Invasive Plant Monitoring System

Abstract

This invention discloses an invasive plant monitoring system, including an image acquisition module, a control platform, and a monitoring platform. The image acquisition module includes a drone, a hyperspectral imager, and a mounting device. The mounting device includes a detachable mounting shell installed on the bottom of the drone. The hyperspectral imager includes a hyperspectral imager body and an imaging structure mounted on the hyperspectral imager body. The mounting shell has a mounting cavity for mounting the hyperspectral imager body, and an opening at the bottom of the mounting cavity. The imaging structure is located in the opening to capture hyperspectral images of the ground in the area to be monitored. A protective device is provided inside the mounting shell to protect the imaging structure located at the opening. The invasive plant monitoring system provided by this invention improves the installation stability of the hyperspectral imager through the mounting device. In the event of an accidental fall of the drone, the mounting shell and protective device can protect the hyperspectral imager.

Description

Technical Field

[0001] This invention relates to the field of invasive species monitoring technology, and specifically to an invasive plant monitoring system. Background Technology

[0002] Invasive plants are generally irregularly distributed and mixed with native plants, making them difficult to identify visually under visible light. Furthermore, the complex and variable field environment makes real-time and accurate monitoring of invasive plants challenging with conventional methods. Existing monitoring methods for invasive plants mainly include manual surveys, high-altitude remote sensing, satellite remote sensing, and hyperspectral monitoring. While high-altitude and satellite remote sensing can quickly detect large-scale invasive plant distributions, limitations in image resolution and the intelligence of recognition algorithms often lead to the neglect of small- to medium-sized invasive plants as error points. This hinders early control efforts and misses the optimal period for prevention and control. Additionally, high-altitude and satellite remote sensing are susceptible to cloud interference, resulting in high monitoring costs and poor flexibility, making it difficult to meet the speed and cost requirements for invasive plant monitoring.

[0003] Hyperspectral monitoring can provide hyperspectral information, enabling more accurate identification of invasive plants through higher resolution images. It is particularly useful for monitoring large, medium, and small-scale outbreaks of invasive plants before they occur. For example, the invention patent with publication number CN108875620A, publication date November 23, 2018, entitled "A Monitoring Method and System for Invasive Plants," discloses a method for detecting invasive plants using hyperspectral imaging. This monitoring method includes the following steps:

[0004] The first step is to acquire ground hyperspectral images of the area to be monitored using an image acquisition module;

[0005] The second step is to determine the sensitive spectral bands for imaging the target invasive plant, extract the spectral features of the target invasive plant and the background in the hyperspectral image, and find the spectral bands corresponding to the maximum difference, thereby determining the sensitive spectral bands for imaging the target invasive plant.

[0006] The third step is to construct a deep convolutional neural network, extract hyperspectral images of the target invasive plants in the sensitive spectral bands, select some hyperspectral images in the sensitive spectral bands and divide them into training set and test set, train the deep convolutional neural network with the training set, and then test the deep convolutional neural network generated by the training set.

[0007] The fourth step is to complete the training if the test results meet the expected standard. If the test results do not meet the expected standard, the deep convolutional neural network is adjusted and then tested again with the test set until the test results are greater than or equal to the expected standard.

[0008] The fifth step is to identify invasive plants. The trained deep convolutional neural network is used to identify hyperspectral images in the unselected sensitive spectral bands, thus identifying the invasive plants and the background.

[0009] The aforementioned existing patent applications acquire ground hyperspectral images of the area to be monitored through an image acquisition module. The image acquisition module includes an aircraft and a hyperspectral imager. The hyperspectral imager is directly mounted on the aircraft to take pictures of the area to be monitored. However, the aircraft does not have a device for installing and protecting the hyperspectral imager. Therefore, if the aircraft malfunctions or is accidentally dropped during flight due to improper operation, the aircraft will drag the hyperspectral imager to the ground, making it easy to damage the hyperspectral imager, resulting in losses and affecting monitoring efficiency. Summary of the Invention

[0010] The purpose of this invention is to provide an invasive plant monitoring system to address the aforementioned shortcomings of the prior art.

[0011] To achieve the above objectives, the present invention provides the following technical solution:

[0012] An invasive plant monitoring system includes an image acquisition module, a control platform, and a monitoring platform. The image acquisition module includes a drone and a hyperspectral imager mounted on the drone, and also includes a mounting device. The mounting device includes a mounting housing detachably mounted on the bottom of the drone. The hyperspectral imager includes a hyperspectral imager body and an imaging structure disposed on the hyperspectral imager body. The mounting housing has a mounting cavity for mounting the hyperspectral imager body, and an opening is provided at the bottom of the mounting cavity. The imaging structure is located in the opening to capture hyperspectral images of the ground in the area to be monitored. The mounting housing is provided with a protective device to protect the imaging structure located at the opening.

[0013] In the aforementioned invasive plant monitoring system, the inner wall of the mounting cavity is provided with a buffer structure that provides elastic cushioning for the hyperspectral imager body.

[0014] The aforementioned invasive plant monitoring system includes a protective device comprising an elastic buffer assembly. The elastic buffer assembly comprises a moving body and an elastic body connected to the moving body. During the descent of the UAV, the moving body contacts the obstacle to press against the elastic body.

[0015] The aforementioned invasive plant monitoring system also includes a ring-shaped base disposed at the bottom of the mounting housing, and the elastic buffer assembly disposed at the bottom of the ring-shaped base.

[0016] In the aforementioned invasive plant monitoring system, there are multiple moving bodies, which are arranged sequentially at intervals along the circumference of the annular base, and each moving body is provided with an elastic body.

[0017] The aforementioned invasive plant monitoring system further includes a shielding component disposed at the opening. The shielding component includes a shielding state for shielding the imaging structure and a imaging state for imaging.

[0018] The aforementioned invasive plant monitoring system includes a shielding component comprising an annular fixing plate and a plurality of shielding plates disposed on the annular fixing plate, wherein the annular fixing plate is installed at the opening.

[0019] In the aforementioned invasive plant monitoring system, the annular fixing plate is provided with multiple sliding grooves along the circumference, and the shielding plate is provided with a sliding block. The sliding block moves along the sliding grooves to switch between the shooting state and the shielding state.

[0020] The aforementioned invasive plant monitoring system further includes a ring-shaped moving component coaxially arranged with the fixed plate. The rotation of the ring-shaped moving component can correspondingly drive the sliding block to move along the groove.

[0021] The aforementioned invasive plant monitoring system includes an inner shell and an outer shell surrounding the inner shell.

[0022] In the above technical solution, the present invention provides an invasive plant monitoring system, including an image acquisition module, a control platform, and a monitoring platform. The image acquisition module includes a drone, a mounting device, and a hyperspectral imager. The hyperspectral imager is detachably mounted on the drone via the mounting device. The mounting device can improve the installation stability of the hyperspectral imager and prevent it from falling. The mounting device includes a mounting shell that is detachably mounted on the bottom of the drone. The hyperspectral imager body is installed in the mounting cavity inside the mounting shell. A protective device is provided at the opening at the bottom of the mounting shell. In the event of an accidental fall of the drone, the mounting shell can protect the hyperspectral imager body. The protective device can protect the imaging structure and prevent the hyperspectral imager from colliding with obstacles and being damaged. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0024] Figure 1This is one of the three-dimensional schematic diagrams of the image acquisition module provided in an embodiment of the present invention;

[0025] Figure 2 This is a second three-dimensional schematic diagram of the image acquisition module provided in an embodiment of the present invention;

[0026] Figure 3 This is a three-dimensional schematic diagram of a hyperspectral imager provided in an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of a protection device provided in another embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of the assembly of a protection device provided in another embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram of the installation of the protection device provided in another embodiment of the present invention;

[0030] Figure 7 A perspective view of an elastic buffer assembly provided in another embodiment of the present invention;

[0031] Figure 8 This is a schematic diagram of the structure of the annular base provided in an embodiment of the present invention;

[0032] Figure 9 This is a schematic diagram of the structure of a moving body provided in an embodiment of the present invention;

[0033] Figure 10 This is a schematic diagram of the structure of the occlusion component in the shooting state according to an embodiment of the present invention;

[0034] Figure 11 This is a schematic diagram of the shielding component in the shielding state provided in an embodiment of the present invention;

[0035] Figure 12 An inverted schematic diagram of the occlusion component in the occlusion state provided in an embodiment of the present invention;

[0036] Figure 13 This is a schematic diagram of the assembly of the shielding component provided in an embodiment of the present invention;

[0037] Figure 14 This is a schematic diagram of the structure of the ring-shaped moving component provided in an embodiment of the present invention;

[0038] Figure 15 This is a schematic diagram of the structure of the annular fixing plate provided in an embodiment of the present invention;

[0039] Figure 16 This is a schematic diagram of the structure of the shielding sheet provided in an embodiment of the present invention;

[0040] Figure 17This is a schematic diagram of the structure of the upper annular rotating body provided in an embodiment of the present invention;

[0041] Figure 18 This is a schematic diagram of the structure of a guide component provided in another embodiment of the present invention;

[0042] Figure 19 An inverted schematic diagram of a guide component provided in another embodiment of the present invention;

[0043] Figure 20 This is a schematic diagram of the structure of a vertical guide plate provided in another embodiment of the present invention;

[0044] Figure 21 This is a schematic diagram of the structure of a wedge block provided in another embodiment of the present invention.

[0045] Explanation of reference numerals in the attached figures:

[0046] 1. Unmanned Aerial Vehicle (UAV); 11. Protective Bracket; 2. Hyperspectral Imager; 21. Imaging Structure; 3. Mounting Shell; 31. Inner Shell; 32. Outer Shell; 33. Annular Connector; 34. Cylindrical Shell; 35. Annular Groove; 36. Baffle Plate; 4. Protective Device; 41. Elastic Buffer Assembly; 42. Moving Body; 43. Elastic Body; 44. Lower Connecting Block; 5. Ring-shaped Base; 51. Opening; 52. Through Opening; 6. Shielding Assembly; 61. Annular Fixing Plate; 62. Sliding Groove; 63. Shielding Plate; 64. Triangular Part; 641. Rectangular Part; 642. Sliding... 643. Moving block; 65. Limiting post; 66. Ring-shaped moving part; 651. Ring-shaped base plate; 652. Ring-shaped side plate; 653. Sliding limiting strip; 654. Sliding limiting groove; 66. Upper ring-shaped rotating body; 661. Rotating block; 662. Driving groove; 663. Right-angled trapezoidal groove; 664. Strip groove; 67. Fixed connecting post; 7. Transmission assembly; 71. Wedge block; 72. Transmission rod; 73. Upper connecting block; 74. Pressing inclined surface; 8. Guide assembly; 81. Vertical guide plate; 82. Vertical guide groove; 83. Guide sliding body; 84. Arc plate; 85. Spring component. Detailed Implementation

[0047] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0048] like Figure 1-21As shown, the present invention provides an invasive plant monitoring system, including an image acquisition module, a control platform, and a monitoring platform. The image acquisition module includes a drone 1 and a hyperspectral imager 2 mounted on the drone 1, and also includes a mounting device. The mounting device includes a mounting shell 3 detachably mounted on the bottom of the drone 1. The hyperspectral imager 2 includes a hyperspectral imager 2 body and an imaging structure 21 mounted on the hyperspectral imager 2 body. The mounting shell 3 has a mounting cavity for mounting the hyperspectral imager 2 body. The bottom of the mounting cavity has an opening. The imaging structure 21 is located in the opening to capture hyperspectral images of the ground in the area to be monitored. The mounting shell 3 has a protective device 4 to protect the imaging structure 21 at the opening.

[0049] Specifically, the image acquisition module is used to capture ground hyperspectral images of the area to be monitored. The image acquisition module includes a UAV 1 and a hyperspectral imager 2 mounted on the UAV 1. The UAV 1 and the hyperspectral imager 2 are existing technologies and will not be described in detail. The control platform is used to control the flight trajectory of the aircraft, receive the hyperspectral images from the hyperspectral imager 2, and send the hyperspectral images to the monitoring platform. The monitoring platform is used to extract the spectral features of the target invasive plant and the background in the hyperspectral images, and find the spectral bands corresponding to the maximum difference values, thereby determining the sensitive spectral bands for imaging the target invasive plant. It also uses a trained deep convolutional neural network to identify the hyperspectral images under the unselected sensitive spectral bands, thus identifying the invasive plant and the background. The hyperspectral imager 2 is connected to the aircraft via a USB port, the aircraft is connected to the control platform via WiFi, and the monitoring platform is connected to the control platform via a USB port. The portable hyperspectral imager 2 sends the ground hyperspectral images to the control platform through the aircraft, and the control platform forwards the images to the ground monitoring platform. The monitoring and identification methods of the monitoring platform have been described in detail in existing technologies and will not be repeated here.

[0050] In this embodiment, compared to the prior art where the hyperspectral imager 2 is directly mounted on the drone 1, this embodiment provides a mounting shell 3 on both the drone 1 and the hyperspectral imager 2. The mounting shell 3 serves two purposes: first, it secures the hyperspectral imager 2 to the drone 1, improving the stability of the installation; second, it protects the hyperspectral imager 2 located inside it. Thus, if the drone 1 malfunctions or falls accidentally during flight, the mounting shell 3 can prevent the hyperspectral imager 2 from falling to the ground and can also prevent it from colliding and being damaged.

[0051] In this embodiment, the top of the mounting housing 3 is provided with a mounting structure (not shown in the figure) that matches the UAV 1. The mounting housing 3 can be detachably installed on the bottom of the UAV 1 through the mounting structure. The mounting housing 3 forms a hollow mounting cavity inside, which is used to install the hyperspectral imager 2 body inside. In this way, the mounting housing 3 can protect the hyperspectral imager 2 body and prevent the hyperspectral imager 2 from being damaged by direct collision with obstacles when the UAV 1 falls accidentally during flight. The bottom of the mounting housing 3 forms an opening that communicates with the mounting cavity. The radial dimension of the opening can be the same as or different from the radial dimension of the mounting cavity. The size of the opening meets the shooting requirements of the shooting structure 21. When the hyperspectral imager 2 is installed in the mounting cavity, the shooting structure 21 of the hyperspectral imager 2 is located at the opening. In this way, the shooting structure 21 can shoot the ground of the area to be monitored through the opening to form a hyperspectral image. At the same time, a protective device is also provided at the opening. When the UAV 1 falls accidentally during flight, the protective device can protect the shooting structure 21 and prevent the shooting structure 21 from being damaged.

[0052] This invention provides an invasive plant monitoring system, including an image acquisition module, a control platform, and a monitoring platform. The image acquisition module includes a drone 1, a mounting device, and a hyperspectral imager 2. The hyperspectral imager 2 is detachably mounted on the drone 1 via the mounting device, which improves the installation stability of the hyperspectral imager 2 and prevents it from falling. The mounting device includes a mounting shell 3 detachably mounted on the bottom of the drone 1. The hyperspectral imager 2 is installed in a mounting cavity within the mounting shell 3. A protective device 4 is provided at the opening at the bottom of the mounting shell 3. In the event of an accidental fall of the drone 1, the mounting shell 3 can protect the hyperspectral imager 2, and the protective device 4 can protect the imaging structure 21, preventing the hyperspectral imager 2 from colliding with obstacles and avoiding damage to the hyperspectral imager 2.

[0053] In the embodiments provided by the present invention, preferably, the inner wall of the mounting cavity is provided with a buffer structure for elastically buffering the hyperspectral imager 2 body. The buffer structure is disposed between the inside of the mounting cavity and the hyperspectral imager 2 body. The buffer structure can be an elastic pad or other structures with elastic buffering effect. In this way, when the mounting shell 3 is collided, the buffer structure plays a buffering role and avoids damage to the hyperspectral imager 2.

[0054] In the embodiments provided by this invention, further, during the descent of the UAV 1, the moving body 42 contacts the obstacle to press against the elastic body 43. Two protective supports 11 are provided on the UAV 1, and the mounting shell is located between the two bottom protective supports 11. Since both the mounting shell and the hyperspectral imager 2 are located at the bottom of the UAV 1, the bottom of the UAV 1 is relatively heavy and located at the center of the UAV 1. Thus, when the UAV 1 malfunctions or falls accidentally due to improper operation during flight, the UAV 1 will fall tilted or vertically. When the UAV 1 encounters obstacles such as the ground, rocks, or trees during its fall, the bottom of the protective supports 11 or the mounting shell 3 will collide with the obstacle. The protective supports 11 have good strength and are at a certain distance from the mounting shell 3, so the impact of the collision with the protective supports 11 on the hyperspectral imager 2 is relatively small. Although small, when the bottom of the mounting housing 3 collides with an obstacle, the opening at the bottom of the mounting housing 3 allows granular or strip-shaped debris such as obstacles, gravel, and branches to enter the interior of the mounting housing 3 and damage the hyperspectral imager 2. Therefore, a protective device is provided at the bottom of the mounting housing 3. The protective device has two functions: First, when the bottom of the mounting housing 3 collides, the protective device can seal the opening, thereby preventing granular or strip-shaped debris such as obstacles, gravel, and branches from entering the interior of the mounting housing 3. Second, when the bottom of the mounting housing 3 collides with an obstacle, the mounting housing 3 collidees with the obstacle through the protective device, and the mounting housing 3 does not directly collide with the obstacle. The protective device has an elastic buffering effect, thereby protecting the mounting housing 3 and the hyperspectral imager 2 located inside the mounting housing 3.

[0055] In the embodiments provided by the present invention, preferably, an annular base 5 is disposed at the bottom of the mounting housing 3. The protective device includes an elastic buffer component 41, which is disposed at the bottom of the annular base 5. The annular base 5 is coaxially fixed with the mounting housing 3. The inner sidewall of the annular base forms an opening 51 corresponding to the opening. The shape of the opening 51 can be cylindrical or frustum-shaped. That is, the size of the opening 51 gradually increases from the mounting housing 3 to the annular base 5, which facilitates the shooting of the structure 21.

[0056] In a preferred embodiment of the present invention, the elastic buffer assembly 41 includes a moving body 42 and an elastic body 43 connected to the moving body 42. Multiple moving bodies 42 are arranged sequentially at intervals along the circumference of the annular base 5. Each moving body 42 is provided with an elastic body 43. The moving body 42 can be an arc-shaped seat, and the elastic body 43 can be a connecting spring. The bottom of the elastic body 43 is connected to the moving body 42, and the top of the elastic body 43 is fixedly connected to the annular base. The multiple moving bodies 42 form a ring-shaped motion structure. The radial dimension of the ring-shaped motion structure is larger than the radial dimension of the annular base, thereby increasing the probability of the elastic buffer assembly 41 colliding with obstacles during the fall of the drone 1 and preventing safety hazards. When the outer shell 3 collides directly with the obstacle, the moving body 42 will be pressed against the ring base when the elastic buffer component 41 collides with the obstacle. The elastic body 43 blocks the movement of the moving body 42 to provide elastic buffering. The elastic buffer component 41 and the protective bracket 11 of the UAV 1 can also be set such that the position of the elastic buffer component 41 is lower than the position of the protective bracket 11. In this way, when the UAV 1 lands normally, the elastic buffer component 41 will contact the ground first, thereby buffering the landing of the UAV 1. After the moving body 42 is pressed and moves a certain distance, the protective bracket 11 will contact the ground to complete the landing of the UAV 1. This can prevent the UAV 1 from impacting the hyperspectral imager 2 during normal landing.

[0057] In a preferred embodiment of the present invention, the protective device further includes a shielding component 6, which is disposed at the opening. The shielding component 6 includes a shielding state for shielding the imaging structure 21 and a shooting state for shooting. The shielding component 6 includes an annular fixing plate 61 and a plurality of shielding pieces 63 disposed on the annular fixing plate 61. The annular fixing plate 61 is installed at the opening, and the inner wall of the annular fixing plate 61 forms a circular opening for the imaging structure 21 to shoot. The opening, the circular opening, and the opening 51 of the annular base are coaxially arranged to form an opening structure for the imaging structure 21 to shoot the ground. When the hyperspectral imager 2 is in normal use... When the shielding component 6 is in the shooting state, the opening structure is open, and the shooting structure 21 can capture hyperspectral images of the ground in the area to be monitored. When the drone 1 accidentally falls and collides, the shielding component 6 is in the shielding state. At this time, each shielding piece 63 forms a circular closed structure to close the opening structure, so that the mounting shell 3 forms a fully enclosed structure. The hyperspectral imager 2 is located inside the mounting shell 3. The circular closed structure is located directly below the shooting structure 21, thereby protecting the shooting structure 21 and preventing destructive objects from entering through the opening structure and causing damage to the shooting structure 21 and the hyperspectral imager 2.

[0058] In the embodiments provided by the present invention, optionally, the annular fixing plate 61 is provided with a plurality of sliding grooves 62 along the circumferential direction, and the blocking plate 63 is provided with a sliding block 642. The sliding block 642 moves along the sliding grooves 62 to switch between shooting state and blocking state; there are multiple blocking plates 63, and the number of sliding grooves 62 is consistent with the number of blocking plates 63. The sliding grooves 62 can be connected or disconnected. The sliding blocks 642 of the blocking plates 63 are slidably restricted in the sliding grooves 62 one by one. The following description uses six blocking plates 63 and six sliding grooves 62: The blocking plate 63 includes an integrally formed triangular part 64 and a rectangular part 641. The triangular part 64 is an isosceles triangle, and the sliding block 641... 2. The rectangular portion 641 is provided with a sliding groove portion 62, which includes a side of the annular fixing plate 61 corresponding to the annular base 5. The six sliding groove portions 62 form a regular hexagonal sliding groove structure (the sliding groove structure is coaxially arranged with the annular fixing plate 61). Each sliding block 642 is slidably disposed in a sliding groove portion 62. When the blocking component 6 is in the blocking state, the triangular portions 64 of each blocking piece 63 are in close contact to form a circular closed structure that closes the opening structure. When each sliding block 642 moves in the same direction (clockwise or counterclockwise) along the sliding groove portion 62, the triangular portions 64 of each blocking piece 63 separate in sequence, thereby opening the opening structure.

[0059] In the embodiments provided by the present invention, the mounting housing 3 further includes an inner housing 31 and an outer housing 32 surrounding the inner housing 31. The inner housing 31 and the outer housing 32 are coaxially arranged. The hyperspectral imager 2 is disposed inside the inner housing 31. The inner housing 31 and the outer housing 32 can both increase the protection of the hyperspectral imager 2 and facilitate the installation of the shielding component 6, so that the shielding component 6 and the hyperspectral imager 2 are disposed in different installation spaces.

[0060] In a preferred embodiment of the present invention, the shielding assembly 6 further includes an annular moving member 65 coaxially arranged with the fixed plate. Rotation of the annular moving member 65 can correspondingly drive the sliding block 642 to move along the sliding groove 62. The annular fixed plate 61 is fixedly installed on the inner housing 31. The annular moving member 65 includes an annular base plate 651 and an annular side plate 652 surrounding the annular base plate 651. The annular base plate 651 is located directly below the annular fixed plate 61. The radial dimension of the annular base plate 651 is larger than that of the annular fixed plate 61. The central opening 51 of the annular base plate 651 is the same size as the circular opening of the annular fixed plate 61. A storage space for the shielding piece 63 is formed between the annular base plate 651 and the annular side plate 652. The shielding piece 63 is located between the annular base plate 651 and the annular fixed plate 61. The annular side plate 652 surrounds the annular fixed plate 61. The plate 61 is provided, and the annular base plate 651 is provided with sliding limit bars 653. The number of sliding limit bars 653 is the same as the number of shielding pieces 63. The sliding limit bars 653 are provided with sliding limit grooves 654. The shielding pieces 63 are provided with limiting posts 643 on the other side corresponding to the mounting sliding block 642. The limiting posts 643 slide and limit within the sliding limit grooves 654. The sliding limit grooves 654 limit the movement of the shielding pieces 63. When the annular base plate 651 rotates, the shielding pieces 63 are driven by the sliding limit grooves 654 and the limiting posts 643. The movement of the limiting posts 643 within the sliding limit grooves 654 drives the sliding block 642 to move along the sliding groove 62, thereby enabling the shielding pieces 63 to switch between shielding and shooting states. When the shielding pieces 63 move to the shooting state, each shielding piece 63 is located in the storage space.

[0061] In a preferred embodiment of the present invention, the shielding component 6 further includes an upper annular rotating body 66, which is located directly above the annular moving member 65. The upper annular rotating body 66 and the annular moving member 65 are coaxially arranged and fixedly connected by a fixed connecting post 67. The number of fixed posts can be set as needed. In this way, the upper annular rotating body 66, the annular base plate 651 and the annular side plate 652 are connected to form a rotating structure through the fixed posts. A rotating block 661 is provided on the top of the upper annular rotating body 66. The outer shell 32 includes an annular connecting seat 33 and a cylindrical outer shell 34. An annular groove 35 is provided at the bottom of the annular connecting seat 33. The rotating block 661 is slidably restricted in the annular groove 35. The cylindrical outer shell 34 surrounds the outside of the fixed post, thereby covering the annular base plate 651, the annular side plate 652 and the fixed post inside.

[0062] In the preferred embodiment of the present invention, a baffle plate 36 is provided in the annular groove 35, and an elastic blocking member is provided on the baffle plate 36. The rotating block 661 rotates along the annular groove 35 and presses against the elastic blocking member. The number of baffle plates 36 is consistent with the number of rotating blocks 661. For example, if there are 6 rotating blocks 661, then there are 6 baffle plates 36. The baffle plates 36 are evenly spaced along the circumference of the annular groove 35, thereby dividing the annular groove 35 into 6 arc-shaped grooves. The 6 rotating blocks 661 are respectively slidably restricted in the annular groove 35. The elastic blocking member can be a spring member 85. The number of elastic blocking members can be consistent with the number of baffle plates 36, that is, each baffle plate 36 is provided with one elastic blocking member, or it can be less than the number of baffle plates 36, that is, some baffle plates 36 are provided with elastic blocking members. The elastic blocking member is arranged circumferentially along the arc-shaped groove. The elastic blocking member blocks the sliding block 642 along the movement stroke of the arc-shaped groove. By setting the elastic blocking member, the shielding assembly 6 can be restored to the initial state. For example, when the elastic blocking member is in the initial state, each shielding plate is in the shooting state. When the rotating structure formed by the upper annular rotating body 66, the annular base plate 651 and the annular side plate 652 is driven to rotate, the annular base plate 651 moves and causes each shielding plate to move from the shooting state to the shielding state. At this time, the elastic blocking member is pressed against by the rotating block 661 and has elasticity. When the driving force of the rotating structure disappears, under the elastic force of the elastic blocking member, the rotating block 661 can be driven to rotate in the opposite direction along the arc-shaped groove, so that the rotating structure rotates and the annular base plate 651 rotates in the opposite direction, so that each shielding plate moves from the shielding state to the shooting state.

[0063] In another preferred embodiment of the present invention, a transmission assembly 7 is further included, which is disposed between the annular moving member 65 and the elastic buffer assembly 41. The movement of the moving body 42 can correspondingly drive the annular moving member 65 to rotate. The transmission assembly 7 includes a wedge block 71 and a transmission rod 72, the number of wedge blocks 71 and transmission rods 72 being consistent with the number of moving bodies 42. A lower connecting block 44 is provided on the moving body 42, and an upper connecting block 73 is provided on the wedge block 71. A spacer for the transmission rod 72 is provided on the annular base 5. The moving through opening 52, the two ends of the transmission rod 72 are respectively connected to the upper connecting block 73 and the lower connecting block 44. The transmission rod 72 can be directly fixed to the upper connecting block 73 and the lower connecting block 44, or it can be rotatably connected. For example, the upper end and the lower end of the transmission rod 72 are rotatably connected to the upper connecting block 73 and the lower connecting block 44 through the rotating shaft. When the moving body 42 collides with the obstacle, the moving body 42 will drive the wedge block 71 through the transmission rod 72, so that the wedge block 71 moves.

[0064] In another embodiment of the present invention, preferably, the outer wall of the upper annular rotating body 66 is provided with a driving groove 662 from bottom to top. The driving groove 662 includes a connected right-angled trapezoidal groove 663 and a strip groove 664. The strip groove 664 is located above the right-angled trapezoidal groove 663. The pressing inclined surface 74 of the wedge block 71 is arranged parallel to the driving inclined surface of the right-angled trapezoidal groove 663. The number of driving grooves 662 is consistent with the number of wedge blocks 71. The moving body 42, the transmission rod 72, and the wedge blocks 71 correspond one-to-one to form a driving structure. This driving structure corresponds one-to-one with the driving groove 662. When the wedge block 71 moves along the driving groove 662, the pressing inclined surface 74 of the wedge block 71 can drive the driving inclined surface of the right-angled trapezoidal groove 663, causing the upper annular rotating body 66 to rotate. When there are multiple moving bodies 42, there are multiple driving structures. When one of the moving bodies 42 collides with an obstacle, this driving structure drives the upper annular rotating body 66 to rotate. When two, three or more of the moving bodies 42 collide with an obstacle at the same time, these two, three or more driving structures simultaneously drive the upper annular rotating body 66 to rotate.

[0065] In another embodiment of the present invention, preferably, when each of the blocking plates 63 is in the shooting state, the pressing slope 74 of the wedge block 71 is separated from the driving slope of the right trapezoid. The advantage of this arrangement is that when the moving body 42 collides with the obstacle, it can buffer the impact and drive the blocking component 6 according to the magnitude of the impact force of the moving body 42. For ease of description, the continuous movement stroke of the moving body 42 after the back collision is divided into three strokes, namely the first stroke, the second stroke, and the third stroke. In the first stroke, the elastic body 43 blocks the movement of the moving body 42 to achieve elastic buffering. During this process, the pressing slope 74 of the wedge block 71 and the driving slope of the right trapezoid are always separated. The rotating structure formed by the connection of the upper annular rotating body 66, the annular bottom plate 651, and the annular side plate 652 does not rotate. The blocking plate 63 is in the shooting state during the first stroke. At the end, the pressing slope 74 of the wedge block 71 contacts the driving slope of the right trapezoid; in the second stroke, the elastic body 43 continues to block the movement of the moving body 42 to achieve elastic buffering. During this process, the pressing slope 74 of the wedge block 71 presses and drives the driving slope of the right trapezoid, thereby causing the rotating structure formed by the connection of the upper annular rotating body 66, the annular base plate 651 and the annular side plate 652 to rotate, which correspondingly drives the shielding plate 63 to rotate from the shooting state to the shielding state. During this process, the rotating block 661 presses against the elastic blocking member, and the elastic blocking member also has an elastic buffering effect; in the third stroke, the elastic body 43 continues to block the movement of the moving body 42 to achieve elastic buffering, and the wedge block 71 moves into the strip groove 664. During this process, the rotating structure formed by the connection of the annular rotating body, the annular base plate 651 and the annular side plate 652 does not rotate, so that the shielding plate 63 remains in the shielding state.

[0066] In another preferred embodiment of the present invention, a guide component 8 is further included, which is disposed on the annular connecting seat 33 for guiding the movement of the wedge block 71. The guide component 8 includes vertical guide plates 81, the number of which is the same as the number of wedge blocks 71. The upper end of the vertical guide plate 81 is fixedly connected to the annular connecting seat 33, and the lower end of the vertical guide plate 81 is fixedly connected to the annular base. A vertical guide groove 82 is formed on the side of the vertical guide plate 81 near the upper annular rotating body 66. A guide slider 83 is provided on the wedge block 71, which can move along the vertical guide groove 82. An arc plate 84 is provided between the guide slider 83 and the wedge block 71. The arc plate 84 is coaxially arranged with the upper annular rotating body 66. A spring member 85 is provided in the vertical guide groove 82. The guide slider 83 can press against the spring member 85 when it moves along the vertical guide groove 82. When the shielding plate 63 is in the shooting state, the guide slider 83 separates from the spring member 85. The distance 5 satisfies the following requirements: During the first and second strokes of the moving body 42, the guide slider 83 and the spring 85 do not contact each other. When the second stroke of the moving body 42 ends, the guide slider 83 contacts the spring 85. During the third stroke, the guide slider 83 presses against the spring 85, and the elastic coefficient of the spring 85 is greater than that of the elastic body 43. The advantage of this setting is that: during the first stroke, the moving body 42 is elastically buffered by the elastic body 43; during the second stroke, the moving body 42 is elastically buffered by the elastic body 43 and the elastic blocking element, and the buffering strength in this stage is greater than that in the first stroke; during the third stroke, the moving body 42 is elastically buffered by the elastic body 43 and the spring 85, and the buffering strength in this stage is greater than that in the second stroke. This achieves a multi-form buffering system with progressively increasing elastic buffering strength, improving the buffering effect and enhancing the protection of the hyperspectral imager 2 and the UAV 1.

[0067] In another embodiment of the present invention, preferably, after the resistance on the moving body 42 disappears, under the elastic force of the spring 85, the elastic blocking member, and the elastic body 43, the moving body 42 and the rotating structure begin to move in the opposite direction to the initial state. Since the wedge block 71 moves along the strip groove 664 during the third movement stroke to lock the upper annular rotating body 66, the reverse movement stroke of the moving body 42 moves in the reverse direction in the order of the third movement stroke, the second movement stroke, and the first movement stroke. At the beginning stage after the resistance on the moving body 42 disappears, the spring 85 drives the guide sliding body 83, and the elastic body 43 drives the moving body 42, so that the guide sliding body 83 moves downward along the vertical guide groove 82 until the guide sliding body 83 separates from the spring 85. During this process, the wedge block 71 moves downward along the strip groove 664 to leave the strip groove 664 and release the lock on the upper annular rotating body 66. Subsequently, driven by the elastic blocking component, the upper annular rotating body 66 rotates, and the annular base plate 651 rotates with the upper annular rotating body 66, correspondingly driving the shielding plate to move from the shielding state to the shooting state. During this process, the elastic body 43 drives the moving body 42, causing the wedge block 71 to move downward as well. Finally, the elastic body 43 continues to drive the moving body 42, thereby restoring the driving structure formed by the moving body 42, the transmission rod 72, and the wedge block 71 to the initial state. At the same time, during the process of protecting the hyperspectral imager 2 through the shielding component 6, the moving body 42 is the main force-bearing component. The moving body 42 may be damaged. There are multiple moving bodies 42. When one or two are damaged, only the damaged moving body 42 needs to be replaced. Moreover, the moving body 42 is located at the bottom of the annular base 5 and is in an exposed state. When replacing the moving body 42, it is not necessary to disassemble other parts, which improves the convenience of replacement and maintenance.

[0068] The foregoing has only described certain exemplary embodiments of the present invention by way of illustration. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the foregoing drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An invasive plant monitoring system, comprising an image acquisition module, a control platform, and a monitoring platform, wherein the image acquisition module includes a drone and a hyperspectral imager mounted on the drone, characterized in that, It also includes a mounting device, which includes a mounting housing that can be detachably mounted on the bottom of the UAV. The hyperspectral imager includes a hyperspectral imager body and an imaging structure disposed on the hyperspectral imager body. The mounting housing has a mounting cavity for mounting the hyperspectral imager body. The bottom of the mounting cavity has an opening. The imaging structure is located in the opening to capture hyperspectral images of the ground in the area to be monitored. The mounting housing has a protective device to protect the imaging structure located at the opening. The protective device includes an elastic buffer assembly, which includes a moving body and an elastic body connected to the moving body. During the landing of the UAV, the moving body contacts an obstacle to press against the elastic body. The protective device also includes a shielding component disposed at the opening, the shielding component having a shielding state for shielding the shooting structure and a shooting state for shooting. The shielding assembly includes an annular fixing plate and a plurality of shielding pieces disposed on the annular fixing plate, wherein the annular fixing plate is installed at the opening; The annular fixing plate is provided with a plurality of sliding grooves along the circumference, and the shielding plate is provided with a sliding block. The sliding block moves along the sliding groove to switch between the shooting state and the shielding state. The shielding assembly also includes an annular moving member coaxially arranged with the fixed plate. The rotation of the annular moving member can correspondingly drive the sliding block to move along the sliding groove. The shielding assembly also includes an upper annular rotator located directly above the annular moving part; The outer wall of the upper annular rotating body is provided with a driving groove from bottom to top. The driving groove includes a right-angled trapezoidal groove and a strip groove connected together. The mounting housing includes an inner housing and an outer housing surrounding the inner housing; the outer housing includes an annular connecting seat and a cylindrical outer housing, the bottom of the annular connecting seat is provided with an annular groove, and the rotating block slides and is restricted within the annular groove; a baffle plate is provided within the annular groove, and an elastic blocking element is provided on the baffle plate, and the rotating block will press against the elastic blocking element when it rotates along the annular groove. It also includes a transmission assembly, which is disposed between the ring-shaped moving part and the elastic buffer assembly, and the movement of the moving body can correspondingly drive the ring-shaped moving part to rotate; the transmission assembly includes a wedge block and a transmission rod. The continuous motion of the moving body after being collided is divided into three strokes. In the first stroke, the elastic body blocks the movement of the moving body to achieve elastic buffering. During this process, the pressing slope of the wedge block and the driving slope of the right-angled trapezoidal groove remain separated. The rotating structure formed by the upper annular rotating body, the annular base plate, and the annular side plate does not rotate, and the shielding plate is in the shooting state. At the end of the first stroke, the pressing slope of the wedge block comes into contact with the driving slope of the right-angled trapezoidal groove. In the second stroke, the elastic body continues to block the movement of the moving body to achieve elastic buffering. This causes the rotating structure formed by the upper annular rotating body, the annular base plate, and the annular side plate to rotate, which in turn drives the shielding plate to rotate from the shooting state to the shielding state. During this process, the rotating block presses against the elastic blocking component, which also has an elastic buffering effect. In the third stroke, the elastic body continues to block the movement of the moving body to achieve elastic buffering. During this process, the rotating structure formed by the annular rotating body, the annular base plate, and the annular side plate does not rotate, keeping the shielding plate in the shielding state. It also includes a guide assembly, which is mounted on the annular connecting seat to guide the movement of the wedge block. The guide assembly includes a vertical guide plate; a vertical guide groove is formed on the side of the vertical guide plate near the upper annular rotating body; a spring is provided in the vertical guide groove; the moving body is in the first movement stroke, and elastic buffering is provided by an elastic body; the moving body is in the second movement stroke, and elastic buffering is provided by an elastic body and an elastic blocking member, with the buffering strength in this stage being greater than that in the first movement stroke; the moving body is in the third movement stroke, and elastic buffering is provided by an elastic body and a spring, with the buffering strength in this stage being greater than that in the second movement stroke.

2. The invasive plant monitoring system according to claim 1, characterized in that, The inner wall of the mounting cavity is provided with a buffer structure that provides elastic cushioning for the hyperspectral imager body.

3. The invasive plant monitoring system according to claim 2, characterized in that, It also includes an annular base disposed at the bottom of the mounting housing, and the elastic cushioning assembly disposed at the bottom of the annular base.

4. The invasive plant monitoring system according to claim 3, characterized in that, There are multiple moving bodies, which are arranged sequentially at intervals along the circumference of the annular base, and each moving body is provided with an elastic body.

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