimized.

[0029] In one of the embodiments, an LED spotlight is also provided on the holding surface of the holding plate;

[0030] The controller is configured to control the LED spotlight to turn on when the first acquisition module acquires the second image;

[0031] The controller is further configured to receive and identify whether there is a shadow region in the second image, and if so, further identify whether the type of the shadow region belongs to the first type, and if so, the controller executes a first instruction to remove the shadow region;

[0032] If the type of the shadow domain does not belong to the second type, the controller executes a second instruction to remove the shadow domain;

[0033] The first type is a discrete spot-like shadow domain;

[0034] The second type is a long strip shadow area.

[0035] In one embodiment, the first instruction includes switching the first blower-vacuum machine to a blowing mode so that the first blower-vacuum machine blows air outwardly.

[0036] In one of the embodiments, an ultrasonic insect repellent is further provided inside the holding plate, and an ultrasonic emitting end of the ultrasonic driver is perpendicular to the holding surface;

[0037] The second instruction includes starting the ultrasonic insect repeller so that the ultrasonic transmitter continuously emits ultrasonic waves of a specific frequency.

[0038] The beneficial effects of the present invention are:

[0039] The present invention is provided with a suction holding component, a sampling tool, a first acquisition module and a controller. When sampling leaves of a target tree, the controller can identify the positions of the main veins and the lateral veins according to the captured magnified image and screen out the required intended sampling area in different screening modes according to the spacing between two adjacent lateral veins in all the lateral veins, and select different sampling modes according to the type of the intended sampling area to avoid the sampling tool from cutting the lateral veins of the target sampling leaves as much as possible. In addition, in the case where the lateral veins of the target sampling leaves are inevitably cut, the controller can also calculate the best sampling position to minimize the sampling area of ​​the sampling tool in the intended sampling area adjacent to the target sampling area, so that the incision length of the lateral veins is shorter, which is conducive to the rapid self-repair of the leaves after sampling and will not cause significant damage to the target sampling leaves. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a structural schematic diagram of a leaf cutting and sampling device for forestry monitoring of the present invention;

[0041] Figure 2 for Figure 1 A schematic diagram of the enlarged structure in the middle;

[0042] Figure 3 It is a side view of a leaf cutting and sampling device for forestry monitoring of the present invention;

[0043] Figure 4 This is a schematic diagram of the position of the air suction holes in a leaf cutting and sampling device for forestry monitoring of the present invention;

[0044] Figure 5 It is a top view of a leaf cutting and sampling device for forestry monitoring of the present invention;

[0045] Figure 6 This is a schematic diagram of the vein distribution of a common type of leaves;

[0046] Figure 7Schematic diagram of the vein distribution of two common types of leaves.

[0047] in:

[0048] 100, suction and holding assembly; 110, connecting block; 120, suction and holding plate; 121, suction hole; 122, extension block; 123, rotating shaft; 124, receiving plate; 125, first motor; 126, first electric telescopic rod; 127, first elastic ventilation pipe; 210, first blowing and suction dual-purpose machine; 220, second blowing and suction dual-purpose machine; 300, zoom camera; 400, sampling tool; 410, tool head; 420, tool sleeve; 430, tool holder; 441, sliding base; 442, first screw; 443, second motor; 444, first guide rod; 445, second elastic ventilation pipe; 446, threaded slider; 447, second screw; 448, fixed base; 449, third motor; 500, robot arm connecting end; 1000, target sampling leaf; 1100, main leaf vein; 1200, side leaf vein. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0050] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings). In the description of the present invention, it should be understood that the orientation or position relationship indicated by the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. are based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0051] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0052] like Figure 1-Figure 7 As shown, a leaf cutting and sampling device for forestry monitoring includes a frame, a moving component, a sampling tool 400, a suction component 100, a first acquisition module and a controller, the frame is arranged on the moving component, the moving component is used to drive the frame to move, the suction component 100 is arranged on the frame, the suction component 100 is used to suction and fix the target sampling leaf 1000, the sampling tool 400 is arranged on the suction component 100, the sampling tool 400 is used to perform local cutting on the target sampling leaf 1000, the first acquisition module is used to successively acquire a first image and a second image at a proposed sampling position of the target tree, wherein the first image is a panoramic image of the proposed sampling position of the target tree, and the second image is an enlarged image of the target sampling leaf 1000 at the proposed sampling position, the controller is used to receive the first image, and filter out the target sampling leaf 1000 from the leaves contained in the first image in a first screening mode, and is used to receive the second image, and first filter out the adjacent two side veins of all side veins 1200 of the target sampling leaf 1000 The area between the leaf veins 1200 is defined as the proposed sampling area, and then the spacing between the two lateral leaf veins 1200 corresponding to each proposed sampling area is calculated according to the second image. Finally, the number and position of the proposed sampling areas with a spacing greater than the preset spacing are recorded. If the number of the proposed sampling areas with a spacing greater than the preset spacing is one, the controller controls the moving component to move downward so that the sampling tool 400 samples from the proposed sampling area in the first sampling mode. If the number of the proposed sampling areas with a spacing greater than the preset spacing is greater than one, the controller selects the target sampling area from the proposed sampling areas with a spacing greater than the preset spacing in the second screening mode, and controls the moving component to move downward so that the sampling tool 400 samples from the target sampling area in the first sampling mode. If the number of the proposed sampling areas with a spacing greater than the preset spacing is less than one, the controller selects the target sampling area from all the proposed sampling areas in the third screening mode, and controls the moving component to move downward so that the sampling tool 400 samples from the target sampling area in the second sampling mode.

[0053] When performing local cropping and sampling of leaves of the target tree, the staff controls the moving component so that the moving component drives the frame to move to the top of the proposed sampling position of the target tree. Next, the controller controls the first acquisition module to start working, so that the first acquisition module first acquires a panoramic image of the proposed sampling position at the proposed sampling position of the target tree, that is, the first image. Since the first image contains a lot of leaves, it is also necessary to screen the leaves appearing in the first image and select one of the leaves as the target sampling leaf 1000. Specifically, after receiving the first image, the controller selects the target sampling leaf 1000 from all the leaves contained in the first image in a first screening mode, and then the first acquisition module selects the target sampling leaf 1000. The target sampling leaf 1000 is photographed with an enlarged image, i.e., the second image, and then the first acquisition module sends the second image to the controller. After receiving the second image, the controller first defines the area between two adjacent side veins 1200 of all side veins 1200 of the target sampling leaf 1000 as the proposed sampling area, and then measures the spacing between the two side veins 1200 corresponding to each proposed sampling area, and records the number and position of the proposed sampling areas whose spacing is greater than the preset spacing. If the number of the proposed sampling areas whose spacing is greater than the preset spacing is one, it means that there is only one suitable proposed sampling area that can be used as the target sampling area, so the controller controls the moving component to move downward so that the sampling tool 400 gradually approaches the target The sampling blade 1000 is to be sampled in the proposed sampling area. At the same time, the controller controls the suction component 100 to first suck and fix the target sampling blade 1000, so that the sampling tool 400 samples from the proposed sampling area of ​​the target sampling blade 1000 in the first sampling mode. If the number of the proposed sampling areas with a spacing greater than the preset spacing is greater than one, the controller selects the optimal proposed sampling area from the proposed sampling areas with a spacing greater than the preset spacing in the second screening mode as the target sampling area. Next, the controller controls the moving component to move downward, so that the sampling tool 400 gradually approaches the target sampling area. At the same time, the controller controls the suction component 100 to suck and fix the target sampling blade 1000, so that the sampling tool 400 Sampling is performed from the target sampling area of ​​the target sampling leaf 1000 in the first sampling mode. If the number of the proposed sampling areas whose spacing is greater than the preset spacing is less than one, it means that the spacing between the two lateral veins 1200 corresponding to no proposed sampling area is greater than the preset spacing, and the preset spacing is the width of the sampling tool 400. Then the controller selects the target sampling area from all the proposed sampling areas in the third screening mode, and controls the moving component to move downward so that the sampling tool 400 gradually approaches the target sampling area. At the same time, the controller controls the holding component 100 to hold and fix the target sampling leaf 1000, so that the sampling tool 400 samples from the target sampling area of ​​the target sampling leaf 1000 in the second sampling mode.

[0054] It should be supplemented that, specifically, the mobile component is a drone, and the frame is arranged at the lower part of the drone so that the drone drives the frame to move above the intended sampling position of the target tree. The first acquisition module is a zoom camera 300, and the zoom camera 300 is controlled by a controller to zoom so that the zoom camera 300 can take panoramic images or enlarged images as needed.

[0055] In a further embodiment, the first screening mode includes measuring the leaf surface area of ​​the leaves in the first image, and randomly selecting one from the leaves whose leaf surface area is greater than a first preset value and less than a second preset value, defining it as the target sampling leaf 1000, and the second preset value is greater than the first preset value.

[0056] It can be understood that the reason why a target sampling leaf 1000 is selected from leaves whose leaf surface area is greater than the first preset value and less than the second preset value is because leaves whose leaf surface area is less than the first preset value are not fully mature and cannot accurately reflect the overall condition of the tree, while leaves whose leaf surface area is greater than the second preset value are too large and may be unrepresentative due to aging or disease in some areas, and therefore cannot accurately reflect the overall condition of the tree. The purpose of screening the leaves contained in the first image through the first screening mode is to screen out leaves of moderate size as samples, thereby ensuring the representativeness and comparability of the samples, so as to effectively evaluate the health status of the trees and provide accurate and effective management basis for forestry monitoring.

[0057] In a further embodiment, the second screening mode includes selecting the line connecting the two end points of the main vein 1100 of the target sampling leaf 1000 as the Y axis, and the perpendicular bisector of the line connecting the two end points of the main vein 1100 as the X axis, thereby establishing a two-dimensional coordinate system, and calculating the ratio of the absolute value of the X coordinate to the absolute value of the Y coordinate of the center point coordinate of each proposed sampling area. ,Will The proposed sampling area with the largest value is defined as the target sampling area.

[0058] When the number of the proposed sampling areas with a spacing greater than the preset spacing is greater than one, it means that there are multiple areas on the target sampling leaf 1000 where sampling can be performed. At this time, the optimal proposed sampling area is selected for sampling, so as to further increase the representativeness of the sampled samples. Specifically, the optimal sampling area should be far away from the main vein 1100 and the leaf tip and the leaf root. Therefore, the line connecting the two end points of the main vein 1100 of the target sampling leaf 1000 is selected as the Y axis, and the perpendicular bisector of the line connecting the two end points of the main vein 1100 is selected as the X axis. In this way, a two-dimensional coordinate system is established to calculate the ratio of the absolute value of the X coordinate to the absolute value of the Y coordinate of the center point coordinate of each proposed sampling area. ,Will The proposed sampling area with the largest value is defined as the target sampling area, because The proposed sampling area with the largest value is the optimal sampling area, that is, the target sampling area.

[0059] In a further embodiment, the third screening mode includes selecting a proposed sampling area with the largest distance between two adjacent lateral leaf veins 1200 and defining it as a target sampling area.

[0060] When the number of proposed sampling areas with a spacing greater than the preset spacing is less than one, it means that no proposed sampling area can satisfy sampling within the area without cutting the lateral vein 1200 of the target sampling leaf 1000. At this time, the proposed sampling area with the largest spacing between two adjacent lateral veins 1200 is selected and defined as the target sampling area. The reason why the proposed sampling area with the largest spacing between two adjacent lateral veins 1200 is selected and defined as the target sampling area is that using this area as the main sampling area can minimize the sampling area of ​​the sampling tool 400 in the proposed sampling area adjacent to the target sampling area, and can also minimize the incision of the lateral vein 1200 of the target sampling leaf 1000, which is conducive to the rapid self-repair of the leaf after sampling.

[0061] In a further embodiment, the first sampling mode includes controlling the sampling tool 400 to sample in a blank area between two adjacent lateral veins 1200 .

[0062] When the distance between two adjacent lateral veins 1200 in a proposed sampling area is greater than the preset distance, it means that when sampling in the proposed sampling area, the sampling tool 400 can sample in the blank area without cutting the lateral veins 1200. Therefore, sampling in the blank area between two adjacent lateral veins 1200 is the first sampling mode.

[0063] In a further embodiment, the second sampling mode includes controlling the sampling tool 400 to sample in the target sampling area and the adjacent proposed sampling area, and minimizing the sampling area of ​​the sampling tool 400 in the proposed sampling area adjacent to the target sampling area.

[0064] When the maximum distance between two adjacent lateral veins 1200 of the target sampling leaf 1000 is still smaller than the preset distance, it means that at this time in the target sampling area, the sampling tool 400 will inevitably cut the lateral vein 1200 of the target sampling leaf 1000. At this time, the sampling area of ​​the sampling tool 400 in the proposed sampling area adjacent to the target sampling area should be minimized, so that the incision length of the lateral vein 1200 is shorter, which is conducive to the rapid self-repair of the leaf after sampling and will not cause significant damage to the target sampling leaf 1000.

[0065] In summary, the present invention is provided with a suction holding component 100, a sampling tool 400, a first acquisition module and a controller. When sampling the leaves of the target tree, the first acquisition module first takes a panoramic photo of the intended sampling area of ​​the target tree to facilitate rapid and random screening of the target sampling leaves 1000. Then, the first acquisition module zooms in and shoots the target sampling leaves 1000, and sends the photographed image to the controller. The controller identifies the positions of the main veins 1100 and the lateral veins 1200 according to the photographed images, and screens out the required intended sampling area according to different screening modes according to the spacing between two adjacent lateral veins 1200 among all the lateral veins 1200. Different sampling modes are selected according to the type of the intended sampling area to avoid the sampling tool 400 from cutting the lateral veins 1200 of the target sampling leaves 1000 as much as possible, and in When it is inevitable to cut the lateral vein 1200 of the target sampling leaf 1000, the controller first selects the proposed sampling area with the largest spacing between two adjacent lateral veins 1200, and defines it as the target sampling area. Then, the controller simulates all sampling paths of the sampling tool 400 when sampling with the target sampling area as the main sampling area according to the specific size of the sampling tool 400, calculates the area of ​​each sampling path in the target sampling area, selects the position corresponding to the sampling path with the largest sampling area in the target sampling area, and defines it as the optimal sampling position, so that the sampling area of ​​the sampling tool 400 in the proposed sampling area adjacent to the target sampling area is minimized, so that the incision length of the lateral vein 1200 is shorter, which is conducive to the rapid self-repair of the leaf after sampling, and will not cause significant damage to the target sampling leaf 1000.

[0066] In a further embodiment, Figure 1 , Figure 2 and Figure 4 As shown, the suction assembly 100 includes a three-axis robot arm (not shown in the figure), a connecting block 110 and a suction plate 120. One end of the three-axis robot arm is fixedly arranged on the frame, and the other end of the three-axis robot arm is fixedly connected to the connecting block 110. The suction plate 120 is connected to the side of the connecting block 110 away from the three-axis robot arm. A plurality of suction holes 121 are provided on the suction surface of the suction plate 120. A first blowing and suction machine 210 is also provided on the connecting block 110. The suction holes 121 are connected to the first blowing and suction machine 210, and are used to allow the suction holes 121 to suck air inward through the first blowing and suction machine 210.

[0067] During use, after the target sampling blade 1000 is determined, the controller controls the three-axis robotic arm to drive the connecting block 110 and the holding plate 120 to move, so that the holding surface of the holding plate 120 contacts the back side of the target sampling blade 1000. At this time, the controller controls the first blowing and sucking machine 210 to start, so that the first blowing and sucking machine 210 inhales air, and sucks the back side of the target sampling blade 1000 onto the holding plate 120 through the suction hole 121, so that the back side of the target sampling blade 1000 maintains surface contact with the holding plate 120. Next, the controller controls the zoom camera 300 closest to the target sampling blade 1000 to take an enlarged image of the target sampling blade 1000, i.e., the second image. Finally, the controller controls the sampling tool 400 to approach the front side of the target sampling blade 1000 and perform partial cropping of the target sampling blade 1000.

[0068] It should be added that if Figure 5 As shown, the holding plate 120 is connected to the connecting block 110 through the first electric telescopic rod 126, so that the holding plate 120 can be close to or away from the target sampling area of ​​the target sampling blade 1000. Specifically, the fixed end of the first electric telescopic rod 126 is arranged at the end of the connecting block 110 away from the three-axis robot arm, and the axis of the first electric telescopic rod 126 is perpendicular to the side of the connecting block 110. In addition, in order to enable the holding surface of the holding plate 120 to rotate to be perpendicular to the sampling tool 40 0 or parallel to the axis of the sampling tool 400, extension blocks 122 are provided on both sides of the suction plate 120, the side of the extension block 122 away from the suction plate 120 is fixedly connected to the rotating shaft 123, and the end of the rotating shaft 123 away from the suction plate 120 is rotatably provided with a receiving plate 124, and a first motor 125 is provided on the receiving plate 124, the output shaft of the first motor 125 is fixedly connected to the rotating shaft 123, and the receiving plate 124 is fixedly connected to the telescopic end of the first electric telescopic rod 126.

[0069] When the holding surface of the holding plate 120 needs to rotate, the controller controls the first motor 125 to start, and the output shaft of the first motor 125 drives the rotating shaft 123 to rotate, and the rotating shaft 123 drives the holding plate 120 to rotate, so that the holding plate 120 rotates, that is, the holding surface of the holding plate 120 rotates.

[0070] It can be understood that the purpose of rotating the suction surface of the suction plate 120 is to facilitate the suction plate 120 to move to the back of the target sampling blade 1000. Specifically, after the target sampling blade 1000 is determined, the controller controls the three-axis mechanical arm to move, and after the suction plate 120 moves to the front position of the target sampling blade 1000, the controller controls the first motor 125 to rotate, and through the rotation of the first motor 125, the suction surface of the suction plate 120 rotates to be parallel to the axis of the first electric telescopic rod 126. At this time, the area where the suction plate 120 and the target sampling blade 1000 overlap each other is the smallest, so that the resistance of the suction plate 120 in the process of moving to the back of the target sampling blade 1000 is also the smallest, which can effectively prevent the problem of the target sampling blade 1000 falling off due to excessive resistance. After the suction plate 120 moves to the back side of the target sampling blade 1000, the controller controls the first motor 125 to rotate in the reverse direction and reset, so that the suction surface of the suction plate 120 is parallel to the back side of the target sampling blade 1000, and then the suction plate 120 is gradually approached to the back side of the target sampling blade 1000, so that the suction surface of the suction plate 120 is in contact with the back side of the target sampling blade 1000. It can be understood that in the process of the suction assembly 100 sucking and fixing the target sampling blade 1000 and the sampling tool 400 cutting the target sampling blade 1000, the zoom camera 300 is also used to identify the distance between the suction plate 120 and the target sampling blade 1000 and the distance between the sampling tool 400 and the target sampling blade 1000 in real time, so that the suction plate 120 can be accurately moved to the desired position according to the controller instruction to complete the clamping and fixing of the target sampling blade 1000.

[0071] It should also be added that if Figure 3 As shown, the suction plate 120 and the output end of the first blowing-suction machine 210 are connected via the first elastic vent tube 127. When it is necessary to inhale air through the suction hole 121, the first blowing-suction machine 210 causes negative pressure suction. The first blowing-suction machine 210 causes the suction hole 121 to inhale negative pressure inward through the first elastic vent tube 127, so that the target sampling blade 1000 is sucked on the suction surface of the suction plate 120.

[0072] It should also be added that Figure 3 As shown, a robot arm connection end 500 is also provided on the side of the connection block 110 away from the first blower-suction machine 210, and the robot arm connection end 500 is used to connect a three-axis robot arm.

[0073] It should also be noted that if Figure 1 and Figure 2As shown, the sampling tool 400 includes a cutter head 410, a cutter sleeve 420 and a cutter seat 430. The cutter head 410 is slidably connected to the cutter sleeve 420. The cutter sleeve 420 is arranged on the cutter seat 430. The cross-section of the cutter head 410 is square. The cutter sleeve 420 and the cutter head 410 are connected by a second electric telescopic rod. Specifically, the fixed end of the second electric telescopic rod is arranged on the inner side of the cutter sleeve 420, and the telescopic end of the second electric telescopic rod is arranged on the inner side of the cutter head 410. In addition, a fixed base 448 is provided on the side of the connecting block 110, and a second screw 447 is rotatably connected to the fixed base 448, and a third motor 449 is fixedly connected to the fixed base 448, and an output end of the third motor 449 is fixedly connected to the second screw 447, and a threaded slider 446 is threadedly connected to the second screw 447. A second guide rod is provided on the fixed base 448 and located on both sides of the second screw 447, and the second guide rod is slidably connected to the threaded slider 446, and the threaded slider 446 is away from the fixed base 448. A sliding base 441 is fixedly connected to one side, a first screw 442 is rotatably connected to the sliding base 441, a second motor 443 is fixedly connected to the sliding base 441, an output end of the second motor 443 is fixedly connected to the first screw 442, the first screw 442 is threadedly connected to the tool holder 430, the axis of the first screw 442 and the axis of the second screw 447 are perpendicular to each other, first guide rods 444 are provided on the sliding base 441 and on both sides of the first screw 442, and the first guide rods 444 are slidably connected to the tool holder 430.

[0074] After the holding plate 120 holds and fixes the target sampling blade 1000, the controller determines the target sampling area of ​​the target sampling blade 1000 according to the second image. Next, the controller controls the second screw 447 and the first screw 442 to rotate according to the relative position of the cutter head 410 and the target sampling area to drive the sliding base 441 and the cutter seat 430 to move, so that the cutter seat 430 drives the cutter sleeve 420 and the cutter head 410 to move to the location of the target sampling area. Next, the controller controls the second electric telescopic rod to extend outward, and drives the cutter head 410 to move in the direction of the target sampling blade 1000 through the telescopic end of the second electric telescopic rod, so as to cut off the target sampling area of ​​the target sampling blade 1000 and make it fall into the inside of the cutter head 410.

[0075] It should also be noted that if Figure 3 As shown, a second blower-suction machine 220 is also provided on the connecting block 110 , and a second elastic ventilation pipe 445 is fixedly connected to the output end of the second blower-suction machine 220 , and one end of the second elastic ventilation pipe 445 away from the second blower-suction machine 220 is connected to the inside of the knife sleeve 420 .

[0076] During cutting and sampling, the controller puts the second blower and suction machine 220 in a suction state so as to suck the cut leaves into the cutter head 410 and store them in the cutter sleeve 420. When the cut leaves need to be taken out, the controller puts the second blower and suction machine 220 in a blowing state so as to take out the leaves stored in the cutter sleeve 420. In this way, continuous sampling of multiple sampling areas of multiple target trees can be achieved, which is more convenient to use.

[0077] It should also be added that Figure 1 and Figure 2 As shown, in this embodiment, there are four zoom cameras 300, and the four zoom cameras 300 are respectively arranged at the four corners of the connecting block 110. When shooting the first image, the panoramic image is jointly shot by the four zoom cameras 300. When shooting the second image, the controller selects the zoom camera 300 closest to the position of the target sampling leaf 1000 to shoot the enlarged image according to the position of the target sampling leaf 1000.

[0078] In a further embodiment, an LED spotlight is also provided on the holding surface of the holding plate 120, and the controller is configured to control the LED spotlight to turn on when the first acquisition module acquires the second image. The controller is also used to receive and identify whether there is a shadow area in the second image. If so, it further identifies whether the type of the shadow area belongs to the first type. If so, the controller executes a first instruction to remove the shadow area. If the type of the shadow area does not belong to the second type, the controller executes a second instruction to remove the shadow area. The first type is a discrete spot-like shadow area, and the second type is a long strip-like shadow area. The first instruction includes switching the first blowing and sucking machine 210 to a blowing mode so that the first blowing and sucking machine 210 blows air outward. An ultrasonic insect repellent is also provided inside the holding plate 120, and the ultrasonic transmitting end of the ultrasonic driver is perpendicular to the holding surface. The second instruction includes starting the ultrasonic insect repellent so that the ultrasonic transmitter continuously emits ultrasonic waves of a specific frequency.

[0079] Due to the mutual occlusion of tree leaves, the visibility of the intended sampling area is usually poor. To capture an enlarged image of the target sampling leaf 1000 to identify the main veins 1100 and the lateral veins 1200 of the target sampling leaf 1000, a clear image is required to show the vein direction of the target sampling leaf 1000. Therefore, an LED spotlight is required to be arranged on the holding surface of the holding plate 120, and the LED spotlight is used to illuminate the back of the target sampling leaf 1000 so that the veins of the target sampling leaf 1000 are clearly visible. In addition, after lighting from the back side of the target sampling blade 1000, if there are other objects on the surface of the target sampling blade 1000, a shadow area will be formed on the surface of the target sampling blade 1000, which will affect the imaging quality of the second image. Therefore, the shadow area needs to be removed. If the shadow area is a discrete spot-like shadow area, it means that there is dust on the surface of the target sampling blade 1000. At this time, the first blower and suction machine 210 is switched to the blowing mode, and air is blown from the back side of the target sampling blade 1000 for a preset time, so that the surface of the target sampling blade 1000 shakes, so that the dust on the surface of the target sampling blade 1000 falls off. If the shadow area is a long strip shadow area, it means that there are reptiles on the surface of the target sampling blade 1000. At this time, the controller starts the ultrasonic repeller, and the ultrasonic repeller emits an ultrasonic wave of a specific frequency perpendicular to the suction surface to drive away the reptiles, so that the reptiles stay away from the target sampling blade 1000. It should be added that, taking Lauraceae trees as an example, using ultrasound with a specific frequency band concentrated between 20KHz and 60KHz close to the leaves can effectively drive away the reptiles on the surface of the leaves, because ultrasound in this band can interfere with the auditory nervous system of the reptiles that eat leaves on the trees, thereby achieving the effect of driving them away.

[0080] It should also be noted that if Figure 6 and Figure 7 As shown, the device is suitable for sampling tree leaves having main veins 1100 and lateral veins 1200 and the arrangement of the main veins 1100 and the lateral veins 1200 is relatively regular.

[0081] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0082] The above-described embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A leaf cutting and sampling device for forestry monitoring, characterized in that: include: frame; A moving component, which is used to drive the frame to move; A suction and holding component, which is arranged on the frame and is used to suction and fix the target sampling blade; A sampling tool, which is arranged on the suction and holding component and is used for partially cutting the target sampling leaf; A first acquisition module is used to successively acquire a first image and a second image at a proposed sampling position of a target tree; The first image is a panoramic image of the proposed sampling location of the target tree; The second image is a magnified image of the target sampling leaf at the intended sampling position; A controller, configured to receive a first image and select target sampling leaves from leaves included in the first image in a first screening mode; and receiving the second image, and first defining the area between two adjacent lateral veins of all lateral veins of the target sampling leaf as the proposed sampling area, and then calculating the distance between two lateral veins corresponding to each proposed sampling area according to the second image, and finally recording the number and position of the proposed sampling areas whose distance is greater than the preset distance; If the number of the proposed sampling areas with a spacing greater than the preset spacing is one, the controller controls the moving component to move downward, so that the sampling tool samples from the proposed sampling area in a first sampling mode; If the number of the proposed sampling areas with a spacing greater than the preset spacing is greater than one, the controller selects the target sampling area from the proposed sampling areas with a spacing greater than the preset spacing in a second screening mode, and controls the moving component to move downward, so that the sampling tool samples from the target sampling area in a first sampling mode; If the number of proposed sampling areas with a spacing greater than a preset spacing is less than one, the controller selects a target sampling area from all proposed sampling areas in a third screening mode, and controls the moving component to move downward, so that the sampling tool samples from the target sampling area in a second sampling mode; the suction component includes a three-axis robotic arm, a connecting block and a suction plate, one end of the three-axis robotic arm is fixedly arranged on a frame, the other end of the three-axis robotic arm is fixedly connected to the connecting block, the suction plate is fixedly arranged on a side of the connecting block away from the three-axis robotic arm, a plurality of suction holes are provided on the suction surface of the suction plate, and a first blowing and suction machine is also provided on the connecting block, the suction holes are connected to the first blowing and suction machine, and are used to make the suction holes suck air inward through the first blowing and suction machine; the first screening mode includes measuring the leaf surface area of ​​the leaves in the first image, and randomly selecting one from the leaves whose leaf surface area is greater than a first preset value and less than a second preset value, defining it as a target sampling leaf, and the second preset value is greater than the first preset value; The third screening mode includes: Selecting the intended sampling area with the largest distance between two adjacent lateral veins and defining it as the target sampling area; the second screening mode includes selecting the line connecting the two end points of the main vein of the target sampling leaf as the Y axis and the perpendicular bisector of the line connecting the two end points of the main vein as the X axis, thereby establishing a two-dimensional coordinate system; Calculate the ratio of the absolute value of the X coordinate to the absolute value of the Y coordinate of the center point coordinates of each proposed sampling area ; Will The proposed sampling area with the largest value is defined as the target sampling area; The third screening mode includes: Select the proposed sampling area with the largest distance between two adjacent lateral leaf veins and define it as the target sampling area; The first sampling mode includes: Controlling the sampling tool to sample in the blank area between two adjacent lateral leaf veins; The second sampling mode includes: The sampling tool is controlled to sample in the target sampling area and the adjacent proposed sampling area, and the sampling area of ​​the sampling tool in the proposed sampling area adjacent to the target sampling area is minimized.

2. A leaf cutting and sampling device for forestry monitoring according to claim 1, characterized in that: An LED spotlight is also provided on the holding surface of the holding plate; The controller is configured to control the LED spotlight to turn on when the first acquisition module acquires the second image; The controller is further configured to receive and identify whether there is a shadow region in the second image, and if so, further identify whether the type of the shadow region belongs to the first type, and if so, the controller executes a first instruction to remove the shadow region; If the type of the shadow domain does not belong to the second type, the controller executes a second instruction to remove the shadow domain; The first type is a discrete spot-like shadow domain; The second type is a long strip shadow area.

3. A leaf cutting and sampling device for forestry monitoring according to claim 2, characterized in that: The first instruction includes switching the first blower-vacuum machine to a blowing mode so that the first blower-vacuum machine blows air outwards.

4. The leaf cutting and sampling device for forestry monitoring according to claim 2, characterized in that: An ultrasonic insect repellent is also provided inside the holding plate, and an ultrasonic emitting end of the ultrasonic driver is perpendicular to the holding surface; The second instruction includes starting the ultrasonic insect repeller so that the ultrasonic transmitter continuously emits ultrasonic waves of a specific frequency.

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