A method for deploying drone monitoring networks for mangrove ecological monitoring

Abstract

The present invention relates to the field of ecological monitoring, and in particular to a method for arranging a drone monitoring network for mangrove ecological monitoring. The method comprises the following steps: constructing a mangrove ecological safety source area and an ecological resistance surface of the mangrove ecological safety source area, identifying ecological corridor areas and ecological strategic points, and constructing a drone monitoring network according to the mangrove ecological safety source area, the ecological corridor area and the ecological strategic points to form a unified and independent drone mangrove ecosystem monitoring system, thereby realizing a reasonable layout of drone networking, meeting high-frequency, real-time dynamic monitoring requirements for mangroves, and realizing a precise match between drone monitoring area coverage and monitoring requirements.

Description

Technical Field

[0001] The present invention relates to the field of ecological monitoring, and in particular to a method, device, computer equipment and storage medium for unmanned aerial vehicle monitoring network layout for mangrove ecological monitoring. Background Art

[0002] Mangroves are a special forest landscape that grows in the sea-land transition zone. They have ecological functions such as breaking wind and waves, purifying the environment, protecting biodiversity, and maintaining the ecological balance of coastal estuaries. They also provide humans with a large number of animal and plant products and other types of resources. They play a significant role in ensuring the ecological security of the coastline and are closely related to the survival and development of coastal residents.

[0003] Because drones are flexible in takeoff and landing, can be equipped with high-resolution visible light cameras, spectral imagers, thermal imagers, lidars, synthetic aperture radars, etc., and have high image resolution, they have been widely used in species surveys and classification, monitoring of plant leaf traits and coastal ecological environment, and biomass surveys. However, since mangroves grow in the sea-land transition zone, the terrain is complex, and the surface conditions and meteorological conditions are complex and changeable, there is currently no unified and independent drone mangrove ecosystem monitoring system that can meet the high-frequency, real-time dynamic monitoring needs of mangroves. Summary of the invention

[0004] Based on this, the purpose of the present invention is to provide a method, device, computer equipment and storage medium for the layout of a drone monitoring network for mangrove ecological monitoring. By constructing mangrove ecological safety source areas and ecological resistance surfaces of mangrove ecological safety source areas, identifying ecological corridor areas and ecological strategic points, a drone monitoring network is constructed according to the mangrove ecological safety source areas, ecological corridor areas and ecological strategic points to form a unified and independent drone mangrove ecosystem monitoring system, thereby achieving a reasonable layout of drone networking, meeting the high-frequency, real-time dynamic monitoring needs of mangroves, and achieving precise matching of drone monitoring area coverage and monitoring needs.

[0005] In a first aspect, an embodiment of the present application provides a method for deploying a drone monitoring network for mangrove ecological monitoring, comprising the following steps:

[0006] Obtaining the area to be laid out and basic data of the area to be laid out, wherein the basic data includes mangrove environmental variable data, mangrove species distribution data, land use data, digital elevation model data and normalized difference vegetation index data;

[0007] Inputting the mangrove environmental variable data and the mangrove distribution data into a preset species distribution model to obtain mangrove growth suitability index data; identifying mangrove suitable growth areas in the area to be laid out according to the mangrove growth suitability index data to obtain mangrove suitable growth areas;

[0008] Using the morphological spatial pattern analysis method, according to the land use data, the mangrove ecological source area of ​​the area to be laid out is identified to obtain the mangrove ecological source area; the mangrove ecological source area and the mangrove suitable growth area are superimposed to construct the mangrove ecological safety source area;

[0009] Constructing an ecological resistance surface of the mangrove ecological security source area based on the land use data, digital elevation model data and normalized difference vegetation index data;

[0010] According to the mangrove ecological safety source area and the ecological resistance surface of the mangrove ecological safety source area, ecological corridor areas and ecological strategic points are constructed; according to the mangrove ecological safety source area, ecological corridor areas and ecological strategic points, a drone monitoring network is constructed.

[0011] In a second aspect, the embodiment of the present application provides a drone monitoring network layout device for mangrove ecological monitoring, including:

[0012] A data acquisition module, used to obtain the area to be laid out and basic data of the area to be laid out, wherein the basic data includes mangrove environmental variable data, mangrove species distribution data, land use data, digital elevation model data and normalized difference vegetation index data;

[0013] A region identification module is used to input the mangrove environmental variable data and the mangrove distribution data into a preset species distribution model to obtain mangrove growth suitability index data; based on the mangrove growth suitability index data, identify the mangrove suitable growth area of ​​the area to be laid out to obtain the mangrove suitable growth area;

[0014] A regional construction module is used to identify the mangrove ecological source area of ​​the area to be laid out according to the land use data by using a morphological spatial pattern analysis method, and obtain the mangrove ecological source area; superimpose the mangrove ecological source area and the mangrove suitable growth area to construct the mangrove ecological safety source area;

[0015] An ecological resistance surface construction module is used to construct an ecological resistance surface of the mangrove ecological safety source area according to the land use data, digital elevation model data and normalized vegetation index data;

[0016] The drone monitoring network layout module is used to construct ecological corridor areas and ecological strategic points based on the mangrove ecological safety source area and the ecological resistance surface of the mangrove ecological safety source area; and to construct a drone monitoring network based on the mangrove ecological safety source area, ecological corridor area and ecological strategic points.

[0017] In a third aspect, an embodiment of the present application provides a computer device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method for layout of a drone monitoring network for mangrove ecological monitoring as described in the first aspect are implemented.

[0018] In a fourth aspect, an embodiment of the present application provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the method for layout of a drone monitoring network for mangrove ecological monitoring as described in the first aspect.

[0019] In an embodiment of the present application, a method, device, computer equipment and storage medium for the layout of a drone monitoring network for mangrove ecological monitoring are provided. By constructing mangrove ecological safety source areas and ecological resistance surfaces of mangrove ecological safety source areas, ecological corridor areas and ecological strategic points are identified, and a drone monitoring network is constructed according to the mangrove ecological safety source areas, ecological corridor areas and ecological strategic points to form a unified and independent drone mangrove ecosystem monitoring system, thereby achieving a reasonable layout of drone networking, meeting the high-frequency, real-time dynamic monitoring needs of mangroves, and achieving precise matching of drone monitoring area coverage and monitoring needs.

[0020] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A flow chart of a method for deploying a drone monitoring network for mangrove ecological monitoring provided in one embodiment of the present application;

[0022] Figure 2 A schematic diagram of S2 in the process of a method for deploying a drone monitoring network for mangrove ecological monitoring provided by an embodiment of the present application;

[0023] Figure 3 A schematic diagram of S3 in the process of a method for deploying a drone monitoring network for mangrove ecological monitoring provided by an embodiment of the present application;

[0024] Figure 4 A schematic diagram of S4 in the process of a method for deploying a drone monitoring network for mangrove ecological monitoring provided by an embodiment of the present application;

[0025] Figure 5 A schematic diagram of S5 in the process of a method for deploying a drone monitoring network for mangrove ecological monitoring provided by an embodiment of the present application;

[0026] Figure 6 A schematic diagram of S5 in the process of a method for deploying a drone monitoring network for mangrove ecological monitoring provided by an embodiment of the present application;

[0027] Figure 7 A schematic diagram of S55 in the process of a method for deploying a drone monitoring network for mangrove ecological monitoring provided by an embodiment of the present application;

[0028] Figure 8 A schematic diagram of the structure of a drone monitoring network layout device for mangrove ecological monitoring provided by an embodiment of the present application;

[0029] Fig. 9 A schematic diagram of the structure of a computer device provided for one embodiment of the present application. DETAILED DESCRIPTION

[0030] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0031] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0032] It should be understood that, although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" / "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determination".

[0033] See also Figure 1 , Figure 1 A flowchart of a method for deploying a drone monitoring network for mangrove ecological monitoring provided by an embodiment of the present application is provided. The method comprises the following steps:

[0034] S1: Obtain a region to be laid out and basic data of the region to be laid out.

[0035] The executor of the method for deploying a drone monitoring network for mangrove ecological monitoring is a layout device of the method for deploying a drone monitoring network for mangrove ecological monitoring (hereinafter referred to as the layout device). In an optional embodiment, the layout device may be a computer device, a server, or a server cluster composed of multiple computer devices.

[0036] In this embodiment, the layout device can obtain the area to be laid out and the basic data of the area to be laid out from a preset database, wherein the basic data includes mangrove environmental variable data, mangrove species distribution data, land use data, digital elevation model data and normalized vegetation index data.

[0037] The mangrove environmental variable data refers to the marine or terrestrial environmental factors that mangroves are affected by during their growth. Environmental factors such as temperature, salinity, sediment, and distance from the coastline are important indicators that affect the growth and distribution of mangroves, and reflect the mangrove growth environment in the region.

[0038] The mangrove species distribution data is based on high-precision satellite remote sensing images, combined with visual interpretation, and extracted using a support vector machine (SVM) classifier, reflecting the distribution of mangrove species in the region.

[0039] Land use data are data and information that reflect the status, characteristics, dynamic changes, distribution features of the land use system and land use elements, as well as human development and utilization, governance, transformation, management and protection, and land use planning.

[0040] Digital Elevation Model data can reflect local terrain features with a certain resolution and is an important original data for studying and analyzing terrain, watersheds, and identifying land features.

[0041] Normalized Difference Vegetation Index (NDVI) is an index used in remote sensing image analysis to evaluate and quantify the vegetation coverage of the surface. It is calculated based on the difference in reflectance between the near infrared band (NIR) and the red band (Red) of the image.

[0042] S2: Input the mangrove environmental variable data and the mangrove distribution data into a preset species distribution model to obtain mangrove growth suitability index data; identify the mangrove suitable growth area in the area to be laid out based on the mangrove growth suitability index data to obtain the mangrove suitable growth area.

[0043] In this embodiment, the layout device inputs the mangrove environmental variable data and the mangrove distribution data into a preset species distribution model to obtain mangrove growth suitability index data, wherein the mangrove growth suitability index data includes the mangrove growth suitability index of several grid units in the area to be laid out.

[0044] Specifically, the species distribution model is a maximum entropy model (MaxEnt), which is based on the maximum entropy principle, that is, the probability distribution of a random event is predicted under the premise of fully considering known information without making any subjective assumptions about unknown situations. At this time, the distribution state with the maximum information entropy is the state closest to the truth. The results of the species distribution model are output in the form of grid unit data. The pixel value of each grid unit represents the mangrove growth suitability index in the grid unit. The pixel value range is between 0 and 1. The larger the pixel value, the higher the suitability of mangrove growth.

[0045] The layout device identifies the mangrove suitable growth area in the area to be laid out according to the mangrove growth suitability index data to obtain the mangrove suitable growth area.

[0046] See also Figure 2 , Figure 2 The schematic diagram of S2 in the process of the method for deploying a drone monitoring network for mangrove ecological monitoring provided by an embodiment of the present application includes step S21, which is as follows:

[0047] S21: Classify the plurality of grid units according to their mangrove growth suitability indexes and a plurality of preset threshold intervals of the mangrove growth suitability indexes to obtain grid units of a plurality of levels; combine grid units of the same level to construct a plurality of levels of mangrove suitable growth areas.

[0048] In this embodiment, the layout device classifies the plurality of grid units into levels according to the mangrove growth suitability indexes of the plurality of grid units and a plurality of preset threshold intervals of the mangrove growth suitability indexes to obtain grid units of a plurality of levels; and combines grid units of the same level to construct a plurality of levels of mangrove suitable growth areas.

[0049] Specifically, the mangrove growth suitability index threshold interval includes the first-level mangrove growth suitability index threshold interval , Secondary mangrove growth suitability index threshold range And the threshold range of the third-level mangrove growth suitability index The layout device classifies a plurality of grid units according to the threshold range of the mangrove growth suitability index to obtain grid units of a plurality of levels.

[0050] S3: Using the morphological spatial pattern analysis method, according to the land use data, the mangrove ecological source area of ​​the area to be laid out is identified to obtain the mangrove ecological source area; the mangrove ecological source area and the mangrove suitable growth area are superimposed to construct the mangrove ecological safety source area.

[0051] Morphological Spatial Pattern Analysis (MSPA) conducts spatial pattern analysis on raster images based on the principles of mathematical morphology. It can accurately distinguish the types and structures of ecosystems and identify important patches that play an important role in improving ecological security connectivity.

[0052] In this embodiment, the layout device adopts a morphological spatial pattern analysis method to identify the mangrove ecological source area of ​​the area to be laid out according to the land use data, and obtains the mangrove ecological source area.

[0053] The layout equipment superimposes the mangrove ecological source area and the mangrove suitable growth area to construct a mangrove ecological safety source area, wherein the mangrove ecological safety source area includes several levels of mangrove ecological safety source sub-areas.

[0054] See also Figure 3 , Figure 3 The schematic diagram of S3 in the process of the method for deploying a drone monitoring network for mangrove ecological monitoring provided by an embodiment of the present application includes steps S31 to S32, which are specifically as follows:

[0055] S31: Using the farmland, unused land and construction land data in the land use data as background data, and the mangrove, forest, tidal flat and wetland data in the land use data as foreground data, several candidate patch areas of the area to be laid out are identified, and the area data of the candidate patch areas are obtained.

[0056] In this embodiment, the layout device is based on Guidos software, and uses the farmland, unused land and construction land data in the land use data as background data, and the mangrove, forest, tidal flat and wetland data in the land use data as foreground data, and adopts the eight-field analysis method to identify several non-overlapping types of initial patch areas in the area to be laid out, wherein the initial patch areas include core areas, bridging areas, pores, loops, branches, edge areas and island patch areas.

[0057] The layout device uses the core area patch area as a candidate patch area to represent a potential ecological source, and obtains area data of several of the candidate patch areas.

[0058] S32: Determine a minimum area threshold, extract a number of target patch areas from the candidate patch areas according to the area data of the candidate patch areas and the minimum area threshold, and construct the mangrove ecological source area.

[0059] Since the supply capacity of the core patch area with a smaller area is limited, in this embodiment, the layout device obtains the minimum ratio corresponding to several candidate area thresholds according to the area data of several candidate patch areas, several preset candidate area thresholds and the area threshold minimum ratio calculation algorithm, and takes the candidate area threshold with the smallest minimum ratio as the minimum area threshold to determine the minimum area threshold, wherein the area threshold minimum ratio calculation algorithm is:

[0060]

[0061] In the formula, is the minimum ratio of area threshold, i is the candidate area threshold, i =0, 0.5, 1.0, 1.5, ....; To meet the candidate area threshold i The area data of the candidate patch region is the area data of the candidate patch region that meets the candidate area threshold i+0.5.

[0062] The layout device takes the candidate patch area as the target patch area based on the area data of several candidate patch areas and the minimum area threshold. If the area data of the candidate patch area is greater than the minimum area threshold, the candidate patch area is taken as the target patch area, and several target patch areas are extracted from the several candidate patch areas to construct the mangrove ecological source area.

[0063] S4: Constructing an ecological resistance surface of the mangrove ecological security source area based on the land use data, digital elevation model data and normalized difference vegetation index data.

[0064] In this embodiment, the layout device constructs the ecological resistance surface of the mangrove ecological security source area according to the land use data, digital elevation model data and normalized vegetation index data.

[0065] See also Figure 4 , Figure 4The schematic diagram of S4 in the process of the method for deploying a drone monitoring network for mangrove ecological monitoring provided by an embodiment of the present application includes steps S41 to S43, which are specifically as follows:

[0066] S41: Obtaining several types of ecological resistance factors and corresponding resistance values ​​of several grid cells in the mangrove ecological safety source area according to the land use data, digital elevation model data and normalized difference vegetation index data.

[0067] In this embodiment, the layout device constructs ecological resistance factors from the two aspects of ecological attributes and human interference according to the land use data, digital elevation model data and normalized vegetation index data, and constructs several types of ecological resistance factors for several grid units in the mangrove ecological safety source area as core resistance factors affecting the ecological safety of mangroves, wherein the ecological resistance factors include ecological attribute resistance factors and human interference resistance factors; the ecological attribute resistance factors include elevation resistance factors, slope resistance factors and normalized vegetation index resistance factors; the human interference resistance factors include land use factors, distance resistance factors from water systems and distance resistance factors from roads.

[0068] In order to eliminate the interference of multicollinearity among the factors, the layout equipment obtains the resistance values ​​corresponding to several different types of ecological resistance factors of several grid units according to the correspondence between several different types of ecological resistance factors and corresponding resistance values ​​in the preset ecological resistance factor correspondence table.

[0069] Specifically, the layout device uses ArcGIS platform to convert various ecological resistance factors into raster data through conversion tools according to several types of ecological resistance factors of several grid units, and adopts natural breakpoint method to divide the resistance factors into five levels of extremely low, low, medium, high and extremely high, and assigns different resistance coefficients to obtain the level corresponding to the ecological resistance factor of the corresponding type, and traverses the ecological resistance factor corresponding table according to the level corresponding to the ecological resistance factor of the corresponding type to obtain the resistance value corresponding to the level corresponding to the ecological resistance factor of this type, and obtain the resistance values ​​corresponding to several different types of ecological resistance factors of several grid units.

[0070] S42: Using the principal component analysis method, according to the land use data, digital elevation model data and normalized vegetation index data, obtain the weight parameters corresponding to several different types of ecological resistance factors of several grid units in the mangrove ecological safety source area.

[0071] In this embodiment, the layout device uses the spatial principal component analysis tool in ArcGIS software and adopts the principal component analysis method to calculate the eigenvalue, contribution rate and load matrix of each principal component according to the land use data, digital elevation model data and normalized vegetation index data, and obtains several different types of ecological resistance factors and corresponding weight parameters of several grid units in the mangrove ecological safety source area.

[0072] S43: According to the resistance values ​​corresponding to the several types of ecological resistance factors and the corresponding weight parameters, the ecological resistance data of several grid units are obtained to construct the ecological resistance surface of the mangrove ecological safety source area.

[0073] In this embodiment, the layout device performs weighted superposition processing according to several types of ecological resistance factors of several grid units and corresponding weight parameters to obtain ecological resistance data of several grid units and construct the ecological resistance surface of the mangrove ecological safety source area, wherein the ecological resistance data is:

[0074]

[0075] In the formula, CF is the ecological resistance data, n is the number of ecological resistance factors, is the resistance value corresponding to the k-th type of ecological resistance factor, is the weight parameter of the k-th type of ecosystem service resistance factor.

[0076] Constructing the ecological resistance surface from both natural and human factors and exploring the difficulties experienced by species during migration can more comprehensively analyze the energy transmission resistance status in the mangrove ecological security source area, which can serve as the basis for the construction of the UAV monitoring network to improve the efficiency of mangrove ecosystem monitoring.

[0077] S5: Construct ecological corridor areas and ecological strategic points based on the mangrove ecological safety source area and the ecological resistance surface of the mangrove ecological safety source area; construct a drone monitoring network based on the mangrove ecological safety source area, ecological corridor area and ecological strategic points.

[0078] In this embodiment, the layout device constructs an ecological corridor area and an ecological strategic point according to the mangrove ecological safety source area and the ecological resistance surface of the mangrove ecological safety source area, wherein the ecological corridor area is the optimal path for information transmission between ecological sources and plays a key role in maintaining the ecological safety of mangroves. The ecological strategic point refers to the high-value area of ​​accumulated current that frequently crosses the ecological corridor area, which is the key node of energy flow and development and construction in the ecological corridor area, and plays a key role in the overall circulation of the ecological corridor area.

[0079] The layout equipment constructs a UAV monitoring network according to the mangrove ecological safety source area, ecological corridor area and ecological strategic points, and reasonably arranges the UAV monitoring network based on the constructed mangrove ecological safety source area, ecological corridor area and ecological strategic points. On the one hand, it realizes the precise matching of UAV monitoring area coverage and monitoring needs. On the other hand, the UAV base station is used as the carrier and component node of the UAV monitoring network, which has higher network stability and effectively solves the communication instability problem caused by the traditional UAV self-organizing network due to its decentralized and self-organizing characteristics.

[0080] See also Figure 5 , Figure 5 The schematic diagram of S5 in the process of the method for deploying a drone monitoring network for mangrove ecological monitoring provided by an embodiment of the present application includes steps S51 to S53, which are specifically as follows:

[0081] S51: Adopting the minimum cost path method, according to the ecological resistance data of several grid units of several levels of mangrove ecological safety source sub-areas, the minimum cumulative resistance value between several levels of mangrove ecological safety source sub-areas is obtained.

[0082] In this embodiment, the layout device adopts the minimum cost path method to obtain the minimum cumulative resistance value between several levels of mangrove ecological safety source sub-areas based on the ecological resistance data of several grid units of several levels of mangrove ecological safety source sub-areas.

[0083] Specifically, the layout device uses the Linkage Pathway—BuildNetwork and Map Linkages tool of the Linkage Mapper toolbox to obtain the minimum cumulative resistance value between several levels of mangrove ecological security source sub-areas based on the ecological resistance data of several grid units of several levels of mangrove ecological security source sub-areas.

[0084] S52: According to the minimum cumulative resistance value between several levels of mangrove ecological safety source sub-areas and a preset resistance threshold, several combinations of mangrove ecological safety source sub-areas are obtained; according to the several combinations of mangrove ecological safety source sub-areas, ecological corridors corresponding to the several combinations of mangrove ecological safety source sub-areas are obtained to construct the ecological corridor area.

[0085] In this embodiment, the layout device obtains several combinations of mangrove ecological safety source sub-areas based on the minimum cumulative resistance value between several levels of mangrove ecological safety source sub-areas and a preset resistance threshold, if the minimum cumulative resistance value is less than or equal to the resistance threshold, wherein the mangrove ecological safety source sub-area combinations include a combination of a first-level mangrove ecological safety source sub-area and a first-level mangrove ecological safety source sub-area, a combination of a first-level mangrove ecological safety source sub-area and a second-level mangrove ecological safety source sub-area, a combination of a first-level mangrove ecological safety source sub-area and a third-level mangrove ecological safety source sub-area, a combination of a second-level mangrove ecological safety source sub-area and a third-level mangrove ecological safety source sub-area, and a combination of a third-level mangrove ecological safety source sub-area and a third-level mangrove ecological safety source sub-area.

[0086] The layout device obtains ecological corridors corresponding to several combinations of mangrove ecological safety source sub-regions according to several combinations of mangrove ecological safety source sub-regions, and constructs the ecological corridor area.

[0087] In an optional embodiment, the layout device obtains the ecological corridors and ecological corridor grades corresponding to the several combinations of mangrove ecological safety source sub-areas and a preset correspondence table of mangrove ecological safety source sub-areas and ecological corridor grades, and constructs the ecological corridor area, wherein the first-level mangrove ecological safety source sub-area and the first-level mangrove ecological safety source sub-area are corresponding to each other. The combination of all source sub-areas corresponds to the highest ecological corridor; the combination between the first-level mangrove ecological security source sub-area and the second-level mangrove ecological security source sub-area corresponds to a high-level ecological corridor; the combination between the first-level mangrove ecological security source sub-area and the third-level mangrove ecological security source sub-area corresponds to a medium-level ecological corridor; the combination between the second-level mangrove ecological security source sub-area and the third-level mangrove ecological security source sub-area corresponds to a medium-level ecological corridor; the combination between the third-level mangrove ecological security source sub-area and the third-level mangrove ecological security source sub-area corresponds to a general ecological corridor.

[0088] S53: using a circuit simulation method, according to the ecological resistance data of a plurality of grid units of a plurality of ecological corridors in the ecological corridor area, identifying a plurality of ecological strategic points of the ecological corridors, and obtaining the ecological strategic points in the ecological corridor area.

[0089] In this embodiment, the layout device adopts a circuit simulation method to identify several ecological strategic points of the ecological corridors according to the ecological resistance data of several grid units of the ecological corridors in the ecological corridor area, and obtain the ecological strategic points in the ecological corridor area.

[0090] Specifically, layout devices are linked The Mapper tool calls Circuitscape to identify ecosystem service strategic points during the model calculation process, and uses the mangrove ecological security source sub-areas in the mangrove ecological security source sub-area combination corresponding to the ecological corridor as circuit power supplies and circuit terminals respectively. If the levels of the mangrove ecological security source sub-areas in the mangrove ecological security source sub-areas are the same, any mangrove ecological security source sub-area is taken as the circuit power supply, and the other mangrove ecological security source sub-area is taken as the circuit terminal. If the levels of the mangrove ecological security source sub-areas in the mangrove ecological security source sub-areas are different, the mangrove ecological security source sub-area with a relatively high level is taken as the circuit power supply, and the mangrove ecological security source sub-area with a relatively low level is taken as the circuit terminal; the ecological resistance data of several grid units in the corresponding ecological corridor are used as conductive surfaces, and the current intensity in the ecological corridor is analyzed by simulating the flow of current in the ecological corridor, identifying the ecological strategic points in the corresponding ecological corridor, and obtaining the ecological strategic points in the ecological corridor area. The importance of the ecological corridor area and the ecological strategic points for maintaining the landscape connectivity of the entire region is quantitatively evaluated by the current value.

[0091] The loss of ecosystem service flow direction and flow caused by transmission resistance is comprehensively considered, and the ecological resistance surface of the region is accurately evaluated. Then, the regional ecological corridor areas and ecological strategic points in the ecological corridor areas are constructed, reflecting the continuous impact of natural and human factors on the ecological security of mangroves, and providing scientific decision-making support for urban development and ecosystem management.

[0092] See also Figure 6 , Figure 6 The schematic diagram of S5 in the process of the method for deploying a drone monitoring network for mangrove ecological monitoring provided by an embodiment of the present application includes steps S54 to S55, which are specifically as follows:

[0093] S54: taking several levels of mangrove ecological safety source sub-areas in the mangrove ecological safety source area as monitoring demand areas, obtaining several center points of the monitoring demand areas; taking the center points and ecological strategic points as candidate base station sites.

[0094] The mangrove ecological safety source area is an important patch to ensure the ecological safety of mangroves in the study area and provide necessary ecological functions. In this embodiment, the layout device uses several levels of mangrove ecological safety source sub-areas in the mangrove ecological safety source area as monitoring demand areas to obtain several center points of the monitoring demand areas.

[0095] The layout device takes the central point and the ecological strategic point as candidate base station sites. Specifically, the layout device takes the first-level mangrove ecological safety source sub-area as the first-level base station candidate site, the second-level mangrove ecological safety source sub-area as the second-level base station candidate site, and the third-level mangrove ecological safety source sub-area as the third-level base station candidate site, so as to set corresponding monitoring tasks according to the distribution of mangroves in the basic site.

[0096] Considering that the basic sites may not be able to fully cover the area, the layout equipment uses the ecological strategic points as candidate sites for supplementary base stations of the UAV monitoring network to play the role of stepping stones, which is conducive to the healthy operation of the regional ecological network and affects the material and energy exchange and species migration in the region.

[0097] S55: Obtaining the area data of several monitoring demand areas and the construction cost data of several base station candidate sites; determining several base station target sites from several base station candidate sites according to the area data of several monitoring demand areas, the construction cost data of several base station candidate sites and a preset UAV base station site selection model; using the ecological corridor area as a communication link, and constructing the UAV monitoring network according to the several base station target sites and the communication link.

[0098] In this embodiment, the layout device obtains the area data of several monitoring demand areas and the construction cost data of several base station candidate sites, wherein the construction cost data is obtained by equal-weighted superposition of the elevation value, slope value, land use type value and restricted flight zone value of the current base station candidate site.

[0099] The layout equipment determines several base station target sites from several base station candidate sites based on the area data of several monitoring demand areas, the construction cost data of several base station candidate sites and the preset UAV base station site selection model, starting from the needs of maximizing the area of ​​the monitoring demand area, maximizing efficiency and minimizing construction costs, to meet the sudden, dynamic, land-sea coordinated mangrove ecological safety monitoring needs, and improve the timeliness and efficiency of mangrove ecological safety monitoring.

[0100] The ecological corridor area is an important bridge and link connecting patches, which greatly affects the connectivity between patches and the exchange of species, nutrients and energy between patches. The layout equipment uses the ecological corridor area as a communication link. According to a number of base station target sites and communication links, multiple base station target sites are constructed. The drone base stations set at the base station target sites are integrated into a complete network structure through wireless communication links to construct the drone monitoring network and improve the monitoring efficiency of drone monitoring.

[0101] See also Figure 7 , Figure 7 The schematic diagram of S55 in the process of the method for deploying a drone monitoring network for mangrove ecological monitoring provided by an embodiment of the present application includes steps S551 to S552, which are specifically as follows:

[0102] S551: Construct an objective function based on the objective function of maximizing the coverage of the monitoring demand area and the objective function of minimizing the construction cost of the drone base station in the drone base station site selection model.

[0103] The objective function for maximizing the coverage rate of the monitoring demand area is:

[0104]

[0105] In the formula, To monitor the maximum coverage value of the required area, For the i Base station candidate sites j Coverage area data of monitoring demand areas, S is the number of candidate base station sites, For the i The decision variable of a base station candidate site indicates whether the base station candidate site is selected. For the j The area data of the monitoring demand area.

[0106] The objective function for minimizing the construction cost of the drone base station is:

[0107]

[0108] In the formula, For the i The construction cost data of each base station candidate.

[0109] In this embodiment, the layout device constructs an objective function according to the objective function of maximizing the coverage of the monitoring demand area and the objective function of minimizing the construction cost of the drone base station in the drone base station site selection model, wherein the objective function is:

[0110]

[0111] In the formula, F is the objective function.

[0112] S552: Based on the area data of several monitoring demand areas, the construction cost data of several base station candidate sites, and the monitoring demand area coverage constraint conditions, monitoring demand area coverage overlap constraint conditions, drone base station construction cost constraint conditions, and sparse area coverage constraint conditions in the drone base station site selection model, the objective function is solved to determine several base station target sites from the several base station candidate sites.

[0113] In this embodiment, the layout device solves the objective function according to the area data of the plurality of monitoring demand areas, the construction cost data of the plurality of base station candidate sites, and the monitoring demand area coverage constraint, the monitoring demand area coverage overlap constraint, the drone base station construction cost constraint, and the sparse area coverage constraint in the drone base station site selection model, and determines a plurality of base station target sites from the plurality of base station candidate sites, wherein the monitoring demand area coverage constraint is:

[0114]

[0115] In the formula, For the j The minimum monitoring coverage rate of each monitoring demand area, The number of monitoring demand areas.

[0116] The monitoring requirement area coverage overlap constraint condition is:

[0117]

[0118] In the formula, For the j The monitoring demand area and the adjacent k Coverage overlap data between monitoring demand areas, It is the maximum coverage overlap area data.

[0119] The cost constraints for the construction of the drone base station are:

[0120]

[0121] In the formula, B The maximum construction cost data.

[0122] The sparse area coverage constraint condition is:

[0123]

[0124] In the formula, For the j The minimum number of drone base stations in a monitoring demand area.

[0125] Please refer to Figure 8 , Figure 8 A schematic diagram of the structure of a drone monitoring network layout device for mangrove ecological monitoring provided by an embodiment of the present application. The device can implement all or part of the drone monitoring network layout device for mangrove ecological monitoring through software, hardware, or a combination of both. The device 8 includes:

[0126] The data acquisition module 81 is used to obtain the area to be laid out and basic data of the area to be laid out, wherein the basic data includes mangrove environmental variable data, mangrove species distribution data, land use data, digital elevation model data and normalized difference vegetation index data;

[0127] The area identification module 82 is used to input the mangrove environmental variable data and the mangrove distribution data into a preset species distribution model to obtain mangrove growth suitability index data; based on the mangrove growth suitability index data, identify the mangrove suitable growth area of ​​the area to be laid out to obtain the mangrove suitable growth area;

[0128] The regional construction module 83 is used to identify the mangrove ecological source area of ​​the area to be laid out according to the land use data by using a morphological spatial pattern analysis method, and obtain the mangrove ecological source area; superimpose the mangrove ecological source area and the mangrove suitable growth area to construct the mangrove ecological safety source area;

[0129] An ecological resistance surface construction module 84 is used to construct an ecological resistance surface of the mangrove ecological safety source area according to the land use data, digital elevation model data and normalized vegetation index data;

[0130] The drone monitoring network layout module 85 is used to construct ecological corridor areas and ecological strategic points based on the mangrove ecological safety source area and the ecological resistance surface of the mangrove ecological safety source area; and to construct a drone monitoring network based on the mangrove ecological safety source area, ecological corridor area and ecological strategic points.

[0131] In an embodiment of the present application, a data acquisition module is used to obtain basic data of the area to be laid out and the area to be laid out, wherein the basic data includes mangrove environmental variable data, mangrove species distribution data, land use data, digital elevation model data and normalized vegetation index data; through a regional identification module, the mangrove environmental variable data and mangrove distribution data are input into a preset species distribution model to obtain mangrove growth suitability index data; based on the mangrove growth suitability index data, the area to be laid out is identified as a mangrove suitable growth area to obtain a mangrove suitable growth area; through a regional construction module, a morphological spatial pattern analysis method is used to identify the mangrove suitable growth area based on the land use data. The mangrove ecological source area is identified in the area to be laid out to obtain the mangrove ecological source area; the mangrove ecological source area and the mangrove suitable growth area are superimposed to construct the mangrove ecological safety source area; through the ecological resistance surface construction module, the ecological resistance surface of the mangrove ecological safety source area is constructed according to the land use data, digital elevation model data and normalized vegetation index data; through the unmanned aerial vehicle monitoring network layout module, according to the mangrove ecological safety source area and the ecological resistance surface of the mangrove ecological safety source area, the ecological corridor area and the ecological strategic point are constructed; according to the mangrove ecological safety source area, the ecological corridor area and the ecological strategic point, the unmanned aerial vehicle monitoring network is constructed. By constructing the ecological resistance surface of the mangrove ecological safety source area and the mangrove ecological safety source area, the ecological corridor area and the ecological strategic point are identified, and according to the mangrove ecological safety source area, the ecological corridor area and the ecological strategic point, the unmanned aerial vehicle monitoring network is constructed to form a unified and independent unmanned aerial vehicle mangrove ecosystem monitoring system, realize the reasonable layout of the unmanned aerial vehicle network, meet the high-frequency and real-time dynamic monitoring needs of mangroves, and realize the precise matching of the unmanned aerial vehicle monitoring area coverage and monitoring needs.

[0132] Please refer to Fig. 9 , Fig. 9 The computer device 9 is a schematic diagram of a structure of a computer device provided in an embodiment of the present application. The computer device 9 includes: a processor 91, a memory 92, and a computer program 93 stored in the memory 92 and executable on the processor 91; the computer device may store a plurality of instructions, which are suitable for being loaded and executed by the processor 91 Figures 1 to 7 The method steps of the embodiment shown in the figure can be found in the specific implementation process. Figures 1 to 7 The specific description of the illustrated embodiment will not be repeated here.

[0133] Among them, the processor 91 may include one or more processing cores. The processor 91 uses various interfaces and lines to connect various parts in the server, and executes various functions and processes data of the drone monitoring network layout device 8 for mangrove ecological monitoring by running or executing instructions, programs, code sets or instruction sets stored in the memory 92, and calling the data in the memory 92. Optionally, the processor 91 can be implemented in at least one hardware form of digital data processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programble Logic Array, PLA). The processor 91 can integrate one or more combinations of a central processing unit 91 (Central Processing Unit, CPU), an image processor 91 (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the touch display; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 91, but implemented by a single chip.

[0134] The memory 92 may include a random access memory 92 (RAM) or a read-only memory 92 (Read-Only Memory). Optionally, the memory 92 includes a non-transitory computer-readable storage medium. The memory 92 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 92 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch instructions, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 92 may also be optionally at least one storage device located away from the aforementioned processor 91.

[0135] The present application also provides a storage medium that can store multiple instructions, which are suitable for the processor to load and execute the above-mentioned Figures 1 to 7 For the specific steps and execution process of the embodiment shown in FIG. Figures 1 to 7 The specific description of the illustrated embodiment will not be repeated here.

[0136] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0137] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0138] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraint algorithm of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0139] In the embodiments provided by the present invention, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0140] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0141] In addition, in various embodiments of the present invention, each functional unit may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0142] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc.

[0143] The present invention is not limited to the above-mentioned embodiments. If various changes or modifications to the present invention do not depart from the spirit and scope of the present invention, and if these changes and modifications fall within the scope of the claims and equivalent technologies of the present invention, the present invention is also intended to include these changes and modifications.

Claims

1. A method for deploying drone monitoring networks for mangrove ecological monitoring, characterized in that: The following steps are involved: Obtaining the area to be laid out and basic data of the area to be laid out, wherein the basic data includes mangrove environmental variable data, mangrove species distribution data, land use data, digital elevation model data and normalized difference vegetation index data; Inputting the mangrove environmental variable data and the mangrove distribution data into a preset species distribution model to obtain mangrove growth suitability index data; identifying mangrove suitable growth areas in the area to be laid out according to the mangrove growth suitability index data to obtain mangrove suitable growth areas; Using the morphological spatial pattern analysis method, according to the land use data, the mangrove ecological source area of ​​the area to be laid out is identified to obtain the mangrove ecological source area; the mangrove ecological source area and the mangrove suitable growth area are superimposed to construct the mangrove ecological safety source area; Constructing an ecological resistance surface of the mangrove ecological security source area based on the land use data, digital elevation model data and normalized difference vegetation index data; Constructing ecological corridor areas and ecological strategic points based on the mangrove ecological safety source area and the ecological resistance surface of the mangrove ecological safety source area; Taking several levels of mangrove ecological safety source area sub-areas in the mangrove ecological safety source area as monitoring demand areas, obtaining several center points of the monitoring demand areas; taking the center points and ecological strategic points as candidate base station sites; Obtain area data of several monitoring demand areas and construction cost data of several base station candidate sites; construct an objective function according to the monitoring demand area coverage maximization objective function and the drone base station construction cost minimization objective function in the preset drone base station site selection model, wherein the monitoring demand area coverage maximization objective function is: In the formula, To monitor the maximum coverage value of the required area, For the i Base station candidate sites for the first j Coverage area data of monitoring demand areas, S is the number of candidate base station sites, For the i The decision variable of a base station candidate site indicates whether the base station candidate site is selected. For the j Area data of the monitoring demand area; The objective function for minimizing the construction cost of the drone base station is: In the formula, For the i Construction cost data of candidate base stations; According to the objective function of maximizing the coverage rate of the monitoring demand area in the drone base station site selection model and the objective function of minimizing the construction cost of the drone base station, an objective function is constructed, wherein the objective function is: In the formula, F is the objective function; According to the area data of several monitoring demand areas, the construction cost data of several base station candidate sites, and the monitoring demand area coverage constraint conditions, monitoring demand area coverage overlap constraint conditions, drone base station construction cost constraint conditions, and sparse area coverage constraint conditions in the drone base station site selection model, the objective function is solved, and several base station target sites are determined from several base station candidate sites; the ecological corridor area is used as a communication link, and a drone monitoring network is constructed according to the several base station target sites and the communication link.

2. The method for deploying a drone monitoring network for mangrove ecological monitoring according to claim 1 is characterized in that: The mangrove growth suitability index data includes mangrove growth suitability indexes of a plurality of grid cells in the area to be laid out; The method of identifying the mangrove suitable growth area of ​​the area to be laid out according to the mangrove growth suitability index data to obtain the mangrove suitable growth area comprises the following steps: According to the mangrove growth suitability indexes of the plurality of grid units and the preset threshold intervals of the mangrove growth suitability indexes, the plurality of grid units are graded to obtain grid units of a plurality of grades; the grid units of the same grade are combined to construct a plurality of grades of mangrove suitable growth areas.

3. The method for deploying a drone monitoring network for mangrove ecological monitoring according to claim 2 is characterized in that: The method of using the morphological spatial pattern analysis method to identify the mangrove ecological source area of ​​the area to be laid out according to the land use data to obtain the mangrove ecological source area includes the following steps: Using the farmland, unused land and construction land data in the land use data as background data, and the mangrove, forest, tidal flat and wetland data in the land use data as foreground data, identifying several candidate patch areas in the area to be laid out, and obtaining area data of several candidate patch areas; A minimum area threshold is determined, and a plurality of target patch areas are extracted from the plurality of candidate patch areas according to the area data of the plurality of candidate patch areas and the minimum area threshold, so as to construct the mangrove ecological source area.

4. The method for deploying a drone monitoring network for mangrove ecological monitoring according to claim 3 is characterized in that: The step of constructing the ecological resistance surface of the mangrove ecological safety source area according to the land use data, the digital elevation model data and the normalized difference vegetation index data comprises the following steps: According to the land use data, digital elevation model data and normalized difference vegetation index data, several types of ecological resistance factors and corresponding resistance values ​​of several grid cells in the mangrove ecological safety source area are obtained; Using the principal component analysis method, according to the land use data, digital elevation model data and normalized difference vegetation index data, weight parameters corresponding to several different types of ecological resistance factors of several grid cells in the mangrove ecological safety source area are obtained; According to the resistance values ​​corresponding to several types of ecological resistance factors and the corresponding weight parameters, the ecological resistance data of several grid units are obtained to construct the ecological resistance surface of the mangrove ecological safety source area.

5. The method for deploying a drone monitoring network for mangrove ecological monitoring according to claim 4 is characterized in that: The mangrove ecological safety source area includes several levels of mangrove ecological safety source sub-areas; The step of constructing an ecological corridor area and an ecological strategic point according to the mangrove ecological safety source area and the ecological resistance surface of the mangrove ecological safety source area includes the following steps: Adopting the minimum cost path method, according to the ecological resistance data of several grid units of several levels of mangrove ecological safety source sub-areas, the minimum cumulative resistance value between several levels of mangrove ecological safety source sub-areas is obtained; According to the minimum cumulative resistance value between several levels of mangrove ecological security source sub-areas and a preset resistance threshold, several combinations of mangrove ecological security source sub-areas are obtained; according to the several combinations of mangrove ecological security source sub-areas, ecological corridors corresponding to the several combinations of mangrove ecological security source sub-areas are obtained to construct the ecological corridor area; By adopting a circuit simulation method, according to the ecological resistance data of several grid units of several ecological corridors in the ecological corridor area, several ecological strategic points of the ecological corridors are identified, and the ecological strategic points in the ecological corridor area are obtained.

6. A device applied to the method for deploying a drone monitoring network for mangrove ecological monitoring as claimed in any one of claims 1 to 5, characterized in that: include: A data acquisition module, used to obtain the area to be laid out and basic data of the area to be laid out, wherein the basic data includes mangrove environmental variable data, mangrove species distribution data, land use data, digital elevation model data and normalized difference vegetation index data; A region identification module is used to input the mangrove environmental variable data and the mangrove distribution data into a preset species distribution model to obtain mangrove growth suitability index data; based on the mangrove growth suitability index data, identify the mangrove suitable growth area of ​​the area to be laid out to obtain the mangrove suitable growth area; A regional construction module is used to identify the mangrove ecological source area of ​​the area to be laid out according to the land use data by using a morphological spatial pattern analysis method, and obtain the mangrove ecological source area; superimpose the mangrove ecological source area and the mangrove suitable growth area to construct the mangrove ecological safety source area; An ecological resistance surface construction module is used to construct an ecological resistance surface of the mangrove ecological safety source area according to the land use data, digital elevation model data and normalized vegetation index data; The drone monitoring network layout module is used to construct ecological corridor areas and ecological strategic points based on the mangrove ecological safety source area and the ecological resistance surface of the mangrove ecological safety source area; and to construct a drone monitoring network based on the mangrove ecological safety source area, ecological corridor area and ecological strategic points.

7. A computer device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the method for arranging a drone monitoring network for mangrove ecological monitoring as described in any one of claims 1 to 5 are implemented.

8. A storage medium, characterized in that: The storage medium stores a computer program, which, when executed by a processor, implements the steps of the method for laying out a drone monitoring network for mangrove ecological monitoring as described in any one of claims 1 to 5.

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