Artificial forest ecological environment and growth parameter real-time monitoring device based on Internet of Things

Abstract

The invention relates to a man-made forest ecological environment and growth parameter real-time monitoring device based on the Internet of Things. The monitoring device comprises a supporting piece, a monitoring module arranged on the supporting piece and used for measuring the ecological environment and growth parameters of the man-made forest, a network module used for transmitting the result of the monitoring module to the outside, and a positioning piece used for positioning the position of a trunk. Wherein the supporting piece comprises a first plate and a second plate which are rotationally connected with each other, and clamping mechanisms which are rotationally arranged at the outer end parts of the first plate and the second plate respectively and are used for clamping a tree trunk; by means of bionic climbing and forest swinging movement, autonomous navigation and full-coverage monitoring in a man-made forest are achieved, and the problems that the monitoring range of a fixed site is limited, and the endurance of an unmanned aerial vehicle is short are solved.

Description

Technical Field

[0001] This invention belongs to the field of forestry monitoring technology, specifically relating to a real-time monitoring device for the ecological environment and growth parameters of artificial forests based on the Internet of Things. Background Technology

[0002] Intensive management of plantations requires timely and accurate acquisition of ecological environment data and tree growth parameters. Traditional manual surveying methods are inefficient, time-consuming, labor-intensive, and have long data collection cycles, making real-time monitoring difficult.

[0003] Currently, although some monitoring technologies based on fixed monitoring stations or drones have emerged, they each have their limitations: fixed monitoring stations have limited coverage and cannot achieve comprehensive patrols within forest areas; drones have short flight times, making long-term, continuous monitoring impossible, and are greatly affected by weather, making it difficult to obtain detailed parameters below the canopy.

[0004] Therefore, there is an urgent need in this field for an automated monitoring device that can move autonomously within plantations, has a wide coverage area, and can acquire multidimensional real-time data. Summary of the Invention

[0005] The purpose of this invention is to provide a real-time monitoring device for the ecological environment and growth parameters of artificial forests based on the Internet of Things in order to solve the problems mentioned in the background art.

[0006] The present invention achieves the above objectives through the following technical solutions: A real-time monitoring device for the ecological environment and growth parameters of artificial forests based on the Internet of Things includes a support component, a monitoring module for measuring the ecological environment and growth parameters of artificial forests, a network module for transmitting the results of the monitoring module to the outside world, and a positioning component for locating the position of tree trunks. The support includes a first plate and a second plate that are rotatably connected to each other, and a clamping mechanism that is rotatably disposed at the outer ends of the first plate and the second plate for clamping the tree trunk.

[0007] Preferably, the clamping mechanism includes a base plate, a first clamping plate fixedly disposed on the base plate, a second clamping plate movably mounted on the base plate, and a first telescopic member fixedly disposed on the base plate, wherein the telescopic end of the first telescopic member is fixedly connected to the second clamping plate.

[0008] Preferably, a first rotating joint for controlling the relative rotation angle between the first plate and the second plate is rotatably installed between the first plate and the second plate, and a second rotating joint for changing the angle between the clamping mechanism and the first / second plate is provided between the first plate and the corresponding clamping mechanism. Both plate number one and plate number two are connected to a third rotating joint, which is used to adjust the moving direction of plate number one and plate number two.

[0009] Preferably, both the first clamping plate and the second clamping plate are equipped with cutting blades, and the first clamping plate and the second clamping plate can be easily inserted into the soil when in contact with the ground.

[0010] Preferably, both the first plate and the second plate are two-sectioned, and each of the first plate and the second plate is fixedly provided with a second telescopic component, which is used to drive the first plate / second plate to extend and retract in their respective length directions.

[0011] Preferably, a fourth rotating joint is fixedly provided on the first plate, and a third telescopic component is fixedly provided on the fourth rotating joint. The third telescopic component is used to change the angle between the first plate and the second plate.

[0012] Preferably, the telescopic end of the third telescopic component is fixedly installed with an adsorption component for generating an adsorption force with the second plate.

[0013] Preferably, the adsorption element is an electromagnet, and the second plate is provided with an iron strip corresponding to the position of the electromagnet.

[0014] Preferably, the positioning element is a laser rangefinder.

[0015] Preferably, a fifth rotating joint is fixedly mounted on the second rotating joint, and the positioning element is fixedly mounted on the fifth rotating joint.

[0016] The beneficial effects of this invention are as follows: This invention achieves autonomous navigation and full-coverage monitoring within artificial forests through biomimetic climbing and swinging movement, solving the problems of limited monitoring range of fixed stations and short battery life of drones.

[0017] This invention combines horizontal movement and vertical climbing capabilities to acquire multidimensional ecological environment data from the ground to the tree canopy at different heights, and allows for direct contact measurement of forest growth parameters, resulting in more accurate data.

[0018] Through the coordinated operation of a retractable plate, multi-degree-of-freedom rotating joints, and an intelligent ranging system, this invention enables the device to dynamically adapt to irregular artificial forest environments. When trees are missing on a preset path, it can autonomously find nearby trees to replan the path, ensuring a high success rate of movement in non-ideal artificial forest environments.

[0019] The ground mobility mode of this invention provides a last resort when encountering excessively large gaps or sparse forest stands, ensuring that the device will not fail due to being trapped, and greatly enhancing its survival and mission completion capabilities in the field. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the second perspective structure of the present invention; Figure 3 This is a top view of the present invention; Figure 4 This is a schematic diagram of the structure of the present invention when it climbs upwards; Figure 5 This is a schematic diagram of the structure of the present invention when it moves on soil.

[0021] In the diagram: 1. Plate No. 1; 2. Plate No. 2; 3. Rotating Joint No. 1; 4. Positioning Component; 5. Monitoring Module; 6. Rotating Joint No. 2; 7. Base Plate; 8. Clamping Plate No. 1; 9. Clamping Plate No. 2; 10. Telescopic Component No. 1; 11. Rotating Joint No. 3; 12. Cutting Blade; 13. Telescopic Component No. 2; 14. Rotating Joint No. 4; 15. Telescopic Component No. 3; 16. Adsorption Component; 17. Rotating Joint No. 5; 18. Solar Panel; 19. Slide; 20. Tree Trunk. Detailed Implementation

[0022] The present application will now be described in further detail. 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.

[0023] Example 1 like Figure 1-5 As shown, an IoT-based real-time monitoring device for the ecological environment and growth parameters of artificial forests includes a support component, and monitoring modules 5 (such as temperature and humidity meters, monitors, wind vanes, and tree measuring instruments) mounted on the support component for measuring the ecological environment (such as air temperature and humidity, atmospheric pressure, light intensity, wind speed, wind direction, rainfall, soil temperature and humidity, soil pH value, and soil electrical conductivity) and growth parameters (tree height, diameter at breast height, and ground diameter). The monitoring module 5 transmits the results of the monitoring module 5 to the outside world (transmitting the data via 4G / 5G), and positioning components 4 for locating the tree trunk position.

[0024] The support includes a first plate 1 and a second plate 2 that are rotatably connected to each other, and a clamping mechanism that is rotatably disposed at the outer ends of the first plate 1 and the second plate 2 for clamping the tree trunk.

[0025] In this embodiment, plate 1 and plate 2 rotate relative to each other via a rotating joint 3 (a rotating joint, hereinafter referred to as prior art, includes a motor, reducer, sensor, brake, bearing, drive and control circuit, and housing, etc.). Furthermore, a battery (for all electrical components) and a controller (such as a PLC, controlling all electrical components, including monitoring module 5 and network module) are provided for power supply. The battery can be a lithium battery. Preferably, a solar panel 18 is added to plate 1 / plate 2, and the solar energy is converted into electrical energy and stored in the battery via an inverter (prior art).

[0026] Plate 1 and Plate 2 can be made of stainless steel or carbon fiber, which have high strength. The rotation centers of Plate 1 and Plate 2 are the same. Each of Plate 1 and Plate 2 is provided with a second rotation joint 6 between itself and the corresponding clamping mechanism, which is used to change the angle between the clamping mechanism and Plate 1 / Plate 2.

[0027] Preferably, the clamping mechanism in this embodiment includes a base plate 7, a first clamping plate 8 fixedly mounted on the base plate 7, a second clamping plate 9 movably mounted on the base plate 7 (the base plate 7 has a sliding groove 19, and the second clamping plate 9 is movably mounted in the sliding groove 19 by a slider, and the second clamping plate 9 and the first clamping plate 8 are in an opposing state), and a first telescopic member 10 fixedly mounted on the base plate 7 (the telescopic member, the same below, preferably an electric push rod, controlled by a controller and powered by a battery), the telescopic end of the first telescopic member 10 is fixedly connected to the second clamping plate 9. During the process of the first telescopic member 10 driving the second clamping plate 9 to move, the tree trunk 20 is clamped between the first clamping plate 8 and the second clamping plate 9, and the clamping mechanism is hung on the tree trunk 20 by friction. Rubber pads are fitted onto the first clamping plate 8 and the second clamping plate 9 to reduce damage to the tree trunk 20, while increasing the friction between the first clamping plate 8 and the second clamping plate 9 and the tree trunk 20, ensuring that the device will not slide downwards.

[0028] It should be noted that when monitoring the plantation in real time, the device is raised and placed at an appropriate height, allowing the clamping component on plate 1 to clamp one of the tree trunks 20 of the plantation, at which point the entire device is suspended in the air. When the device needs to change its horizontal position, the controller activates the first rotating joint 3. The first rotating joint 3 controls the relative angle between plate 1 and plate 2 to rotate plate 2 (avoiding the tree trunk 20 at plate 1 to prevent collision; it can rotate in the opposite direction), causing the clamping mechanism on plate 2 to rotate towards the next tree trunk 20. Because the individual trees in the plantation are evenly distributed on the forest floor, they are usually arranged in an array. After the clamping mechanism on plate 2 rotates a set distance and angle, it will contact the next adjacent tree trunk 20 and clamp it under the control of the first telescopic component 10. After clamping the tree trunk 20, the clamping mechanism on plate 2 releases the clamping mechanism on plate 1, and then rotates the clamping mechanism on plate 1 again. Repeating this action cyclically allows the device to move freely through artificial forests. The second rotating joint 6 also rotates during the rotation of the second plate 2, creating a relative angle between the first plate 1 and the clamping mechanism. This causes the end of the first plate 1 closest to the first rotating joint 3 to turn towards the adjacent tree trunk 20, facilitating the approach of the second plate 2 and maximizing the utilization of the lengths of both plates. The sum of the lengths of the first plate 1 and the second plate 2 should be greater than the distance between adjacent trees. Preferably, both the first plate 1 and the second plate 2 are divided into two segments along their length, connected by a connecting rod for telescopic movement. A second telescopic component 13 is fixedly installed on both the first plate 1 and the second plate 2. This second telescopic component 13 drives the first plate 1 / second plate 2 to extend and retract along their respective lengths, making the device suitable for various types of artificial forests (with varying distances between adjacent tree trunks 20), thus enhancing its applicability.

[0029] To ensure more accurate clamping and avoid clamping failure due to tree trunk 20 offset, positioning components 4 (preferably laser rangefinders) are added to both plate 1 and plate 2. Positioning components 4 measure the distance between adjacent tree trunks 20, allowing the first rotating joint 3 to adjust the rotation angle of plate 2, ensuring accurate targeting even if the tree trunk 20 is offset. Furthermore, a fifth rotating joint 17 is added to the second rotating joint 6, and the positioning component 4 is fixedly installed on it. When there are no trees in the Y direction (or ahead), the positioning component 4 rotates under the influence of the fifth rotating joint 17 to measure the distance to nearby trees and find the nearest alternative tree, even if it is not in the original row. At this time, the movement direction of the device changes to the X direction, and after moving to the next tree, it adjusts back to the Y direction, enabling inspection of the entire plantation. During the inspection, the device's position can be determined and corrected using a positioning system or by monitoring equipment carried on the device.

[0030] Example 2 Furthermore, a third rotating joint 11 is provided between each of the first plate 1 and the second plate 2 and the corresponding second rotating joint 6. That is, the first plate 1 / second plate 2 is fixedly connected to the second rotating joint 6, the second rotating joint 6 is fixedly connected to the third rotating joint 11, and the third rotating joint 11 is fixedly connected to the base plate 7.

[0031] It should be noted that when the monitoring height needs to be adjusted, the No. 3 rotating joint 11 drives the No. 2 rotating joint 6, the No. 1 plate 1, and the No. 1 rotating joint 3 connected to the No. 1 plate 1 to rotate by 90 degrees. At this time, the relative rotation direction of the No. 1 plate 1 and the No. 2 plate 2 changes from horizontal to vertical.

[0032] Similar to the horizontal movement principle, plate 1 and plate 2 rotate relative to each other under the action of rotary joint 3, allowing the device to climb upwards along the tree trunk 20. The height climbed in one go is approximately equal to the sum of the lengths of plate 1 and plate 2. After climbing to a suitable height, rotary joint 11 drives plate 1 and related components to rotate back, continuing the horizontal movement. During the climbing process, positioning component 4 scans the tree above, and the cooperation of rotary joints 6 and 11 ensures accurate clamping onto the tree trunk each time. Preferably, a 3D LiDAR can be added to this device for more accurate identification of surrounding objects.

[0033] In this embodiment, if the trees in the plantation are too far apart to pass through, the first plate 1 and the second plate 2 are kept in a vertically moving state. At this time, the bottoms of the first clamping plate 8 and the second clamping plate 9 are in contact with the soil. Preferably, both the first clamping plate 8 and the second clamping plate 9 are equipped with cutting blades 12. Because the device has a certain weight, the first clamping plate 8 and the second clamping plate 9 can easily insert into the soil when in contact with the ground, so that the clamping mechanism can firmly grip the soil surface, and the device becomes movable. Even if it cannot be inserted into the soil, the first clamping plate 8 and the second clamping plate 9 have a certain width and can form a stable base on the ground.

[0034] Preferably, both the first clamping plate 8 and the second clamping plate 9 have curvature. After clamping the tree trunk 20, the curvature of the first clamping plate 8 and the second clamping plate 9 is used to form a hanging effect on the tree trunk 20. With the first telescopic component 10 self-locking (a self-locking structure is added to the first telescopic component 10, which is the prior art), it can hang on the tree trunk 20 without energy consumption, realizing low-energy real-time monitoring.

[0035] In this embodiment, sensors related to soil temperature and humidity, soil pH value, and soil electrical conductivity can be installed on the tip or side wall of clamping plate 8 or clamping plate 9 to measure data during movement.

[0036] Example 3 In this embodiment, a fourth rotating joint 14 is fixedly provided on the first plate 1, and a third telescopic member 15 is fixedly provided on the fourth rotating joint 14. The third telescopic member 15 is used to change the angle between the first plate 1 and the second plate 2.

[0037] The telescopic end of the third telescopic component 15 is fixedly equipped with an adsorption component 16 for generating an adsorption force between itself and the second plate 2. Preferably, the adsorption component 16 is an electromagnet, and the second plate 2 is provided with an iron strip corresponding to the position of the electromagnet.

[0038] It should be noted that during the process of climbing up the tree, most of the components need to be moved upward through the No. 3 rotating joint 11. The No. 3 rotating joint 11 has a large torque requirement, which can easily cause damage to the No. 3 rotating joint 11 and loss of electrical energy.

[0039] In this embodiment, a third telescopic component 15 (which can be a multi-section electric push rod with a large stroke) is added. When the third telescopic component 15 extends, it is attracted to the second plate 2 by an electromagnet. When the first plate 1 (or the second plate 2) is located below and the angle between the first plate 1 and the second plate 2 is at its maximum (both the first plate 1 and the second plate 2 are close to the trunk 20), the clamping mechanism below (the clamping mechanism connected to the first plate 1) is released. The third telescopic component 15 shortens, and at the same time, the third rotating joint 11 on the second plate 2 exerts force synchronously. The pulling of the third telescopic component 15 causes the first plate 1 and the second plate 2 to rotate relative to each other. The clamping mechanism below moves upward on the trunk 20. As the first plate 1 changes from a vertical state to a near-horizontal state, the second plate 2 is synchronously driven to rotate.

[0040] Similarly, when the angle between plate 1 and plate 2 becomes minimal, the lower clamping mechanism clamps the trunk 20, and the third telescopic component 15 extends. The third telescopic component 15 drives plate 1 and plate 2 to rotate relative to each other, causing the upper clamping mechanism to move upwards along the trunk 20 until the angle between plate 1 and plate 2 reaches its maximum. The third telescopic component 15 transforms the rotation of the third rotating joint 11 during the upward movement of the device into the extension and retraction of the third telescopic component 15, effectively reducing the load on the third rotating joint 11, while also reducing energy consumption and improving battery life.

[0041] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively 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. An Internet of Things-based real-time monitoring device for plantation ecological environment and growth parameters, characterized in that, The support, the monitoring module (5) for measuring the ecological environment and growth parameters of the artificial forest, the network module for transmitting the results of the monitoring module (5) to the outside world, and the positioning member (4) for positioning the position of the tree trunk are arranged on the support. The support comprises a first plate (1) and a second plate (2) which are rotatably connected with each other, and a clamping mechanism which is rotatably arranged at the outer end of the first plate (1) and the second plate (2) for clamping the tree trunk. 2.The real-time monitoring device for plantation ecological environment and growth parameters based on Internet of Things according to claim 1, wherein, The clamping mechanism comprises a base plate (7), a first clamping plate (8) fixedly arranged on the base plate (7), a second clamping plate (9) movably mounted on the base plate (7), and a first telescopic member (10) fixedly arranged on the base plate (7), wherein the telescopic end of the first telescopic member (10) is fixedly connected with the second clamping plate (9). 3.The real-time monitoring device for plantation ecological environment and growth parameters based on Internet of Things according to claim 2, characterized in that, A first rotation joint (3) for controlling the relative rotation angle between the first plate (1) and the second plate (2) is rotatably arranged between the first plate (1) and the second plate (2), and a second rotation joint (6) for changing the included angle between the clamping mechanism and the first plate (1) / second plate (2) is arranged between the first plate (1) / second plate (2) and the corresponding clamping mechanism. A third rotation joint (11) is arranged between the first plate (1) and the corresponding second rotation joint (6), and the second plate (2) and the corresponding second rotation joint (6), and the third rotation joint (11) is used for adjusting the moving direction of the first plate (1) and the second plate (2). 4.The real-time monitoring device for plantation ecological environment and growth parameters based on Internet of Things according to claim 3, characterized in that, The first clamping plate (8) and the second clamping plate (9) are each provided with a cutting edge (12), and the first clamping plate (8) and the second clamping plate (9) can easily penetrate into the soil when they are in contact with the ground. 5.The real-time monitoring device for plantation ecological environment and growth parameters based on Internet of Things according to claim 4, characterized in that, The first plate (1) and the second plate (2) are both two-section type, and a second telescopic member (13) is fixedly arranged on each of the first plate (1) and the second plate (2), and the second telescopic member (13) is used to drive the first plate (1) / second plate (2) to extend / contract in the length direction thereof. 6.The real-time monitoring device for plantation ecological environment and growth parameters based on Internet of Things according to claim 5, characterized in that, A fourth rotation joint (14) is fixedly arranged on the first plate (1), a third telescopic member (15) is fixedly arranged on the fourth rotation joint (14), and the third telescopic member (15) is used to change the angle between the first plate (1) and the second plate (2). 7.The real-time monitoring device for plantation ecological environment and growth parameters based on Internet of Things according to claim 6, characterized in that, The telescopic end of the third telescopic member (15) is fixedly mounted with a suction member (16) for generating an attractive force with the second plate (2). 8.The real-time monitoring device for plantation ecological environment and growth parameters based on Internet of Things according to claim 7, characterized in that, The suction member (16) is an electromagnet, and the second plate (2) is provided with an iron strip corresponding to the position of the electromagnet. 9.The real-time monitoring device for plantation ecological environment and growth parameters based on Internet of Things according to claim 8, characterized in that, The positioning member (4) is a laser range finder. 10.The real-time monitoring device for plantation ecological environment and growth parameters based on Internet of Things according to claim 9, characterized in that, A fifth rotation joint (17) is fixedly arranged on the second rotation joint (6), and the positioning member (4) is fixedly arranged on the fifth rotation joint (17).

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