Invasive plant monitoring system and device
By designing an invasive plant monitoring device that includes a hyperspectral imager, light strip and brightness sensor, the monitoring difficulties caused by insufficient light and a wide variety of vegetation are solved, and accurate invasive plant monitoring in different environments is achieved.
Patent Information
- Application Number
- CN202411405876.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-10
- Publication Date
- 2025-02-14
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The prior art is difficult to accurately monitor invasive plants in environments with insufficient light and a wide variety of vegetation, and drones are difficult to fly in dense tree environments and are prone to falling.
A monitoring device for invasive plants is designed, including a hyperspectral imager, a light strip and a brightness sensor installed in the body. The driving mechanism realizes the lifting and rotation of the hyperspectral imager to adapt to different monitoring environments; at the same time, the device can be detached and fixed unmanned or walking robot, realize high altitude or ground monitoring.
It effectively solves the difficulties in monitoring invasive species caused by insufficient light and a wide variety of vegetation, improves the accuracy and reliability of monitoring, and can be monitored stably in dense vegetation environments.
Smart Images
Figure CN119438091A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of plant invasion monitoring, and in particular to an invasive plant monitoring system and device. Background Art
[0002] Invasive plants have strong adaptability and can threaten local ecosystems and destroy local ecosystem diversity. Moreover, after most alien species successfully invade, their growth is difficult to control. By suppressing or crowding out local species, they form a single dominant population, endangering the ecology of local species and ultimately leading to the loss of biodiversity.
[0003] Invasive plants are mixed with local plants and are distributed irregularly. At present, drones equipped with hyperspectral imagers are often used to monitor invasive plants. However, when there is insufficient light in the wild, the visual recognition is low and invasive species cannot be well monitored. Especially when monitoring invasive species in areas mixed with a variety of vegetation such as bushes, fir trees, and herbaceous plants, invasive plants may be obscured by the bushes and cannot be accurately monitored. Moreover, when the trees are dense, the drone cannot fly smoothly, which may cause the drone's wings to collide with the trees or get entangled in vines, causing the drone to fall and making it impossible to carry out monitoring operations. Summary of the invention
[0004] In view of the deficiencies of the prior art, the present invention provides an invasive plant monitoring system and device, which solves the problem in the prior art that insufficient light and a wide variety of vegetation lead to difficulty in monitoring invasive species.
[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions:
[0006] The present invention discloses an invasive plant monitoring device, comprising a mounting body, wherein the mounting body is provided with a mounting cavity with an opening facing downward, a hyperspectral imager is rotatably arranged in the mounting cavity, a notch is arranged on the side wall of the mounting cavity, a light strip is arranged on the top of the notch, a brightness sensor is arranged on the body of the hyperspectral imager near its lens position, the hyperspectral imager rotates toward the notch, a driving mechanism for driving the hyperspectral imager to rise and fall is arranged on the mounting body, and when the hyperspectral imager rises, the hyperspectral imager rotates toward the notch; a drone is detachably fixed on the top of the mounting body, or a walking robot is detachably arranged on the bottom of the mounting body.
[0007] Preferably, a fixing ring is sleeved on the circumference of the hyperspectral imager, and the side wall of the fixing ring is connected to the driving mechanism through a ball hinge; a guide rod corresponding to the driving mechanism is arranged in the mounting body, a sleeve is arranged on the guide rod, and the sleeve is connected to the fixing ring through a ball hinge.
[0008] Preferably, on both sides of the installation body corresponding to the installation cavity, strip-shaped grooves with a cross-section in the shape of "├" and communicating with the installation cavity are vertically arranged respectively. The driving mechanism and the guide rod are respectively arranged in the strip-shaped grooves. The driving mechanism includes a lead screw, one end of the lead screw is provided with a motor, the motor is embedded in the installation body, a nut is sleeved on the lead screw, and two ball hinges respectively pass through the strip-shaped grooves and are connected to the nut and the sleeve. The lead screw and the guide rod are arranged at the midline position of the side wall of the installation cavity.
[0009] Preferably, on the side wall of the installation cavity near its top, arc-shaped guide strips are correspondingly arranged. The concave surface of the guide strip faces downward. Guide grooves are respectively arranged on the corresponding side surfaces of the guide strip. The two ends of the guide groove penetrate through. Two guide heads are arranged on the top of the hyperspectral imager. One end of one of the guide heads extends into one of the guide grooves, and one end of the other guide head is arranged in a dislocation manner with the other guide groove.
[0010] Preferably, the two ends of the guide groove are in a flared shape. The guide strip is arranged on the same side as the lead screw and the guide rod. The lead screw and the guide rod are located in the middle of the guide strip.
[0011] Preferably, a driving member for controlling the linear movement of the two guide heads is arranged on the top of the hyperspectral imager, driving the guide heads to reciprocate between the two ends of the guide strip. A top cover is arranged on the top of the hyperspectral imager. A sliding groove is arranged on the top cover, and the sliding groove is arranged along the position between the two ends of the guide strip. The guide head is slidably connected to the sliding groove.
[0012] Preferably, the driving member includes driving rods respectively rotatably connected to the top cover. The two driving rods are respectively arranged close to the guide heads. A telescopic member is arranged on the top cover. The output end of the telescopic member is provided with a top rod in the shape of "冂". The two vertical rods of the top rod respectively abut against the upper surfaces of the driving rods. The other end of the driving rod abuts against a baffle arranged on the guide head. An elastic member is arranged on the top cover. One end of the elastic member is fixed to the back surface of the baffle, and the other end is fixed through a vertical plate corresponding to the baffle. When the telescopic member retracts the acting force applied to the driving rod, the elastic member drives the guide head to reset.
[0013] Preferably, the guide head includes a fixed seat. A bull's eye bearing is arranged on the fixed seat. The bull's eye bearing is located on the side wall of the top cover and faces the guide groove. One of the bull's eye bearings is located in the guide groove. The top part of the fixed seat extends out of the top surface of the top cover, and the part extending out of the top surface of the top cover is provided with a fixed block. A slider adapted to the sliding groove is arranged on the bottom surface of the fixed block. The baffle is arranged on the side wall of the fixed block and is arranged in the same direction as the bull's eye bearing.
[0014] Preferably, a cylindrical groove with a T-shaped cross-section is provided at the bottom of the mounting body, a column is provided in the cylindrical groove, one end of the column extends out of the cylindrical groove, a baffle is provided in the circumferential direction of one end of the column located in the cylindrical groove, a spring is sleeved on the column located above the baffle, a force sensor is provided at the top of the cylindrical groove, and the top of the column is separated from the force sensor.
[0015] Accordingly, an invasive plant monitoring system includes a control platform, a monitoring platform is mounted on the control platform, a GPS and a position sensor are mounted on the mounting body, the GPS and the position sensor are connected to a controller, the controller and the control platform establish information transmission via wireless communication, the brightness sensor and the light strip controller on the light strip are respectively connected to the controller, and the motor, telescopic member and force sensor are all controlled by the controller.
[0016] The present invention has the following beneficial effects:
[0017] 1. The present invention realizes high-altitude monitoring or ground monitoring of invasive plants by arranging a drone on the top of the mounting body or a walking robot at the bottom of the mounting body, and can adopt appropriate methods to monitor according to different environmental factors. At the same time, when changing the monitoring method, the monitoring operation is realized by controlling the position of the lens on the hyperspectral imager. When a walking robot is used, the hyperspectral imager cannot be installed on the walking robot with its lens facing downward, and when monitoring, the lens faces downward and the monitoring area is small. Therefore, the present invention rotates the hyperspectral imager by a certain angle to adapt to the installation of the walking robot, and at the same time, increases the monitoring area on a single image. In addition, columns are arranged at the bottom of the mounting body, and each column is monitored by a force sensor, so that it can be known whether the mounting body has fallen or the magnitude of the force applied after falling, which is convenient for the staff to find the device status at any time, and effectively solves the problem of difficulty in monitoring invasive species when there are many types of vegetation.
[0018] 2. The present invention arranges a light strip at the notch position and a brightness sensor near the lens of the hyperspectral imager. According to the brightness conditions in the real environment, the brightness of the light strip is controlled by a controller to supplement the light source. The situation after the light source is supplemented is monitored by the brightness sensor. Once the lighting requirements are met, it is sufficient. This effectively solves the problem of being unable to capture clear images when there is insufficient light in the wild. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 It is a schematic diagram of the structure of the present invention;
[0020] Figure 2 for Figure 1 Middle A is a partial enlarged view;
[0021] Figure 3 for Figure 1 Middle AA view;
[0022] Figure 4 for Figure 1 Middle BB view;
[0023] Figure 5 for Figure 1 Middle CC view;
[0024] Figure 6 A schematic diagram of a driving member disposed on a top cover (viewed from above);
[0025] Figure 7 For again Figure 6 Schematic diagram of the base after the driving part is started and the guide head position is exchanged;
[0026] Figure 8 exist Figure 3 Based on the above, the schematic diagram of the structure of the hyperspectral imager after rotating a certain angle;
[0027] Fig. 9 is a structural schematic diagram of a hinge;
[0028] In the figure: mounting body 1, mounting cavity 2, hyperspectral imager 3, notch 4, drone 5, fixing ring 6, ball hinge 7, guide rod 8, sleeve 9, strip groove 10, screw rod 11, motor 12, nut 13, guide strip 14, guide groove 15, top cover 16, slide groove 17, drive rod 18, telescopic member 19, top rod 20, baffle 21, elastic member 22, vertical plate 23, fixing seat 24, bull's eye bearing 25, fixing block 26, slider 27, cylindrical groove 28, column 29, spring 30, force sensor 31, light strip 32, block 33, steel ball 34, accommodating cavity 35, base 36, connecting plate 37, groove 38, fixed shaft 39, shaft seat 40, fixing cylinder 41, arc hook 42, fixing rod 43, bend hook 44, connecting rod 45, torsion spring 46, mounting plate 47. DETAILED DESCRIPTION
[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0030] Unless otherwise specified, the technical means used in the embodiments are conventional means well known to those skilled in the art.
[0031] refer to Figure 1-Figure 9The present invention discloses an invasive plant monitoring device, including a mounting body 1, wherein the mounting body 1 is provided with a mounting cavity 2 with an opening facing downward, wherein a hyperspectral imager 3 is rotatably arranged in the mounting cavity 2, and a notch 4 is arranged on the side wall of the mounting cavity 2. In this embodiment, two notches are arranged, which are correspondingly arranged on both sides of the mounting body, and the openings of the notches are arranged downward. A light strip 32 is embedded in the top of the notch 4, and the light strip is provided with a light strip controller, which can adjust the brightness by controlling the number of light-emitting chips on the light strip; of course, the light strip can also be arranged on the outer wall of the notch, and can be arranged as needed; a brightness sensor is arranged on the body of the hyperspectral imager 3, near its lens position, and the brightness sensor monitors the light conditions near the lens to avoid insufficient light, which affects the monitoring of invasive species. The hyperspectral imager 3 can be rotated toward the notch 4, and the monitoring area can be monitored from multiple angles by adjusting the angle of the lens toward the ground. The mounting body 1 is provided with a driving mechanism for driving the hyperspectral imager 3 to rise and fall. When the hyperspectral imager 3 rises, the hyperspectral imager 3 rotates toward the notch 4. The top of the mounting body 1 is detachably fixed with a drone 5, or the bottom of the mounting body 1 is detachably provided with a walking robot, which can realize high-altitude monitoring or ground monitoring, and can realize the monitoring of invasive species even in a jungle with lush trees. The lens of the hyperspectral imager 3 extends out of the bottom of the mounting body 1 to prevent the mounting body from affecting the monitoring range of the lens.
[0032] Furthermore, a base 36 is provided at the bottom of the drone, and the base 36 is fixed to the top of the mounting body 1 by bolts. Specifically, connecting plates 37 are provided on both sides of the base, and the connecting plates are respectively fitted with the side walls of the top of the mounting body and then fixed by bolts. Of course, the base can be fixed to the mounting body by connecting plates and bolts on all sides. However, fixing by bolts is time-consuming. As another embodiment, refer to Figure 3 As shown, a hinge is provided on the side wall of the mounting body 1, and a groove 38 corresponding to the hinge is provided on the side wall of the base, and one end of the hinge extends into the groove. It should be noted that the drone and the mounting body can be fixed by fixing the two sides of the base to the mounting body through connecting plates, and the other two sides to the mounting body through hinges. Alternatively, both sides or four sides of the base are fixed to the mounting body through hinges.
[0033] Specifically: the hinged member includes a fixed shaft 39 disposed transversely on the side wall of the mounting body, and the two ends of the fixed shaft 39 are fixed by shaft seats 40. A fixed cylinder 41 is sleeved on the fixed shaft 39, and a plurality of arc hooks 42 are disposed on the top of the fixed cylinder 41, and the arc hooks 42 are bent toward the groove 38. The ends of the arc hooks 42 are connected by a fixing rod 43. When in use, the fixing rod 43 and part of the arc hooks 42 are placed in the groove 38. A plurality of bend hooks 44 are disposed at the bottom of the fixed cylinder 41, and the arc portion of the bend hooks 44 is disposed outward. The bend hooks 44 are connected by a connecting rod 45, and at least one through hole is opened on the side wall of the fixed cylinder 41, and a torsion spring 46 is sleeved on the fixed shaft 39 corresponding to the through hole. By bending the bend hook downward, the arc hook is opened, and the torsion spring is compressed. After the drone is placed on the mounting body, the bend hook is released, and the arc hook and the fixing rod are stuck in the groove, thereby achieving the fixation of the drone and the mounting body.
[0034] When connecting the walking robot, a mounting plate 47 is provided on the side wall at the bottom of the mounting body 1, and the mounting plate 47 is fixed to the walking robot by bolts. At the same time, a base is provided on the top of the walking robot, and a groove for accommodating the column 29 is provided on the base, so that after the column is inserted into the groove, it is fixed by the mounting plate and bolts. Since the bottom of the mounting body is connected to the walking robot, at this time, the lens of the hyperspectral imager 3 needs to be rotated to the notch position to avoid affecting the use of the hyperspectral imager 3. Of course, when using a drone, the lens of the hyperspectral imager 3 can also be rotated to the notch position, and corresponding adjustments can be made according to actual needs, which does not mean that after the drone is fixed to the mounting body, the lens of the hyperspectral imager 3 must be facing downward.
[0035] Furthermore, a fixing ring 6 is sleeved on the circumference of the hyperspectral imager 3, and the side wall of the fixing ring 6 is connected to the driving mechanism through a ball joint 7; a guide rod 8 corresponding to the driving mechanism is arranged in the mounting body 1, and a sleeve 9 is arranged on the guide rod 8, and the sleeve 9 is connected to the fixing ring 6 through a ball joint 7. It should be noted that: the guide rod can also be set as a driving mechanism as needed. In this embodiment, in order to reduce the overall weight of the mounting body and reduce the difficulty of control, a driving mechanism is provided, and a guide rod is arranged at a position corresponding to the driving mechanism. When the driving mechanism drives the hyperspectral imager 3 to rise, the other side thereof is used to stably lift and lower the hyperspectral imager 3 through the guide rod. As a preferred embodiment, the driving mechanism and the guide rod are arranged at the center line position of the mounting cavity, so that the hyperspectral imager 3 is fixed at the center position of the mounting cavity.
[0036] Furthermore, strip grooves 10 with a “├”-shaped cross section and connected to the installation cavity 2 are vertically arranged in the installation body 1 on both sides corresponding to the installation cavity 2, and the driving mechanism and the guide rod 8 are respectively arranged in the strip grooves 10; specifically: the driving mechanism includes a screw rod 11, a motor 12 is arranged at one end of the screw rod 11, and the motor 12 is embedded in the installation body 1, a nut 13 is sleeved on the screw rod 11, and the two ball joints 7 pass through the strip groove 10 and are connected to the nut 13 and the sleeve 9, respectively, and the screw rod 11 and the guide rod 8 are arranged at the midline position of the side wall of the installation cavity 2. It should be noted that: an accommodating cavity 35 is arranged on the side wall of the installation body 1, located above the installation cavity, and the motor is arranged in the accommodating cavity 35. The top end of the strip groove is connected to the accommodating cavity 35, and the other end of the screw rod is fixed in the strip groove 10 through a bearing or a bearing seat. In order to facilitate the installation of the guide rod 8, the bottom end of the strip groove of the guide rod 8 is penetrated, one end of the guide rod extends into the strip groove and is inserted into the top of the strip groove for threaded connection, and the other end is inserted into the bottom end of the strip groove through a cover cap, and its brim extends into the gap between the guide rod and the strip groove, and is interference fit, thereby fixing the guide rod.
[0037] Furthermore, in order to realize that after the hyperspectral imager is lifted to a certain height, as the hyperspectral imager rises, the hyperspectral imager rotates toward the notch, so that the hyperspectral imager can be tilted at a certain angle to adapt to the image collection of invasive plants after the mounting body is connected to the walking robot. In the present invention, rotating the hyperspectral imager is particularly suitable for image collection of invasive plants after the walking robot is installed at the bottom of the mounting body. When the lens of the hyperspectral imager is facing downward, it is suitable for installing a drone to collect images of invasive plants at high altitudes.
[0038] Specifically: an arc-shaped guide bar 14 is correspondingly arranged on the side wall of the installation cavity 2 near its top. In this embodiment, the guide bar is preferably an arc-shaped semicircular bar, and the concave surface (or arc-shaped opening) of the guide bar 14 is arranged downward, and the corresponding side surfaces of the guide bar 14 are respectively provided with guide grooves 15, that is, one side of the guide bar is fixed on the inner wall of the installation cavity, and the other side is provided with a guide groove, the shape of the guide groove is consistent with that of the guide bar, and the two ends of the guide groove 15 are penetrated (or opened), so that the guide head can enter the guide groove through the opening of the guide groove, so that the guide head can slide along the guide groove, and finally realize the rotation of the hyperspectral imager. Among them, two guide heads are arranged on the top of the hyperspectral imager 3, one end of one of the guide heads extends into one of the guide grooves 15, and one end of the other guide head is staggered with the other guide groove 15. It should be noted that: the two guide heads cannot be located in the guide grooves at the same time, so the hyperspectral imager cannot be rotated. Only one of the guide heads can be located in the corresponding guide groove, and the other can be located outside the corresponding guide groove. Through the guide bar on one side, the hyperspectral imager is driven to rotate toward the notch under the action of the guide bar. Because there are two notches and they are set correspondingly, therefore, according to the position of the above-mentioned guide head settings, the relative position of the guide heads can be exchanged (that is, the guide heads are controlled to slide in different guide grooves) to achieve the rotation of the hyperspectral imager toward the other notch (that is, changing the direction of the hyperspectral imager relative to the two notches). Please refer to Figure 6 , Figure 7 As shown; Figure 6 In the state shown, the hyperspectral imager is rotated toward the gap below the figure; Figure 7 In the state shown, the hyperspectral imager is rotated toward the gap above the figure.
[0039] Furthermore, the two ends of the guide groove 15 are trumpet-shaped, with the opening facing downward, and the trumpet-shaped opening has a larger diameter, which can make the guide head enter the guide groove more smoothly. The guide bar 14 is arranged on the same side as the screw rod 11 and the guide rod 8, and the screw rod 11 and the guide rod 8 are located in the middle of the guide bar 14. Figure 3 The guide head is set at the top diagonal position of the hyperspectral imager, as shown in Figure 4 As shown, it is ensured that when the hyperspectral imager is rising, one of the guide heads can smoothly enter the guide groove, while the other guide head is arranged close to another guide bar and staggered with the guide groove opening of the guide bar, so as to avoid the two guide heads entering the guide groove at the same time, causing the hyperspectral imager to be unable to rotate. It should be noted that the diameter, arc length, specific location of the guide bar, and the height and rotation angle of the hyperspectral imager 3 can be adjusted and set accordingly according to actual needs and the size of other structures set.
[0040] Further, to achieve the change in the positions of the two guiding heads and the guiding grooves (for example, changing from the position shown in Figure 6 to the position shown in Figure 7 ), a driving member for controlling the linear movement of the two guiding heads is provided at the top of the hyperspectral imager 3, driving the guiding heads to reciprocate along the path between the two ends of the guiding bar 14, and the movement direction of the guiding heads is the direction between the two ends of the guiding bar. A top cover 16 is provided at the top of the hyperspectral imager 3. To facilitate the movement of the guiding heads, the top cover is preferably square, and its side is parallel to the inner wall surface of the installation cavity. A sliding groove 17 is provided on the top cover 16, and the sliding groove 17 is arranged along the position between the two ends of the guiding bar 14, that is, the sliding groove is parallel to the connection line between the two ends of the guiding bar. The guiding heads are slidably connected to the sliding groove 17.
[0041] Specifically: The driving member includes driving rods 18 respectively rotatably connected to the top cover 16. The driving rods are horizontally arranged on the top cover and are rotatably connected through vertical shafts. The two driving rods 18 are respectively arranged close to the guiding heads, that is, driving rods are respectively arranged beside the two guiding heads. A telescopic member 19 is provided on the top cover 16. The telescopic member includes but is not limited to an electric push rod. The output end of the telescopic member 19 is provided with a top rod 20 in the shape of "冂". The output end of the telescopic member is fixed to the middle of the cross bar of the top rod. The two vertical rods of the top rod 20 respectively abut against the upper surfaces of the driving rods 18. The lengths of the two vertical rods of the top rod are not the same, and can be specifically adjusted according to the position of the driving rod. The two vertical rods specifically abut against the other ends of the driving rods away from the guiding heads.
[0042] The other end of the driving rod 18 (i.e., the end facing the guide head) is against the baffle 21 provided on the guide head, and an elastic member 22 is provided on the top cover 16, one end of the elastic member 22 is fixed to the back side of the baffle 21 (the back side here refers to the other side corresponding to the contact surface between the driving rod and the baffle), and the other end is fixed by a vertical plate 23 provided corresponding to the baffle 21; when the telescopic member 19 retracts the force applied to the driving rod 18, the elastic member 22 drives the guide head to reset. It should be noted that: the elastic member includes but is not limited to a spring, the vertical plate is arranged parallel to the baffle, and the elastic member is arranged between the two. After the guide head moves along the slide groove, the elastic member is compressed, and when the top rod releases the force on the driving rod, the guide head can be reset under the action of the elastic member, and the guide rod will also be pushed to reset during the reset process of the guide head. Furthermore, in order to make the driving rod automatically reset, a stopper 33 is provided below the driving rod, and the stopper is connected to the driving rod through a spring, one end of the spring is connected to the driving rod between the vertical shaft and the guide head, and when the driving rod rotates, the spring is compressed, and when the top rod releases the force on the driving rod, the driving rod is reset under the action of the spring. In addition, as needed, an abutment block can be provided on the side of the end of the driving rod that contacts the baffle, and a ball can be embedded in the abutment block to reduce the friction between the baffle and the driving rod.
[0043] Specifically: the guide head includes a fixed seat 24, and a bull's eye bearing 25 is arranged on the fixed seat 24 to realize rolling friction between the friction force and the guide groove. The bull's eye bearing 25 is located on the side wall of the top cover 16 and is arranged toward the guide groove 15, one of the bull's eye bearings 25 is located in the guide groove 15, and the other bull's eye bearing is located outside the guide groove; the top part of the fixed seat 24 extends out of the top surface of the top cover 16, and the part extending out of the top surface of the top cover 16 is provided with a fixed block 26, and the bottom surface of the fixed block 26 is provided with a slider 27 adapted to the slide groove 17, and the cross-section of the slide groove is "⊥"-shaped to prevent the slider from detaching from the slide groove, and the baffle 21 is arranged on the side wall of the fixed block 26 and is arranged in the same direction as the bull's eye bearing 25, that is, the baffle is arranged perpendicular to the fixed block.
[0044] Furthermore, in order to make the guide head move more smoothly along the slide groove, a plurality of steel balls 34 are embedded on the side walls of the top cover and the movement path of the fixed seat. Part of the steel balls 34 are in contact with the fixed seat 24, directly changing the sliding friction into rolling friction, thereby reducing the friction force and making the guide head move more smoothly.
[0045] Furthermore, in order to prevent the lens from directly colliding with the ground when the mounting body falls to the ground, causing damage to the lens, a cylindrical groove 28 with a T-shaped cross section is provided at the bottom of the mounting body 1, that is, the caliber of the bottom opening of the cylindrical groove is smaller than its internal diameter. A column 29 is provided in the cylindrical groove 28 to protect the lens of the hyperspectral imager to a certain extent. One end of the column 29 extends out of the cylindrical groove 28, and its length exceeds the length of the lens. A baffle is provided on the circumference of one end of the column 29 located in the cylindrical groove 28, which abuts against the bottom end of the cylindrical groove to prevent the column from detaching from the cylindrical groove. A spring 30 is sleeved on the column 29 located above the baffle, and a force sensor 31 is provided on the top of the cylindrical groove 28, and the top of the column 29 is separated from the force sensor 31. When the column is hit, the column will then hit the force sensor, and the force sensor will send a signal to inform the staff of the position where the device falls. When the upright pole is not subjected to external force, the upright post is reset under the action of the spring. The number of upright posts can be set according to actual needs.
[0046] The present invention discloses an invasive plant monitoring system, including a control platform, the control platform is used to control the flight trajectory of an unmanned aerial vehicle, and receive images of a hyperspectral imager 3, the control platform is equipped with a monitoring platform, and can be connected via USB. The monitoring platform is used to receive the captured images sent by the control platform, and an invasive plant identification system is established on the monitoring platform, such as the recognition algorithm of a deep convolutional neural network established, and the system is a prior art. Invasive plants and related information can be identified by simply inputting images. The hyperspectral imager 3 can be connected to the unmanned aerial vehicle through a USB interface, the unmanned aerial vehicle is connected to the control platform through Wifi, the hyperspectral imager 3 sends images to the control platform through the unmanned aerial vehicle, the control platform sends images to the monitoring platform, and the monitoring platform performs identification and monitoring. The monitoring system disclosed in this embodiment can be set on a base station, and the base station is used to store the monitoring device and replace the unmanned aerial vehicle or walking robot on the installation body. When the walking robot is carried on the installation body, its motion trajectory is similarly controlled by the control platform. At the same time, the walking robot is a prior art, and an obstacle avoidance system is carried on it. The device disclosed in the present invention can be directly installed on the walking robot, and the same is true for the unmanned aerial vehicle. When a certain function is required, a device with a corresponding function can be selected.
[0047] Furthermore, the installation body is equipped with GPS, position sensor and battery, and the GPS, position sensor and battery are connected to the controller, and the controller and the control platform establish information transmission through wireless communication, and the brightness sensor and the light belt controller on the light belt 32 are respectively connected to the controller, and the motor 12, telescopic member 19 and force sensor 31 are all controlled by the controller. It should be noted that: a controller is independently provided on the installation body, and the GPS locates the position where the entire device falls. The controller controls the brightness of the light belt through the brightness sensor (determined by the number of bright chips), and at the same time, controls the lifting and lowering of the hyperspectral imager, and controls the direction and angle of rotation of the hyperspectral imager in combination with the control of the telescopic rod. As one of the embodiments, when the installation body is fixed on the walking robot, the hyperspectral imager is controlled to rotate; when it is installed on the drone, there is no need to control the rotation of the hyperspectral imager. However, how to adjust can be selected according to actual needs.
[0048] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.
[0049] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.
Claims
1. An invasive plant monitoring device, comprising a mounting body (1), characterized in that: The mounting body (1) is provided with a mounting cavity (2) with an opening facing downward, a hyperspectral imager (3) is rotatably mounted in the mounting cavity (2), a notch (4) is provided on the side wall of the mounting cavity (2), a light strip (32) is provided at the top of the notch (4), a brightness sensor is provided on the body of the hyperspectral imager (3) near its lens, the hyperspectral imager (3) rotates towards the notch (4), and a driving mechanism for driving the hyperspectral imager (3) to rise and fall is provided on the mounting body (1), when the hyperspectral imager (3) rises, the hyperspectral imager (3) rotates towards the notch (4); a drone (5) is detachably fixed on the top of the mounting body (1), or a walking robot is detachably provided on the bottom of the mounting body (1).
2. The invasive plant monitoring device according to claim 1, characterized in that: A fixing ring (6) is sleeved on the circumference of the hyperspectral imager (3), and the side wall of the fixing ring (6) is connected to the driving mechanism via a ball joint (7); a guide rod (8) corresponding to the driving mechanism is arranged in the mounting body (1), and a sleeve (9) is arranged on the guide rod (8), and the sleeve (9) is connected to the fixing ring (6) via a ball joint (7).
3. The invasive plant monitoring device according to claim 2, characterized in that: Strip grooves (10) with a "├"-shaped cross section and communicating with the mounting cavity (2) are vertically arranged in the mounting body (1) and located on two sides corresponding to the mounting cavity (2); the driving mechanism and the guide rod (8) are respectively arranged in the strip grooves (10); the driving mechanism comprises a screw rod (11); a motor (12) is arranged at one end of the screw rod (11); the motor (12) is embedded in the mounting body (1); a nut (13) is sleeved on the screw rod (11); the two ball joints (7) respectively pass through the strip grooves (10) and are connected to the nut (13) and the sleeve (9); the screw rod (11) and the guide rod (8) are arranged at the midline position of the side wall of the mounting cavity (2).
4. The invasive plant monitoring device according to claim 3, characterized in that: An arc-shaped guide bar (14) is correspondingly arranged on the side wall of the installation cavity (2) near the top thereof, the concave surface of the guide bar (14) is arranged downward, and guide grooves (15) are respectively arranged on the corresponding side surfaces of the guide bar (14), and the two ends of the guide groove (15) are arranged to penetrate, and two guide heads are arranged on the top of the hyperspectral imager (3), one end of one of the guide heads extends into one of the guide grooves (15), and one end of the other guide head is arranged to be offset from the other guide groove (15).
5. The invasive plant monitoring device according to claim 4, characterized in that: The two ends of the guide groove (15) are trumpet-shaped, the guide bar (14) is arranged on the same side as the screw rod (11) and the guide rod (8), and the screw rod (11) and the guide rod (8) are located in the middle of the guide bar (14).
6. The invasive plant monitoring device according to claim 1, characterized in that: A driving member for controlling the linear movement of the two guiding heads is arranged on the top of the hyperspectral imager (3), driving the guiding heads to reciprocate between the two ends of the guiding strip (14). A top cover (16) is arranged on the top of the hyperspectral imager (3). A sliding groove (17) is arranged on the top cover (16), and the sliding groove (17) is arranged along the position between the two ends of the guiding strip (14). The guiding heads are slidably connected to the sliding groove (17).
7. The invasive plant monitoring device according to claim 6, characterized in that: The driving member includes driving rods (18) respectively rotatably connected to the top cover (16). The two driving rods (18) are respectively arranged close to the guiding heads. A telescopic member (19) is arranged on the top cover (16). A top rod (20) in the shape of "冂" is arranged at the output end of the telescopic member (19). The two vertical rods of the top rod (20) are respectively abutted against the upper surfaces of the driving rods (18). The other ends of the driving rods (18) are abutted against a baffle (21) arranged on the guiding head. An elastic member (22) is arranged on the top cover (16). One end of the elastic member (22) is fixed to the back surface of the baffle (21), and the other end is fixed through a vertical plate (23) corresponding to the baffle (21). When the telescopic member (19) retracts the acting force applied to the driving rod (18), the elastic member (22) drives the guiding head to reset.
8. The invasive plant monitoring device according to claim 7, characterized in that: The guiding head includes a fixed seat (24). A bull's-eye bearing (25) is arranged on the fixed seat (24). The bull's-eye bearing (25) is located on the side wall of the top cover (16) and faces the guiding groove (15). One of the bull's-eye bearings (25) is located in the guiding groove (15). The top end portion of the fixed seat (24) extends out of the top surface of the top cover (16), and a fixed block (26) is arranged on the part extending out of the top surface of the top cover (16). A slider (27) adapted to the sliding groove (17) is arranged on the bottom surface of the fixed block (26). The baffle (21) is arranged on the side wall of the fixed block (26) and is arranged in the same direction as the bull's-eye bearing (25).
9. The invasive plant monitoring device according to claim 1, characterized in that: A columnar groove (28) with a T-shaped cross-section is arranged at the bottom of the mounting body (1). A column (29) is arranged in the columnar groove (28). One end of the column (29) extends out of the columnar groove (28). A retaining piece is arranged on the circumference of the end of the column (29) located in the columnar groove (28). A spring (30) is sleeved on the column (29) above the retaining piece. A force measuring sensor (31) is arranged at the top of the columnar groove (28). The top of the column (29) is arranged at a distance from the force measuring sensor (31).
10. A monitoring system applied to the invasive plant monitoring device according to claims 1 to 9, characterized in that: It includes a control platform. A monitoring platform is carried on the control platform. A GPS and a position sensor are carried on the mounting body. The GPS and the position sensor are connected to a controller. The controller and the control platform establish information transmission through wireless communication. The brightness sensor and the strip controller on the strip light (32) are respectively connected to the controller. The motor (12), the telescopic member (19) and the force measuring sensor (31) are all controlled by the controller.