1475 results about "Tree trunk" patented technology

The invention provides a forest land tree height measurement and determination method and system based on laser radar point cloud data. Stress wave signals are collected based on a trunk base acoustic emission sensor array to generate an acoustic characteristic parameter set, the digital twin model is driven to complete forest stand structure topological optimization, and a three-dimensional growth vector model reflecting the internal mechanical state of a trunk is formed. And synchronously fusing high-precision slope point cloud data returned by the unmanned aerial vehicle laser radar in real time, correcting a terrain distortion error through a dynamic splicing algorithm in combination with stress distribution characteristics, and generating a crown segmentation boundary constrained by physical characteristics. And finally outputting a tree height parameter corrected by the abrupt slope topography through model iterative optimization and space vector analysis. According to the technical scheme, synchronous sensing of the three-dimensional shape and the mechanical state of the tree in the complex terrain environment is achieved, and the tree height measurement error is reduced.

The invention relates to the technical field of garden monitoring, in particular to a landscaping monitoring system and method, and the system comprises a collection module which is used for obtaining multi-angle images of a garden in stages, and selectively collecting the images according to a correlation judgment result; the analysis module is used for extracting vegetation indexes, disease targets, leaf health features and falling object state features; the identification selection module is used for generating a dynamic acquisition strategy according to the relevance abnormal index and triggering the acquisition module to directionally acquire the second-level image; the weighted fusion module is used for performing adaptive weighted fusion on the multi-source features and calculating a comprehensive wilt risk level; the early-warning module is used for generating early-warning signals and early-warning grades, the view limitation of traditional single-view-angle monitoring is broken through, large-range vegetation vitality abnormal areas can be rapidly screened, detail features of trunk diseases, low leaf withering and microscopic disease spots can be accurately captured, and the comprehensiveness and reliability of early withering recognition are remarkably improved.

The invention discloses a fine individual tree segmentation method fusing air-based laser radar point clouds and ground-based laser radar point clouds, and aims to solve the challenges that the data volume of combined point clouds is large, crown staggering is complex in a dense forest environment, and part of tree trunk point clouds are lost due to shielding, and the method combines an individual tree segmentation strategy from top to bottom and an individual tree segmentation strategy from bottom to top. A weighted height-density map is adopted to carry out individual tree positioning, a mark control watershed algorithm is combined to realize preliminary tree crown region extraction, then multi-label local graph segmentation optimization is introduced, segmentation boundaries are corrected, an under-segmentation unit is optimized by adopting a shortest path, and a complete segmentation framework is formed. On the basis of airborne and foundation point clouds of six actually measured sample plots, the method is verified after registration and combination. The advantages of airborne point cloud and foundation point cloud are combined, and the proposed individual tree segmentation method provides technical support for refined forest modeling and ecological monitoring.

The invention provides a single tree segmentation-biological parameter estimation method based on a vehicle-mounted LiDAR point cloud, and belongs to the technical field of urban landscaping intelligent monitoring. The point cloud individual tree segmentation algorithm based on tree geometric feature constraint is designed for solving the problem that individual tree segmentation is difficult due to crown overlapping in an urban scene, and the method takes a tree geometric structure as a constraint, combines point cloud reflection intensity information, a clustering algorithm, a main direction index and other means, and obtains the individual tree segmentation algorithm based on the tree geometric feature constraint. And accurate extraction of trunks and crowns in the scene point cloud is realized. Aiming at the problems of high feature redundancy, poor model interpretability and the like in an existing estimation method, a random forest model is taken as a basis, an adaptive feature selection algorithm is introduced to improve variable screening efficiency, hyper-parameters are dynamically adjusted by utilizing pigeon inspired optimization, and generalization and stability of the model are enhanced; an estimation model used for estimating biological parameters such as leaf area index, biomass and carbon reserve is designed.

The invention discloses a pest control management system and method for forest tree breeding, and relates to the technical field of forest tree breeding and seedling raising, and the method comprises the following steps: collecting environment data and soil rhizosphere data by collecting multi-mode images of leaves and trunks of a pinus massoniana young forest and videos that pinus massoniana caterpillars gnaw leaves and cluster diffusion; constructing a disease and insect pest recognition model by using a convolutional neural network, performing definite diagnosis on pine wood nematode disease, pine caterpillars and monochamus alternatus hope, and quantifying the disease and insect pest occurrence area and population density of each sub-region; calculating a pine wood nematode disease control demand index, comparing the pine wood nematode disease control demand index with a threshold value, and triggering a corresponding control strategy; the diffusion coefficient of the pine caterpillars is calculated and compared with a risk threshold value, and a prevention and control scheme is formulated; calculating the propagation coefficient of the monochamus alternatus hope, judging the propagation risk and giving a prevention and control strategy; according to the invention, intelligent pest identification, risk quantification and control strategy closed-loop control are realized, treatment and scientific prevention and control are facilitated, and the pest control efficiency of the pinus massoniana young forest and the forest stand health level are improved.

The invention discloses a three-dimensional tree modeling method and device based on 3DGS. The method comprises the steps of determining modeling components including a trunk, branches and leaves for a three-dimensional tree modeling task, obtaining tree-surrounding image data collected by an unmanned aerial vehicle, performing camera pose estimation and obtaining sparse point clouds through sparse reconstruction, inputting a three-dimensional Gaussian splash 3DGS model to generate point clouds of a three-dimensional tree, and obtaining three-dimensional tree point clouds according to the point clouds of the three-dimensional tree point clouds. Selecting a corresponding model according to a segmentation object to generate 2D masks of different visual angles, extracting a complete tree to select a segmentation arbitrary model SAM model, extracting a tree component to select a semantic segmentation network MFAANet model based on a coding and decoding structure, generating the corresponding 2D masks on input images of different visual angles, and based on a multi-visual-angle mask obtained through segmentation, extracting a multi-visual-angle mask based on the multi-visual-angle mask. And generating a final point cloud classification result through a multi-view mask voting mechanism. The method is obviously superior to the existing method in the aspects of tree rendering quality and component segmentation precision.

The invention discloses a single tree trunk structure extraction method and system based on deep learning, and the method comprises the steps: obtaining two-dimensional image data of a single tree, marking the two-dimensional image data, and constructing a single tree trunk segmentation data set; constructing a spatial domain and frequency domain double-branch network based on the segmented data set, respectively extracting spatial domain features and frequency domain features, and fusing the double-branch features to generate a coding feature map; the coding feature map is decoded, in the decoding process, coordinate convolution CoordConv is adopted to enhance position perception, and mask segmentation and semantic label extraction are respectively carried out through a dynamic mask reconstruction branch DRMask Branch and an instance branch Inst Branch; based on a bipartite graph matching strategy, associating results of the mask segmentation and instance branches, and realizing segmentation of a single tree trunk and matching of instance-level labels; according to the method, the boundary precision and the detail reconstruction capability of trunk segmentation are remarkably improved, and the problem of feature loss of a traditional method in a complex under-forest environment is solved.

The present invention relates to the technical field of tree transplantation, and discloses a tree transplantation device for garden construction based on green environmental protection, including a tree root shoveling mechanism. Above the tree root shoveling mechanism, there is a water spraying structure. Above the water spraying structure, there is a tree trunk clamping mechanism. Behind the tree root shoveling mechanism, there is a driving mechanism. The rear side of the driving mechanism is fixedly connected with a welding panel. One end of the tree trunk clamping mechanism close to the driving mechanism is fixedly connected with an L-shaped fixing rod. The tree root shoveling mechanism includes a circular plate. The outer side surface of the circular plate is fixedly connected with a first gear. Inside the circular plate near the first gear, there is a sliding bar slidably connected. The upper and lower surfaces of the sliding bar are both fixedly connected with cylinders. The front side surface of the sliding bar is fixedly connected with a small gear. The present invention has the characteristics of stabilizing trees, automatically watering, and improving the survival rate of transplanted trees.

The invention relates to an intelligent climbing coconut tree flexible picking and transporting integrated robot which comprises two open-close type circular rails, a connecting frame, a climbing mechanism, two open-close type clamping arm assemblies, a clamping and picking mechanism and a pruning mechanism, the two open-close type circular rails are distributed up and down in a spaced mode, and the two open-close type circular rails are both automatically opened or closed to form a whole ring; the connecting frame is installed between the non-opening-closing sides of the two sets of opening-closing type circular rails, the climbing mechanism is arranged on the inner side of the connecting frame and used for making contact with a tree trunk and climbing along the tree trunk, and the two sets of opening-closing type clamping arm assemblies are installed on the connecting frame and can be automatically opened or closed to hold the tree trunk. The lower end of the lower opening-closing type clamping arm assembly and the lower end of the connecting frame are jointly provided with a ground walking mechanism, and the clamping picking mechanism and the pruning mechanism are installed on the two sets of opening-closing type annular rails through a set of moving assemblies respectively and can move in the annular direction of the opening-closing type annular rails through the moving assemblies respectively. The robot has the advantages that automatic climbing, picking and transporting walking can be achieved, potential safety hazards are reduced, and picking and transporting efficiency is improved.

The invention discloses a tree diameter dynamic monitoring device and method, and relates to the technical field of plant growth monitoring, in particular to a method for constructing a tree trunk cross section model based on distance measurement of light emission and reflection time difference delta t, a radial feature vector V (t) is formed by obtaining multi-angle radius lengths r to rn, and the radial feature vector V (t) is obtained; the problem of elasticity weakening caused by long-term stretching of a traditional spring sensor is avoided; setting a monitoring period Gt, calculating a direction difference vector Iza, an average radial growth rate Izb and a radial growth variance Izc, normalizing to generate a comprehensive evaluation index Izh, and judging a growth state through thresholds I1 and I2; and if the Euclidean change delta V (t) is greater than a threshold value epsilon, a state correction and multi-source verification process is triggered, so that the precision and reliability of tree diameter monitoring are improved.

The invention provides an unmanned aerial vehicle laser obstacle clearance system and method for improving laser obstacle clearance efficiency, the obstacle clearance system comprises an unmanned aerial vehicle, an airborne computer carried on the unmanned aerial vehicle, a stability augmentation holder, a holder camera and a laser transmitter, and the unmanned aerial vehicle, the holder camera and the laser transmitter are all fixed on the stability augmentation holder; the pan-tilt camera is used for collecting a trunk swing video stream in real time and transmitting the video stream to the visual module of the airborne computer; the visual module extracts tree trunk skeleton tracking points in the video stream; a control module of the airborne computer generates a holder direction control instruction and a laser trigger signal according to the tracking point coordinate position; the stability augmentation holder carries out real-time attitude adjustment according to the holder direction control instruction; and the laser emitter performs laser cutting on the swing tree trunk after receiving the laser trigger signal. According to the invention, real-time tracking of the target local area of the swing tree trunk is realized by using the unmanned aerial vehicle and the tracking algorithm, and the laser obstacle removing precision and the temperature rising efficiency are improved.

The invention relates to the technical field of nursery stock transplanting, in particular to a garden landscape nursery stock transplanting device which comprises a vehicle body, an operation table is arranged at the front end of the vehicle body, a fixing seat is fixedly mounted at the front end of a rotating arm, a soil ball digging mechanism is arranged at the front end of the fixing seat, and an extension frame is fixedly mounted at the upper end of a stand; a tree crown wrapping mechanism is fixedly installed at the front end of the extending frame, a hydraulic pump is fixedly installed at the lower end of the stand, a movable frame is fixedly installed at the upper end of the hydraulic pump, a transverse moving rail is fixedly installed at the front end of the movable frame, a moving table is slidably installed at the upper end of the transverse moving rail, and a tree catching clamp mechanism is fixedly installed at the front end of the moving table. The crown is covered with the protective film, and moisture evaporation of leaves and branches can be remarkably reduced by covering the crown. In the seedling transplanting process, seedling trunks are clamped and fixed through the telescopic tree catching mechanism, and shaking caused by the influence of wind blowing and the like in the moving-out process is avoided.

The invention discloses a rotor unmanned aerial vehicle visual navigation method and system for an unknown forest region, and the method comprises the steps: firstly, combining a depth camera with a Sobel gradient filtering mechanism, and effectively eliminating interference information; secondly, pixel-level segmentation and three-dimensional positioning of the trunk are realized by segmenting a cascade model of a convolutional network and a residual network, visual information is accurately mapped to a world coordinate system, and the problem of positioning drift caused by similar textures in a forest scene is solved; based on starting point-target point-terminal point minimum jerk trajectory planning, a smooth trajectory is generated through polynomial optimization and quadratic programming, flight jitter is inhibited fundamentally, and the mechanical loss is reduced while the image acquisition quality is guaranteed; and finally, through real-time target point updating and trajectory dynamic correction of the depth camera, a sensing-planning-execution closed loop is formed, so that the unmanned aerial vehicle has dynamic obstacle avoidance and path online optimization capabilities, autonomous crossing is finally realized, and navigation safety and stability in a complex environment are significantly improved.

A fabricated decorative tree with insertable branches system is provided that includes a tree trunk configured with at least one limb stub that is configured to receive a branch. The trunk, stub, and branch all have internal supports and an external decorative skin. The stub internal support has a proximal end fixedly attached to the trunk internal support and has a stub distal end having a receptor with a channel cut at least through the internal support distal edge. Only the distal end of the branch internal support is covered with the external skin. The uncovered proximal end of the branch internal support is a male sleeve insert having an outwardly projecting alignment protuberance sized to fit within the stub's channel. Means to further secure the stub-branch joint and methods by which one set of interchangeable branches are replaced by a second set of branches are also provided.

The invention relates to a system for remote and / or autonomous holding at least a portion of a tree trunk, said system comprising: a remotely and / or autonomously controlled Unmanned Aerial Vehicle (100), UAV, at least one remotely and / or autonomously controlled means (105) for holding at least a portion of a tree trunk attachable to said UAV (100), means for detecting at least a portion of a tree, means for detecting at least one tree parameter of at least a portion of a tree and / or at least one growing condition of at least a portion of a tree, a base station for communication with said UAV (100), means configured for directing said means (105) for holding at least a portion of a tree trunk to a particular position of said tree trunk depending on said at least one detected tree parameter and / or said at least one detected growing condition.

The invention discloses a tree climbing device with axial climbing and circumferential steering functions. The tree climbing device comprises a vertically symmetrical main trunk mechanism, an upper clamping and climbing mechanism and a lower clamping and climbing mechanism, wherein the upper clamping and climbing mechanism and the lower clamping and climbing mechanism are identical and bilaterally symmetrical. The main trunk mechanism is arranged in the middle of the robot, telescopic mechanisms are placed in an upper operation platform and a lower operation platform of the main trunk mechanism to control clamping and loosening of the clamping mechanisms, the clamping and climbing mechanisms are arranged on the upper portion and the lower portion of the main trunk and each composed of two grabbing clamps of the completely same structure, and universal wheels are carried in the clamping and climbing mechanisms to serve as execution ends. The rotor wings are carried outside to serve as a power mechanism, and climbing and circumferential movement of the robot on trees are achieved through driving of the auxiliary effect of the rotor wings. A turnover mechanism is arranged in the middle of the main trunk mechanism, the robot can be controlled to turn over through steering engine driving, and conversion of the robot from the trunk to the side trunk is achieved. Under the movement action of the main trunk mechanism, the upper clamping and climbing mechanism and the lower clamping and climbing mechanism, the tree climbing device is simple in structure, good in obstacle crossing ability and good in stability, and clamping force can be actively adjusted to adapt to continuous changes of the diameter of a tree; the self-locking device can move axially and circumferentially along a trunk, has a self-locking function and can stop at any position.

According to the light and simple crawler-type vibration harvester suitable for the steep mountain land, the triangular crawler belt is adopted for driving, the contact area with the ground is increased, the climbing performance is improved, maneuverability, flexibility and reliability are high, flexible connection is formed through the elastic coupler, and vibration transmission is stable. The device comprises a vehicle body, a suspension platform and a vibration clamping mechanism, wherein the vehicle body comprises an H-shaped bottom formed by two longitudinal beams and a cross beam; triangular driving tracks are arranged at the rear ends of the longitudinal beams; auxiliary wheels are arranged at the front ends of the longitudinal beams; the suspension platform is located above the position between the front portions of the two longitudinal beams, the rear portion of the suspension platform is fixed to the sliding frame, and the sliding frame is arranged on the guide rods in an up-down sliding mode. The lifting driving device for driving the suspension platform or the sliding frame to lift up and down relative to the guide rod is connected with the suspension platform or the sliding frame; the vibration clamping mechanism used for clamping a tree trunk and conducting excitation vibration on the tree trunk is hung on the driving hanging platform through a flexible rope.

The invention discloses a device special for an unmanned aerial vehicle to throw dastarcus helophoroides, and relates to the technical field of agricultural unmanned aerial vehicle dastarcus helophoroides throwing, the device comprises a main body shell, a buckling cover, an auxiliary block, a filling port and a plugging piece, the buckling cover is buckled on the main body shell, the auxiliary block is fixedly connected to the main body shell, and the filling port is fixedly connected to the main body shell; through the design of the anti-adhesion quantitative and uniform throwing assembly, the biological prevention and control effect can be remarkably improved, the device accurately controls the throwing number and uniformity of dastarcus helophoroides, and it is ensured that a proper amount of dastarcus helophoroides can be distributed around each forest tree threatened by longhorn beetle pests in a target area; the composition can prey on larvae and pupae of longhorn beetles more comprehensively and efficiently, the population density of the longhorn beetles is greatly reduced, insect pest diffusion is restrained from the source, the health and stability of a forest ecological system are effectively protected, and the biological control effect on major tree trunk borers such as monochamus alternatus, anoplophora glabripennis and mulberry beetles is greatly improved.

Autonomous control system of a weeding tool connected to an agricultural vehicle (AV), wherein the weeding tool is able to assume a weeding condition and a retracted condition, wherein said weeding condition includes a distension of the tool according to a direction perpendicular to a longitudinal development (L) of the vehicle; the system comprising a 3D sensor (3DS) associated with a front part of the agricultural vehicle to acquire a pointcloud corresponding to a scenario in front of the vehicle (AV), and processing means (ECU) configured cyclically to generate a map of poles and / or trunks detected by means of said pointcloud, and command a weeding condition of the implement when the distance between the implement and a pole and / or trunk is greater than a predetermined threshold and command a retraction condition of the implement when said distance is less than or equal at said predetermined threshold.

The invention relates to a vertically stackable modular plant pot structure, formed by superposed modules, wherein each module is formed by a trunk having a base with an edge which, not being circular, is geometrically identical to the edge of the top of the trunk of the same module, rotated by an angle δ and shifted by a height H relative to the vertical axis, such that the modules are coupled together from above by the edge of the base of the module and from below by the edge of the top of the trunk of the module, the rotation generating areas preferably close to the axis of the structure, in which areas are located arms with cavities containing substrate or pottery shards, in order to i) be closer to the axis, thereby improving the stability of the structure, ii) have a larger planting area, the pot having greater capacity, or iii) have openings further from the trunk, providing more space for the plants. The structure provides a single continuous exposed surface, with the module arms thus coupled as hollow bodies in successive branches and distributed with different degrees of rotation.

The invention discloses a surrounding type self-adaptive moving electric control rubber tapping device which comprises a surrounding type assembly used for surrounding a rubber tree in the radial direction. A circumferential guide rail is arranged on the outer side of the surrounding type assembly; the self-adaptive rolling wheel assembly is arranged on the inner side of the surrounding type assembly and used for transversely or vertically moving the device; the fixed clamping jaw assembly is slidably arranged on the guide rail through a guide rail connecting piece and used for fixing the device to the rubber tree. The electric control rubber tapping knife assembly is installed on the surrounding type assembly and used for cutting the surface of the rubber tree. The laser positioning module is used for positioning the position of the device; the control module is used for controlling operation of the device. The device can adapt to rubber trunks of different sizes, a stable and uniform spiral rubber cutting path is formed on the surface of bark, and the latex collecting effect is improved.

The utility model relates to the technical field of forestry maintenance, and discloses a tree-climbing pruning robot which comprises a supporting mechanism, the supporting mechanism comprises a machine box internally provided with a storage battery and a control module, the two sides of the machine box are each provided with a positioning connecting rod, and the whole machine box is in a clamping ring shape with a notch and is used for surrounding a tree; the tree climbing machine further comprises three tree climbing mechanisms, each tree climbing mechanism comprises a driving box with a driving shaft, the driving boxes are connected to the surface of the machine box and the ends of the two position adjusting connecting rods respectively, and the driving shafts of the driving boxes are sleeved with crawler belts attached to the surfaces of trees. The pruning device further comprises a pruning mechanism which is arranged at the top end of the driving box and used for pruning trees, the tree climbing mechanism can be attached to the surfaces of the trees and is matched with the crawler belt to move to drive the device body to move upwards, and therefore the pruning mechanism climbs the trees to the proper positions to prune branches. Manual tree climbing operation is avoided, and the safety of the pruning process is improved.

The invention discloses a pesticide compound composition of abamectin and dsRNA (double-stranded ribonucleic acid) and application of the pesticide compound composition in prevention and control of nematodes. According to the invention, dsRNA is respectively designed and synthesized for five Mcm genes of bursaphelenchus xylophilus, and nucleotide sequences of positive-sense strands of the dsRNA are respectively shown as SEQ ID No.1-SEQ ID No.5; the synthesized dsRNA and abamectin of different components are compounded to obtain the pesticide compound composition, the pesticide compound composition shows a remarkable synergistic effect in the aspect of preventing and treating pine wood nematode diseases, and the nematode killing effect of combined use of the dsRNA and the abamectin is superior to that of single use of any agent; the pesticide compound composition has the potential to become a novel trunk injection for preventing the pine wood nematode disease.

The hemp tree is a malviaceae hibiscus deciduous tree, the trunk and branches contain 65%-75% of cellulose, the hemp tree grows fast, the adaptability is high, the resource utilization rate is low, and the hemp tree powder can achieve the win-win situation of high value and environmental protection. The invention discloses a hemp tree powder bio-based degradable material and a preparation method thereof. The material is prepared from 42%-58% of hemp tree powder, 28%-38% of polylactic acid (PLA), 4%-7% of nano montmorillonite, 3%-5% of hexamethylene diisocyanate and 1.5%-2.5% of calcium stearate. In the preparation process, the hemp tree powder is subjected to alkaline leaching, acid neutralization and enzymolysis modification, nano-montmorillonite composite modification, polyethylene glycol and PLA graft modification; and carrying out segmented temperature control mixing, optimized feeding, warm water granulation and antioxidant addition to prepare the target material. The oxygen transmission rate of the material is smaller than or equal to 45 cm / (m24h 0.1 MPa), the bending strength is larger than or equal to 26 MPa, the tensile strength retention rate after thermal oxidative aging at 120 DEG C for 168 h is larger than or equal to 88%, and the material is excellent in performance and can be used for packaging and disposable products and efficiently utilizing hemp tree resources.

The invention discloses a fractal growth model and refined tree modeling method, and belongs to the technical field of three-dimensional reconstruction, and the method comprises the steps: obtaining an original point cloud and an image set of a single tree in a reconstruction region, and the ground height information of each spatial position; data preprocessing and point cloud data segmentation; extracting a tree skeleton from the non-ground point cloud based on a graph theory, a Dijkstra algorithm and a cubic spline interpolation algorithm; layering reconstruction is carried out on the tree, a three-dimensional grid model, a branch cylinder model and a small branch model of a trunk are generated and fused into a tree model, texture mapping is carried out based on NeRF, and a comprehensive tree model is obtained. According to the method, a graph theory method is introduced as a key link in a skeleton extraction process, a tree skeleton is accurately extracted from a non-ground point cloud, a hierarchical reconstruction method is adopted, accurate extraction of the skeleton and tree modeling are realized, a NeRF technology is introduced during texture mapping, and modeling precision and texture quality are improved.

The invention discloses a tree three-dimensional reconstruction method based on a ground laser radar point cloud, and the method comprises the following steps: carrying out the down-sampling and noise reduction preprocessing of the point cloud data of a single plant through a Hilbert curve; carrying out branch and leaf separation on the preprocessed data by adopting a LeWoS model, and extracting a clear trunk point cloud; and extracting an initial skeleton of the tree by using a semantic Laplacian contraction algorithm based on the trunk point cloud, and optimizing the initial skeleton by using a Laplacian smoothing algorithm. The method has the beneficial effects that the S-LBC algorithm has more advantages in the aspect of maintaining the integrity of the topological structure of the tree, the problems of skeleton breakage and structure simplification can be avoided, and the overall shape of the tree is more natural; according to the method, the robustness under different point cloud densities is achieved, even under the condition of data missing or point cloud sparseness, the overall structure of the tree can still be well reconstructed, and reliable technical support is provided for high-precision tree modeling.

The invention relates to the technical field of tree monitoring, in particular to an intelligent tree health monitor and a monitoring method thereof. Comprising a placement box; an air extracting pump is mounted in the placement box, and a hinge plate is placed at the upper end of the placement box; the number of the hinged plates is two. According to the device, through cooperation of a belt and a hinged plate, a driving motor can drive the belt attached to a tree trunk to climb upwards along the tree trunk, so that the belt drives a carbon dioxide monitor and an oxygen monitor to ascend synchronously through the hinged plate, and compared with the situation that the gravity center of the device continuously ascends through a multi-section hydraulic push rod, the device is more convenient to use. The hinge plate is attached to the trunk, so that the trunk provides stable support for the hinge plate, even if external force interference such as strong wind is encountered, the hinge plate cannot lose balance and topple due to the fact that the hinge plate is supported by the trunk, the device is safer and more reliable in the rising and monitoring process, and the service life of the device is prolonged; and the cost for maintaining and replacing the equipment is reduced.

The utility model relates to the technical field of agricultural machinery, and provides a forest fruit picking and collecting all-in-one machine which comprises a machine body, a collecting mechanism, a vibrating mechanism and a material conveying mechanism, the collecting mechanism and the vibrating mechanism are both connected with the machine body, the collecting mechanism has a first unfolding state and a first folding state, and when the collecting mechanism is in the first folding state, the collecting mechanism is unfolded. The collecting mechanism is used for collecting the forest fruits which are vibrated off, the vibrating mechanism is arranged below the collecting mechanism, the vibrating mechanism comprises a vibrating machine and a clamping assembly, the clamping assembly is connected with the vibrating machine, the clamping assembly has a second unfolding state and a second folding state, and when the clamping assembly is in the second folding state, the clamping assembly is used for clamping tree trunks and vibrating off the forest fruits; and the conveying mechanism is used for outputting the forest fruits collected by the collecting mechanism. According to the forest fruit picking device, a traditional picking mode is changed, integrated operation of forest fruit picking, collecting and conveying is achieved, the picking efficiency is improved, and damage to tree trunks is reduced.

The invention discloses a handheld forest region sample plot calibration surveying and mapping device and method, and relates to the technical field of forest resource investigation, and the device comprises a laser radar, a visual camera and a global navigation satellite system / inertial orientation positioning navigation system integrated navigation unit; when a user carries the device to move, the processing unit constructs a three-dimensional point cloud map and calculates a six-degree-of-freedom pose; when the signal of the global navigation satellite system is unavailable, calculating a current position by combining the three-dimensional point cloud map, the six-degree-of-freedom pose and inertial data; and the processing unit calculates parameters of the stumpage and the candidate area and generates a sample plot calibration surveying and mapping report. According to the invention, the device achieves the synchronous capturing of the characteristics of the trunk base and the canopy at a handheld height, an operator only needs to click and select an initial position on a touch screen, and the system combines laser instant positioning and map construction with a global navigation satellite system / inertial orientation positioning navigation system for tight coupling positioning. And automatically generating sample plot boundaries and ecological parameters conforming to regulations.

Disclosed herein are systems and methods for a variable branch artificial tree. The variable branch artificial tree comprises a removably connected branch comprising at least one twig member and a branch connector. Further the variable branch artificial tree comprises a tree trunk component or section comprising a first branch receptacle and a second branch receptacle. The branch connector can be removably inserted into the first branch receptacle to enable secure coupling of the removably connected branch and the tree trunk component or section. Furthermore, the first branch receptacle is adjacent to the second branch receptacle and at a different height on the tree trunk component than the second branch receptacle.