Forest fixed sample plot measuring device and method based on high-precision foundation laser radar

Abstract

The invention discloses a forest fixed sample plot measuring device and method based on a high-precision foundation laser radar in the technical field of forest fixed sample plot measurement, and the device comprises a mobile vehicle body which is provided with a mounting seat, the mounting seat is provided with a processing device and a laser radar, and the two sides of the mobile vehicle body are each provided with a buffer assembly; the buffering assembly comprises a sleeve piece, a moving piece arranged in the sleeve piece in a sliding mode, an elastic piece arranged between the sleeve piece and the moving piece, a supporting plate arranged on the moving piece, a triggering assembly arranged in the sleeve piece and an air supply assembly communicating with the sleeve piece. The three-dimensional structure parameters of the vegetation are obtained through the laser radar, a traditional large fixed sample plot measurement method is improved, the monitoring precision of the individual height of the tree is greatly improved, and the problem that the height of the tree is difficult to measure in construction and monitoring in a traditional fixed sample plot or a large number of visual estimation modes are adopted is solved. And the precision and efficiency of forest fixed sample plot monitoring are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of forest fixed sample plot measurement, and in particular to a forest fixed sample plot measurement device and method based on high-precision ground-based laser radar. Background Art

[0002] In forest resource management and investigation, measurement of fixed plots is an important method for assessing forest growth conditions, stock volume, biodiversity and ecological functions. Traditionally, the measurement of fixed forest plots relies on manual labor, requiring staff to move the measuring equipment to the fixed plots. Due to the complex forest terrain, the burden on staff to carry the measuring equipment is heavy, which increases the workload of staff. In addition, the measurement process relies on manual data collection, which will affect the accuracy of the measurement and have an impact on the management and research of fixed forest plots. Summary of the invention

[0003] The purpose of the present invention is to provide a forest fixed sample plot measurement device and method based on high-precision ground-based laser radar, so as to solve the problem that the measurement of forest fixed sample plots proposed in the above background technology relies on manual labor, and requires staff to move the measurement device to the fixed sample plot. Due to the complex forest terrain, the burden of carrying the measurement device is heavy for the staff, which increases the workload of the staff, and the measurement process relies on manual data collection, which affects the measurement accuracy.

[0004] To achieve the above-mentioned object, the present invention provides the following technical solutions: a forest fixed plot measurement device based on high-precision ground-based laser radar, comprising: a mobile body, a mounting seat is provided on the mobile body, a processing device and a laser radar are provided on the mounting seat, the laser radar is used to obtain LiDAR three-dimensional structure point cloud data of vegetation in the forest fixed plot, and the processing device is used to process the LiDAR three-dimensional structure point cloud data to obtain the height, volume and biomass of the vegetation;

[0005] Buffer components are provided on both sides of the mobile vehicle body;

[0006] Among them, the buffer component includes a kit, a moving part slidably arranged in the kit, an elastic part arranged between the kit and the moving part, a support plate arranged on the moving part, a trigger component arranged in the kit and an air supply component connected to the kit; the moving part is used to move into the kit to compress the elastic part for buffering when the mobile vehicle body rolls over, and the trigger component is used to control the air supply component to inflate the inside of the kit when squeezed by the moving part, so as to move the moving part to the outside of the kit.

[0007] Preferably, the gas supply assembly comprises a gas storage member and a conduit for connecting the gas storage member with the kit;

[0008] The trigger assembly comprises a moving block slidably arranged in the kit, a baffle, and a first flexible connecting member arranged between the moving block and the baffle, and the baffle is used to separate the catheter from the kit.

[0009] Preferably, a gear is rotatably provided in the kit, a rack for meshing with the gear is provided on the moving block, the first flexible connector is connected to the shaft of the gear at one end away from the baffle, and a reset member for driving the moving block and the baffle to reset is provided on the kit;

[0010] Wherein, the kit is provided with a stopper for limiting the resetting of the baffle.

[0011] Preferably, a storage groove is provided in the mobile vehicle body, and the gas storage member is a telescopic member provided in the storage groove;

[0012] Among them, the telescopic part includes a sleeve, a moving rod slidably inserted in the sleeve, and a spring part arranged between the sleeve and the moving rod. The sleeve is connected to the catheter, the storage groove is provided with an opening for the mounting seat to pass through, the moving rod is connected to the mounting seat, and the storage groove is provided with an air pump for inflating the sleeve.

[0013] Preferably, a shielding plate for blocking the opening and a return spring connected to the shielding plate are slidably provided in the storage groove, and a second flexible connecting member is provided between the moving rod and the shielding plate.

[0014] Preferably, a support is provided on the mobile body, the kit is hinged on the support, a limiting frame is provided on the kit, and a limiting plug block for being inserted into the limiting frame is slidably provided on the support.

[0015] Preferably, a method for measuring a forest fixed plot based on a high-precision ground-based laser radar, using the above-mentioned forest fixed plot measuring device based on a high-precision ground-based laser radar, comprises the following steps:

[0016] S1: The mobile vehicle moves to move the processing equipment and the lidar to the fixed forest plot to be measured;

[0017] S2: The LiDAR obtains the LiDAR three-dimensional structure point cloud data of the vegetation in the fixed forest plot. The processing equipment is used to process the obtained LiDAR three-dimensional structure point cloud data to obtain the height, volume and biomass of the vegetation, and to perform trunk segmentation on the vegetation individuals to obtain the spatial positioning, tree height and breast diameter parameters of each individual tree.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The three-dimensional structural parameters of vegetation are obtained by using LiDAR, which improves the traditional large-scale fixed plot measurement method, greatly improving the monitoring accuracy of individual tree heights. This solves the problem that it is difficult to measure tree heights or a large number of visual estimates are used in the construction and monitoring of traditional fixed plots, thus improving the accuracy and efficiency of forest fixed plot monitoring;

[0020] 2. The processing equipment and laser radar used in the measurement process are transported by the mobile vehicle body to reduce the burden on the staff. When the mobile vehicle body rolls over, the moving parts of the buffer assembly move into the kit to compress the elastic parts for buffering, thereby reducing the impact on the processing equipment and the laser radar. At the same time, when the trigger assembly is squeezed by the moving parts, the air supply assembly controls the air supply assembly to inflate the inside of the kit, so that the moving parts move to the outside of the kit to support the mobile vehicle body, prevent it from further rolling over, reduce the probability of the processing equipment and the laser radar touching the ground, and protect them. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of the forest fixed sample plot measurement device of the present invention;

[0022] Figure 2 It is a schematic cross-sectional structure diagram of the forest fixed sample plot measurement device of the present invention;

[0023] Figure 3 For the present invention Figure 2 A schematic diagram of the enlarged structure of the structure at center A;

[0024] Figure 4 It is a schematic diagram of the cross-sectional structure of the telescopic member of the present invention;

[0025] Figure 5 For the present invention Figure 2 Enlarged schematic diagram of the structure at point B in the middle.

[0026] In the figure: 1. mobile body; 2. mounting seat; 3. processing equipment; 4. laser radar; 5. buffer assembly; 51. support; 52. kit; 53. moving part; 54. support plate; 55. limit plug; 56. limit frame; 57. elastic part; 58. baffle; 59. moving block; 510. gear; 511. rack; 512. first flexible connecting part; 513. block; 6. telescopic part; 61. sleeve; 62. moving rod; 63. spring part; 7. conduit; 8. air pump; 9. shielding plate; 10. reset spring; 11. second flexible connecting part. DETAILED DESCRIPTION

[0027] 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.

[0028] Example 1

[0029] See also Figure 1 and Figure 2 A forest fixed sample plot measurement device based on high-precision ground-based laser radar includes: a mobile body 1, a mounting seat 2 is provided on the top wall of the mobile body 1, and a processing device 3 (such as a computer) and a laser radar 4 (high-precision ground-based laser radar) are installed on the top wall of the mounting seat 2.

[0030] See also Figure 1 , buffer components 5 are provided on both the left and right sides of the moving body 1 in the forward direction;

[0031] Among them, see Figure 1 , Figure 2 and Figure 3 The buffer assembly 5 includes a set 52, a moving member 53, an elastic member 57 (spring), a support plate 54, a trigger assembly and an air supply assembly. The moving member 53 is slidably inserted into the inner cavity of the set 52. The elastic member 57 is arranged between the set 52 and the moving member 53. The support plate 54 is hinged to a side wall of the moving member 53 away from the set 52 through a rotating shaft. A supporting spring is arranged between the support plate 54 and the moving member 53. The trigger assembly and the air supply assembly are arranged in the inner cavity of the set 52.

[0032] See also Figure 2 , Figure 3 and Figure 4 , the air supply assembly includes an air storage member and a conduit 7; a storage groove is provided in the mobile body 1, the air storage member is a telescopic member 6, the telescopic member 6 includes a sleeve 61, a moving rod 62 and a spring member 63, the sleeve 61 is installed in the inner cavity of the storage groove, the inner cavity of the sleeve 61 is communicated with the inner cavity of the kit 52 through the conduit 7, the moving rod 62 is slidably inserted in the sleeve 61 (the moving rod 62 can move up and down), the spring member 63 is arranged between the sleeve 61 and the moving rod 62, an opening is provided at the top of the storage groove, the opening is for the mounting seat 2 to pass through, the top end of the moving rod 62 is connected to the mounting seat 2, an air pump 8 is provided in the inner cavity of the storage groove, and the air pump 8 is communicated with the inner cavity of the sleeve 61 through a pipeline;

[0033] See also Figure 2 and Figure 3The trigger assembly includes a moving block 59, a baffle 58, a rack 511, a gear 510, and a first flexible connecting member 512 (such as a rope, but not limited to a rope); the moving block 59 is slidably arranged in the inner cavity of the kit 52, a reset member (spring) is arranged between the moving block 59 and the kit 52, the moving block 59 is located on the inner side of the moving member 53, and the moving direction of the moving block 59 is the same as the moving direction of the moving member 53, the rack 511 is installed on a side wall of the moving block 59 away from the moving member 53, the gear 510 is rotatably arranged in the inner cavity of the kit 52, and the gear 510 is meshed with the rack 511, the baffle 58 is slidably installed in the inner cavity of the kit 52, a through hole is opened in the connection area between the kit 52 and the catheter 7, the baffle 58 blocks the through hole, and is used to separate the catheter 7 from the kit 52, and a reset member (spring) is arranged between the baffle 58 and the kit 52; the first flexible connecting member 512 is arranged between the baffle 58 and the shaft of the gear 510.

[0034] In this embodiment, as a further optimized solution, please refer to Figure 3 A mounting hole is provided on the side wall of the kit 52, in which a stopper 513 is slidably inserted, a spring is installed between the stopper 513 and the mounting hole, and the stopper 513 is blocked by the baffle 58; when the baffle 58 is pulled away by the first flexible connector 512 to open the through hole, the restriction of the baffle 58 on the stopper 513 disappears, and under the action of the spring, the stopper 513 moves to fit the side wall of the baffle 58, and is used to limit the stopper 513 from resetting the baffle 58; a pressure gauge for detecting the inside of the kit 52 is installed on the kit 52, and the gas entering the inside of the kit 52 through the sleeve 61 is extracted through the air pump 8. When the air pressure inside the kit 52 returns to the initial value, the stopper 513 is moved to release its restriction on the baffle 58, and under the action of the reset member, the baffle 58 moves to block the through hole.

[0035] It should be noted that the connection between the stopper 513 and the set 52 is sealed to prevent leakage of the set 52; the movable rod 62 and the sleeve 61, and the set 52 and the movable member 53 are also sealed (eg, a sealing gasket is provided).

[0036] A forest fixed plot measurement method based on high-precision ground-based lidar, the steps are as follows:

[0037] First, the mobile vehicle 1 is placed on the ground, and the processing device 3 and the laser radar 4 are moved to the fixed forest plot to be measured by moving the mobile vehicle 1 (the mobile vehicle 1 may be a remote-controlled vehicle);

[0038] It should be noted that when the mobile body 1 moves in the forest, if the uneven road causes the mobile body 1 to roll over, the support plate 54 of the buffer assembly 5 will first contact the ground, squeeze the moving part 53 into the interior of the kit 52, and compress the elastic part 57, thereby achieving a buffering effect; as the moving part 53 continues to move into the interior of the kit 52, the moving part 53 will squeeze the moving block 59, and push the moving block 59 and the rack 511 to move, driving the gear 510 to rotate, pulling the first flexible connecting member 512, winding the first flexible connecting member 512 around the shaft of the gear 510, and moving with the baffle 58 to open the through hole, so that the gas inside the sleeve 61 can pass The air enters the interior of the kit 52 through the conduit 7, increasing the air pressure inside the kit 52, so as to move the moving part 53 to the outside of the kit 52, and prevent the moving part 53 from continuing to shrink, so as to support the mobile body 1 and reduce the probability of the mobile body 1 continuing to roll over. When part of the gas inside the sleeve 61 enters the interior of the kit 52, the air pressure inside the sleeve 61 decreases, and under the action of the spring part 63, the moving rod 62 moves downward with the mounting seat 2, so that the processing device 3 and the laser radar 4 enter the inner cavity of the storage groove, further reducing the probability of the processing device 3 and the laser radar 4 contacting the ground when the mobile body 1 rolls over, and protecting the processing device 3 and the laser radar 4.

[0039] It should also be noted that, during the measurement process, air is injected into the interior of the sleeve 61 through the air pump 8 to increase the air pressure inside the sleeve 61, which is used to push the moving rod 62 upward, so that the mounting seat 2 rises with the processing equipment 3 and the laser radar 4; after the air inside the sleeve 61 is partially extracted by the air pump 8, the air pressure inside the sleeve 61 is reduced, and under the action of the spring 63, the moving rod 62 moves downward, so that the height of the processing equipment 3 and the laser radar 4 is lowered.

[0040] Second, the laser radar 4 works to obtain the LiDAR three-dimensional structure point cloud data of the vegetation in the forest fixed sample plot. The processing device 3 is used to process the obtained LiDAR three-dimensional structure point cloud data to obtain the height, volume and biomass of the vegetation, divide the plant individuals into trunks, and obtain the spatial location of each individual tree. The point cloud solution results of the individual trees are extracted to accurately obtain important parameters such as tree height and breast diameter.

[0041] It should be noted that before the laser radar 4 acquires data, fixed sample stakes are set at the top of the fixed sample plot (20m×20m), and a sign is hung on each tree.

[0042] In this embodiment, as a further optimized solution, please refer to Figure 2 and Figure 5A baffle plate 9 is slidably provided at the top of the inner cavity of the storage groove, a return spring 10 is provided between the storage groove and the baffle plate 9, and a second flexible connecting member 11 (such as a rope, but not limited to a rope) is provided on the baffle plate 9. The end of the second flexible connecting member 11 away from the baffle plate 9 passes through the guide hole provided on the storage groove and is connected to the moving rod 62; when the moving rod 62 brings the mounting seat 2, the processing equipment 3 and the laser radar 4 into the inner cavity of the storage groove, the second flexible connecting member 11 is pulled, so that the baffle plate 9 moves to block the opening; when the moving rod 62 moves upward, the tension on the second flexible connecting member 11 disappears, and under the action of the return spring 10, the baffle plate 9 moves to open the opening.

[0043] In this embodiment, as a further optimized solution, please refer to Figure 1 and Figure 2 Two supports 51 are provided on the mobile body 1, and the two supports 51 correspond to the kits 52 of the two buffer components 5 one by one. The kits 52 are hinged on the supports 51 through a rotating shaft, and a limit frame 56 is provided on the top wall of the kit 52. The limit frame 56 is U-shaped, and a limit plug 55 is slidably provided on the top wall of the support 51. The limit plug 55 is inserted on the inner side of the limit frame 56 to fix the position of the kit 52; when the limit plug 55 is moved out from the inner side of the limit frame 56, the restriction on the kit 52 disappears, so that the kit 52 can be rotated to lean against the side wall of the mobile body 1, which is used to fold the buffer component 5.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A forest fixed plot measurement device based on high-precision ground-based laser radar, comprising: A mobile vehicle (1), characterized in that: a mounting seat (2) is provided on the mobile vehicle (1), a processing device (3) and a laser radar (4) are provided on the mounting seat (2), the laser radar (4) is used to obtain LiDAR three-dimensional structure point cloud data of vegetation in a fixed forest plot, and the processing device (3) is used to process the LiDAR three-dimensional structure point cloud data to obtain the height, volume and biomass of the vegetation; Buffer components (5) are provided on both sides of the mobile vehicle body (1); The buffer assembly (5) comprises a kit (52), a moving part (53) slidably arranged in the kit (52), an elastic part (57) arranged between the kit (52) and the moving part (53), a support plate (54) arranged on the moving part (53), a trigger assembly arranged in the kit (52), and an air supply assembly connected to the kit (52); the moving part (53) is used to move the compressed elastic part (57) into the kit (52) for buffering when the moving vehicle body (1) overturns, and the trigger assembly is used to control the air supply assembly to inflate air into the kit (52) when being squeezed by the moving part (53), so that the moving part (53) moves to the outside of the kit (52).

2. The forest fixed plot measurement device based on high-precision ground-based laser radar according to claim 1 is characterized in that: The gas supply assembly comprises a gas storage member and a conduit (7) for connecting the gas storage member with the kit (52); The trigger assembly comprises a moving block (59) slidably arranged in the kit (52), a baffle (58), and a first flexible connector (512) arranged between the moving block (59) and the baffle (58), wherein the baffle (58) is used to separate the catheter (7) from the kit (52).

3. The forest fixed plot measurement device based on high-precision ground-based laser radar according to claim 2 is characterized in that: A gear (510) is rotatably provided in the kit (52), a rack (511) for meshing with the gear (510) is provided on the moving block (59), an end of the first flexible connecting member (512) away from the baffle (58) is connected to the shaft of the gear (510), and a reset member for driving the moving block (59) and the baffle (58) to reset is provided on the kit (52); Wherein, the kit (52) is provided with a stopper (513) for limiting the return of the baffle (58).

4. The forest fixed plot measurement device based on high-precision ground-based laser radar according to claim 2 is characterized in that: The mobile vehicle body (1) is provided with a storage groove, and the gas storage member is a telescopic member (6) arranged in the storage groove; The telescopic member (6) comprises a sleeve (61), a moving rod (62) slidably inserted in the sleeve (61), and a spring member (63) arranged between the sleeve (61) and the moving rod (62); the sleeve (61) is connected to the conduit (7); an opening is provided on the receiving groove for the mounting seat (2) to pass through; the moving rod (62) is connected to the mounting seat (2); and an air pump (8) is provided in the receiving groove for inflating air into the sleeve (61).

5. The forest fixed plot measurement device based on high-precision ground-based laser radar according to claim 4 is characterized in that: A shielding plate (9) for blocking the opening and a return spring (10) connected to the shielding plate (9) are slidably provided in the storage groove, and a second flexible connecting member (11) is provided between the moving rod (62) and the shielding plate (9).

6. The forest fixed plot measurement device based on high-precision ground-based laser radar according to claim 1 is characterized in that: The mobile vehicle body (1) is provided with a support (51), the kit (52) is hinged on the support (51), the kit (52) is provided with a limit frame (56), and the support (51) is slidably provided with a limit plug (55) for being inserted into the limit frame (56).

7. A method for measuring a forest fixed plot based on a high-precision ground-based laser radar, using a forest fixed plot measuring device based on a high-precision ground-based laser radar as claimed in any one of claims 1 to 6, characterized in that: The following steps are involved: S1: The mobile vehicle (1) moves to move the processing equipment (3) and the laser radar (4) to the fixed forest plot to be measured; S2: The laser radar (4) obtains the LiDAR three-dimensional structure point cloud data of the vegetation in the fixed forest plot, and the processing device (3) is used to process the obtained LiDAR three-dimensional structure point cloud data to obtain the height, volume and biomass of the vegetation, and to perform trunk segmentation on the vegetation individuals to obtain the spatial positioning, tree height and breast diameter parameters of each tree individual.

Images