A forest-oriented RTK and lidar integrated measuring device and method

Abstract

The application discloses a kind of RTK and laser radar integration measurement device and method for forest regulation, belong to forestry detection technical field, including detection car, the top of detection car is provided with pedestal, further include detection mechanism, including detection seat, the side of detection seat is connected with slide, slide and pedestal side wall are movably sleeved, the inside of detection seat is sleeved with arc block and cylinder shaft, the end of cylinder shaft is provided with the detection head for measuring forest area in the direction away from pedestal.The application can realize self-adapting maintenance measurement angle, while in low degree jolt, small amplitude vibration is absorbed and eliminated by the elasticity of buffer spring, in moderate degree jolt, inertia difference generated by mass difference between counterweight and detection seat, excess momentum is transferred to piston shaft to drive detection seat to move reversely to compensate, when the height of detection car changes rapidly, the vibration amplitude of detection seat is reduced, and the detection accuracy is improved.

Description

Technical Field

[0001] This invention relates to the field of forestry testing technology, and more specifically, to an integrated RTK and lidar measurement device and method for forest surveys. Background Technology

[0002] When conducting surveys and measurements in forest areas, dynamic differential positioning (RTK) and lidar are generally combined for integrated measurement. The main principle is to combine real-time dynamic differential positioning (RTK) with lidar to acquire high-precision three-dimensional point cloud data through scanning, thereby achieving efficient and accurate monitoring of forest resources. It can be applied to scenarios such as forest resource surveys, stand parameter extraction, and digital elevation model construction. It can quickly obtain key factors such as individual tree location, tree height, diameter at breast height (DBH), and crown width, providing data support for forest management planning and ecological protection.

[0003] Existing technologies primarily rely on vehicle-mounted detection devices that move along forest areas to perform overall mobile scanning measurements. However, when these vehicles move through forest areas, the complex terrain and uneven paths cause vibrations. These vibrations lead to motion distortion and positioning errors in the lidar point cloud, distorting the tree trunk point cloud and blurring its outline. Furthermore, the severe bumps cause instantaneous velocity changes in the RTK antenna phase center, resulting in a loss of tracking loop in the GNSS receiver and a significant reduction in positioning accuracy. This severely impacts the accuracy and reliability of forest area detection parameter extraction.

[0004] How to invent an integrated RTK and lidar measurement device and method for forest surveys to improve these problems has become an urgent issue for those skilled in the art. Summary of the Invention

[0005] To overcome the above deficiencies, the present invention provides an integrated RTK and lidar measurement device and method for forest surveys, aiming to improve the problems mentioned in the background art.

[0006] This invention is implemented as follows:

[0007] This invention provides an integrated RTK and lidar measurement device for forest surveys, including a survey vehicle with a base on its top, and further comprising:

[0008] The testing mechanism includes a testing base, a sliding block connected to the side of the testing base, the sliding block being movably sleeved with the side wall of the base, an arc-shaped block and a cylindrical shaft sleeved inside the testing base, and a testing head located at the end of the cylindrical shaft away from the base for measuring the forest area.

[0009] The primary vibration damping mechanism includes a counterweight block movably fitted inside the base, a piston block on top of the counterweight block, a sealing cavity 1 that is movably fitted inside the base and sealing cavity 3 that communicates with sealing cavity 1, and a sealing cavity 2 inside the base. One end of sealing cavity 2 is fitted with a piston shaft 1 that drives the slide to move, and the other end of sealing cavity 2 is connected to sealing cavity 3. A buffer spring is provided between the slide and the base. Piston shaft 2 is fitted inside piston shaft 1, a buffer shaft is connected to the top of piston shaft 2, and a buffer sleeve that is movably fitted to the buffer shaft is connected to the bottom of the slide. When vibration occurs, the piston shaft 1 pushes the detection seat to move in the opposite direction to reduce the amplitude.

[0010] The secondary vibration damping mechanism includes a compression chamber and a liquid storage chamber located inside the base. A return pipe is installed inside the base. A spring-loaded piston slider is sleeved inside the compression chamber. An energy storage mechanism for storing energy inside the compression chamber is installed inside the sealing chamber. An inlet pipe for supplying liquid to the piston shaft is installed inside the base. When a large degree of vibration occurs, the piston shaft can be driven to push the slide to continuously lift. A connecting mechanism for connecting the internal liquid circuit is also installed inside the base.

[0011] Preferably, the communication mechanism includes a pump pipe disposed on the side wall of the compression chamber, and a return pipe is disposed inside the base for the solution inside the piston shaft to flow back into the storage chamber. A counterweight sleeve with a spring is sleeved on the outside of the counterweight block, and a valve assembly is connected to the side wall of the counterweight sleeve.

[0012] Preferably, the valve circuit assembly includes a return pipe 1 disposed inside the base, a connecting block connected to the side wall of the counterweight sleeve, a valve block 1 and a valve block 2 connected to the connecting block, one end of the return pipe 1 contacting the valve block 2, the other end of the return pipe 1 communicating with the inside of the liquid storage chamber, one end of the inlet pipe communicating with the inside of the piston shaft 1, the other end of the inlet pipe communicating with the pump pipe through the valve block 1, and the valve block 2 having a return hole.

[0013] Preferably, the valve block is provided with two sets of valve holes. When the testing vehicle is running at a constant speed, the two sets of valve holes are located on the upper and lower sides of the pump pipe in the vertical direction.

[0014] Preferably, the energy storage mechanism includes a liquid suction pipe disposed inside the base. One end of the liquid suction pipe is connected to the interior of the sealing cavity three, and the other end of the liquid suction pipe is connected to the interior of the storage cavity. A liquid inlet for one-way liquid supply to the compression cavity is provided between the sealing cavity three and the compression cavity. A piston valve is movably sleeved at one end of the sealing cavity two located inside the sealing cavity three. A connecting groove one is opened in the sealing cavity two. A ring groove is opened on the top of the piston valve. Connecting groove two and connecting groove three are opened inside the ring groove. Connecting groove two and connecting groove three are symmetrically distributed along the vertical direction with connecting groove one as the center.

[0015] Preferably, the weight of the counterweight is much greater than that of the detection seat, the piston block and the first sealing cavity are designed in multiple sets, and the horizontal cross-sectional area of ​​the piston block is greater than the flow cross-sectional area of ​​the second sealing cavity. The end of the first sealing cavity away from the piston block is gathered into a set of channels that are connected to the third sealing cavity.

[0016] Preferably, a balance pipe is provided between the first sealing cavity and the second sealing cavity, and the flow cross-sectional area of ​​the balance pipe is smaller than the flow cross-sectional area of ​​the second sealing cavity.

[0017] Preferably, the inside of the detection seat is provided with an arc-shaped groove that cooperates with and slides in a limiting manner with the arc-shaped block, the inside of the arc-shaped block is provided with an annular groove that cooperates with and slides in a limiting manner with the cylindrical shaft, and weight-adding blocks are provided at the bottom of both the arc-shaped block and the bottom of the cylindrical shaft.

[0018] An integrated RTK and lidar measurement method for forest surveys includes the following steps:

[0019] S1: Set the specified detection path based on the overall forest environment and detection parameters;

[0020] S2: Adjust the angle of the inspection vehicle so that the inspection head faces the scanning area;

[0021] S3: Start the inspection vehicle and scan the forest area along the designated path;

[0022] S4: Recycling and testing vehicle, which summarizes and analyzes the testing data.

[0023] In summary, the beneficial effects of this invention are:

[0024] 1. During the testing process, the measurement angle can be adaptively maintained. Under low-level vibrations, the design of the gap between connecting slot 1 and connecting slots 2 and 3 prevents the pressure inside the sealed cavity 1 from being transmitted to the testing seat. The elasticity of the buffer spring absorbs and eliminates small vibrations. Under moderate vibrations, the design of the cylindrical shaft and the counterweight at the bottom of the arc-shaped block utilizes the inertial difference generated by the mass difference between the counterweight and the testing seat. This excess momentum is transferred through the sealed cavity 1 to the piston shaft 1, causing the testing seat to move in the opposite direction to compensate. This reduces the vibration amplitude of the testing seat when the height of the testing vehicle changes rapidly, reduces sudden changes in antenna speed in complex environments, ensures the clarity of the point cloud contour during testing, and improves testing accuracy. Furthermore, active compensation ensures testing quality and increases the device's movement speed in complex terrain, effectively improving overall testing efficiency.

[0025] 2. During the testing process, under low-level bumps, the reciprocating movement of the piston valve pumps fluid into the compression chamber to store energy. When encountering larger bumps, the counterweight sleeve moves synchronously with the counterweight block under inertia, driving the connecting block to move so that the valve hole contacts and connects with the pumping pipe. This allows the hydraulic oil inside the compression chamber to be pumped into the piston shaft one, pushing the piston shaft two further upward. This further contacts the buffer shaft and slide block, driving the test seat to continue rising based on the fluid path of the sealed chamber two, achieving a greater degree of reverse displacement compensation. At the same time, the counterweight sleeve can be reset individually to achieve automatic reset after the testing vehicle stabilizes. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the overall testing vehicle provided in an embodiment of the present invention.

[0028] Figure 2 This is a schematic diagram of the interior of the testing vehicle provided in an embodiment of the present invention.

[0029] Figure 3 This is a schematic diagram of the internal structure of the detection seat provided in an embodiment of the present invention.

[0030] Figure 4 This is a schematic diagram of the interior of the testing vehicle provided in an embodiment of the present invention.

[0031] Figure 5 This is a schematic diagram of the interior of a piston shaft provided in an embodiment of the present invention.

[0032] Figure 6 This is a schematic diagram of the distribution location of the liquid storage chamber provided in the embodiment of the present invention.

[0033] Figure 7 This is a schematic diagram of the overall connection block provided in an embodiment of the present invention.

[0034] Figure 8 This is a schematic diagram of the internal structure of the piston valve provided in an embodiment of the present invention.

[0035] Legend:

[0036] 100. Testing vehicle; 101. Base; 102. Sealing cavity one; 103. Liquid storage cavity; 104. Balance pipe; 105. Return pipe one; 200. Testing seat; 201. Arc-shaped block; 202. Cylindrical shaft; 203. Testing head; 204. Arc-shaped groove; 205. Annular slide groove; 207. Slide seat; 208. Buffer spring; 300. Counterweight block; 301. Counterweight sleeve; 302. Piston block; 303. Connecting block; 304. Valve block one; 305. Valve hole; 306. Valve block two; 307. Return hole; 400. Sealing cavity two; 401. Piston shaft one; 402. Inlet pipe; 403. Return pipe two; 404. Piston shaft two; 405. Buffer sleeve; 406. Buffer shaft; 407. Connecting groove one; 500. Compression chamber; 501. Pump pipe; 502. Piston slider; 503. Inlet; 600. Sealing cavity three; 601. Piston valve; 602. Connecting groove two; 603. Connecting groove three; 604. Suction pipe. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Reference Figure 1-8This invention provides an integrated RTK and lidar measurement device for forest surveys, including a detection vehicle 100, a base 101 on the top of the detection vehicle 100, and a detection mechanism including a detection seat 200. A slide 207 is connected to the side of the detection seat 200 and is movably sleeved with the side wall of the base 101. An arc-shaped block 201 and a cylindrical shaft 202 are sleeved inside the detection seat 200. A detection head 203, located away from the base 101, is provided at the end of the cylindrical shaft 202 for measuring the forest area. The primary vibration damping mechanism includes a counterweight 300 movably fitted inside the base 101, a piston block 302 on top of the counterweight 300, a sealing cavity 102 that is movably fitted with the piston block 302 inside the base 101, a sealing cavity 600 communicating with the sealing cavity 102 inside the base 101, and a sealing cavity 400 inside the base 101. One end of the sealing cavity 400 is fitted with a piston shaft 401 that drives the slide 207 to move, and the other end of the sealing cavity 400... The end is connected to the sealing cavity 600. A buffer spring 208 is provided between the slide 207 and the base 101. A piston shaft 404 is sleeved inside the piston shaft 1 401. A buffer shaft 406 is connected to the top of the piston shaft 2 404. A buffer sleeve 405 is connected to the bottom of the slide 207 and is movably sleeved with the buffer shaft 406. When vibration occurs, the piston shaft 1 401 pushes the detection seat 200 to move in the opposite direction to reduce the amplitude. The secondary vibration damping mechanism includes a compression cavity 500 and a liquid storage chamber opened inside the base 101. The cavity 103 and the base 101 are equipped with a return pipe 105. The compression cavity 500 is fitted with a spring-loaded piston slider 502. The sealing cavity 600 is equipped with an energy storage mechanism for storing energy inside the compression cavity 500. The base 101 is equipped with a liquid inlet pipe 402 with a one-way valve for supplying liquid to the piston shaft 401. When a large degree of vibration occurs, it can drive the piston shaft 404 to push the slide 207 to continuously lift. The base 101 is also equipped with a connecting mechanism for connecting the internal liquid circuit.

[0039] It should be noted that hydraulic oil is installed inside the sealing cavity 102, the sealing cavity 2 400, the compression cavity 500, and the liquid storage cavity 103.

[0040] Furthermore, the connecting mechanism includes a pump pipe 501 disposed on the side wall of the compression chamber 500, and a return pipe 403 with a one-way valve for the solution inside the piston shaft 401 to return into the storage chamber 103. A counterweight sleeve 301 with a spring is sleeved on the outside of the counterweight block 300, and a valve assembly is connected to the side wall of the counterweight sleeve 301.

[0041] It should be noted that the valve circuit assembly includes a return pipe 105 disposed inside the base 101, a connecting block 303 connected to the side wall of the counterweight sleeve 301, a valve block 304 and a valve block 306 connected to the connecting block 303, one end of the return pipe 105 is in contact with the valve block 306, and the other end of the return pipe 105 is connected to the inside of the liquid storage chamber 103, one end of the inlet pipe 402 is connected to the inside of the piston shaft 401, and the other end of the inlet pipe 402 is selectively connected to the pump pipe 501 through the valve block 304, and the valve block 306 is provided with a return hole 307, which will connect the return pipe 105 and the return pipe 403 only when the testing vehicle 100 is running at a constant speed.

[0042] Furthermore, valve block 304 is provided with two sets of valve holes 305. When the testing vehicle 100 is running at a constant speed, the two sets of valve holes 305 are located on the upper and lower sides of the pump pipe 501 in the vertical direction.

[0043] Reference Figure 1-8 The energy storage mechanism includes a suction pipe 604 disposed inside the base 101. One end of the suction pipe 604 is connected to the inside of the sealing cavity 600, and the other end of the suction pipe 604 is connected to the inside of the storage cavity 103. A one-way valve is disposed inside the suction pipe 604 to control the direction of liquid supply to the inside of the sealing cavity 600. An inlet 503 is disposed between the sealing cavity 600 and the compression cavity 500 to control the one-way liquid supply to the compression cavity 500. A piston valve 601 is movably sleeved at one end of the sealing cavity 400 located inside the sealing cavity 600. A connecting groove 407 is formed in the sealing cavity 400. An annular groove is formed on the top of the piston valve 601. Connecting grooves 602 and 603 are formed inside the annular groove. Connecting grooves 602 and 603 are symmetrically distributed along the vertical direction with connecting groove 407 as the center.

[0044] It should be noted that the weight of the counterweight 300 is much greater than that of the detection seat 200. The piston block 302 and the sealing cavity 102 are designed in multiple sets, and the horizontal cross-sectional area of ​​the piston block 302 is greater than the flow cross-sectional area of ​​the sealing cavity 200. The end of the sealing cavity 102 away from the piston block 302 is connected to the sealing cavity 300 by a set of channels.

[0045] It should be noted that a balance pipe 104 is provided between the sealing cavity 102 and the sealing cavity 400, and the flow cross-sectional area of ​​the balance pipe 104 is smaller than the flow cross-sectional area of ​​the sealing cavity 400.

[0046] Reference Figure 1-3The detection seat 200 has an arc-shaped groove 204 inside that cooperates with and slides in a limiting manner with the arc-shaped block 201. The arc-shaped block 201 has an annular groove 205 inside that cooperates with and slides in a limiting manner with the cylindrical shaft 202. Weight blocks are provided at the bottom of both the arc-shaped block 201 and the bottom of the cylindrical shaft 202, so that the arc-shaped block 201 and the cylindrical shaft 202 can always maintain a fixed orientation under the action of gravity. The arc-shaped block 201 can slide along the arc-shaped track inside the arc-shaped groove 204, and the cylindrical shaft 202 can slide along the annular groove 205. The arc-shaped track inside the arc-shaped groove 204 is perpendicular to the axis of the annular groove 205.

[0047] An integrated RTK and lidar measurement method for forest surveys includes the following steps:

[0048] S1: Set the specified detection path based on the overall forest environment and detection parameters;

[0049] S2: Adjust the angle of the inspection vehicle 100 so that the inspection head 203 faces the scanning area;

[0050] S3: Start the inspection vehicle 100 to scan and inspect the forest area along the designated path;

[0051] S4: Recover and analyze the detection data from vehicle 100.

[0052] The workflow of this integrated RTK and lidar measurement device and method for forest surveys is as follows:

[0053] When measuring forest areas, the detection vehicle 100 moves through the forest area, and the dynamic differential positioning and lidar integrated design inside the detection head 203 scans and detects the forest area. Through synchronous acquisition and data fusion, three-dimensional point cloud data of the forest with absolute geographic coordinates are directly obtained. Furthermore, when the detection vehicle 100 moves through the forest area and the ground is uneven or there are minor bumps due to cross-shaped interference, the sliding seat 207 and the base 101 can maintain relative sliding. The small vibrations can be absorbed by the instantaneous deformation of the buffer spring 208. The elastic deformation of the buffer spring 208 converts the vibration kinetic energy into potential energy for temporary storage and then releases it slowly. This ensures the stability of the detection work, reduces or eliminates the interference of micro-vibrations on the lidar scanning mirror, reduces noise, and improves the clarity of forest measurement.

[0054] Furthermore, during the testing process, through the design of the cylindrical shaft 202 and the counterweight at the bottom of the arc block 201, since the arc block 201 can slide freely inside the arc groove 204 and the cylindrical shaft 202 can slide freely along the annular slide groove 205, even if the testing vehicle 100 is subjected to a certain degree of bumps and tilts during its movement, the testing head 203 can always remain horizontally facing away from the base 101, thus achieving stability of the testing angle.

[0055] Meanwhile, during low-amplitude vibration, since the counterweight 300 is movably sleeved inside the base 101, during the movement and bumping of the inspection vehicle 100, the inspection vehicle 100 and the counterweight 300 will generate a small relative displacement under the action of inertia. When the counterweight 300 and the inspection vehicle 100 vibrate relative to each other, the counterweight 300 drives the piston block 302 to reciprocate inside the sealing cavity 102, pumping and sucking the hydraulic oil inside the sealing cavity 102 into the sealing cavity 300, thereby driving the piston valve 601 to reciprocate. When the piston valve 601 moves down, it can pump the hydraulic oil inside the sealing cavity 300 into the compression cavity 500 through the inlet 503. At this time, the piston slider 502 and the spring connected to the piston slider 502 are compressed and stored. When the piston valve 601 returns to its original position and moves up, it can suck in the hydraulic oil inside the storage cavity 103 through the one-way valve inside the suction pipe 604 to replenish it, thus realizing cyclic energy storage.

[0056] It should be noted that at low amplitude, the displacement of piston valve 601 is small, and connecting grooves 602 and 603 will not contact or connect with connecting groove 407. Therefore, they will not push the detection seat 200 and will not transmit small vibrations to affect the detection seat 200.

[0057] During the movement and measurement of the inspection vehicle 100, when the inspection vehicle 100 encounters potholes or other significant bumps, or especially when a dent causes the inspection vehicle 100 to fall rapidly, the inspection seat 200 and the counterweight 300 will experience a short-term relative motion with the inspection vehicle 100 due to inertia. Since the mass of the counterweight 300 is much greater than that of the inspection seat 200, the inertia of the counterweight 300 is greater than that of the inspection seat 200. This relative motion between the counterweight 300 and the inspection vehicle 100 drives the piston block 3. 02. The upward movement pumps hydraulic oil from the sealing cavity 102 into the sealing cavity 300, pushing the piston valve 601 downward until the connecting groove 2 602 connects with the connecting groove 1 407. The pressure inside the sealing cavity 102 enters the sealing cavity 200 through the connecting groove 2 602 and the connecting groove 1 407, pushing the piston shaft 1 401 to further drive the slide 207 and the detection seat 200 to rise. At the same time, since the piston block 302 is provided with multiple sets and its horizontal cross-sectional area is larger than that of the piston shaft 1 401, the counterweight 3... When the counterweight 300 and piston block 302 move a certain distance, the piston shaft 401 can be moved a greater distance through the connection and cross-sectional area difference, thus amplifying the reflected results. When the detection vehicle 100 goes up a steep slope, the entire detection vehicle 100 rises rapidly. Referring to the above working principle, the counterweight 300 moves downward relative to the detection vehicle 100, causing the piston valve 601 to rise and the detection seat 200 to fall. When the detection vehicle 100 experiences a large degree of vibration, the inertial difference generated by the mass difference between the counterweight 300 and the detection seat 200 can be used to transfer excess momentum to the piston shaft 401 through the sealed cavity 102, causing the detection seat 200 to move in the opposite direction. When the height of the detection vehicle 100 changes rapidly, the vibration amplitude of the detection seat 200 can be reduced, the stability of the RTK phase center can be maintained, the instantaneous speed change of the antenna in complex environments can be reduced, the clarity of the point cloud contour during the detection process can be guaranteed, and the detection accuracy can be improved. At the same time, the active compensation can ensure the detection quality and improve the movement speed of the device in complex terrain, effectively improving the overall detection efficiency.

[0058] Furthermore, when encountering significant bumps, the counterweight sleeve 301 moves synchronously with the counterweight block 300 under inertia, causing the connecting block 303 to move synchronously. During this process, the valve block 304 moves vertically, but the pump pipe 501 and the inlet pipe 402 remain between the two sets of valve holes 305 and do not contact or communicate with them. Only when the testing vehicle 100 encounters larger potholes or steeper slopes than described above does the movement distance of the counterweight block 300 and the counterweight sleeve 301 increase. Until the connecting block 303 moves to the point where the valve hole 305 contacts and connects with the pump pipe 501, the hydraulic oil inside the compression chamber 500 is pumped into the piston shaft 401 through the valve hole 305 and the inlet pipe 402 under the elastic force of the spring connected to the piston slider 502. This pushes the piston shaft 404 to rise, and further through the contact between the buffer shaft 406 and the slide 207, it drives the detection seat 200 to continue to rise on the basis of the liquid path of the sealing chamber 400, thus achieving a greater degree of reverse displacement compensation.

[0059] It should be noted that when the counterweight 300 and piston block 302 exert pressure on the interior of the sealing cavity 102 under inertia, pushing the detection seat 200 to move, the counterweight 300 loses its inertia after the detection vehicle 100 stabilizes. Both the counterweight 300 and the counterweight sleeve 301 will return to their original positions under the elastic action of the spring. During this process, the sealing cavity 102 and the sealing cavity 200 achieve slow reset through the small flow cross-sectional area of ​​the balance pipe 104, further causing the counterweight 300 to slowly reset as well. Furthermore, through the movable connection between the counterweight sleeve 301 and the counterweight 300, during periods of significant vibration, the counterweight sleeve 301... The movement causes the compression chamber 500 to pressurize the piston shaft 401 and the auxiliary detection seat 200 to move further in the opposite direction, increasing the compensation value. After the detection vehicle 100 becomes stable, the counterweight sleeve 301 can be directly reset, disconnecting the compression chamber 500 from the piston shaft 401. At this time, the return hole 307 is connected to the return pipe 403. The hydraulic oil inside the piston shaft 401 can achieve unidirectional return reset through the connection between the return pipe 403 and the return hole 307 and the return pipe 105. This achieves additional compensation after passing the threshold and can automatically detect the status of the detection vehicle 100, resetting it in time after the detection vehicle 100 becomes stable.

[0060] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. An integrated RTK and lidar measurement device for forest surveys, comprising a detection vehicle (100), wherein a base (101) is provided on the top of the detection vehicle (100), characterized in that, Also includes: The testing mechanism includes a testing seat (200), a slide (207) connected to the side of the testing seat (200), the slide (207) being movably sleeved with the side wall of the base (101), an arc-shaped block (201) and a cylindrical shaft (202) sleeved inside the testing seat (200), and a testing head (203) with a direction away from the base (101) at the end of the cylindrical shaft (202) for measuring the forest area; The primary vibration damping mechanism includes a counterweight (300) movably fitted inside a base (101). A piston block (302) is provided on the top of the counterweight (300). A sealing cavity 1 (102) is provided inside the base (101) and is movably fitted with the piston block (302). A sealing cavity 3 (600) is provided inside the base (101) and communicates with the sealing cavity 1 (102). A sealing cavity 2 (400) is also provided inside the base (101). A piston shaft for driving the slide (207) to move is fitted at one end of the sealing cavity 2 (400). (401), the other end of the second sealing cavity (400) is connected to the third sealing cavity (600), a buffer spring (208) is provided between the slide (207) and the base (101), the piston shaft (404) is sleeved inside the first piston shaft (401), the top of the second piston shaft (404) is connected to the buffer shaft (406), and the bottom of the slide (207) is connected to the buffer sleeve (405) which is in a limited movable sleeve with the buffer shaft (406). When vibration occurs, the first piston shaft (401) pushes the detection seat (200) to move in the opposite direction to reduce the amplitude. The secondary vibration damping mechanism includes a compression chamber (500) and a liquid storage chamber (103) located inside the base (101). The base (101) is provided with a return pipe (105). A spring-loaded piston slider (502) is sleeved inside the compression chamber (500). The sealed chamber (600) is provided with an energy storage mechanism for storing energy inside the compression chamber (500). The base (101) is provided with an inlet pipe (402) for supplying liquid to the piston shaft (401). When a large degree of vibration occurs, the piston shaft (404) can be driven to push the slide (207) to continuously lift. The base (101) is also provided with a connecting mechanism for connecting the internal liquid circuit.

2. The integrated RTK and lidar measurement device for forest surveys according to claim 1, characterized in that, The communication mechanism includes a pump pipe (501) disposed on the side wall of the compression chamber (500), and a return pipe (403) is also disposed inside the base (101) for the solution inside the piston shaft (401) to flow back into the storage chamber (103). A counterweight sleeve (301) with a spring is sleeved on the outside of the counterweight block (300), and a valve assembly is connected to the side wall of the counterweight sleeve (301).

3. The integrated RTK and lidar measurement device for forest surveying according to claim 2, characterized in that, The valve assembly includes a return pipe 1 (105) disposed inside the base (101), a connecting block (303) connected to the side wall of the counterweight sleeve (301), a valve block 1 (304) and a valve block 2 (306) connected to the connecting block (303), one end of the return pipe 1 (105) is in contact with the valve block 2 (306), the other end of the return pipe 1 (105) is connected to the inside of the liquid storage chamber (103), one end of the inlet pipe (402) is connected to the inside of the piston shaft 1 (401), the other end of the inlet pipe (402) is connected to the pump pipe (501) through the valve block 1 (304), and the valve block 2 (306) is provided with a return hole (307).

4. The integrated RTK and lidar measurement device for forest surveying according to claim 3, characterized in that, The valve block (304) is provided with two sets of valve holes (305). When the testing vehicle (100) is running at a constant speed, the two sets of valve holes (305) are located on the upper and lower sides of the pump pipe (501) in the vertical direction.

5. The integrated RTK and lidar measurement device for forest surveying according to claim 1, characterized in that, The energy storage mechanism includes a suction pipe (604) disposed inside the base (101). One end of the suction pipe (604) is connected to the interior of the sealing cavity three (600), and the other end of the suction pipe (604) is connected to the interior of the storage cavity (103). A liquid inlet (503) for unidirectional liquid supply to the compression cavity (500) is provided between the sealing cavity three (600) and the compression cavity (500). A piston valve (601) is movably sleeved at one end of the sealing cavity two (400) located inside the sealing cavity three (600). A connecting groove one (407) is opened in the sealing cavity two (400). A ring groove is opened at the top of the piston valve (601). A connecting groove two (602) and a connecting groove three (603) are opened inside the ring groove. The connecting groove two (602) and the connecting groove three (603) are symmetrically distributed along the vertical direction with the connecting groove one (407) as the center.

6. The integrated RTK and lidar measurement device for forest surveying according to claim 1, characterized in that, The weight of the counterweight (300) is much greater than that of the detection seat (200). The piston block (302) and the sealing cavity one (102) are designed in multiple sets. The horizontal cross-sectional area of ​​the piston block (302) is greater than the flow cross-sectional area of ​​the sealing cavity two (400). The end of the sealing cavity one (102) away from the piston block (302) is gathered into a channel and connected to the sealing cavity three (600).

7. The integrated RTK and lidar measurement device for forest surveying according to claim 1, characterized in that, A balance pipe (104) is provided between the first sealing cavity (102) and the second sealing cavity (400), and the flow cross-sectional area of ​​the balance pipe (104) is smaller than the flow cross-sectional area of ​​the second sealing cavity (400).

8. The integrated RTK and lidar measurement device for forest surveying according to claim 1, characterized in that, The detection seat (200) has an arc groove (204) that is slidably connected to the arc block (201) and is limited by the arc. The arc block (201) has an annular groove (205) that is slidably connected to the cylindrical shaft (202) and is limited by the arc. The bottom of the arc block (201) and the bottom of the cylindrical shaft (202) are both provided with weight-adding blocks.

9. A method for integrated RTK and lidar measurement for forest surveys based on claim 1, characterized in that, The measurement method includes the following steps: S1: Set the specified detection path based on the overall forest environment and detection parameters; S2: Adjust the angle of the inspection vehicle (100) so that the inspection head (203) faces the scanning area; S3: Start the inspection vehicle (100) and scan the forest area along the designated path; S4: Recycling and testing vehicle (100) summarizes and analyzes the testing data.

Images