A vegetation status monitoring method and system for mine restoration

Abstract

The present invention relates to the technical field of mine vegetation status monitoring, and in particular to a vegetation status monitoring method and system for mine restoration, comprising: dividing a plurality of altitude intervals according to the altitude distribution of the mine; dividing a closed area in the mine with an altitude in the same altitude interval into a monitoring area; collecting the heavy metal concentration of each monitoring area and determining the average heavy metal concentration of a plurality of monitoring areas in the same altitude interval; analyzing the change trend of the average heavy metal concentration to determine whether the mine has pollution diffusion characteristics; acquiring remote sensing images of each monitoring area and determining the NDVI of each monitoring area, and determining the average NDVI of a plurality of monitoring areas in the same altitude interval; determining whether the cause of the pollution diffusion characteristics is a difference in planting density according to the average NDVI of each altitude interval; being able to timely identify possible pollution diffusion trends and provide data support for pollution control measures and vegetation restoration strategies.

Description

Technical Field

[0001] The present invention relates to the technical field of mine vegetation status monitoring, and in particular to a vegetation status monitoring method and system for mine restoration. Background Art

[0002] Mining will destroy the surface and soil structure, causing a large amount of unstable heavy metal minerals contained in the ore to be released and flow into the soil. At the same time, a large amount of waste rock and tailings produced by mining contain high concentrations of heavy metals. During the stacking process, these waste rock and tailings will seep into the soil and groundwater due to weathering and rain erosion, causing pollution. Vegetation restoration is an effective method of pollution prevention and control. It absorbs heavy metals in the soil through plant roots and accumulates them in the plant body, thereby reducing the concentration of heavy metals in the soil.

[0003] In the process of mine vegetation restoration, the collection and analysis of vegetation and soil are key means to ensure the effect of vegetation restoration. For example, the prior art discloses a mine vegetation restoration monitoring and effectiveness evaluation system, including a wireless transceiver and a remote controller, a drone body and several soil moisture monitoring instruments each equipped with a wireless transceiver; the remote controller is internally provided with an effectiveness evaluation module, which obtains the returned data and calculates the data to obtain the effectiveness evaluation result. In this solution, the inspection drone body and the soil moisture monitoring instrument obtain the image data of soil vegetation and the soil moisture monitoring data respectively, and transmit the information to the remote controller through the wireless transceiver respectively; the remote controller automatically analyzes the returned information through the effectiveness evaluation module to obtain the effectiveness evaluation result.

[0004] However, in the technical solutions of the above-mentioned monitoring methods for mine pollution and mine restoration, the collected data cannot effectively determine the absorption effect of vegetation on heavy metals in the soil, and thus cannot determine whether there is a phenomenon of heavy metal pollution diffusion, which has limitations for the vegetation status monitoring of mines. Summary of the invention

[0005] The purpose of the present invention is to provide a method and system for monitoring the status of vegetation in mine restoration, so as to solve the problem in the related technology that the collected data cannot effectively determine the absorption effect of vegetation on heavy metals in the soil, and thus cannot determine whether there is heavy metal pollution diffusion, which has limitations for vegetation status monitoring in mines.

[0006] To this end, on the one hand, the present invention provides a vegetation status monitoring method for mine restoration, comprising:

[0007] Divide the mine into several height intervals according to its altitude distribution;

[0008] The enclosed areas in the mine with the same altitude range are divided into monitoring areas;

[0009] Collect the heavy metal concentrations in each monitoring area and determine the average heavy metal concentrations in several monitoring areas in the same altitude range;

[0010] Analyze the changing trend of average heavy metal concentration corresponding to the change of height range and determine whether the mine has the characteristics of pollution diffusion;

[0011] In response to the presence of the pollution diffusion feature, obtaining remote sensing images of each monitoring area and determining the NDVI of each monitoring area, and determining the average NDVI of several monitoring areas in the same height range;

[0012] Whether the pollution diffusion characteristics are caused by differences in planting density is determined based on the average NDVI of each height interval.

[0013] Specifically, determining whether the cause of the pollution diffusion characteristics is the difference in planting density based on the average NDVI of each height interval specifically includes:

[0014] Determine whether the average NDVI gradually decreases as the height decreases. If the average NDVI gradually decreases, it is determined that the cause of the pollution diffusion characteristics is the difference in planting density.

[0015] As a preferred technical solution for the vegetation status monitoring method of mine restoration, if the average NDVI does not gradually decrease with decreasing height, the maximum planting density and maximum planting height of each monitoring area are obtained. If the maximum planting density and the maximum planting height are both greater than the corresponding thresholds, the ground image of the mine is collected by drone along a preset route.

[0016] The preset route is a route with the highest average planting height within the coverage area of ​​drone image acquisition among several navigable routes from the bottom of the mountain to the top of the mountain.

[0017] As a preferred technical solution for the vegetation status monitoring method for mine restoration, the ground vegetation area in each height interval on the preset route is determined based on the ground images collected by the drone at each height interval along the preset route.

[0018] As a preferred technical solution for the vegetation status monitoring method for mine restoration, it is determined whether the ground vegetation area gradually decreases with height. If so, it is determined that the cause of the pollution diffusion characteristics is the difference in planting density.

[0019] As a preferred technical solution for the vegetation status monitoring method for mine restoration, the heavy metal concentrations collected in each monitoring area include:

[0020] Set up several sampling points in the monitoring area and collect soil samples at the sampling points;

[0021] Testing soil samples for heavy metal concentrations;

[0022] The average value calculated based on the heavy metal concentrations at different sampling points is used as the heavy metal concentration in the monitoring area.

[0023] As a preferred technical solution for the vegetation status monitoring method for mine restoration, the pollution diffusion characteristics are determined by the following steps:

[0024] Calculate the concentration difference between adjacent height intervals;

[0025] Calculate the concentration gradient value according to the concentration difference value;

[0026] Comparing the concentration gradient value with a preset gradient value, and if the concentration gradient value is greater than the preset gradient value, determining that the pollution diffusion feature exists;

[0027] Wherein, the preset gradient value is greater than 0.

[0028] As a preferred technical solution of the vegetation status monitoring method for mine restoration, in the several height intervals divided according to the altitude distribution of the mine, each height interval is equidistant.

[0029] On the other hand, the present invention provides a vegetation status monitoring system for mine restoration, which uses the vegetation status monitoring method for mine restoration in any of the above schemes, including:

[0030] The regional division module is used to obtain the altitude distribution of the mine and the division of the monitoring area;

[0031] A collection module, connected to the area division module, for collecting heavy metal concentrations, remote sensing images, and ground images of the mine in each monitoring area;

[0032] A trend determination module, connected to the acquisition module, is used to analyze the change trend of the average heavy metal concentration corresponding to the change of the height interval to determine whether there is pollution diffusion characteristics in the mine;

[0033] The analysis output module is connected to the acquisition module and the trend determination module respectively. In response to the existence of the pollution diffusion characteristics, the analysis output module determines the cause of the pollution diffusion characteristics in combination with the remote sensing image and the ground image of the monitoring area, and outputs the analysis results and the analysis process.

[0034] As a preferred technical solution for the vegetation status monitoring system for mine restoration, the ground image of the mine is obtained by a drone, and the vegetation status monitoring system for mine restoration also includes a path planning module, which is used to determine the navigation route of the drone for collecting ground images.

[0035] The beneficial effects of the present invention are:

[0036] The present invention provides a vegetation status monitoring method for mine restoration, which can comprehensively evaluate the vegetation status and pollution diffusion characteristics during the mine ecological restoration process through systematic height interval division, heavy metal concentration monitoring and vegetation density analysis. By monitoring the heavy metal concentration in different height intervals and combining the vegetation NDVI obtained by remote sensing technology, the spatial distribution pattern of mine pollution diffusion can be effectively identified, and the potential causes of pollution diffusion can be further analyzed, especially the impact of vegetation density differences on pollution diffusion. Combining multi-dimensional monitoring of altitude, heavy metal content and vegetation health status, it is possible to more accurately evaluate the ecological restoration of the mining area, timely identify possible pollution diffusion trends, and provide a scientific basis for pollution control measures and vegetation restoration strategies. Through efficient data collection and analysis methods, the accuracy and comprehensiveness of monitoring are improved, which is particularly suitable for ecological assessment and restoration monitoring in large mining areas, providing a more intelligent and accurate solution for mine ecological management.

[0037] Furthermore, the pollution diffusion characteristics proposed in the present invention can effectively show whether there is a tendency for heavy metals in the mine to diffuse downward, and verify the cause of the diffusion when this tendency exists. For the pollution diffusion characteristics, it may be due to the downward diffusion of heavy metals caused by rain erosion and soil loss, or it may be due to the uneven distribution of vegetation due to terrain factors during vegetation planting, resulting in different absorption of heavy metals by vegetation at different heights, and the occasional diffusion phenomenon. The present invention combines remote sensing images to identify this phenomenon, which can facilitate further understanding of the status of vegetation in mines, and take more appropriate adjustment measures in combination with the detailed monitoring data of the present invention to avoid further spread of heavy metal pollution.

[0038] Furthermore, the present invention has better analyzability for the division of monitoring areas, and the division is based on closed areas in the same height range. The monitoring areas divided in this way can effectively characterize the changes of the mine in different height ranges, which is convenient for further analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a flow chart of a vegetation status monitoring method for mine restoration in an embodiment of the present invention;

[0040] Figure 2 This is a flow chart of collecting heavy metal concentrations in each monitoring area in an embodiment of the present invention;

[0041] Figure 3 A flow chart for determining the pollution diffusion characteristics in an embodiment of the present invention;

[0042] Figure 4 It is a structural block diagram of a vegetation status monitoring system for mine restoration in an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0046] The mining process will destroy the surface and soil structure, causing a large number of unstable heavy metal minerals contained in the ore that are easily leached to be released and flow into the soil. At the same time, a large amount of waste rock and tailings produced by mining contain high concentrations of heavy metals. During the stacking process, these waste rock and tailings will seep into the soil and groundwater due to weathering and rain erosion, causing pollution. The existing monitoring methods for mine pollution and mine restoration cannot effectively deal with this problem, especially the inability to use mine restoration vegetation to carry out targeted prevention and control of heavy metal contaminated areas.

[0047] See also Figure 1 and Figure 2 As shown, the vegetation status monitoring method for mine restoration provided by the present invention includes:

[0048] Step S1, dividing the mine into several height intervals according to its altitude distribution, and each height interval is equidistant;

[0049] Step S2, dividing the closed areas in the mine with the same altitude range into monitoring areas;

[0050] Step S3, collecting the heavy metal concentration of each monitoring area, and determining the average heavy metal concentration of several monitoring areas in the same height range;

[0051] Step S4, analyzing the changing trend of the average heavy metal concentration corresponding to the height interval change to determine whether the mine has pollution diffusion characteristics;

[0052] Step S5, in response to the presence of the pollution diffusion feature, obtaining remote sensing images of each monitoring area and determining the NDVI (normalized difference vegetation index) of each monitoring area, and determining the average NDVI of several monitoring areas in the same height range;

[0053] Step S6, determining whether the cause of the pollution diffusion characteristics is the difference in planting density based on the average NDVI of each height interval.

[0054] In the above steps, the monitoring method of this embodiment can comprehensively evaluate the vegetation status and pollution diffusion characteristics during the ecological restoration of mines through systematic height interval division, heavy metal concentration monitoring and vegetation density analysis. By monitoring heavy metal concentrations in different height intervals and combining the vegetation NDVI obtained by remote sensing technology, the spatial distribution pattern of mine pollution diffusion can be effectively identified, and the potential causes of pollution diffusion can be further analyzed, especially the impact of vegetation density differences on pollution diffusion. Combining multi-dimensional monitoring of altitude, heavy metal content and vegetation health status, it is possible to more accurately evaluate the ecological restoration of mining areas, timely identify possible pollution diffusion trends, and provide a scientific basis for pollution control measures and vegetation restoration strategies. Through efficient data collection and analysis methods, the accuracy and comprehensiveness of monitoring are improved, which is especially suitable for ecological assessment and restoration monitoring in large mining areas, providing a more intelligent and accurate solution for mine ecological management. In detail, the pollution diffusion characteristics can effectively show whether there is a downward diffusion trend of heavy metals in the mine, and verify the cause of diffusion when this trend exists. For the pollution diffusion characteristics, it may be due to the downward diffusion of heavy metals caused by rain erosion and soil loss, or it may be due to the uneven distribution of vegetation due to terrain factors when vegetation is planted, resulting in different absorption of heavy metals by vegetation at different heights, and the diffusion phenomenon that occasionally appears. This embodiment combines remote sensing images to identify this phenomenon, which can facilitate further understanding of the vegetation status of the mine, and take more appropriate adjustment measures in combination with the detailed monitoring data of this embodiment to avoid further diffusion of heavy metal pollution. Furthermore, the monitoring method has better analyzability for the division of the monitoring area, and the division is based on closed areas in the same height range. The monitoring area divided in this way can effectively characterize the changes of the mine in different height ranges, which is convenient for further analysis.

[0055] Specifically, the average NDVI of each height interval is used to determine whether the cause of the pollution diffusion characteristics is the difference in planting density, including:

[0056] Determine whether the average NDVI decreases gradually with decreasing altitude. If the average NDVI decreases gradually, determine that the cause of the pollution diffusion characteristics is the difference in planting density;

[0057] If the average NDVI does not decrease gradually with decreasing height, the maximum planting density and maximum planting height of each monitoring area are obtained. If the maximum planting density and the maximum planting height are both greater than the corresponding thresholds, the ground image of the mine is collected by drone along a preset route.

[0058] Among them, the preset route is the route with the highest average planting height within the coverage area of ​​drone image acquisition among several navigable routes from the bottom of the mountain to the top of the mountain.

[0059] In detail, NDVI can be obtained through remote sensing impact analysis or directly from existing platforms. It is an existing technology. It should be noted that when obtaining the NDVI of the monitoring area through remote sensing image analysis, the spatial resolution of the remote sensing image should be 1-5 meters to ensure that the fine changes in vegetation coverage can be accurately captured. The average NDVI is determined by the following formula:

[0060] ,

[0061] Among them, NDVI R is the average NDVI, A i is the area of ​​the i-th monitoring area, NDVI i It represents the NDVI value of the i-th monitoring area, and n is the number of monitoring areas in this height range.

[0062] The gradual decrease in the average NDVI indicates that the pollution diffusion characteristics are caused by the difference in planting density from top to bottom, not by the pollution diffusion caused by rain erosion, etc., which eliminates the phenomenon of erroneous analysis. And when the average NDVI does not gradually decrease, if the maximum planting density and the maximum planting height are both greater than the corresponding thresholds, the ground image of the mine is collected by drone along a preset route. Considering that there are blind spots in the cause analysis using only NDVI, when the maximum planting density and the maximum planting height are both greater than the corresponding thresholds, it means that the vegetation is too high and too dense, which has a certain degree of obstruction on the surface, ignoring the low plants that can absorb heavy metals under the obstruction. Based on this consideration, a ground image collection from bottom to top is carried out by drone. The above exceptions are verified through this collection, which further improves the accuracy of the monitoring method. It should be understood that the thresholds corresponding to the maximum planting density and the maximum planting height need to be set in combination with the actual scene and plant variety, and can characterize the corresponding degree of obstruction, which will not be repeated here.

[0063] As a preferred technical solution for the vegetation status monitoring method for mine restoration, the ground vegetation area in each height interval on the preset route is determined based on the ground images collected by the drone at each height interval along the preset route.

[0064] As a preferred technical solution for the vegetation status monitoring method of mine restoration, it is determined whether the ground vegetation area gradually decreases with height. If so, it is determined that the cause of the pollution diffusion characteristics is the difference in planting density.

[0065] If it is determined that the cause is not the difference in planting density, there is a tendency for pollution to spread from the mine.

[0066] See also Figure 2 As shown, the heavy metal concentrations collected in each monitoring area include;

[0067] Step S31, setting up a number of sampling points in the monitoring area and collecting soil samples at the sampling points;

[0068] Step S32, detecting the heavy metal concentration in the soil sample by spectral analysis or ICP-MS (inductively coupled plasma mass spectrometry);

[0069] Step S33, based on the heavy metal concentrations at different sampling points, the average value is calculated as the heavy metal concentration of the monitoring area. In detail, the category of heavy metal detection needs to be determined in combination with the actual scene of the mine. For example, the detected heavy metals include but are not limited to lead (Pb), cadmium (Cd), arsenic (As), mercury (Hg) and chromium (Cr).

[0070] See also Figure 3 As shown, the pollution diffusion characteristics are determined by the following steps,

[0071] Step S41, calculating the concentration difference value ΔC between adjacent height intervals;

[0072] ,

[0073] Step S42, calculating the concentration gradient value G according to the concentration difference value;

[0074] ,

[0075] Among them, C j represents the average heavy metal concentration in the jth height interval, and m is the total number of height intervals.

[0076] Step S43, compare the concentration gradient value with the preset gradient value. If the concentration gradient value is greater than the preset gradient value (the preset gradient value is greater than 0), it is determined that the pollution diffusion feature exists, otherwise it does not exist. It can be understood that the preset gradient value needs to be determined in combination with the height of the mine and the number of height intervals. When the concentration gradient G is greater than the preset gradient value, and the concentration change of adjacent height intervals shows a regular increasing trend, it can be determined that there is pollution diffusion in the mine. In particular, when the heavy metal concentration value in the lowest height interval is significantly higher than that in the highest height interval, the diffusion feature is more obvious.

[0077] See also Figure 4 As shown, this embodiment provides a vegetation status monitoring system for mine restoration, which applies the vegetation status monitoring method for mine restoration in any of the above solutions, including:

[0078] The regional division module is used to obtain the altitude distribution of the mine and the division of the monitoring area;

[0079] The acquisition module is connected to the area division module to collect the heavy metal concentration, remote sensing images and ground images of the mine in each monitoring area;

[0080] The trend determination module is connected to the acquisition module and is used to analyze the changing trend of the average heavy metal concentration corresponding to the change of the height interval to determine whether there is pollution diffusion characteristic in the mine;

[0081] The analysis output module is connected to the acquisition module and the trend determination module respectively. In response to the existence of pollution diffusion characteristics, the analysis output module combines the remote sensing image and the ground image of the monitoring area to determine the cause of the pollution diffusion characteristics, and outputs the analysis results and the analysis process. Specifically, the acquisition module includes a soil sampler, an inductively coupled plasma mass spectrometer, a satellite remote sensing image acquisition terminal, a drone, and a transmission unit for acquisition data interaction.

[0082] As the preferred technical solution for the vegetation status monitoring system for mine restoration, the ground image of the mine is obtained by a drone. The vegetation status monitoring system for mine restoration also includes a path planning module, which is used to determine the navigation route of the drone for collecting ground images.

[0083] In addition to the acquisition module, the modules involved in the embodiments described in the present application can be implemented by software or hardware. The modules described can also be set in a processor, for example, it can be described as: a data processor includes a region division module, a trend determination module, an analysis output module and a path planning module. Among them, the names of these modules do not constitute a limitation on the unit itself under certain circumstances.

[0084] The flowchart and block diagram in the accompanying drawings illustrate the system architecture, functions and operations that may be implemented according to the system and method of various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based device that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0085] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A vegetation status monitoring method for mine restoration, characterized in that: include: Divide the mine into several height intervals according to its altitude distribution; The enclosed areas in the mine with the same altitude range are divided into monitoring areas; Collect the heavy metal concentrations in each monitoring area and determine the average heavy metal concentrations in several monitoring areas in the same altitude range; Analyze the changing trend of average heavy metal concentration corresponding to the change of height range to determine whether there are pollution diffusion characteristics in the mine; In response to the presence of the pollution diffusion feature, obtaining remote sensing images of each monitoring area and determining the NDVI of each monitoring area, and determining the average NDVI of several monitoring areas in the same height range; Determine whether the pollution diffusion characteristics are caused by differences in planting density based on the average NDVI of each height interval, including: Determine whether the average NDVI decreases gradually with decreasing altitude. If the average NDVI decreases gradually, it is determined that the cause of the pollution diffusion characteristics is the difference in planting density. If the average NDVI does not decrease gradually with decreasing height, obtain the maximum planting density and the maximum planting height of each monitoring area. If the maximum planting density and the maximum planting height are both greater than the corresponding thresholds, collect ground images of the mine along a preset route using a drone. Determine the ground vegetation area at each height interval on the preset route based on the ground images collected by the drone along the preset route. Determine whether the ground vegetation area gradually decreases with increasing height. If so, determine that the cause of the pollution diffusion characteristics is the difference in planting density. The preset route is a route with the highest average planting height within the coverage area of ​​drone image acquisition among several navigable routes from the bottom of the mountain to the top of the mountain.

2. The vegetation status monitoring method for mine restoration according to claim 1 is characterized in that: The collecting of heavy metal concentrations in each monitoring area includes: Set up several sampling points in the monitoring area and collect soil samples at the sampling points; Testing soil samples for heavy metal concentrations; The average value calculated based on the heavy metal concentrations at different sampling points is used as the heavy metal concentration in the monitoring area.

3. The vegetation status monitoring method for mine restoration according to claim 1 is characterized in that: The pollution diffusion characteristics are determined by the following steps: Calculate the concentration difference between adjacent height intervals; Calculate the concentration gradient value according to the concentration difference value; Comparing the concentration gradient value with a preset gradient value, and if the concentration gradient value is greater than the preset gradient value, determining that the pollution diffusion feature exists; Wherein, the preset gradient value is greater than 0.

4. The vegetation status monitoring method for mine restoration according to claim 1 is characterized in that: In the division of several height intervals according to the altitude distribution of the mine, each height interval is equidistant.

5. A vegetation status monitoring system for mine restoration, characterized in that: The vegetation status monitoring method for mine restoration according to any one of claims 1 to 4 comprises: The regional division module is used to obtain the altitude distribution of the mine and the division of the monitoring area; A collection module, connected to the area division module, for collecting heavy metal concentrations, remote sensing images, and ground images of the mine in each monitoring area; A trend determination module, connected to the acquisition module, is used to analyze the change trend of the average heavy metal concentration corresponding to the change of the height interval to determine whether the mine has pollution diffusion characteristics; The analysis output module is connected to the acquisition module and the trend determination module respectively. In response to the existence of the pollution diffusion characteristics, the analysis output module determines the cause of the pollution diffusion characteristics in combination with the remote sensing image and the ground image of the monitoring area, and outputs the analysis results and the analysis process.

6. The vegetation status monitoring system for mine restoration according to claim 5 is characterized in that: The ground image of the mine is acquired by a drone, and the vegetation status monitoring system for mine restoration also includes a path planning module, which is used to determine the navigation route of the drone for collecting ground images.

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