Periscopic AI aiming tree height measuring device

Abstract

The invention belongs to the technical field of tree measurement, and particularly relates to a periscopic AI aiming tree height measuring device, which comprises a telescopic mechanism, a mounting frame mounted at the top of the telescopic mechanism, an image acquisition module, an image processing module and an image processing module, the image acquisition module comprises at least one camera fixed on one side of the mounting rack and a detector fixed at the bottom of the mounting rack, the attitude sensing module is used for monitoring spatial attitude data of the mounting rack in real time, and the attitude sensing module comprises a tilt angle sensor fixed on the mounting rack and a display module which is used for outputting a tree height measurement result. The display module comprises a touch displayer fixed to the outer side of the telescopic mechanism and a data processing module and is used for calculating the tree height through data of the detector, the telescopic mechanism comprises a shell, and a threaded rod is rotationally connected into the shell. The method can penetrate through canopies to obtain the tree tip data of the middle and lower layers, does not climb or damage the stand structure, and improves the tree height measurement precision and efficiency under complex forest conditions.

Description

Technical Field

[0001] This invention belongs to the field of tree measurement technology, specifically relating to a periscope-type AI-aiming tree height measurement device. Background Technology

[0002] In the field of forest resource surveys and vegetation carbon pool measurement, the accurate measurement of tree height is a core technical challenge. Currently, traditional measurement methods and existing technical equipment have significant limitations in complex forest conditions. Traditional manual altimetry tools rely on the surveyor visually aligning the treetop with the instrument's scale. Due to physiological limitations, they cannot accurately view the top of extremely tall trees at eye level. In complex plantations with dense canopies, foliage obstructs the treetop positioning. When the forest density is high, it is difficult for the surveyor to find a suitable observation position and form a complete triangulation field of view. Traditional laser / ultrasonic aiming altimeters based on triangulation (such as the Vertex series) require measuring both horizontal distance and elevation angle. Even small movements in dense forests can cause angle data jumps, resulting in significant measurement errors. Although the lidar system (such as Riegl VUX-SYS) carried by the drone can achieve large-area three-dimensional point cloud scanning, the laser beam is blocked by the upper canopy and has difficulty reaching the treetops of the sub-forest layer, resulting in the lack of height data of the middle and lower forest layers. Although some studies have attempted to improve accuracy through multi-sensor fusion (such as integrating GPS and tilt sensors), the problem that current technologies need to solve is how to penetrate the canopy to obtain the true treetop location without climbing trees or damaging the forest stand structure. Therefore, in order to address the above problems, this invention proposes a periscope-type AI-aimed tree height measurement device. Summary of the Invention

[0003] The purpose of this invention is to provide a periscope-type AI-aimed tree height measurement device that can penetrate the canopy to obtain data on the middle and lower treetops without climbing or damaging the forest stand structure, thereby improving the accuracy and efficiency of tree height measurement in complex forest conditions.

[0004] The specific technical solution adopted by this invention is as follows: A periscope-type AI-aimed tree height measurement device includes a telescopic mechanism and a mounting bracket installed on top of the telescopic mechanism; An image acquisition module is used to acquire images of the tree trunk and tree top. The image acquisition module includes at least one camera fixed to one side of the mounting frame and a detector fixed to the bottom of the mounting frame. An attitude sensing module is used to monitor the spatial attitude data of the mounting frame in real time. The attitude sensing module includes an angle sensor fixed on the mounting frame. A display module is used to output tree height measurement results. The display module includes a touch screen fixed to the outside of the telescopic mechanism. A data processing module is used to calculate the tree height using data from the detector.

[0005] The telescopic mechanism includes a housing, a threaded rod rotatably connected inside the housing, a movable shell threadedly connected to the outer side of the threaded rod, and the movable shell slidably connected to the inner wall of the housing. The telescopic mechanism further includes N levels of fixed blocks, rotating shells, threaded tubes, and N+1 levels of extended shells. The multiple levels of extended shells are sequentially nested and slide. Each level of fixed block is fixed at the bottom center position inside the extended shell of each level. Each level of rotating shell is nested and rotatably connected to the outside of each level of fixed block. Each level of threaded tube is fixed to the top of each level of rotating shell, and each level of threaded tube is sequentially nested. Each level of threaded tube is threadedly connected to each level of extended shell, and the lowest level of threaded tube is nested outside the threaded rod. Each level of threaded tube is inside the fixed block of the level above it, and the threaded rod is inside the fixed block of the lowest level. The mounting bracket is installed on the top of the uppermost extended shell. N is a natural number. The housing is equipped with a drive mechanism for driving the threaded rod, the multi-stage rotating shell, and the threaded tube to rotate.

[0006] The drive mechanism includes a second motor fixed inside the housing, a worm gear fixed to the output end of the second motor, a worm wheel fixed to the outside of the threaded rod, and the worm wheel meshing with the worm gear.

[0007] The threaded rod and the outer side of the multi-stage threaded tube are provided with limit grooves, and the inner wall of the multi-stage threaded tube is provided with limit strips that slide and connect with the limit grooves.

[0008] The mounting bracket is evenly provided with ventilation slots, which are used for ventilation.

[0009] A first motor is installed inside the uppermost protruding shell. The output end of the first motor is vertically upward and connected to the mounting bracket, and the mounting bracket is rotatably connected to the uppermost protruding shell.

[0010] A bracket is fixed to the outside of the telescopic mechanism, and a pointed cone is fixed to the bottom of the telescopic mechanism.

[0011] The measuring device also includes a tilt detection module, which has a built-in AI image recognition algorithm to extract the tree trunk outline from the image and calculate the tilt angle α of the tree trunk with respect to the vertical direction, in order to calculate the tree length. The formula for calculating the tree length L is: L=H×cosa Where H is the tree height.

[0012] The AI ​​image recognition algorithm includes: Edge detection is performed on the image detected by the camera, the tree trunk contour curve is extracted, a straight line is fitted to the tree trunk contour curve to obtain the tree trunk centerline, and the angle between the centerline and the vertical direction is calculated to obtain the tilt angle α.

[0013] The technical effects achieved by this invention are as follows: This invention adjusts the length of the telescopic mechanism so that the measuring tool at the top of the mechanism is level with the treetop, avoiding the obstruction of the treetop positioning by branches and leaves. The AI ​​aiming technology automatically identifies the treetop, eliminating the need for manual visual alignment and a complete triangular field of view, thus adapting to the limitations of observation locations in dense forests. It can penetrate the canopy to obtain data on the middle and lower treetops without climbing or damaging the forest stand structure, improving the accuracy and efficiency of tree height measurement in complex forest conditions. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a cross-sectional view of the telescopic mechanism in this invention; Figure 3 This is a schematic diagram of the structure between the mounting bracket, the first motor, the camera, and the detector in this invention; Figure 4 This is a schematic diagram of the structure between the worm gear, worm, and threaded rod in this invention.

[0015] The attached diagram lists the components represented by each number as follows: 1. Telescopic mechanism; 11. Housing; 12. Moving housing; 13. Threaded rod; 14. Fixing block; 15. Extending housing; 16. Rotating housing; 17. Threaded tube; 2. Mounting bracket; 3. Camera; 4. Detector; 5. Touch display; 6. Bracket; 7. Cone; 8. Ventilation slot; 9. First motor; 20. Worm gear; 21. Worm; 22. Second motor; 23. Limiting strip; 24. Limiting groove. Detailed Implementation

[0016] To make the objectives and advantages of this invention clearer, the invention will be specifically described below with reference to embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of the invention and does not strictly limit the scope of protection specifically claimed by the invention.

[0017] like Figures 1-4As shown, a periscope-type AI-guided tree height measurement device includes a telescopic mechanism 1 and a mounting frame 2 mounted on top of the telescopic mechanism 1. An image acquisition module is used to acquire images of the tree trunk and treetop. The image acquisition module includes at least one camera 3 fixed to one side of the mounting frame 2 and a detector 4 fixed to the bottom of the mounting frame 2. The camera 3 is used to photograph the treetop, and multiple cameras 3 can be used to coordinate the images, making the positioning of the treetop more accurate. The detector 4 is used to measure the distance between the detector 4 and the ground, thereby detecting the height of the tree. The detector 4 can be an infrared detector or a camera, etc. The mounting frame 2 is evenly provided with ventilation slots 8, which are used for ventilation. The ventilation slots 8 allow air to pass through, preventing excessive wind resistance on the mounting frame 2 and causing it to tilt. Furthermore, a first motor 9 is installed inside the uppermost protruding shell 15. The output end of the first motor 9 is vertically connected to the mounting frame 2, and the mounting frame 2 is rotatably connected to the uppermost protruding shell 15. With the first motor 9, when the tree and the mounting frame 2 are slightly tilted, the first motor 9 can be controlled to drive the mounting frame 2 to rotate until the camera 3 on the mounting frame 2 is facing the treetop, ensuring the accuracy of the detection. See attached document Figures 2-3 The telescopic mechanism 1 includes a housing 11, a threaded rod 13 is rotatably connected inside the housing 11, a movable housing 12 is threadedly connected to the outer side of the threaded rod 13, and the movable housing 12 is slidably connected to the inner wall of the housing 11. The telescopic mechanism 1 also includes N-level fixed blocks 14, rotating shells 16, threaded tubes 17, and N+1-level protruding shells 15. The multi-level protruding shells 15 are sequentially sleeved and slidably connected. Each level of fixed block 14 is fixed at the bottom center position inside each level of protruding shell 15. Each level of rotating shell 16 is sleeved and rotatably connected to the outside of each level of fixed block 14. Each level of threaded tube 17 is fixed at the top of each level of rotating shell 16, and each level of threaded tube 17 is sequentially sleeved. Each level of threaded tube 17 is threadedly connected to each level of protruding shell 15. The lowest level of threaded tube 17 is sleeved on the outside of the threaded rod 13. Each level of threaded tube 17 is located inside the level of the uppermost fixed block 14. The threaded rod 13 is located inside the lowest level of fixed block 14. The mounting bracket 2 is installed on the top of the uppermost protruding shell 15. The outer shell 11 is equipped with a driving mechanism for driving the threaded rod 13 and the multi-level rotating shells 16 and threaded tubes 17 to rotate. N is a natural number. Limiting grooves 24 are provided on the outer sides of both the threaded rod 13 and the multi-stage threaded tube 17. Limiting strips 23 that slide with the limiting grooves 24 are provided on the inner walls of the multi-stage threaded tube 17. By setting the limiting strips 23 and the limiting grooves 24, the threaded rod 13 can drive the limiting strips 23 and the limiting grooves 24 to slide with each other when it rotates. This allows the threaded tube 17 on its outer side to move upward with the protruding shell 15 on the outer side of the threaded rod 13 and to rotate with the threaded rod 13. When the threaded tube 17 on the outer side of the threaded rod 13 rotates, the threaded tube 17 of the next stage on the outer side of the threaded tube 17 can also rotate with the threaded tube 17, thereby driving multiple protruding shells 15 to move upward. When the telescopic mechanism 1 is raised to the same height as the treetop, the threaded rod 13 can be rotated by the drive mechanism. The threaded rod 13 is connected to the movable shell 12 by a thread, and the movable shell 12 is connected to the outer shell 11 by a sliding connection. When the movable shell 12 moves upward, it can drive the fixed block 14 inside it to move upward. The rotating shell 16 and the threaded tube 17 are rotatably connected to the fixed block 14, so that the rotating shell 16 and the threaded tube 17 follow the moving shell 12 to move upward and are always rotatably connected to the fixed block 14. When the threaded rod 13 rotates, the threaded tube 17 and the rotating shell 16 can rotate with the threaded rod 13 by the setting of the limiting strip 23 and the limiting groove 24. Through its threaded connection with the upper-level extended shell 15, it can drive the upper-level extended shell 15 to move upward. Thus, the telescopic mechanism 1 can extend in multiple stages, thereby driving the camera 3 to move upward. The distance of movement is relatively long, and there is no need to extend it section by section like a fishing rod, which ensures ease of use. See attached document Figure 4 The drive mechanism includes a second motor 22 fixed inside the housing 11. A worm 21 is fixed to the output end of the second motor 22. A worm wheel 20 is fixed to the outside of the threaded rod 13, and the worm wheel 20 is meshed with the worm 21. When the telescopic mechanism 1 extends in multiple stages, the second motor 22 can be driven, so that the output end of the second motor 22 drives the worm 21 to rotate, and the worm 21 drives the worm wheel 20 to rotate, which in turn drives the threaded rod 13 to rotate, thereby driving the movable shell 12 and multiple extension shells 15 to extend. By setting the worm 21 and the worm wheel 20, the reverse rotation of the threaded rod 13 and the worm wheel 20 can be avoided, ensuring the tightness of the telescopic mechanism 1 after the extension shells 15 are extended.

[0018] The attitude sensing module is used to monitor the spatial attitude data of the mounting frame 2 in real time. The attitude sensing module includes an inclination sensor fixed on the mounting frame 2. The inclination sensor can detect whether the mounting frame 2 is tilted relative to the ground. If tilting occurs, the user can readjust the mounting frame 2 or the telescopic mechanism 1. The display module is used to output the tree height measurement results. The display module includes a touch screen 5 fixed on the outside of the telescopic mechanism 1. With the setting of the touch screen 5, the user can stand on the ground and observe the tree height and subsequent tree length data through the touch screen 5. The data processing module can be used to calculate the tree height through the data of the detector 4 and can realize the storage of the tree data. The data processing module can be integrated into the touch screen 5.

[0019] A bracket 6 is fixed to the outside of the telescopic mechanism 1, and a pointed cone 7 is fixed to the bottom of the telescopic mechanism 1. The bracket 6 can be folded to support the entire telescopic mechanism 1. When not in use, it can be stored near the telescopic mechanism 1, reducing storage space. The pointed cone 7 can be inserted into the ground to further ensure the stability of the telescopic mechanism 1. The pointed cone 7 can be detached from the telescopic mechanism 1, so that the telescopic mechanism 1 can be placed on the ground after removing the pointed cone 7 on a cement floor. The measuring device also includes a tilt detection module, which has a built-in AI image recognition algorithm to extract the trunk outline from the image, calculate the tilt angle α between the trunk and the vertical direction, and calculate the tree length. It uses existing edge detection operators such as Canny, Sobel, or Prewitt to extract edge features from the trunk image acquired by the image acquisition module. It extracts the trunk outline curve based on the OpenCV contour tracking algorithm or chain code method, and uses the least squares method or RANSAC random sampling consensus algorithm to perform straight line fitting on the outline curve to obtain the trunk centerline. It calculates the angle between the centerline and the vertical direction to obtain the trunk tilt angle α. In this edge detection step, an existing adaptive threshold algorithm is used to dynamically adjust the edge detection threshold through the Otsu threshold method or local threshold method to adapt to the trunk image under different lighting conditions. The formula for calculating tree length L is: L=H×cosa Where H is the tree height.

[0020] When the detected tilt angle 'a' exceeds a preset threshold such as 5°, the tilt compensation algorithm is automatically triggered. If 'a' ≤ 5°, the tree height is calculated based on the straight-line distance measured by detector 4 without compensation. This setting allows users to measure the tree length and determine the tree's tilt direction and angle, thus facilitating subsequent prediction of the tree's growth direction.

[0021] The above description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained in this invention are implemented according to conventional methods in the art unless otherwise specified or limited.

Claims

1. A periscope-type AI-aimed tree height measuring device, characterized in that, Includes a telescopic mechanism (1) and a mounting bracket (2) mounted on top of the telescopic mechanism (1); An image acquisition module is used to acquire images of the tree trunk and tree top. The image acquisition module includes at least one camera (3) fixed on one side of the mounting frame (2) and a detector (4) fixed on the bottom of the mounting frame (2). An attitude sensing module is used to monitor the spatial attitude data of the mounting frame (2) in real time. The attitude sensing module includes an angle sensor fixed on the mounting frame (2). The display module is used to output the tree height measurement results. The display module includes a touch screen (5) fixed to the outside of the telescopic mechanism (1). The data processing module is used to calculate the tree height using the data from the detector (4).

2. The periscope-type AI-aiming tree height measuring device according to claim 1, characterized in that: The telescopic mechanism (1) includes a housing (11), a threaded rod (13) is rotatably connected inside the housing (11), a movable shell (12) is threadedly connected to the outer side of the threaded rod (13), and the movable shell (12) is slidably connected to the inner wall of the housing (11). The telescopic mechanism (1) further includes N-level fixed blocks (14), rotating shells (16), threaded tubes (17), and N+1-level protruding shells (15). The multiple levels of protruding shells (15) are sequentially sleeved and slidably connected. Each level of fixed block (14) is fixed at the bottom center position inside each level of protruding shell (15). Each level of rotating shell (16) is sleeved and rotatably connected to the outside of each level of fixed block (14). Each level of threaded tube (17) is fixed to the top of each level of rotating shell (16). And each level of the threaded tube (17) is sequentially sleeved, and each level of the threaded tube (17) is threadedly connected to each level of the protruding shell (15). The lowest level of the threaded tube (17) is sleeved on the outside of the threaded rod (13). Each level of the threaded tube (17) is located inside the upper level of the fixing block (14). The threaded rod (13) is located inside the lowest level of the fixing block (14). The mounting bracket (2) is installed on the top of the uppermost protruding shell (15). N is a natural number. The outer casing (11) is equipped with a drive mechanism for driving the threaded rod (13), the multi-stage rotating shell (16), and the threaded tube (17) to rotate.

3. The periscope-type AI-aiming tree height measuring device according to claim 2, characterized in that: The drive mechanism includes a second motor (22) fixed inside the housing (11), a worm (21) fixed at the output end of the second motor (22), a worm wheel (20) fixed on the outside of the threaded rod (13), and the worm wheel (20) meshing with the worm (21).

4. The periscope-type AI-aiming tree height measuring device according to claim 2, characterized in that: The threaded rod (13) and the multi-stage threaded tube (17) are provided with limiting grooves (24) on the outside, and the inner wall of the multi-stage threaded tube (17) is provided with limiting strips (23) that slide and connect with the limiting grooves (24).

5. The periscope-type AI-aiming tree height measuring device according to claim 1, characterized in that: The mounting bracket (2) is evenly provided with ventilation slots (8), which are used for ventilation.

6. A periscope-type AI-aiming tree height measuring device according to claim 2, characterized in that: The uppermost protruding shell (15) is equipped with a first motor (9), the output end of the first motor (9) is vertically connected to the mounting bracket (2), and the mounting bracket (2) is rotatably connected to the uppermost protruding shell (15).

7. A periscope-type AI-aiming tree height measuring device according to claim 1, characterized in that: A bracket (6) is fixed to the outside of the telescopic mechanism (1), and a pointed cone (7) is fixed to the bottom of the telescopic mechanism (1).

8. A periscope-type AI-aiming tree height measuring device according to claim 1, characterized in that: The measuring device also includes a tilt detection module, which has a built-in AI image recognition algorithm to extract the tree trunk outline from the image and calculate the tilt angle α of the tree trunk with respect to the vertical direction, in order to calculate the tree length. The formula for calculating the tree length L is: L=H×cosa Where H is the tree height.

9. A periscope-type AI-aiming tree height measuring device according to claim 8, characterized in that: The AI ​​image recognition algorithm includes: Edge detection is performed on the image detected by the camera (3), the trunk outline curve is extracted, the trunk outline curve is fitted with a straight line to obtain the trunk centerline, the angle between the centerline and the vertical direction is calculated, and the tilt angle a is obtained.

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