Timber intelligent scale measuring method based on bilateral synchronous visual identification

Abstract

The invention relates to the technical field of wood gauging, in particular to an intelligent wood gauging method based on bilateral synchronous visual identification, which comprises the following steps: S1, a digital management platform issues an instruction to an intelligent gauging robot of a wood storage yard, and an automatic operation chassis operates the intelligent gauging robot to a wood operation area; s2, Z-axis visual scanning devices at the two ends of the robot scan the wood on the two sides of the wood pile and conduct three-dimensional reconstruction on the end faces of the wood on the two sides, S3, an ultrasonic generator on the active side of the robot conducts ultrasonic vibration on the single wood, an acoustic camera on the passive side of the robot recognizes the vibration wood and confirms the same wood, S4, a visual camera conducts visual scanning on the two sides of the same wood, and S5, the robot conducts three-dimensional reconstruction on the end faces of the wood on the two sides. S5, starting a diameter-level code assigning device on the passive side, assigning the small-end diameter-level characters of the wood to the end face of the wood, enabling the system to be in butt joint with an intelligent wood tallying system in use, and finally generating tallying and scale measuring data of the whole stack of wood.

Description

Technical Field

[0001] The present invention relates to the technical field of timber measurement, and particularly to an intelligent timber measurement method based on bilateral synchronous visual recognition. Background Art

[0002] A timber yard is a dedicated area for storing timber. Meanwhile, the yard classifies and processes timber according to its type, size, quality, etc., including processes such as cutting, sanding, painting, etc. of the timber, to improve the quality and usability of the timber, for subsequent processing or sales. The design and management methods of the timber yard can vary according to the type and use of the timber, but its core purpose is to ensure that the timber remains in good condition during storage and processing. In the timber yard, it is necessary to measure the size data of the timber through measurement, for subsequent stacking and processing of the timber;

[0003] In existing timber yards, the measurement operation of timber is usually completed by manual labor or measurement robots. However, with the increase in the amount of timber in the yard and the storage of timbers of different sizes, manual operation can no longer accurately measure the sizes of different types and shapes of timbers. And due to the low level of intelligence of the measurement robots themselves, when measuring timbers, they also have the above problems. Finally, during the measurement process after measurement is completed, it will further increase the labor intensity of workers, ultimately leading to the accumulation of errors, making the inventory management and quality of the timber in the yard unable to be effectively controlled. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent timber measurement method based on bilateral synchronous visual recognition for the deficiencies of the existing technology. The method uses an automated operation chassis and an intelligent measurement robot to perform a full - range scan of the timber pile, and marks the timber during the measurement operation, so as to improve work efficiency, reduce manual labor intensity, and effectively control the inventory management and quality of the timber in the yard.

[0005] The technical solution of the present invention is as follows:

[0006] An intelligent timber measurement method based on bilateral synchronous visual recognition, the steps of which are as follows:

[0007] S1: The digital management platform issues an operation instruction to the intelligent measurement robot in the timber yard. The intelligent measurement robot based on technologies such as an automated operation chassis and 3D SLAM runs to the area of the timber to be measured.

[0008] S2: The Z - axis visual scanning devices at both ends of the robot scan the timbers on both sides of the timber pile, confirm the length of the timbers, and perform three - dimensional reconstruction on the end faces of the timbers on both sides.

[0009] S3: The ultrasonic generator on the active side of the robot performs ultrasonic vibration on a single piece of wood, and the acoustic camera on the passive side identifies the vibrating wood to confirm the same piece of wood;

[0010] S4: The vision camera performs visual scanning on both sides of the same piece of wood to confirm the cross-sectional diameters at both ends of the single piece of wood and determine the large and small ends of the wood;

[0011] S5: The diameter grading coding device on the passive side is activated to code the small-end diameter characters of the wood on the end face of the wood. The system can be docked with the intelligent tally system for in-use wood, and finally generate the tally and scaling data for the entire stack of wood.

[0012] Preferably, the digital management platform includes an instruction module, a control module, and a data integration module;

[0013] S1 further includes the following steps:

[0014] S1.1: Using multi-line laser technology to obtain the three-dimensional information of the surrounding environment, combined with the SLAM algorithm, the automated operation mechanism can perceive the surrounding environment in real time, construct a three-dimensional map in real time, and combine with the path planning algorithm

[0015] S1.2: The digital management platform inputs instructions through the instruction module and sends the task instructions to the control module, and at the same time detects whether the instructions are abnormal;

[0016] S1.3: The control module controls the automated operation chassis to send the intelligent scaling robot to the designated area, and controls the intelligent scaling robot to perform scaling operations on both sides of the wood pile;

[0017] S1.4: After the scaling operation is completed, the data integration module will integrate the scaling data and the robot working data and return them to the digital management platform.

[0018] Preferably, the intelligent scaling robot includes a detection camera, a dual-frequency positioning module, and an ultrasonic generator. The detection camera is internally equipped with an acoustic camera and a visual scanning device. The automated operation chassis includes a Z-axis lifting rod, a ground rail, a rotating platform, and a Y-axis moving platform;

[0019] S2 further includes the following steps:

[0020] S2.1: When the intelligent scaling robot moves to the preset positions on both sides of the wood pile, the visual scanning device is driven by the Z-axis lifting rod to move up and down along the height direction of the wood pile, and the intelligent scaling robot is adjusted according to the offset position;

[0021] S2.2: According to the relative position of the wood center and the end face depth measured by the visual scanning device, the absolute positions of the centers of the end faces of several complete pieces of wood are marked in the wood stacking coordinate system, and scaling is performed in sequence according to the order of the vertical movement direction.

[0022] S2.3: The visual scanning device identifies the wood according to the wood contour features and relative coordinate positions to complete the measurement.

[0023] Preferably, the following steps are further included in the S3:

[0024] S3.1: Move the intelligent measurement robot horizontally along the X-axis direction to the specified position through the ground rail, and then adjust the height of the intelligent measurement robot through the Z-axis lifting rod. The Y-axis moving platform can adjust the intelligent measurement robot to move horizontally;

[0025] S3.2: Start the ultrasonic generator on it to directionally vibrate the center position of the wood cross-section, and the passive-side acoustic camera locates the corresponding wood end face according to the size of the transmitted sound.

[0026] Preferably, the following steps are further included in the S4:

[0027] S4.1: During the visual scanning of both sides of the same piece of wood by the visual camera, use the wood diameter measurement algorithm to measure the wood characteristic values, and determine the center position of the end face by identifying the centroid of the contour. Set multiple diameter lines passing through the centroid from the center, and set a diameter line every 15°;

[0028] S4.2: Obtain the length of each line segment reaching the contour and calculate the values, and then calculate the diameter grade according to the latest national standard for log inspection.

[0029] S4.3: The conventional diameter range of the measured wood should satisfy 10 - 100 cm, and the length is 2.9 - 7.7 m. Oversized diameters or holes larger than a certain area in the stack are marked with NG. The wood diameter measurement algorithm has a deep learning function, and as the number of measured wood increases, the measured data is more accurate;

[0030] S4.4: After completing the above operations, continue to control the active side to move vertically upward to the next position of the wood, and repeat the above measurement process to complete the measurement of all the wood in the current working surface.

[0031] Preferably, the following steps are further included in the S5:

[0032] S5.1: After the sorting of the whole stack of wood and the generation of the measurement data, integrate through the data module, calculate and judge the data, and the calibrated data is sent back to the digital management platform as data reference;

[0033] S5.2: The control module controls the automated operation chassis to perform the homing operation on the intelligent measurement robot and wait for the next measurement operation.

[0034] Advantages of the present invention:

[0035] The wood piles are transported to the surface of the automated operation chassis by a truck. Instructions are issued to the intelligent measurement robot through a digital management platform. After receiving the receiving instructions, the intelligent measurement robot moves in the X, Y, and Z directions on the horizontal plane, and then conducts a full-range scan of the wood piles. After the scan, modeling processing is carried out on the digital management platform. During the process, the robot uses ultrasonic waves to vibrate each single piece of wood in turn. When the vibration frequencies are the same, the wood of the same shape can be confirmed. Finally, the intelligent measurement robot scans the wood piles again. Combining the previously established model and the wood information collected by vibration, the cross-sectional diameter of the wood is calculated after the diameter class calculation, so as to determine the size of the wood, and mark it. The marked information will be stored in the digital management platform, and subsequent corresponding tallying processing can be carried out. The fully automated measurement operation can improve work efficiency and reduce the labor intensity of workers, enabling accurate control of the inventory management and quality of the wood in the yard. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0037] Figure 1 It is a schematic diagram of the overall steps of the present invention.

[0038] Figure 2 It is a schematic diagram of the structure of the digital management platform of the present invention.

[0039] Figure 3 It is a schematic diagram of the structure of the intelligent measurement robot of the present invention.

[0040] Figure 4 It is a schematic diagram of the structure of the automated operation chassis of the present invention.

[0041] Figure 5 It is a flowchart of the present invention.

[0042] Figure 6 It is a schematic diagram of S1.1 - S1.4 of S1 of the present invention.

[0043] Figure 7 It is a schematic diagram of S2.1 - S2.3 of S2 of the present invention.

[0044] Figure 8 It is a schematic diagram of S3.1 and S3.2 of S3 of the present invention.

[0045] Figure 9 It is a schematic diagram of S4.1 - S4.4 of S4 of the present invention.

[0046] Figure 10 Schematic diagrams of S5.1 and S5.2 of S5 of the present invention.

[0047] Figure 11 Schematic diagram of the working environment of the present invention.

[0048] Figure 12 Schematic diagram of the Z-axis lifting rod structure of the present invention.

[0049] Figure 13 Schematic diagram of the rotating platform structure of the present invention.

[0050] Figure 14 Schematic diagram of the Y-axis moving platform structure of the present invention Figure 1 .

[0051] Figure 15 Schematic diagram of the Y-axis moving platform structure of the present invention Figure 2 .

[0052] Among them, 1. Automated operation chassis; 11. Truck; 12. Wood pile; 2. Ground rail; 3. Z-axis lifting rod; 31. Lead screw; 32. Slide block; 33. Roller; 4. Rotating platform; 41. Guide rail; 42. Tooth disc; 43. Gear; 44. Steering gear; 45. Slide seat; 46. Threaded sleeve; 5. Y-axis moving platform; 51. Visual scanning device; 511. LiDAR; 512. Visual camera; 52. Acoustic camera; 521. Operation chip; 53. Ultrasonic generator; 531. Sound emitting hole. Detailed implementation manners

[0053] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0054] To further understand the present invention, the following will describe the present invention in detail with reference to the accompanying drawings.

[0055] Combined with Figure 1 and Figure 2 , the present invention provides a wood intelligent measurement method based on bilateral synchronous visual recognition. The steps of the method are as follows:

[0056] S1: The digital management platform issues an operation instruction to the intelligent measurement robot for the wood pile yard. The intelligent measurement robot based on technologies such as the automated operation chassis 1 and 3D SLAM runs to the working wood area;

[0057] S2: The Z-axis vision scanning devices 51 at both ends of the robot scan the wood on both sides of the wood pile 12, confirm the length of the wood, and perform three-dimensional reconstruction on the end faces of the wood on both sides;

[0058] S3: The ultrasonic generator 53 on the active side of the robot performs ultrasonic vibration on a single piece of wood, and the acoustic camera 52 on the passive side identifies the vibrating wood to confirm the same piece of wood;

[0059] S4: The vision camera 512 performs vision scanning on both sides of the same piece of wood to confirm the cross-sectional diameters at both ends of a single piece of wood and determine the large and small ends of the wood;

[0060] S5: The diameter grading coding device on the passive side is activated to code the small-end diameter characters of the wood on the end face of the wood. The system can be docked with the in-use wood intelligent tallying system, and finally generate the tallying and measuring data of the entire stack of wood.

[0061] In this embodiment, the wood pile 12 is transported to the surface of the automated operation chassis 1 by the truck 11. The digital management platform issues instructions to the intelligent measuring robot. After receiving the receiving instructions, the intelligent measuring robot moves in the X, Y, and Z directions on the horizontal plane, and then performs a comprehensive scan of the wood pile 12. After the scan, it is modeled on the digital management platform. During the process, the robot uses ultrasonic waves to vibrate each single piece of wood in turn. When the vibration frequencies are the same, the woods with the same shape can be confirmed. Finally, the intelligent measuring robot scans the wood pile 12 again, combines the previously established model and the wood information collected by vibration, calculates the diameter grade to obtain the cross-sectional diameter of the wood, thereby determining the size of the wood and marking it. The marked information will be stored in the digital management platform, and subsequent corresponding tallying processing can be carried out. The fully automated measuring operation can improve work efficiency, reduce manual labor intensity, and enable accurate control of the inventory management and quality of the wood in the yard.

[0062] Combined with Figure 2 and Figure 6 , the digital management platform includes an instruction module, a control module, and a data integration module;

[0063] The said S1 further includes the following steps:

[0064] S1.1: Using multi-line laser technology to obtain three-dimensional information of the surrounding environment, combined with the SLAM algorithm, the automated operation mechanism can perceive the surrounding environment in real time, construct a three-dimensional map in real time, and combine with the path planning algorithm

[0065] S1.2: The digital management platform inputs instructions through the instruction module and sends the task instructions to the control module, and at the same time detects whether the instructions are abnormal;

[0066] S1.3: The control module manipulates the automated operation chassis 1 to send the intelligent log measuring robot to the designated area and controls the intelligent log measuring robot to perform log measuring operations on both sides of the wood pile 12;

[0067] S1.4: After the log measuring operation is completed, the data integration module will integrate the log measuring data and the robot working data and return them to the digital management platform;

[0068] In this embodiment, the instruction module has functions of instruction input and output, and instruction exception detection. The instruction module is specifically composed of tools such as a computer or a teaching pendant that can input instructions. It also has a communication module inside to send instructions to the intelligent log measuring robot. At the same time, an error reporting program is written in the instruction module through a programming language to check in real time whether the instructions input by the staff are correct and meet the operation standards. The control module is composed of various sensors and control units. For example, the control unit for controlling the automated operation chassis 1 is composed of a servo motor, a travel switch, and a distance sensor. The lifting of the intelligent log measuring robot itself is also precisely controlled by a servo motor;

[0069] Furthermore, the data integration module can be used to integrate the data after log measuring and establish a log measuring database. In subsequent log measuring operations on wood, the qualified data can be directly extracted from the database and directly recorded, greatly reducing the time of subsequent log measuring operations. The database can be established with a convolutional kernel as the framework to further optimize the log measuring speed. The integration of the robot working data can optimize the path of the robot during the next operation, further improving the accuracy of the log measuring operation.

[0070] Combined with Figure 3 、 Figure 7 and Figures 10 - 15 , the intelligent log measuring robot in S1.3 includes a detection camera, a dual-frequency positioning module, and an ultrasonic generator 53. The detection camera is internally equipped with an acoustic camera 52 and a visual scanning device 51. The automated operation chassis 1 includes a Z-axis lifting rod 3, a ground rail 2, a rotating platform 4, and a Y-axis moving platform 5;

[0071] The following steps are also included in S2:

[0072] S2.1: After the intelligent log measuring robot moves to the preset positions on both sides of the wood pile 12, the Z-axis lifting rod 3 drives the visual scanning device 51 to move up and down along the height direction of the wood pile 12, and the intelligent log measuring robot is adjusted according to the offset position;

[0073] S2.2: According to the relative position of the wood center and the end face depth measured by the visual scanning device 51, the absolute positions of the centers of the end faces of several complete woods in the wood stacking coordinate system are marked, and log measuring is carried out in sequence according to the order of the vertical movement direction;

[0074] S2.3: The visual scanning device 51 measures the lumber based on the lumber contour features and relative coordinate positions.

[0075] In this embodiment, the Z-axis lifting rod 3 is composed of a lead screw 31, a slider 32, and a roller 33. The lead screw 31 is driven to rotate by a servo motor. The rotating platform 4 is composed of a gear disk 42, a gear 43, and a sliding seat 45. The gear disk 42 meshes with the gear 43. A guide rail 41 is fixed on the surface of the gear disk 42. A Y-axis moving platform 5 is slidably arranged on the guide rail 41. The gear 43 is driven to rotate by a servo motor 44 assembled on one side. The rotating gear 43 drives the gear disk 42 and the guide rail 41 to rotate, thereby driving the Y-axis moving platform 5 to deflect at an angle. A threaded sleeve 46 sleeved on the lead screw 31 is further provided on one side of the sliding seat 45;

[0076] Furthermore, a visual scanning device 51 and an acoustic camera 52 are installed on the surface of the Y-axis moving platform 5. The visual scanning device 51 is specifically a visual camera 512. The full name of this camera is a 3D visual camera 512. A lidar 511 is mounted thereon to scan the working environment and the target, and then realize scene modeling. The acoustic camera 52 can convert the characteristics of sound waves into images, which can effectively improve the accuracy during the lumber measurement operation. An arithmetic chip 521 on one side of the acoustic camera 52 is used to calculate the frequencies of different lumbers during vibration and record them, providing an important parameter guarantee for subsequent lumber measurement operations. An ultrasonic generator 53 is also assembled on the Y-axis moving platform 5, which is used to generate ultrasonic waves to vibrate the lumber. The ultrasonic generator 53 transmits sound waves through a sound emitting hole 531.

[0077] Combined Figure 8 and Figures 11 - 13 , the following steps are further included in S3:

[0078] S3.1: Horizontally move the intelligent lumber measurement robot along the X-axis direction to a specified position through the ground rail 2, and then adjust the height of the intelligent lumber measurement robot through the Z-axis lifting rod 3. The Y-axis moving platform 5 can adjust the intelligent lumber measurement robot for lateral movement;

[0079] S3.2: Start the ultrasonic generator 53 thereon to directionally vibrate the center position of the lumber cross-section. The passive-side acoustic camera 52 locates the corresponding lumber end face according to the magnitude of the transmitted sound;

[0080] In this embodiment, the servo motor can drive the roller 33 inside the sliding table to rotate, so that the Z-axis lifting rod 3 moves linearly along the surface of the ground rail 2, and then the intelligent log measuring robot reaches the specified position. The Z-axis lifting rod 3 also drives the screw rod 31 inside it to rotate through the servo motor, so as to drive the sliding seat 45 to perform linear displacement along the axis of the screw rod 31, thereby adjusting the height of the intelligent log measuring robot. The movement of the sliding seat 45 can change the position of the visual scanning device 51 on the Y-axis moving platform 5, so as to better perform the log measuring operation on the wood pile 12.

[0081] Combined with Figure 10 , the following steps are also included in S4:

[0082] S4.1: During the visual scanning of both sides of the same log by the visual camera 512, the wood characteristic values are measured by using the wood diameter class measurement algorithm. By identifying the centroid of the contour, the central position of the end face is determined. Set multiple diameter line segments passing through the centroid from the center, and set a diameter line segment every 15°;

[0083] The number and angle of the diameter line segments can be manually set through the software interface, and the accuracy rate of diameter class recognition is ≥98%.

[0084] S4.2: Obtain the length of each line segment reaching the contour and calculate the value, and then calculate the diameter class according to the latest national standard for log inspection.

[0085] S4.3: The conventional diameter range of the wood should meet 10 - 100 cm, and the length is 2.9 - 7.7 m. Oversized diameters or holes larger than a certain area in the stack are marked as NG. The wood diameter class measurement algorithm has a deep learning function, and as the number of measured logs increases, the measured data is more accurate;

[0086] S4.4: After completing the above operations, continue to control the active side to move vertically upward to the next position of the wood, and repeat the above measurement process to complete the log measurement of all the wood in the current working face.

[0087] Combined with Figure 11 , the following steps are also included in S5:

[0088] S5.1: After the tallying of the whole stack of wood and the generation of the log measurement data, they are integrated through the data module, and the data is calculated and judged. The calibrated data is sent back to the digital management platform as a data reference;

[0089] S5.2: The control module controls the automated operation chassis 1 to perform the homing operation on the intelligent log measuring robot and wait for the next log measurement operation.

Claims

1. An intelligent wood measurement method based on bilateral synchronous visual recognition, characterized in that, The method steps are as follows: S1: The digital management platform issues an operation instruction to the intelligent dimension measuring robot for the timber yard. The intelligent dimension measuring robot based on technologies such as an automated operation chassis and 3D SLAM runs to the area of the timber to be operated on; S2: The Z-axis vision scanning devices at both ends of the robot scan the timbers on both sides of the timber stack, confirm the length of the timbers, and perform three-dimensional reconstruction on the end faces of the timbers on both sides; S3: The ultrasonic generator on the active side of the robot vibrates a single timber ultrasonically, and the acoustic camera on the passive side identifies the vibrating timber to confirm the same root timber; S4: The vision camera conducts visual scanning on both sides of the same root timber, confirms the cross-sectional diameters at both ends of the single timber, and determines the small end and large end of the timber; S5: The diameter grading coding device on the passive side is activated to code the small-end diameter characters of the timber on the end face of the timber. The system can be docked with the intelligent tallying system for in-use timbers, and finally generate the tallying and dimension measuring data for the entire stack of timbers.

2. The method for intelligent measurement of wood based on bilateral synchronous visual recognition according to claim 1, wherein: The digital management platform includes an instruction module, a control module, and a data integration module; S1 further includes the following steps: S1.1: Using multi-line laser technology to obtain three-dimensional information of the surrounding environment, combined with the SLAM algorithm, the automated operation mechanism can perceive the surrounding environment in real time, construct a three-dimensional map in real time, and combine with the path planning algorithm; S1.2: The digital management platform inputs an instruction through the instruction module and sends the task instruction to the control module, while detecting whether the instruction is abnormal; S1.3: The control module controls the automated operation chassis to send the intelligent dimension measuring robot to the designated area, and controls the intelligent dimension measuring robot to perform dimension measuring operations on both sides of the timber stack; S1.4: After the dimension measuring operation is completed, the data integration module integrates the dimension measuring data and the robot working data and returns them to the digital management platform.

3. The intelligent wood measurement method based on bilateral synchronous visual recognition according to claim 2, characterized in that: The intelligent dimension measuring robot includes a detection camera, a dual-frequency positioning module, and an ultrasonic generator. The detection camera is internally equipped with an acoustic camera and a vision scanning device. The automated operation chassis includes a Z-axis lifting rod, a ground rail, a rotating platform, and a Y-axis moving platform; S2 further includes the following steps: S2.1: When the intelligent dimension measuring robot moves to the preset positions on both sides of the timber stack, the vision scanning device is driven by the Z-axis lifting rod to move up and down along the height direction of the timber stack, and the intelligent dimension measuring robot is adjusted according to the offset position; S2.2: According to the relative position of the timber center and the end face depth measured by the vision scanning device, the absolute positions of the centers of the end faces of several complete timbers in the timber stacking coordinate system are marked, and dimension measuring is carried out in sequence according to the order of the vertical movement direction; S2.3: The vision scanning device identifies the timber according to the timber contour features and relative coordinate positions to complete the dimension measuring.

4. The intelligent wood measurement method based on bilateral synchronous visual recognition according to claim 3, characterized in that: S3 further includes the following steps: S3.1: The intelligent dimension measuring robot is horizontally moved along the X-axis direction to the designated position through the ground rail, and then the height of the intelligent dimension measuring robot is adjusted by the Z-axis lifting rod. The Y-axis moving platform can adjust the intelligent dimension measuring robot to move horizontally; S3.2: Start the ultrasonic generator on it to vibrate the center position of the timber cross-section directionally, and the acoustic camera on the passive side locates the corresponding timber end face according to the size of the transmitted sound.

5. A wood intelligent measurement method based on bilateral synchronous visual recognition according to claim 1, characterized in that: Step S4 also includes the following steps: S4.1: During the visual scanning of both sides of the same root of wood by the vision camera, the wood characteristic values are measured using the wood diameter measurement algorithm. By identifying the centroid of the contour, the central position of the end face is determined, and multiple diameter lines passing through the centroid are set from the center. It is assumed that a diameter line is set every 15°; S4.2: Obtain the length of each line segment reaching the contour and calculate the value, and then calculate the diameter class according to the latest national standard for log inspection; S4.3: The conventional diameter range of the measured wood should satisfy 10 - 100 cm, and the length is 2.9 - 7.7 m. Holes with an oversized diameter or larger than a certain area in the stack are marked as NG. The wood diameter measurement algorithm has a deep learning function, and as the number of measured logs increases, the measured data becomes more accurate; S4.4: After completing the above operations, continue to control the active side to move vertically upward to the next position of the wood, and repeat the above measurement process to complete the measurement of all the wood within the current working surface.

6. The method for intelligent measurement of wood based on bilateral synchronous visual recognition according to claim 1, characterized in that: Step S5 also includes the following steps: S5.1: After the tally of the whole stack of wood and the generation of the measured data, it is integrated through the data module, and the data is calculated and judged. The calibrated data is sent back to the digital management platform as a data reference; S5.2: The control module controls the automated operation chassis to perform the homing operation on the intelligent log measuring robot and waits for the next log measuring operation.

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