A device and method for measuring the fine phenotypic structure of forest trees based on ground-based laser radar

Abstract

The present application relates to a kind of based on ground-based laser radar's forest tree fine phenotype structure measuring device and method, it is related to forestry monitoring technical field, measuring device includes tower, tower is equipped with mounting seat, the top of mounting seat is equipped with laser radar, the bottom of mounting seat is equipped with electric lifting column for driving its lifting to make laser radar from the different set height of tree side measurement tree phenotype structure;Different set height's acquisition position on the inner wall of tower is equipped with the piece, the side of mounting seat is equipped with with the piece to control the induction mechanism of the lifting position of mounting seat with piece matching.The device can obtain the different set height of tree phenotype structure from the tree side by laser radar, obtain the bottom phenotype structure of tree crown from the bottom of tree, the more fine forest tree phenotype structure can be obtained by combining, realize the targeted scanning of different trees, greatly improve the flexibility of measurement and the adaptability to complex forest environment.

Description

Technical Field

[0001] This invention belongs to the field of forestry monitoring technology, specifically a measurement device and method for the refined phenotypic structure of forest trees based on ground-based lidar. Background Technology

[0002] The ground-based lidar-based forest tree fine-scale phenotypic structure measurement device mainly utilizes ground-based lidar technology to perform high-precision three-dimensional scanning of forest trees by emitting lasers and receiving their echo signals, thereby obtaining fine phenotypic structural information of the trees. This information includes key parameters such as tree height, diameter at breast height (DBH), crown width, and branch structure, which is of great significance for forest ecological research, tree growth monitoring, and forestry management.

[0003] The phenotypic structure of forest trees refers to any observable or measurable characteristic of an individual tree. These characteristics collectively constitute the tree's external morphology, which is mainly composed of the trunk, crown, and root system. To understand the phenotypic structural characteristics of forest trees, precise measurement and monitoring are required. Modern technologies such as ground-based lidar and other high-precision measurement techniques have been widely applied to the measurement and monitoring of forest tree phenotypic structure. These technologies enable accurate reconstruction and quantitative analysis of the three-dimensional structure of trees, providing crucial data support for forest ecological research and forestry management.

[0004] However, existing ground-based lidar measurement devices generally use fixed-location ground-based lidar to measure forest trees, which cannot flexibly adjust the measurement position and makes it difficult to conduct comprehensive and targeted measurements of trees at different locations, spacings, and heights. The fixed-location measurement method has a large number of measurement blind spots, resulting in incomplete data that cannot accurately reflect the true condition of forest trees. Existing measurement devices often focus on macroscopic measurements of the trees as a whole, and the scanning of key parts such as the base of the canopy is not detailed enough, resulting in measurement blind spots. For example, insufficient information is obtained on the distribution of branches inside the canopy and the growth of lower branches and leaves, which cannot comprehensively and accurately reflect the fine phenotypic structure of trees and affect the in-depth analysis of tree growth status and ecological functions.

[0005] To address these issues, we provide a measurement device and method for the refined phenotypic structure of forest trees based on ground-based lidar. Summary of the Invention

[0006] The purpose of this invention is to address the problems in the prior art by providing a measurement device and method for the refined phenotypic structure of forest trees based on ground-based lidar.

[0007] The present invention achieves the above objectives through the following technical solutions:

[0008] A measurement device for the refined phenotypic structure of forest trees based on ground-based lidar includes a tower, a mounting base inside the tower, a lidar on the top of the mounting base, and an electric lifting column at the bottom of the mounting base for driving its raising and lowering so that the lidar can measure the phenotypic structure of the tree from different set heights on the side of the tree; a lever is provided at the acquisition position at different set heights on the inner wall of the tower, and a sensing mechanism matching the lever is provided on the side of the mounting base to control the raising and lowering position of the mounting base.

[0009] The measuring device also includes ropes for connecting the tower to the trunks of the surrounding trees, a movable seat for driving the mounting base to move along the ropes to the trunks, and a transfer mechanism for adjusting the orientation of the mounting base so that it moves sequentially to the trunks of the surrounding trees; the movable seat is located at the bottom of the mounting base and the two are magnetically engaged, and the lidar located at the trunk is used to measure the phenotypic structure at the bottom of the tree crown.

[0010] As a further optimization of the present invention, the sensing mechanism includes a fixed base and a movable rod that movably passes through the fixed base; one end of the movable rod is provided with a wedge-shaped block that matches the lever, a spring is sleeved on the movable rod between the wedge block and the fixed base, and a first metal plate is fixedly provided at the other end of the movable rod, and a second metal plate is provided on the side of the first metal plate.

[0011] As a further optimization of the present invention, the rope includes two pull ropes, and a plurality of equally spaced crossbars are provided between the two pull ropes. The bottom of the crossbars is provided with decorative hanging parts, and the ends of the two pull ropes are fixed with pipe clamps for being fitted onto the tree trunk.

[0012] As a further optimization of the present invention, a second magnetic block is fixedly provided on the top of the movable seat, and a first magnetic block that attracts the second magnetic block is fixedly provided on the bottom of the mounting seat; a roller assembly is provided at the bottom of the movable seat, and a first motor for driving the roller assembly to move along the rope is provided inside the movable seat.

[0013] As a further optimization of the present invention, the transfer mechanism includes a mounting plate and two transfer rods fixed in the mounting plate; the movable seat is slidably disposed on the two transfer rods; a circular gear ring is fixedly disposed at the bottom of the mounting plate; the circular gear ring is rotatably disposed in the tower by a support; a first gear meshing with the circular gear ring is disposed on the side of the circular gear ring; and a second motor for driving the rotation of the first gear is disposed below the first gear.

[0014] As a further optimization of the present invention, the top of the mounting base is provided with a driving mechanism for driving the lidar to rotate along the tree trunk to comprehensively measure the phenotypic structure at the bottom of the tree crown; the driving mechanism includes an arc-shaped gear ring rotatably mounted on the top of the mounting base and a second gear located on the side of the arc-shaped gear ring and meshing with it, and a third motor for driving its rotation is provided below the second gear; the lidar is fixed to one end of the top of the arc-shaped gear ring.

[0015] As a further optimization of the present invention, the side of the mounting base is provided with a V-shaped groove for positioning the tree trunk, and the V-shaped groove is provided with an angle adjustment component for adjusting the tree trunk to the center of the arc-shaped gear ring; the angle adjustment component includes two symmetrically distributed and rotatably disposed third gears in the mounting base, the edge of the third gear is fixedly provided with a clamping plate, the side of the third gear is provided with a rack that meshes with it, a connecting plate is fixedly provided between the two racks, and the middle of the connecting plate is provided with an electric push rod for driving the rack to move.

[0016] As a further optimization of the present invention, a laser receiver is fixedly provided on the surface of the tree trunk, and a laser emitter is fixedly provided on the top of the mounting base. The laser emitter and the laser receiver cooperate to assist the angle adjustment component in adjusting the tree trunk to the center of the arc-shaped toothed ring.

[0017] As a further optimization of the present invention, an RFID tag is also fixedly provided on the surface of the tree trunk, and an RFID reader / writer for reading tree information from the RFID tag is also fixedly provided on the top of the mounting base.

[0018] This invention also provides a method for measuring the refined phenotypic structure of forest trees based on ground-based lidar, comprising the following steps:

[0019] S1. The mounting base is raised and lowered by an electric lifting column, and the trees around the tower are measured from the side of the trees by a lidar to obtain the tree phenotypic structure at different set heights.

[0020] S2. The electric lifting column drives the mounting base to descend, so that the mounting base and the moving base are attracted to each other and the mounting base is separated from the electric lifting column. Then, the orientation of the mounting base is adjusted by the transfer mechanism. The moving base drives the mounting base to move along the rope to the tree trunk to be measured. The lidar is used to measure from the bottom of the tree to obtain the phenotypic structure of the bottom of the crown.

[0021] S3. Based on the tree phenotypic structure at different heights and the phenotypic structure at the base of the canopy, obtain the final refined phenotypic structure of forest trees.

[0022] The beneficial effects of this invention are as follows:

[0023] 1. This invention, by setting up a tower and ropes, enables the lidar to obtain tree phenotypic structures at different set heights from the side of the trees and to obtain the canopy bottom phenotypic structure from the bottom of the trees. The combination of the two can obtain a more refined forest tree phenotypic structure, enabling targeted scanning of different trees, greatly improving the flexibility of measurement and adaptability to complex forest environments. The device is relatively simple and causes less damage to the forest environment. Compared with large-scale infrastructure construction, the rope connection method reduces interference and damage to the forest land.

[0024] 2. By setting up an electric lifting column, a toggle mechanism, and a sensing mechanism, this invention can obtain the phenotypic structure of trees at different heights, and can ensure that the lidar can reach the same position for each measurement, thereby improving the accuracy and reliability of the measurement, while also reducing the difficulty of control.

[0025] 3. By setting up a driving mechanism, an angle adjustment component, an RFID tag, a laser receiver, an RFID reader / writer, and a laser transmitter, this invention can more comprehensively measure the phenotypic structure of the bottom of the tree crown using lidar. Moreover, during each measurement, it can ensure that the trunk is located at the center of the arc-shaped toothed ring, maintaining consistency in measurement conditions and further improving the accuracy of the measurement. Attached Figure Description

[0026] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the present invention;

[0027] Figure 2 This is a schematic diagram of the mounting base structure of the present invention. Figure 1 ;

[0028] Figure 3 This is a schematic diagram of the mounting base structure of the present invention. Figure 2 ;

[0029] Figure 4 This is a schematic diagram of the sensing mechanism structure of the present invention;

[0030] Figure 5 This is a schematic diagram of the transfer mechanism and rope distribution of the present invention;

[0031] Figure 6 This is a schematic diagram of the rope structure of the present invention;

[0032] Figure 7 This is a schematic diagram of the transfer mechanism structure of the present invention;

[0033] Figure 8 This is a schematic diagram of the drive mechanism structure of the present invention;

[0034] Figure 9 This is a schematic diagram of the included angle adjustment component of the present invention.

[0035] In the picture:

[0036] 1. Tower; 101. Electric lifting column; 102. Pulley; 2. Mounting base; 201. First magnetic block; 202. V-groove; 203. RFID reader / writer; 204. Laser emitter; 3. LiDAR; 4. Sensing mechanism; 401. Fixed base; 402. Movable rod; 403. Wedge block; 404. Spring; 405. First metal plate; 406. Second metal plate; 5. Rope; 501. Pull rope; 502. Crossbar; 503. Pipe clamp; 504. Decorative pendant; 6. Tree trunk; 601. RFID tag 602. Laser receiver; 7. Movable base; 701. Second magnetic block; 702. Roller assembly; 703. First motor; 8. Transfer mechanism; 801. Mounting plate; 802. Transfer rod; 803. Circular gear ring; 804. First gear; 805. Second motor; 9. Drive mechanism; 901. Arc-shaped gear ring; 902. Second gear; 903. Third motor; 10. Angle adjustment assembly; 1001. Clamping plate; 1002. Third gear; 1003. Rack; 1004. Connecting plate; 1005. Electric push rod. Detailed Implementation

[0037] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0038] Example 1

[0039] To address the limitations of existing measurement devices, which typically employ fixed-location ground-based lidar for forest tree surveying, such as the inability to flexibly adjust measurement positions and the difficulty in conducting comprehensive and targeted measurements of trees at different locations, spacings, and heights, the current approach often focuses on macroscopic measurements of the entire tree, neglecting detailed scanning of critical areas like the base of the canopy and resulting in blind spots, please refer to [the relevant documentation / reference needed]. Figures 1-4 The present invention provides a measurement device for the refined phenotypic structure of forest trees based on ground-based lidar, including a tower 1, a mounting base 2 inside the tower 1, a lidar 3 on the top of the mounting base 2, and an electric lifting column 101 at the bottom of the mounting base 2 for driving its lifting and lowering so that the lidar 3 can measure the phenotypic structure of the tree from different set heights on the side of the tree; a lever 102 is provided at the acquisition position at different set heights on the inner wall of the tower 1, and a sensing mechanism 4 is provided on the side of the mounting base 2 to match the lever 102 and control the lifting and lowering position of the mounting base 2.

[0040] The sensing mechanism 4 includes a fixed base 401 and a movable rod 402 that movably passes through the fixed base 401; one end of the movable rod 402 is provided with a wedge block 403 that matches the lever 102, a spring 404 is sleeved on the movable rod 402 between the wedge block 403 and the fixed base 401, and a first metal plate 405 is fixedly provided at the other end of the movable rod 402, and a second metal plate 406 is provided on the side of the first metal plate 405.

[0041] During measurement, the electric lifting column 101 drives the mounting base 2 to rise and fall, which in turn drives the lidar 3 to rise and fall. When the sensing mechanism 4 on the side of the mounting base 2 contacts the lever 102, the lever 102 applies pressure to the wedge block 403. The wedge block 403 drives the movable rod 402 to move inward into the mounting base 2, compressing the spring 404. The first metal plate 405 contacts the second metal plate 406, and the corresponding circuit is connected. At this time, the controller stops the electric lifting column 101, and the lidar 3 reaches the required measurement height, ensuring that the lidar 3 can reach the same position each time, improving the accuracy and reliability of the measurement, and also reducing the difficulty of control.

[0042] like Figures 1-2 , Figures 5-7 As shown, the measuring device also includes a rope 5 for connecting the tower 1 to the trunks 6 of the surrounding trees, a movable seat 7 for driving the mounting base 2 to move along the rope 5 to the trunk 6, and a transfer mechanism 8 for adjusting the orientation of the mounting base 2 so that it moves sequentially to the trunks 6 of the surrounding trees; the movable seat 7 is located at the bottom of the mounting base 2 and the two are magnetically engaged, and the lidar 3 located at the trunk 6 is used to measure the phenotypic structure at the bottom of the tree crown.

[0043] The rope 5 includes two pull ropes 501, with multiple equally spaced crossbars 502 between them. Decorative hanging pieces 504 are located at the bottom of each crossbar 502. The ends of the two pull ropes 501 are fixed with clamps 503 for attaching to the tree trunk 6. The rope 5 can be set at a certain angle, such as 5-10 degrees. An environmentally friendly paint that blends with the forest environment can be applied to the surface of the rope 5, allowing the entire measuring device to better integrate into the forest landscape and reduce visual abruptness. The decorative hanging pieces 504 can be made of wood or environmentally friendly materials such as wind chimes or wooden boards to enhance its aesthetic appeal. The rope 5 can also provide a habitat for birds. Adding decorative features to the rope 5 not only enhances its functionality but also allows it to better integrate with the forest environment. The tower 1, which is paired with the rope 5, can be made of transparent material to avoid affecting the measurement of the lidar 3. The tower 1, pulled by multiple ropes 5, can be stabilized to a certain extent, dispersing the force of wind on the tower 1 and preventing it from swaying, thereby ensuring the stability of the lidar 3 measurement.

[0044] The top of the movable seat 7 is fixedly provided with a second magnetic block 701, and the bottom of the mounting seat 2 is fixedly provided with a first magnetic block 201 that attracts the second magnetic block 701; the bottom of the movable seat 7 is provided with a roller assembly 702, and the movable seat 7 is provided with a first motor 703 for driving the roller assembly 702 to move along the rope 5.

[0045] The transfer mechanism 8 includes a mounting plate 801 and two transfer rods 802 fixed within the mounting plate 801. A movable seat 7 is slidably mounted on the two transfer rods 802. A circular gear ring 803 is fixedly mounted on the bottom of the mounting plate 801. The circular gear ring 803 is rotatably mounted within the tower 1 via a support. A first gear 804 meshes with the circular gear ring 803 on its side. A second motor 805 for driving the rotation of the first gear 804 is located below it. Both the mounting plate 801 and the movable seat 7 have through holes through which the electric lifting column 101 passes. The end of the rope 5 near the central pole 802 is set to a horizontal state and is flush and aligned with the central pole 802 so that the movable seat 7 located on the central pole 802 can smoothly transition to the rope 5. The end of the rope 5 near the tree trunk 6 is also set to a horizontal state so that the movable seat 7 moving to the tree trunk 6 remains horizontal. The horizontal and inclined sections of the rope 5 transition smoothly to reduce the movement of the movable seat 7 when passing through the transition point between the horizontal and inclined sections.

[0046] During measurement, the electric lifting column 101 lowers the mounting base 2, causing it to engage with the movable base 7. Further lowering of the electric lifting column 101 separates the mounting base 2 from it. Then, the second motor 805 drives the first gear 804 to rotate, which in turn drives the circular gear ring 803. The circular gear ring 803 then drives the mounting plate 801 to rotate, which in turn drives the central rotating rod 802 and the movable base 7 to rotate. The movable base 7 then drives the mounting base 2 to rotate to the desired position. The first motor 703 then drives the roller assembly 702 along the rope 5, moving the mounting base 2 to the tree trunk 6 for measurement of the bottom of the canopy. This allows for targeted scanning of different trees, greatly improving measurement flexibility and adaptability to complex forest environments. The rope 5 allows for flexible adjustment of the lidar 3's measurement position. Phenotypic structures of trees at different set heights are obtained from the side of the tree, and the phenotypic structure of the bottom of the canopy is obtained from the bottom of the tree. Combining these two methods yields a more refined phenotypic structure of the forest trees.

[0047] Example 2

[0048] Based on Example 1, in order to achieve comprehensive measurement of forest trees, such as Figure 3 , Figure 8As shown, the top of the mounting base 2 is equipped with a drive mechanism 9 for driving the lidar 3 to rotate along the trunk 6 to comprehensively measure the phenotypic structure of the bottom of the tree crown. The drive mechanism 9 includes an arc-shaped gear ring 901 rotatably mounted on the top of the mounting base 2 and a second gear 902 located on the side of the arc-shaped gear ring 901 and meshing with it. Below the second gear 902 is a third motor 903 for driving its rotation. The lidar 3 is fixed to one end of the top of the arc-shaped gear ring 901. In use, the third motor 903 drives the second gear 902 to rotate, the second gear 902 drives the arc-shaped gear ring 901 to rotate, and the arc-shaped gear ring 901 drives the lidar 3 to rotate to the side of the trunk 6 away from the mounting base 2, so that the lidar 3 can more comprehensively measure the phenotypic structure of the bottom of the tree crown from bottom to top.

[0049] To further improve measurement accuracy and ensure consistency of measurement conditions for each measurement by the lidar 3, such as... Figure 3 , Figure 9 As shown, the side of the mounting base 2 is provided with a V-shaped groove 202 for positioning the trunk 6. The V-shaped groove 202 is provided with an angle adjustment component 10 for adjusting the trunk 6 to the center of the arc-shaped gear ring 901. The angle adjustment component 10 includes two symmetrically distributed and rotatably mounted third gears 1002 in the mounting base 2. The edge of the third gear 1002 is fixedly provided with a clamping plate 1001. The side of the third gear 1002 is provided with a rack 1003 that meshes with it. A connecting plate 1004 is fixedly provided between the two racks 1003. The middle of the connecting plate 1004 is provided with an electric push rod 1005 for driving the rack 1003 to move.

[0050] A laser receiver 602 is fixedly mounted on the surface of the tree trunk 6, and a laser emitter 204 is fixedly mounted on the top of the mounting base 2. The laser emitter 204 cooperates with the laser receiver 602 to assist the angle adjustment component 10 in adjusting the tree trunk 6 to the center of the arc-shaped toothed ring 901. An RFID tag 601 is also fixedly mounted on the surface of the tree trunk 6, and an RFID reader / writer 203 for reading tree information from the RFID tag 601 is also fixedly mounted on the top of the mounting base 2.

[0051] When the mounting base 2 approaches the tree trunk 6, the control moving base 7 moves slowly, emitting a laser beam through the laser emitter 204. When the laser receiver 602 receives the laser signal, it indicates that the laser emitter 204 and the laser receiver 602 have reached an alignment state. At this time, the tree trunk 6 is located at the center of the arc-shaped gear ring 901. Then, the electric push rod 1005 drives the rack 1003 to move, the rack 1003 drives the third gear 1002 to rotate, and the third gear 1002 drives the clamping plate 1001 to rotate. The two clamping plates 1001 position the tree trunk 6 in the V-groove 202, so that the lidar 3 can reach the same position for each measurement, ensuring the consistency of measurement conditions and further improving the accuracy of the measurement. The RFID reader 203 reads the tree information in the RFID tag 601 to avoid confusion of measurement data.

[0052] Example 3

[0053] A method for measuring the refined phenotypic structure of forest trees based on ground-based lidar includes the following steps:

[0054] S1. The mounting base 2 is raised and lowered by the electric lifting column 101. The trees around the tower 1 are measured from the side of the trees by the lidar 3 to obtain the tree phenotypic structure at different set heights. The specific height and interval are set based on the actual tree height, such as measuring at intervals of 1 meter.

[0055] S2. The mounting base 2 is lowered by the electric lifting column 101, so that the mounting base 2 and the moving base 7 are attracted together and the mounting base 2 is separated from the electric lifting column 101. Then, the orientation of the mounting base 2 is adjusted by the transfer mechanism 8. The mounting base 2 is moved along the rope 5 by the moving base 7 to the trunk 6 to be measured. The lidar 3 is used to measure from the bottom of the tree to obtain the phenotypic structure of the bottom of the crown.

[0056] S3. Based on the tree phenotypic structure at different heights and the phenotypic structure at the base of the crown, the final refined phenotypic structure of forest trees is obtained, including key parameters such as tree height, crown width, and branch distribution. This provides a deeper understanding of the growth status and morphological characteristics of trees, and offers high-precision data support for forest ecological research.

[0057] The above-described embodiments are merely one implementation of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A measurement device for the refined phenotypic structure of forest trees based on ground-based lidar, comprising a tower (1), characterized in that: The tower (1) is provided with a mounting base (2), the top of the mounting base (2) is provided with a laser radar (3), and the bottom of the mounting base (2) is provided with an electric lifting column (101) for driving its lifting and lowering so that the laser radar (3) can measure the tree phenotypic structure from different set heights on the side of the tree. The tower (1) has a lever (102) at different set heights on the inner wall of the tower (1), and the mounting base (2) has a sensing mechanism (4) on its side that matches the lever (102) to control the lifting position of the mounting base (2). The measuring device also includes a rope (5) for connecting the tower (1) to the trunks (6) of the surrounding trees, a movable seat (7) for driving the mounting base (2) to move along the rope (5) to the trunk (6), and a transfer mechanism (8) for adjusting the orientation of the mounting base (2) so that it moves sequentially to the trunks (6) of the surrounding trees. The movable seat (7) is located at the bottom of the mounting seat (2) and the two are magnetically attached. The lidar (3) located at the trunk (6) is used to measure the phenotypic structure at the bottom of the canopy.

2. The measurement device for the refined phenotypic structure of forest trees based on ground-based lidar according to claim 1, characterized in that: The sensing mechanism (4) includes a fixed base (401) and a movable rod (402) that extends through the fixed base (401); One end of the movable rod (402) is provided with a wedge block (403) that matches the lever (102). A spring (404) is sleeved on the movable rod (402) between the wedge block (403) and the fixed seat (401). The other end of the movable rod (402) is fixedly provided with a first metal plate (405). A second metal plate (406) is provided on the side of the first metal plate (405).

3. The measurement device for refined phenotypic structure of forest trees based on ground-based lidar according to claim 1, characterized in that: The rope (5) includes two pull ropes (501), and a plurality of equally spaced crossbars (502) are provided between the two pull ropes (501). The bottom of the crossbars (502) is provided with decorative hanging parts (504), and the ends of the two pull ropes (501) are fixed with pipe clamps (503) for being fitted onto the tree trunk (6).

4. The measurement device for refined phenotypic structure of forest trees based on ground-based lidar according to claim 1, characterized in that: The top of the movable seat (7) is fixedly provided with a second magnetic block (701), and the bottom of the mounting seat (2) is fixedly provided with a first magnetic block (201) that attracts the second magnetic block (701); The bottom of the movable seat (7) is provided with a roller assembly (702), and the movable seat (7) is provided with a first motor (703) for driving the roller assembly (702) to move along the rope (5).

5. The measurement device for refined phenotypic structure of forest trees based on ground-based lidar according to claim 1, characterized in that: The transfer mechanism (8) includes a mounting plate (801) and two transfer rods (802) fixed in the mounting plate (801); The movable seat (7) is slidably mounted on two central rotating rods (802). A circular gear ring (803) is fixedly mounted on the bottom of the mounting plate (801). The circular gear ring (803) is rotatably mounted in the tower (1) by a support. A first gear (804) meshes with the side of the circular gear ring (803). A second motor (805) for driving the rotation of the first gear (804) is located below the first gear (804).

6. The measurement device for the refined phenotypic structure of forest trees based on ground-based lidar according to claim 1, characterized in that: The top of the mounting base (2) is provided with a drive mechanism (9) for driving the lidar (3) to rotate along the trunk (6) to fully measure the phenotypic structure at the bottom of the canopy; The drive mechanism (9) includes an arc-shaped gear ring (901) rotatably mounted on the top of the mounting base (2) and a second gear (902) located on the side of the arc-shaped gear ring (901) and meshing with it. A third motor (903) for driving the rotation of the second gear (902) is provided below it. The lidar (3) is fixed at one end of the top of the arc-shaped gear ring (901).

7. A measurement device for the refined phenotypic structure of forest trees based on ground-based lidar according to claim 6, characterized in that: The mounting base (2) has a V-shaped groove (202) on its side for positioning the trunk (6), and the V-shaped groove (202) is provided with an angle adjustment component (10) for adjusting the trunk (6) to the center of the arc-shaped toothed ring (901); The included angle adjustment assembly (10) includes two symmetrically distributed third gears (1002) rotatably disposed in the mounting base (2). The edge of the third gear (1002) is fixedly provided with a clamping plate (1001). The side of the third gear (1002) is provided with a rack (1003) that meshes with it. A connecting plate (1004) is fixedly provided between the two racks (1003). The middle part of the connecting plate (1004) is provided with an electric push rod (1005) for driving the rack (1003) to move.

8. The measurement device for refined phenotypic structure of forest trees based on ground-based lidar according to claim 7, characterized in that: A laser receiver (602) is fixedly provided on the surface of the tree trunk (6), and a laser emitter (204) is fixedly provided on the top of the mounting base (2). The laser emitter (204) cooperates with the laser receiver (602) to assist the angle adjustment component (10) in adjusting the tree trunk (6) to the center of the arc-shaped toothed ring (901).

9. A measurement device for the refined phenotypic structure of forest trees based on ground-based lidar according to claim 8, characterized in that: An RFID tag (601) is fixedly provided on the surface of the tree trunk (6), and an RFID reader (203) for reading tree information in the RFID tag (601) is fixedly provided on the top of the mounting base (2).

10. A method for measuring the refined phenotypic structure of forest trees based on ground-based lidar, employing the measuring device for the refined phenotypic structure of forest trees based on ground-based lidar as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. The mounting base (2) is raised and lowered by the electric lifting column (101), and the trees around the tower (1) are measured from the side of the trees by the laser radar (3) to obtain the tree phenotypic structure at different set heights. S2. The mounting base (2) is lowered by the electric lifting column (101), so that the mounting base (2) and the moving seat (7) are attracted together and the mounting base (2) is separated from the electric lifting column (101). The orientation of the mounting base (2) is adjusted by the transfer mechanism (8). The mounting base (2) is moved along the rope (5) by the moving seat (7) to the trunk (6) to be measured. The lidar (3) is used to measure from the bottom of the tree to obtain the phenotypic structure of the bottom of the crown. S3. Based on the tree phenotypic structure at different heights and the phenotypic structure at the base of the canopy, obtain the final refined phenotypic structure of forest trees.

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