Sapling growth rate dynamic monitor based on multispectral analysis

Abstract

The invention relates to a sapling growth rate dynamic monitor based on multispectral analysis, and belongs to the technical field of ecological monitoring instruments, the sapling growth rate dynamic monitor comprises a dynamic monitoring device, the dynamic monitoring device is composed of an unmanned aerial vehicle, a holder and a multispectral sensor detachably installed on the holder; a protection structure for protecting the fan blades is arranged on the unmanned aerial vehicle, and the protection structure comprises a protection frame and a connecting rod fixed to the inner side of the protection frame; the protection structure further comprises an air blowing structure and a transmission structure which are arranged on the protection frame. The air blowing structure comprises a piston cylinder arranged on the protective frame and a communicating pipe fixed to the outer surface of the protective frame. According to the sapling growth rate dynamic monitor based on multispectral analysis, through the combination of the piston cylinder and the adjustable spray pipe, directional spraying of high-pressure pulse airflow is achieved, the high-pressure airflow is sprayed out of the spray pipe at a high speed, a dynamic air wall surrounding the rotor wing is formed, branches, insects or dust can be blown away before making contact with the rotor wing, and the direct collision risk of the wing is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of ecological monitoring instruments, and in particular to a dynamic monitor for seedling growth rate based on multi-spectral analysis. Background Art

[0002] Ecological reserve forest refers to multifunctional forests such as industrial raw material forests, native tree species, rare tree species and large-diameter timber forests, which are created and cultivated in areas with suitable natural conditions through intensive cultivation of artificial forests, improvement of existing forests, tending and replanting to meet the needs of high-quality timber for economic and social development and people's better life.

[0003] Drones are suitable for rapid scanning of large areas of woodland, mountainous areas or difficult-to-reach areas, especially for commercial nurseries, ecological restoration projects or forest management. They can be equipped with multispectral sensors, adjust flight altitude and path as needed, and balance coverage and resolution, which is better than satellite or fixed cameras. Regular automatic flights can also capture the temporal changes in the growth of seedlings, which is suitable for studying growth trends or responding to environmental changes such as drought and fertilization effects. At the same time, drones can integrate red light, near infrared (NDVI), thermal infrared and other bands to analyze physiological indicators such as chlorophyll content and water stress in real time, supplementing traditional height / diameter measurements.

[0004] However, existing drones lack the function of actively protecting the wings. When drones are working in the forest, dense branches and vines can easily entangle or collide with the rotors, causing blade breakage, which in turn affects the monitoring of the drone. In view of this, a seedling growth rate dynamic monitor based on multispectral analysis is proposed to solve the above problems. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a dynamic monitor of seedling growth rate based on multi-spectral analysis, which has the advantages of efficient protection and reduced risk of damage, and solves the problem that the existing UAVs lack the function of actively protecting the wings.

[0006] To achieve the above object, the present invention provides the following technical solutions: a dynamic monitor of seedling growth rate based on multispectral analysis, comprising a dynamic monitoring device, wherein the dynamic monitoring device is composed of a drone, a gimbal, and a multispectral sensor detachably mounted on the gimbal;

[0007] The drone is provided with a protective structure for protecting the fan blades, and the protective structure includes a protective frame and a connecting rod fixed inside the protective frame;

[0008] The protection structure also includes a blowing structure and a transmission structure arranged on the protection frame;

[0009] The blowing structure includes a piston cylinder disposed on the protective frame, a connecting pipe fixed to the outer surface of the protective frame, a nozzle disposed on the side of the connecting pipe away from the protective frame, and two check valves fixedly connected to the outer surface of the opposite side of the piston cylinder. An air delivery pipe is fixed between one of the check valves and the connecting pipe;

[0010] The transmission structure includes a turntable, an adjusting member disposed on the upper surface of the turntable, a universal ball joint and a second connecting rod disposed on the adjusting member. A first connecting rod extending into the interior of the piston cylinder is fixed to the outer surface of the universal ball joint, and the other end of the second connecting rod is fixedly connected to the nozzle.

[0011] Further, the drone includes a fuselage, an arm fixed to the outer surface of the fuselage, a machine platform fixed to the other end of the arm, and a driving device fixed to the upper surface of the machine platform. The driving device is a dual-axis motor, and a wing is fixed to the top output shaft of the driving device.

[0012] Further, two symmetrically arranged support frames are fixed to the lower surface of the fuselage by bolts, a power supply box is fixed to the upper surface of the fuselage, and the gimbal is fixed to the lower surface of the fuselage.

[0013] Further, the protective frame is located outside the wing, and the end of the connecting rod away from the protective frame is fixed to the outer surface of the driving device by bolts.

[0014] Further, a synchronous structure is provided between the driving device and the turntable. The synchronous structure includes two synchronous shafts and two synchronous pulleys. The two synchronous pulleys are respectively fixed to the same end of the two synchronous shafts.

[0015] Further, a synchronous belt is drivingly connected between the two synchronous pulleys. A housing is fixed to the lower surface of the machine platform, and the other ends of the two synchronous shafts are respectively fixed to the bottom output shaft of the driving device and the lower surface of the turntable.

[0016] Further, the nozzle consists of a throat pipe and a diffuser pipe. One end of the throat pipe away from the diffuser pipe is fixedly connected to the connecting pipe, and the diffuser pipe is slidably disposed on the outer surface of the other end of the throat pipe.

[0017] Further, the number of the nozzles is multiple. The multiple nozzles are equidistantly distributed outside the connecting pipe, and a connecting rod is fixed between the multiple diffuser pipes.

[0018] Further, the adjusting member includes a mounting seat fixed to the upper surface of the turntable, a first sliding seat and a second sliding seat disposed inside the mounting seat, and a lead screw mounted on bearings inside the mounting seat.

[0019] Further, the lead screw thread runs through the inside of the first sliding seat and the second sliding seat. The universal ball joint is rotatably installed inside the first sliding seat. The second connecting rod is fixed to the upper surface of the second sliding seat. A chute is provided inside the mounting seat. Both the first sliding seat and the second sliding seat are slidably arranged in the chute. A drive motor connected to the end of the lead screw is fixed to one side of the mounting seat.

[0020] Compared with the prior art, the present invention provides a dynamic monitor for the growth rate of saplings based on multispectral analysis, which has the following beneficial effects:

[0021] 1. The dynamic monitor for the growth rate of saplings based on multispectral analysis has the advantages of efficient non-contact protection and significantly reducing physical damage. Through the combination of the piston cylinder and the adjustable nozzle, the directional jet of high-pressure pulsed air flow is realized. The high-pressure air flows out from the nozzle at high speed, forming a dynamic air wall around the rotor, which can blow away branches, insects or dust before they contact the rotor, reducing the direct collision risk of the wing.

[0022] 2. The dynamic monitor for the growth rate of saplings based on multispectral analysis can dynamically adjust the nozzle length through the adjusting member driven by the lead screw to adapt to different pollution types, solving the problems of easy pollution and high collision risk of drones in the forest environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 FIG. 1 is a three-dimensional structure diagram of Embodiment 1 of a dynamic monitor for the growth rate of saplings based on multispectral analysis according to the present invention;

[0024] Figure 2 FIG. 2 is a three-dimensional structure diagram of Embodiment 2 of a dynamic monitor for the growth rate of saplings based on multispectral analysis according to the present invention;

[0025] Figure 3 FIG. 3 is a three-dimensional structure diagram of Embodiment 3 of a dynamic monitor for the growth rate of saplings based on multispectral analysis according to the present invention;

[0026] Figure 4 FIG. 4 is a structural schematic diagram of a synchronization structure in a dynamic monitor for the growth rate of saplings based on multispectral analysis according to the present invention;

[0027] Figure 5 FIG. 5 is a structural schematic diagram of a transmission structure in a dynamic monitor for the growth rate of saplings based on multispectral analysis according to the present invention.

[0028] In the figure: 1. Drone; 101. Airframe; 102. Arm; 103. Platform; 104. Driving device; 105. Wing; 106. Gimbal; 107. Multispectral sensor; 108. Support frame; 109. Power supply box; 2. Protection frame; 21. Connecting rod; 3. Housing; 4. Piston cylinder; 5. Connecting pipe; 6. Check valve; 7. Throat pipe; 8. Diverging pipe; 9. Air delivery pipe; 10. Transmission structure; 1001. Turntable; 1002. Adjusting member; 10021. Mounting seat; 10022. First sliding seat; 10023. Driving motor; 10024. Lead screw; 10025. Second sliding seat; 10026. Chute; 1003. Universal ball joint; 1004. First connecting rod; 1005. Second connecting rod; 11. Synchronization structure; 1101. Synchronization shaft; 1102. Synchronization pulley; 1104. Timing belt; 12. Connecting rod. Specific implementation mode

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] Embodiment 1:

[0031] Please refer to Figure 1 , a sapling growth rate dynamic monitor based on multispectral analysis in this embodiment includes a dynamic monitoring device, which is composed of a drone 1, a gimbal 106, and a multispectral sensor 107 detachably mounted on the gimbal 106; the drone 1 includes an airframe 101, an arm 102 fixed on the outer surface of the airframe 101, a platform 103 fixed at the other end of the arm 102, and a driving device 104 fixed on the upper surface of the platform 103. The driving device 104 is a dual-axis motor, and a wing 105 is fixed on the top output shaft of the driving device 104. Specifically, two symmetrically arranged support frames 108 are fixed on the lower surface of the airframe 101 by bolts, a power supply box 109 is fixed on the upper surface of the airframe 101, and the gimbal 106 is fixed on the lower surface of the airframe 101.

[0032] It should be noted that the intelligent analysis of high-precision laser point cloud maps has the following solutions:

[0033] For example, a high-precision drone 1 equipped with lidar is used for scanning with a scanning accuracy of 1:500. A laser point cloud map is generated later, and the number of seedlings is identified through AI intelligent algorithms. The survival rate is calculated by analyzing the number and distribution of leaves at the tree tops. Multiple algorithms ensure an accuracy of over 99%. The intelligent algorithm can be upgraded, and a tree species analysis algorithm can be implanted later, and the height of the seedlings can be calculated.

[0034] Aerial survey is carried out using a five-channel multispectral camera and a visible light camera. The five-spectral camera can collect images of five different light waves for comprehensive analysis, including soil moisture monitoring, seedling emergence rate statistics, seedling growth, plant height monitoring, water and fertilizer monitoring, pest and disease monitoring, post-disaster damage assessment monitoring, yield prediction, insurance survey, etc.

[0035] Forestry data analysis is carried out using the generated multispectral maps, with the "microscope" function of the forest farm. When shooting from a high altitude, if any abnormality in the farmland is found, the drone 1 can immediately conduct low-altitude close-range high-definition supplementary shooting of the abnormal position points, and at the same time output multispectral images and RGB images. The growth environment of the forest area is detected at the fastest speed. A multispectral analysis tree is established, and intelligent screening is carried out in the generated images. Using the different reflection effects of different plants on different lights, an intelligent statistical algorithm for tree species can be developed.

[0036] Example Two:

[0037] To achieve the protection of the wing 105, please refer to Figure 1 and Figure 2 , a protection structure for protecting the fan blades is provided on the drone 1. The protection structure includes a protective frame 2 and a connecting rod 21 fixed to the inner side of the protective frame 2; the protective frame 2 is located outside the wing 105, and one end of the connecting rod 21 away from the protective frame 2 is fixed to the outer surface of the driving device 104 through bolts. The protective frame 2 forms a 360-degree annular protection barrier, which can effectively block foreign objects such as branches and vines from directly hitting the rotor.

[0038] It should be noted that the protective frame 2 is made of high-strength aluminum alloy or carbon fiber material. The weight only increases by about 8 - 12%, and has a minimal impact on flight performance. The connecting rod 21 is directly fixed on the shell of the driving device 104 to form a rigid connection structure to avoid the vibration of the protective frame during flight. A distance of 15 - 20 mm is maintained between the protective frame and the rotor to ensure sufficient air flow and not affect the heat dissipation of the motor.

[0039] Example Three:

[0040] To further improve the protection of the wing 105, please refer to Figures 3 to 5, the protection structure further includes a blowing structure and a transmission structure 10 provided on the protective frame 2; the blowing structure includes a piston cylinder 4 provided on the protective frame 2, a connecting pipe 5 fixed to the outer surface of the protective frame 2, a nozzle provided on the side of the connecting pipe 5 away from the protective frame 2, and two check valves 6 fixedly connected to the outer surface of the opposite side of the piston cylinder 4. An air delivery pipe 9 is fixed between one of the check valves 6 and the connecting pipe 5; specifically, the transmission structure 10 includes a turntable 1001, an adjusting member 1002 provided on the upper surface of the turntable 1001, a universal ball joint 1003 provided on the adjusting member 1002, and a second connecting rod 1005. A first connecting rod 1004 extending into the interior of the piston cylinder 4 is fixed to the outer surface of the universal ball joint 1003. The other end of the second connecting rod 1005 is fixedly connected to the nozzle. The first connecting rod 1004 is hinged to the piston inside the piston cylinder 4.

[0041] In this embodiment, a synchronization structure 11 is provided between the driving device 104 and the turntable 1001. The synchronization structure 11 includes two synchronization shafts 1101 and two synchronization wheels 1102. The two synchronization wheels 1102 are respectively fixed to the same ends of the two synchronization shafts 1101. A synchronization belt 1104 is drivingly connected between the two synchronization wheels 1102. A housing 3 is fixed to the lower surface of the machine platform 103. The other ends of the two synchronization shafts 1101 are respectively fixed to the bottom output shaft of the driving device 104 and the lower surface of the turntable 1001.

[0042] It should be noted that the nozzle consists of a throat tube 7 and a diffuser tube 8. One end of the throat tube 7 away from the diffuser tube 8 is fixedly connected to the connecting pipe 5. The diffuser tube 8 is slidably arranged on the outer surface of the other end of the throat tube 7. The number of nozzles is multiple, and the multiple nozzles are equidistantly distributed outside the connecting pipe 5. A connecting rod 12 is fixed between the multiple diffuser tubes 8. The combination design of the throat tube 7 and the diffuser tube 8 forms a Venturi effect. The air flow is accelerated in the throat tube 7 and then diffused through the diffuser tube 8 to form a uniform protective air curtain, effectively preventing foreign objects from contacting the wing 105. At the same time, the diffuser tubes 8 synchronously expand and contract through the connecting rod 12 to ensure that the shape of the air curtain is consistent and meet the requirements of different working conditions.

[0043] Specifically, the adjusting member 1002 includes a mounting seat 10021 fixed to the upper surface of the turntable 1001, a first sliding seat 10022 and a second sliding seat 10025 arranged inside the mounting seat 10021, and a lead screw 10024 rotatably mounted inside the mounting seat 10021 through a bearing. Among them, the lead screw 10024 threadedly penetrates through the inside of the first sliding seat 10022 and the second sliding seat 10025. The universal ball joint 1003 is rotatably mounted inside the first sliding seat 10022. The second connecting rod 1005 is fixed to the upper surface of the second sliding seat 10025. A chute 10026 is formed inside the mounting seat 10021. Both the first sliding seat 10022 and the second sliding seat 10025 are slidably arranged in the chute 10026. A driving motor 10023 connected to the end of the lead screw 10024 is fixed to one side of the mounting seat 10021. The turntable 1001 drives the universal ball joint 1003 and the second connecting rod 1005 through the adjusting member 1002 to realize the reciprocating motion of the piston cylinder 4 and the dynamic adjustment of the nozzle angle. A limiting frame for limiting the synchronous shaft 1101 connected to the driving device 104 is installed inside the housing 3. A support frame fixed to the inner side of the protective frame 2 is rotatably mounted on the synchronous shaft 1101 connected to the turntable 1001. The piston cylinder 4 is fixed to the outer surface of the connecting rod 21.

[0044] The working principle of the above embodiment is as follows:

[0045] When the drone 1 is flying, the gimbal 106 stabilizes the multispectral sensor 107 to obtain the reflectance data of the red light, near-infrared and other bands of the saplings. The growth parameters such as chlorophyll content and biomass are calculated in real time through vegetation indices such as NDVI. By flying and scanning the same area regularly, the growth rate curve is generated by comparing the historical data, and the abnormal areas such as water shortage or pests and diseases are identified.

[0046] The dual-axis motor 104 drives the turntable 1001 to rotate through the synchronous structure 11. At this time, the first connecting rod 1004 drives the piston in the piston cylinder 4 to reciprocate, driving the piston cylinder 4 to compress air. The compressed air enters the connecting pipe 5 through the check valve 6 and the air delivery pipe 9 and is ejected at high speed from the throat 7 and the diffuser 8 in the nozzle, thereby forming an invisible air curtain barrier. The high-speed air flow can blow away the approaching branches, insects or dust, realizing non-contact protection and improving the protection effect on the wing 104.

[0047] The installation method, connection method or setting method disclosed in this embodiment are all common mechanical connection methods, and any method that can achieve its beneficial effects can be implemented. In addition, the electrical components in this embodiment are all electrically connected to the main controller and the power supply. The main controller can be a conventional known device such as a computer that plays a control role. Those skilled in the art can realize the control of the electrical components through simple programming, and the existing public power connection technology also belongs to the common knowledge in this field. Therefore, the specific structural composition and working principle are not described in detail in this embodiment.

[0048] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0049] 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 dynamic monitor for the growth rate of saplings based on multispectral analysis, comprising a dynamic monitoring device, characterized in that: The dynamic monitoring device is composed of a drone (1), a gimbal (106), and a multispectral sensor (107) detachably mounted on the gimbal (106); The drone (1) is provided with a protective structure for protecting the fan blades, the protective structure comprising a protective frame (2) and a connecting rod (21) fixed inside the protective frame (2); The protection structure also includes an air blowing structure and a transmission structure (10) arranged on the protection frame (2); The blowing structure comprises a piston cylinder (4) arranged on the protective frame (2), a connecting pipe (5) fixed to the outer surface of the protective frame (2), a nozzle arranged on the side of the connecting pipe (5) away from the protective frame (2), and two check valves (6) fixedly connected to the outer surface of the piston cylinder (4) on the opposite side, wherein an air delivery pipe (9) is fixed between one of the check valves (6) and the connecting pipe (5); The transmission structure (10) comprises a turntable (1001), an adjusting member (1002) arranged on the upper surface of the turntable (1001), a universal joint (1003) arranged on the adjusting member (1002), and a second connecting rod (1005), wherein a first connecting rod (1004) extending into the interior of the piston cylinder (4) is fixed to the outer surface of the universal joint (1003), and the other end of the second connecting rod (1005) is connected and fixed to a nozzle.

2. The dynamic monitor for the growth rate of saplings based on multispectral analysis according to claim 1, wherein: The drone (1) comprises a body (101), an arm (102) fixed to the outer surface of the body (101), a platform (103) fixed to the other end of the arm (102), and a driving device (104) fixed to the upper surface of the platform (103); the driving device (104) is a dual-axis motor, and a wing (105) is fixed to the top output shaft of the driving device (104).

3. The dynamic monitor for the growth rate of saplings based on multispectral analysis according to claim 2, characterized in that: The lower surface of the machine body (101) is fixed with two symmetrically arranged support frames (108) by means of bolts, the upper surface of the machine body (101) is fixed with a power supply box (109), and the pan / tilt head (106) is fixed to the lower surface of the machine body (101).

4. The dynamic monitor for the growth rate of saplings based on multispectral analysis according to claim 2, characterized in that: The guard frame (2) is located outside the wing (105), and one end of the connecting rod (21) away from the guard frame (2) is fixed to the outer surface of the driving device (104) by means of bolts.

5. The dynamic monitor for sapling growth rate based on multispectral analysis according to claim 2, wherein: A synchronization structure (11) is provided between the driving device (104) and the rotating disk (1001), and the synchronization structure (11) comprises two synchronization shafts (1101) and two synchronization wheels (1102), and the two synchronization wheels (1102) are respectively fixed to the same end of the two synchronization shafts (1101).

6. The dynamic monitor for the growth rate of saplings based on multispectral analysis according to claim 5, characterized in that: A synchronous belt (1104) is connected between the two synchronous wheels (1102), a shell (3) is fixed to the lower surface of the machine platform (103), and the other ends of the two synchronous shafts (1101) are respectively fixed to the bottom output shaft of the driving device (104) and the lower surface of the turntable (1001).

7. A dynamic monitor for the growth rate of saplings based on multispectral analysis according to claim 1, characterized in that: The nozzle consists of a throat (7) and an expansion tube (8); one end of the throat (7) away from the expansion tube (8) is fixedly connected to the connecting tube (5); and the expansion tube (8) is slidably arranged on the outer surface of the other end of the throat (7).

8. The dynamic monitor for the growth rate of saplings based on multispectral analysis according to claim 7, wherein: The number of the nozzles is multiple, and the multiple nozzles are equidistantly distributed outside the connecting pipe (5), and a connecting rod (12) is fixed between the multiple expansion pipes (8).

9. The dynamic monitor for the growth rate of saplings based on multispectral analysis according to claim 1, wherein: The adjusting member (1002) includes a mounting seat (10021) fixed on the upper surface of the turntable (1001), a first sliding seat (10022) and a second sliding seat (10025) arranged inside the mounting seat (10021), and a lead screw (10024) mounted inside the mounting seat (10021) by means of a bearing.

10. The dynamic monitor for sapling growth rate based on multispectral analysis according to claim 9, characterized in that: The lead screw (10024) threadedly penetrates through the inside of the first sliding seat (10022) and the second sliding seat (10025). The universal ball joint (1003) is rotatably mounted inside the first sliding seat (10022). The second connecting rod (1005) is fixed on the upper surface of the second sliding seat (10025). A chute (10026) is formed inside the mounting seat (10021). Both the first sliding seat (10022) and the second sliding seat (10025) are slidably arranged in the chute (10026). A driving motor (10023) connected to the end of the lead screw (10024) is fixed on one side of the mounting seat (10021).

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