Unmanned aerial vehicle monitoring network layout method considering ecological system service function flow

Abstract

The invention relates to the field of ecological monitoring, in particular to an unmanned aerial vehicle monitoring network layout method considering ecological system service function flow, which comprises the following steps of: constructing an ecological system service supply and demand area and an ecological resistance surface of the ecological system service supply and demand area, and identifying an ecological system service corridor area and an ecological strategy point; according to the ecological system service supply and demand area, the ecological system service corridor area and the ecological strategy point, an unmanned aerial vehicle monitoring network is constructed to form a unified and independent unmanned aerial vehicle ecological system monitoring system, reasonable layout of unmanned aerial vehicle networking is achieved, the high-frequency, real-time and dynamic monitoring requirement is met, and the monitoring efficiency is improved. Accurate matching of monitoring area coverage and monitoring requirements of the unmanned aerial vehicle is realized.

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 that takes into account the flow of ecosystem service functions. Background Art

[0002] At present, the ecosystem service monitoring system faces two major bottlenecks: one is the limitation of spatial resolution, which makes it difficult to capture subtle changes; the other is the high monitoring cost, which limits the feasibility of large-scale application. Although satellite remote sensing technology provides an important means for monitoring with its advantages of wide coverage, long time series and multi-band, it is constrained by weather conditions and insufficient resolution in highly fragmented landscapes, which has become a shortcoming that cannot be ignored. Although ground observations can obtain high-precision data, they are limited by the observation range and high manpower and material costs, making it difficult to play a role at a macro scale. In this context, drone remote sensing technology has emerged with its high flexibility and relatively low cost, becoming a rising star in the field of ecological function monitoring. However, the limitations of the monitoring range of a single drone and the lack of an independent and unified monitoring system cannot meet the high-frequency, real-time dynamic monitoring needs for the supply and demand of ecosystem services. Summary of the invention

[0003] 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 that takes into account the flow of ecosystem service functions. By constructing ecosystem service supply and demand areas and ecological resistance surfaces of ecosystem service supply and demand areas, identifying ecosystem service corridor areas and ecological strategic points, and constructing a drone monitoring network based on ecosystem service supply and demand areas, ecosystem service corridor areas and ecological strategic points, a unified and independent drone ecosystem monitoring system is formed, thereby achieving a reasonable layout of drone networking, meeting the needs for high-frequency, real-time dynamic monitoring, and achieving precise matching of drone monitoring area coverage and monitoring needs.

[0004] In a first aspect, an embodiment of the present application provides a method for deploying a drone monitoring network that takes into account the flow of ecosystem service functions, including the following steps: Obtaining a region to be laid out and basic data of the region to be laid out, wherein the region to be laid out includes a plurality of grid units, and the basic data includes basic data of the plurality of grid units; Conducting an ecosystem service supply and demand assessment based on the basic data and a preset comprehensive assessment model of ecosystem services and trade-offs to obtain ecosystem service supply and demand data for a number of the grid cells; Dividing a plurality of the grid units according to the ecosystem service supply and demand data to construct an ecosystem service supply and demand area of ​​the area to be laid out; Based on the basic data, construct an ecosystem service flow resistance surface for the ecosystem service supply and demand area; Based on the ecosystem service supply and demand areas and the ecosystem service flow resistance surface, construct ecosystem service corridor areas and ecosystem service strategic points; based on the ecosystem service supply and demand areas, ecosystem service corridor areas and ecosystem service strategic points, construct a drone monitoring network.

[0005] In a second aspect, the embodiment of the present application provides a drone monitoring network layout device that takes into account the flow of ecosystem service functions, including: A basic data acquisition module, used to obtain a region to be laid out and basic data of the region to be laid out, wherein the region to be laid out includes a plurality of grid units, and the basic data includes basic data of the plurality of grid units; A supply and demand data acquisition module, used to evaluate the supply and demand of ecosystem services based on the basic data and a preset comprehensive evaluation model of ecosystem services and trade-offs, and obtain ecosystem service supply and demand data of a plurality of grid units; A supply and demand area construction module, used to divide a plurality of the grid units according to the ecosystem service supply and demand data, and construct the ecosystem service supply and demand area of ​​the area to be laid out; A resistance surface construction module, used to construct an ecosystem service flow resistance surface in the ecosystem service supply and demand area according to the basic data; The drone monitoring network layout module is used to construct ecosystem service corridor areas and ecosystem service strategic points based on the ecosystem service supply and demand areas and the ecosystem service flow resistance surface; and to construct a drone monitoring network based on the ecosystem service supply and demand areas, ecosystem service corridor areas and ecosystem service strategic points.

[0006] 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 taking into account the flow of ecosystem service functions as described in the first aspect are implemented.

[0007] 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 that takes into account the flow of ecosystem service functions as described in the first aspect.

[0008] In an embodiment of the present application, a method, apparatus, computer equipment and storage medium for arranging a drone monitoring network that takes into account the flow of ecosystem service functions are provided. By constructing ecosystem service supply and demand areas and ecological resistance surfaces of ecosystem service supply and demand areas, identifying ecosystem service corridor areas and ecological strategic points, a drone monitoring network is constructed based on the ecosystem service supply and demand areas, ecosystem service corridor areas and ecological strategic points to form a unified and independent drone ecosystem monitoring system, thereby achieving a reasonable layout of drone networking, meeting the needs for high-frequency, real-time dynamic monitoring, and achieving accurate matching of drone monitoring area coverage and monitoring needs.

[0009] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 A flow chart of a method for deploying a drone monitoring network that takes into account the flow of ecosystem service functions provided in one embodiment of the present application; Figure 2 A schematic diagram of S3 in the process of a method for deploying a drone monitoring network taking into account the flow of ecosystem service functions provided by one embodiment of the present application; Figure 3 A schematic diagram of S4 in the process of a method for deploying a drone monitoring network taking into account the flow of ecosystem service functions provided by one embodiment of the present application; Figure 4 A schematic diagram of S5 in the process of a method for deploying a drone monitoring network taking into account the flow of ecosystem service functions provided by one embodiment of the present application; Figure 5 A schematic diagram of S5 in the process of a method for deploying a drone monitoring network taking into account the flow of ecosystem service functions provided by another embodiment of the present application; Figure 6 A schematic diagram of S55 in the process of a method for deploying a drone monitoring network taking into account the flow of ecosystem service functions provided by one embodiment of the present application; Figure 7 A schematic diagram of a structure of a drone monitoring network layout device that takes into account the flow of ecosystem service functions provided by one embodiment of the present application; Figure 8 A schematic diagram of the structure of a computer device provided for one embodiment of the present application. DETAILED DESCRIPTION

[0011] 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.

[0012] 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.

[0013] 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".

[0014] See also Figure 1 , Figure 1 A flowchart of a method for deploying a drone monitoring network taking into account the flow of ecosystem service functions provided by an embodiment of the present application is provided. The method comprises the following steps: S1: Obtain a region to be laid out and basic data of the region to be laid out.

[0015] The executor of the method for arranging a network of unmanned aerial vehicle monitoring that takes into account the flow of ecosystem service functions is a layout device of the method for arranging a network of unmanned aerial vehicle monitoring that takes into account the flow of ecosystem service functions (hereinafter referred to as the layout device). In an optional embodiment, the layout device can be a computer device, a server, or a server cluster composed of multiple computer devices.

[0016] 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 area to be laid out includes a number of grid units, and the basic data includes the basic data of the several grid units; the basic data includes digital elevation model data, land use data, soil data, meteorological data, night light data and socio-economic data.

[0017] Among them, the Digital Elevation Model data can reflect the local terrain characteristics with a certain resolution and is an important original data for studying and analyzing terrain, watersheds, and identifying land features. Specifically, the elevation data includes slope and slope length factors.

[0018] 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.

[0019] The soil data reflects the content of sand, silt, clay, organic carbon and the limiting root layer depth data. Specifically, the soil data includes soil erosion factors and soil and water conservation measures factors.

[0020] Meteorological data reflects rainfall data, sunshine, temperature data, etc. Specifically, the meteorological data includes precipitation erosion factors.

[0021] Night light data is a kind of remote sensing data. The sensors on the satellite can detect the lights and fires on the earth at night, which can be used as a good representation of human activities. Specifically, the night light data includes night light intensity parameters.

[0022] The socio-economic data reflect the regional GDP, population density, energy consumption, etc., and are mainly obtained from the statistical yearbooks of various administrative units within the study area.

[0023] S2: Conducting an ecosystem service supply and demand assessment based on the basic data and a preset comprehensive assessment model of ecosystem services and trade-offs to obtain ecosystem service supply and demand data for a number of the grid units.

[0024] The Integrated Valuation of Ecosystem Services and Trade-offs (InVEST) model integrates various biophysical and socioeconomic data to provide a range of ecosystem service assessment capabilities.

[0025] In this embodiment, the layout device adopts a comprehensive evaluation model of ecosystem services and trade-offs. According to the basic data, it estimates different ecosystem service functions on the grid scale by simulating multiple processes such as hydrology, soil, and vegetation, and obtains ecosystem service supply and demand data for several of the grid units. The ecosystem service supply and demand data reflects the supply and demand of various material and non-material service functions of the ecosystem for social and economic development and ecological environment maintenance.

[0026] Specifically, the ecosystem service supply and demand data includes several types of ecosystem service supply data and ecosystem service demand data, and the several types of ecosystem service supply data include product provision function, regulation function, cultural function and life support type.

[0027] The several types of ecosystem service demand data include land use development level, population density and GDP per unit area. The land use development level, that is, the percentage of construction land area to the total land area of ​​the region, reflects the intensity of human consumption of ecosystem services. The greater the land development level, the higher the human consumption of ecosystem services. Population density can reflect the quantity of demand for ecosystem services. The greater the population density, the greater the total demand for services. GDP per unit area reflects the level of regional wealth and can indirectly reflect the level of human preference for enjoying ecosystem services. The stronger the regional economic strength, the higher the expected ecosystem services.

[0028] S3: Divide a plurality of the grid units according to the ecosystem service supply and demand data to construct an ecosystem service supply and demand area of ​​the area to be laid out.

[0029] In this embodiment, the layout device divides the plurality of grid units according to the ecosystem service supply and demand data to construct an ecosystem service supply and demand area of ​​the area to be laid out, wherein the ecosystem service supply and demand area includes a supply source area and a demand sink area.

[0030] See also Figure 2 , Figure 2 A schematic diagram of S3 in the process of a method for deploying a drone monitoring network taking into account the flow of ecosystem service functions provided in one embodiment of the present application includes steps S31-S32, which are specifically as follows: S31: adopting the method of overlapping the comprehensive ecological supply and demand ratio layers of ecosystem services, calculate the comprehensive ecological supply and demand ratio of ecosystem services according to the ecosystem service supply data of several types and the ecosystem service demand data of several grid units, and obtain the comprehensive ecological supply and demand ratio of ecosystem services of several grid units.

[0031] In this embodiment, the layout device adopts a method of superimposing the layers of the comprehensive ecological supply and demand ratio of ecosystem services, and performs the calculation of the comprehensive ecological supply and demand ratio of ecosystem services according to the ecosystem service supply data of several types, the ecosystem service demand data and the calculation algorithm of the comprehensive ecological supply and demand ratio of ecosystem services of several grid units, so as to obtain the comprehensive supply and demand ratio of ecosystem services of several grid units, wherein the calculation algorithm of the comprehensive supply and demand ratio of ecosystem services is:

[0032] In the formula, For the i The comprehensive supply-demand ratio of ecosystem services in each grid unit, L is the number of types; For the i The grid cell l types of ecosystem service provision data, For the i The grid cell l types of ecosystem service demand data, For the l Data on the largest ecosystem service provision of each type, For the l Data on the maximum ecosystem service demand for each type of ecosystem service.

[0033] By calculating the comprehensive ecological supply-demand ratio of ecosystem services in grid units, the supply and demand status of different types of ecosystem services and comprehensive ecosystem services in the area to be laid out can be quantitatively analyzed to reveal the quantitative surplus or deficit relationship between the supply and demand of ecosystem services in the area to be treated, reflecting the ecological sustainability of each grid unit, which serves as a reliable basis for the division of grid units.

[0034] S32: Using the spatial hot and cold spot analysis method, the aggregation degree is calculated according to the comprehensive supply and demand ratio of ecosystem services of several grid units to obtain the aggregation degree parameters of several grid units; according to the aggregation degree parameters and the preset aggregation degree threshold, the several grid units are divided into high-value aggregation units and low-value aggregation units, and several of the high-value aggregation units and several of the low-value aggregation units are combined respectively to construct the ecosystem service supply and demand area of ​​the area to be processed.

[0035] Spatial hot and cold spot analysis can identify high-value aggregation areas and low-value aggregation areas of quantitative ecosystem services. In this embodiment, the layout device adopts the spatial hot and cold spot analysis method to calculate the aggregation degree according to the comprehensive supply and demand ratio of ecosystem services of several grid units and a preset aggregation degree calculation algorithm to obtain the aggregation degree parameters of several grid units, wherein the aggregation degree calculation algorithm is:

[0036] In the formula, For the i The aggregation degree parameter of each grid cell, For the i The grid cell and j The spatial weight parameter between grid cells, For the jThe comprehensive supply-demand ratio of ecosystem services in each grid unit, is the average value of the comprehensive supply-demand ratio of ecosystem services. is the number of grid cells.

[0037] The layout device divides the plurality of grid units into high-value aggregation units and low-value aggregation units according to the aggregation degree parameters of the plurality of grid units and a preset aggregation degree threshold, and combines the plurality of high-value aggregation units and the plurality of low-value aggregation units respectively to construct the ecosystem service supply and demand area of ​​the area to be processed.

[0038] Specifically, the layout device combines several adjacent high-value aggregation units to construct several supply patches, and combines several adjacent low-value aggregation units to construct several demand patches. Taking into account that smaller patches do not have complete ecological functions, the layout device obtains the area data of several supply patches and demand patches, eliminates patches with an area data of less than 0.8 square kilometers, and merges the remaining patches to finally determine several supply source areas and demand sink areas to construct the ecosystem service supply and demand areas of the area to be processed.

[0039] S4: constructing an ecosystem service flow resistance surface for the ecosystem service supply and demand area based on the basic data.

[0040] The resistance surface of ecosystem service flow reflects the state and trend of biological spatial movement, indicating the difficulty for species to cross different habitat patches. Ecosystem service flow can deliver ecological services to the beneficiary areas, but during the flow process, its flow, direction and velocity are affected by the environment and human activities along the path, resulting in flow attenuation.

[0041] In this embodiment, the layout device constructs the ecosystem service flow resistance surface of the ecosystem service supply and demand area based on the basic data.

[0042] See also Figure 3 , Figure 3 A schematic diagram of S4 in the process of a method for deploying a drone monitoring network taking into account the flow of ecosystem service functions provided in one embodiment of the present application includes steps S41 to S43, which are specifically as follows: S41: constructing several types of ecosystem service resistance factors of several grid cells according to the land use data, digital elevation model data, meteorological data and socio-economic data.

[0043] In this embodiment, the layout device constructs several types of ecosystem service resistance factors for several grid units based on the land use data, digital elevation model data, meteorological data and socio-economic data, obtains the ecosystem service resistance factors from the two aspects of ecological attributes and human interference, and constructs several types of ecological resistance factors for several grid units to explore the difficulties experienced by ecosystem services during the movement process, wherein the ecosystem service resistance factors include natural factor resistance factors and human factor resistance factors; the natural factor resistance factors include forest area ratio resistance factors, elevation resistance factors, slope resistance factors and rainfall resistance factors; the human factor resistance factors include urban population ratio resistance factors, traffic density resistance factors, per capita GDP resistance factors and per capita social consumer goods retail sales resistance factors.

[0044] S42: According to the resistance values ​​and corresponding weight parameters corresponding to the several types of the ecosystem service resistance factors, the ecological resistance data of several grid cells are obtained, and the ecosystem service flow resistance surface of the ecosystem service supply and demand area is constructed.

[0045] In order to eliminate the interference of multicollinearity among the factors, in this embodiment, the layout device obtains the resistance values ​​corresponding to several different types of ecosystem service resistance factors of several grid units based on several types of ecosystem service resistance factors of several grid units and the correspondence between several different types of ecosystem service resistance factors and corresponding resistance values ​​in a preset ecosystem service resistance factor correspondence table.

[0046] Specifically, the layout device uses ArcGIS platform to convert various ecosystem service resistance factors into raster data through conversion tools according to several types of ecosystem service 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 ecosystem service resistance factor of the corresponding type, and traverses the ecosystem service resistance factor corresponding table according to the level corresponding to the ecosystem service resistance factor of the corresponding type to obtain the resistance value corresponding to the level corresponding to the ecosystem service resistance factor of this type, and obtains the resistance values ​​corresponding to several different types of ecosystem service resistance factors of several grid units.

[0047] S43: According to the resistance values ​​and corresponding weight parameters corresponding to the several types of the ecosystem service resistance factors, the ecological resistance data of several grid units are obtained, and the ecosystem service flow resistance surface of the ecosystem service supply and demand area is constructed.

[0048] 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 ecosystem service flow resistance surface of the ecosystem service supply and demand area, wherein the ecological resistance data is:

[0049] 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, and the weight parameter is obtained based on the hierarchical analysis method.

[0050] By constructing the resistance surface of ecosystem service flow from both natural and human factors and exploring the difficulties experienced by species during migration, we can more comprehensively analyze the energy transmission resistance of ecosystem service flow in the area to be laid out to deliver ecological services to the beneficiary areas, which can serve as the basis for the construction of the UAV monitoring network to improve the efficiency and accuracy of ecosystem service monitoring.

[0051] S5: Based on the ecosystem service supply and demand areas and the ecosystem service flow resistance surface, construct ecosystem service corridor areas and ecosystem service strategic points; based on the ecosystem service supply and demand areas, ecosystem service corridor areas and ecosystem service strategic points, construct a drone monitoring network.

[0052] In this embodiment, the layout device constructs an ecosystem service corridor area and an ecosystem service strategic point according to the ecosystem service supply and demand area and the ecosystem service flow resistance surface, wherein the ecosystem service corridor area undertakes ecological functions such as wind protection, pollution filtration, isolation and protection, has extremely high ecosystem service functions and relatively low transmission resistance, and plays an irreplaceable role in promoting the flow of matter, energy and information between ecosystem service supply areas. Specifically, the ecosystem service corridor area includes ecological corridors, flow corridors and coordination corridors. The ecological corridor has extremely high ecosystem service functions and relatively low transmission resistance, and plays an irreplaceable role in promoting the flow of matter, energy and information between ecosystem service supply areas; the flow corridor has a higher ecosystem service function, but its transmission resistance gradually increases with the distance to the demand area, and it is the main path for ecosystem service transfer and achieving regional ecosystem supply and demand balance; the coordination corridor has a lower ecosystem service function and a higher transmission resistance than the other two corridors, but it is conducive to coordinating the ecosystem service functions between demand areas.

[0053] Ecosystem service strategic points refer to areas with high cumulative current values ​​that frequently cross ecosystem service corridors. They are key nodes for energy flow and development and construction of ecosystem service corridors, and play a key role in the overall circulation of the ecosystem service corridors.

[0054] The layout equipment constructs a drone monitoring network according to the ecosystem service supply and demand areas, ecosystem service corridor areas and ecosystem service strategic points, identifies ecosystem service corridor areas and ecological strategic points by constructing ecosystem service supply and demand areas and ecological resistance surfaces of ecosystem service supply and demand areas, and constructs a drone monitoring network according to the ecosystem service supply and demand areas, ecosystem service corridor areas and ecological strategic points to form a unified and independent drone ecosystem monitoring system, thereby realizing a reasonable layout of drone networking, meeting the needs for high-frequency, real-time dynamic monitoring, and achieving accurate matching of drone monitoring area coverage and monitoring needs.

[0055] See also Figure 4 , Figure 4 A schematic diagram of S5 in the process of a method for deploying a drone monitoring network taking into account the flow of ecosystem service functions provided in one embodiment of the present application includes steps S51 to S53, which are specifically as follows: S51: taking several supply source areas and demand sink areas in the ecosystem service supply and demand area as patches to be analyzed, adopting the minimum cost path method, and obtaining the minimum cumulative resistance value between several patches to be analyzed according to the ecological resistance data of several grid units of several patches to be analyzed.

[0056] In this embodiment, the layout device takes several supply source areas and demand sink areas in the ecosystem service supply and demand area as patches to be analyzed, and adopts the minimum cost path method to obtain the minimum cumulative resistance value between several patches to be analyzed based on the ecological resistance data of several grid units of several patches to be analyzed.

[0057] 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 the several patches to be analyzed according to the ecological resistance data of the several grid cells of the several patches to be analyzed.

[0058] S52: obtaining a plurality of target patch combinations according to the minimum cumulative resistance values ​​between the plurality of patches to be analyzed and a preset resistance threshold; and constructing an ecosystem service corridor area of ​​the area to be laid out according to the plurality of target patch combinations.

[0059] In this embodiment, the layout device obtains several target patch combinations based on the minimum cumulative resistance value between several patches to be analyzed and a preset resistance threshold; the layout device constructs an ecosystem service corridor area of ​​the area to be laid out based on the several target patch combinations, wherein the ecosystem service corridor area includes several types of flow paths, and the several types of flow paths include ecological corridors, flow corridors and coordination corridors.

[0060] Specifically, if the target patch combination is a supply source area-supply source area combination, the layout device sets the corridor connecting the target patches as an ecological corridor.

[0061] If the target patch combination is a supply source area-demand sink area combination, the layout device sets the corridor connecting the target patches as a flow corridor.

[0062] If the target patch combination is a demand sink area-demand sink area combination, the layout device sets the corridor connecting the target patches as a coordination corridor.

[0063] S53: using a circuit simulation method to identify ecosystem service strategic points in the ecosystem service corridor area according to the ecological resistance data of a plurality of the grid cells in the ecosystem service corridor area.

[0064] In this embodiment, the layout device adopts a circuit simulation method to identify the ecosystem service strategic points in the ecosystem service corridor area according to the ecological resistance data of a plurality of the grid cells in the ecosystem service corridor area.

[0065] Specifically, the layout device calls Circuitscape through the Linkage Mapper tool to identify the strategic points of ecosystem services during the model operation process, and uses the supply source area in the ecosystem service corridor area as the circuit power supply, the demand sink area as the circuit terminal, and the ecosystem service comprehensive transmission resistance value of several grid units in the ecosystem service corridor area as the conductive surface. By simulating the flow of current in the ecosystem service corridor area and analyzing the current intensity in the ecosystem service corridor, the ecosystem service strategic points in the ecosystem service corridor area are identified, and the importance of the ecosystem service corridor area and the ecosystem service strategic points for maintaining the landscape connectivity of the entire region is quantitatively evaluated by the current value.

[0066] See also Figure 5 , Figure 5 A schematic diagram of S5 in the process of a method for deploying a drone monitoring network taking into account the flow of ecosystem service functions provided in another embodiment of the present application includes steps S54 to S55, which are specifically as follows: S54: taking the center points of several supply source areas and several demand sink areas in the ecosystem service supply and demand area as source sites and sink sites respectively; taking the ecosystem service strategic points as mobile sites, and constructing a candidate site sequence.

[0067] Supply source areas refer to areas with high ecosystem service surpluses, which have extremely high ecosystem service supply capabilities and are capable of not only meeting local needs but also providing ecosystem services to other regions.

[0068] Demand sink areas represent areas of high deficit in ecosystem services that cannot fully meet the needs of human society and must introduce additional ecosystem services from the outside. Ecosystem service strategic points are located inside the flow path and act as stepping stones, facilitating the flow of regional ecosystem services and influencing material and energy exchange and species migration within the region.

[0069] In this embodiment, the layout device uses the center points of several supply source areas and several demand sink areas in the ecosystem service supply and demand area as source sites and sink sites, respectively, to achieve strict ecological monitoring and protection of the supply source areas and demand sink areas, and real-time monitoring of changes in supply and demand of ecosystem service functions, human society's demand for ecosystem services, and the introduction of external ecosystem service functions.

[0070] The layout equipment uses the ecosystem service strategic points as mobile sites to monitor the impact of ecological supply sources on ecological demand sinks. At the same time, it can further analyze the flow characteristics of ecosystem services, use the source sites, sink sites and mobile sites as candidate sites, and construct a candidate site sequence.

[0071] S55: Obtaining regional area data and site construction cost data; determining a number of target sites in the candidate site sequence based on the regional area data, site construction cost data and a preset drone base station site selection model; using the ecosystem service corridor as a communication link, and constructing the drone monitoring network based on the several target sites and communication links.

[0072] Ecosystem service corridors are important bridges and links connecting patches, and greatly affect the connectivity between patches and the exchange of species, nutrients and energy between patches.

[0073] In this embodiment, the layout device obtains regional area data and site construction cost data, and determines several target sites in the candidate site sequence based on the regional area data, site construction cost data and a preset drone base station site selection model.

[0074] The layout equipment uses the ecosystem service corridor as a communication link, and according to a number of the target sites and the communication links, integrates the drone base stations set up at multiple basic sites and supplementary sites into a complete network structure through wireless communication links, constructs an initial drone monitoring network, and improves the monitoring efficiency of drone monitoring.

[0075] See also Figure 6 , Figure 6 A schematic diagram of S55 in the process of a method for deploying a drone monitoring network taking into account the flow of ecosystem service functions provided in one embodiment of the present application includes steps S551 to S552, which are specifically as follows: S551: Construct an objective function based on the supply source area coverage maximization objective function, the demand sink area coverage maximization objective function and the flow path coverage maximization objective function in the UAV base station site selection model.

[0076] The supply source area coverage maximization objective function is:

[0077] In the formula, is the maximum coverage value of the supply source area, For the i The source site s Coverage area data for each supply source area, is the number of source sites, For the i The decision variable of a source site indicates whether the source site is selected. For the s The area data of the supply source area.

[0078] The objective function for maximizing the coverage rate of the demand sink area is:

[0079] In the formula, is the maximum coverage value of the demand sink area, For the l The first site d Coverage area data for each demand sink area, is the number of sink sites, For the l The decision variable of a sink site indicates whether the sink site is selected. For the d The area data of the demand sink area.

[0080] The flow path coverage maximization objective function is:

[0081] In the formula, is the maximum value of flow path coverage, For the k Mobile sites for f The coverage area data of the flow paths, is the number of flow paths, For the k The decision variable of a mobile station indicates whether the mobile station is selected. For the f The area data of the flow path.

[0082] In this embodiment, the layout device constructs an objective function according to the objective function of maximizing the coverage rate of the supply source area, the objective function of maximizing the coverage rate of the demand sink area, and the objective function of maximizing the coverage rate of the flow path in the drone base station site selection model, wherein the objective function is:

[0083] In the formula, F is the objective function, are the first, second, third and fourth weight parameters respectively.

[0084] S552: Based on the area data of several supply source areas and demand sink areas in the regional area data, the site construction cost data including the construction cost data of several candidate source sites, candidate sink sites and mobile sites, and the supply source area coverage constraints, demand sink area coverage constraints, flow path coverage constraints, adjacent site monitoring range overlap constraints and construction cost constraints in the UAV base station site selection model, the objective function is solved to determine several target sites in the candidate site sequence.

[0085] The supply source area coverage constraint condition is:

[0086] In the formula, For the source site s The minimum coverage of a supply source area.

[0087] The demand sink area coverage constraint condition is:

[0088] In the formula, For the site d The minimum coverage of a demand sink area.

[0089] The flow path coverage constraint is:

[0090] In the formula, For mobile sites f Minimum coverage of the flow paths.

[0091] The overlapping area constraint condition of the adjacent site monitoring range is:

[0092] In the formula, For the i candidate sites and p The overlapping area of ​​monitoring ranges between adjacent candidate sites.

[0093] The construction cost constraints are:

[0094] In the formula, For the p The construction cost data of candidate sites, is the number of candidate sites, For the p The decision variable of a candidate site indicates whether the candidate site is selected. B Minimum construction cost.

[0095] In this embodiment, the layout device solves the objective function based on the area data of several supply source areas and demand sink areas in the regional area data, the site construction cost data including the construction cost data of several candidate source sites, candidate sink sites and mobile sites, and the supply source area coverage constraints, demand sink area coverage constraints, flow path coverage constraints, adjacent site monitoring range overlapping area constraints and construction cost constraints in the UAV base station site selection model, and determines several target sites in the candidate site sequence.

[0096] Please refer to Figure 7 , Figure 7 A schematic diagram of the structure of a drone monitoring network layout device that takes into account the flow of ecosystem service functions provided by an embodiment of the present application. The device can implement all or part of the drone monitoring network layout device that takes into account the flow of ecosystem service functions through software, hardware, or a combination of both. The device 7 includes: A basic data acquisition module 71 is used to obtain a region to be laid out and basic data of the region to be laid out, wherein the region to be laid out includes a plurality of grid cells, and the basic data includes basic data of the plurality of grid cells; A supply and demand data acquisition module 72 is used to evaluate the supply and demand of ecosystem services based on the basic data and a preset comprehensive evaluation model of ecosystem services and trade-offs, and obtain ecosystem service supply and demand data of a plurality of grid units; A supply and demand area construction module 73 is used to divide a plurality of the grid units according to the ecosystem service supply and demand data to construct the ecosystem service supply and demand area of ​​the area to be laid out; A resistance surface construction module 74 is used to construct an ecosystem service flow resistance surface in the ecosystem service supply and demand area according to the basic data; The drone monitoring network layout module 75 is used to construct ecosystem service corridor areas and ecosystem service strategic points based on the ecosystem service supply and demand areas and the ecosystem service flow resistance surface; and to construct a drone monitoring network based on the ecosystem service supply and demand areas, the ecosystem service corridor areas and the ecosystem service strategic points.

[0097] In an embodiment of the present application, the basic data of the area to be laid out and the basic data of the area to be laid out are obtained through a basic data acquisition module, wherein the area to be laid out includes a plurality of grid units, and the basic data includes the basic data of the plurality of grid units; the supply and demand of ecosystem services is evaluated according to the basic data and a preset comprehensive evaluation model of ecosystem services and trade-offs through a supply and demand data acquisition module, and the ecosystem service supply and demand data of the plurality of grid units are obtained; the supply and demand area construction module divides the plurality of grid units according to the ecosystem service supply and demand data to construct an ecosystem service supply and demand area of ​​the area to be laid out; the resistance surface construction module constructs an ecosystem service flow resistance surface of the ecosystem service supply and demand area according to the basic data; the drone monitoring network layout module constructs an ecosystem service corridor area and an ecosystem service strategic point according to the ecosystem service supply and demand area and the ecosystem service flow resistance surface; and a drone monitoring network is constructed according to the ecosystem service supply and demand area, the ecosystem service corridor area and the ecosystem service strategic point. By constructing ecosystem service supply and demand areas and ecological resistance surfaces of ecosystem service supply and demand areas, identifying ecosystem service corridor areas and ecological strategic points, and building a drone monitoring network based on ecosystem service supply and demand areas, ecosystem service corridor areas and ecological strategic points, a unified and independent drone ecosystem monitoring system is formed, which realizes the reasonable layout of drone networking, meets the needs of high-frequency, real-time dynamic monitoring, and achieves accurate matching of drone monitoring area coverage and monitoring needs.

[0098] Please refer to Figure 8 , Figure 8The computer device 8 is a schematic diagram of a structure of a computer device provided in an embodiment of the present application. The computer device 8 includes: a processor 81, a memory 82, and a computer program 83 stored in the memory 82 and executable on the processor 81; the computer device may store multiple instructions, which are suitable for being loaded and executed by the processor 81. Figures 1 to 6 The method steps of the embodiment shown in the figure can be found in the specific implementation process. Figures 1 to 6 The specific description of the illustrated embodiment will not be repeated here.

[0099] Among them, the processor 81 may include one or more processing cores. The processor 81 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 7 that takes into account the flow of ecosystem service functions by running or executing instructions, programs, code sets or instruction sets stored in the memory 82, and calling the data in the memory 82. Optionally, the processor 81 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 81 can integrate one or more combinations of a central processing unit 81 (Central Processing Unit, CPU), an image processor 81 (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 81, but implemented separately through a chip.

[0100] The memory 82 may include a random access memory 82 (RAM) or a read-only memory 82 (Read-Only Memory). Optionally, the memory 82 includes a non-transitory computer-readable storage medium. The memory 82 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 82 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 82 may also be optionally at least one storage device located away from the aforementioned processor 81.

[0101] 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 6 For the specific steps and specific execution process of the embodiment shown in FIG. Figures 1 to 6 The specific description of the illustrated embodiment will not be repeated here.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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 a drone monitoring network that takes into account the flow of ecosystem service functions, characterized in that: The following steps are involved: Obtaining a region to be laid out and basic data of the region to be laid out, wherein the region to be laid out includes a plurality of grid units, and the basic data includes basic data of the plurality of grid units; Conducting an ecosystem service supply and demand assessment based on the basic data and a preset comprehensive assessment model of ecosystem services and trade-offs to obtain ecosystem service supply and demand data for a number of the grid cells; Dividing a plurality of the grid units according to the ecosystem service supply and demand data to construct an ecosystem service supply and demand area of ​​the area to be laid out; Based on the basic data, construct an ecosystem service flow resistance surface for the ecosystem service supply and demand area; Based on the ecosystem service supply and demand areas and the ecosystem service flow resistance surface, construct ecosystem service corridor areas and ecosystem service strategic points; based on the ecosystem service supply and demand areas, ecosystem service corridor areas and ecosystem service strategic points, construct a drone monitoring network.

2. The method for deploying a drone monitoring network taking into account the flow of ecosystem service functions according to claim 1, characterized in that: The ecosystem service supply and demand data include several types of ecosystem service supply data and ecosystem service demand data; The method of dividing a plurality of the grid units according to the ecosystem service supply and demand data to construct the ecosystem service supply and demand area of ​​the area to be laid out comprises the following steps: The method of overlapping the layers of comprehensive ecological supply and demand ratio of ecosystem services is adopted to calculate the comprehensive ecological supply and demand ratio of ecosystem services according to the ecosystem service supply data of several types and the ecosystem service demand data of several grid units, so as to obtain the comprehensive ecological supply and demand ratio of ecosystem services of several grid units; Using the spatial hot and cold spot analysis method, the aggregation degree is calculated according to the comprehensive supply and demand ratio of ecosystem services of several grid units to obtain the aggregation degree parameters of several grid units; According to the aggregation degree parameter and the preset aggregation degree threshold, a number of the grid units are divided into high-value aggregation units and low-value aggregation units, and a number of the high-value aggregation units and a number of the low-value aggregation units are combined respectively to construct the ecosystem service supply and demand area of ​​the area to be processed.

3. The method for deploying a drone monitoring network taking into account the flow of ecosystem service functions according to claim 1, characterized in that: The basic data include digital elevation model data, land use data, soil data, meteorological data, night light data and socio-economic data; The step of constructing the ecosystem service flow resistance surface of the ecosystem service supply and demand area based on the basic data comprises the following steps: constructing several types of ecosystem service resistance factors for several grid cells based on the land use data, digital elevation model data, meteorological data, and socio-economic data; According to the correspondence between several different types of ecosystem service resistance factors and corresponding resistance values, the resistance values ​​corresponding to several different types of ecosystem service resistance factors of several grid units are obtained; According to the resistance values ​​corresponding to several types of the ecosystem service resistance factors and the corresponding weight parameters, the ecological resistance data of several grid units are obtained, and the ecosystem service flow resistance surface of the ecosystem service supply and demand area is constructed.

4. The method for deploying a drone monitoring network taking into account the flow of ecosystem service functions according to claim 3, characterized in that: The step of constructing an ecosystem service corridor area and an ecosystem service strategic point according to the ecosystem service supply and demand area and the ecosystem service flow resistance surface comprises the following steps: Taking several supply source areas and demand sink areas in the ecosystem service supply and demand area as patches to be analyzed, using the minimum cost path method, according to the ecological resistance data of several grid units of several patches to be analyzed, the minimum cumulative resistance value between several patches to be analyzed is obtained; According to the minimum cumulative resistance value between the plurality of patches to be analyzed and the preset resistance threshold, a plurality of target patch combinations are obtained; according to the plurality of target patch combinations, the ecosystem service corridor area of ​​the area to be laid out is constructed; A circuit simulation method is adopted to identify ecosystem service strategic points in the ecosystem service corridor area according to ecological resistance data of a plurality of grid cells in the ecosystem service corridor area.

5. The method for deploying a drone monitoring network taking into account the flow of ecosystem service functions according to claim 4, characterized in that: The method of constructing a drone monitoring network based on the ecosystem service supply and demand areas, ecosystem service corridor areas, and ecosystem service strategic points includes the following steps: The center points of several supply source areas and several demand sink areas in the ecosystem service supply and demand area are respectively used as source sites and sink sites; the ecosystem service strategic points are used as mobile sites to construct a candidate site sequence; Obtain regional area data and site construction cost data; According to the regional area data, site construction cost data and the preset drone base station site selection model, several target sites in the candidate site sequence are determined; the ecosystem service corridor is used as a communication link, and the drone monitoring network is constructed according to the several target sites and communication links.

6. The method for deploying a drone monitoring network taking into account the flow of ecosystem service functions according to claim 5, characterized in that: The ecosystem service corridor area includes several types of flow paths; The method of determining a plurality of target sites in the candidate site sequence according to the regional area data, the site construction cost data and the preset drone base station site selection model comprises the steps of: Construct an objective function according to the objective function of maximizing the coverage rate of the supply source area, the objective function of maximizing the coverage rate of the demand sink area, and the objective function of maximizing the coverage rate of the flow path in the UAV base station site selection model; According to the area data of several supply source areas and demand sink areas in the regional area data, the site construction cost data including the construction cost data of several candidate source sites, candidate sink sites and mobile sites, and the supply source area coverage constraints, demand sink area coverage constraints, flow path coverage constraints, adjacent site monitoring range overlapping area constraints and construction cost constraints in the UAV base station site selection model, the objective function is solved to determine several target sites in the candidate site sequence.

7. A drone monitoring network layout device that takes into account the flow of ecosystem service functions, characterized in that: include: A basic data acquisition module, used to obtain a region to be laid out and basic data of the region to be laid out, wherein the region to be laid out includes a plurality of grid units, and the basic data includes basic data of the plurality of grid units; A supply and demand data acquisition module, used to evaluate the supply and demand of ecosystem services based on the basic data and a preset comprehensive evaluation model of ecosystem services and trade-offs, and obtain ecosystem service supply and demand data of a plurality of grid units; A supply and demand area construction module, used to divide a plurality of the grid units according to the ecosystem service supply and demand data, and construct the ecosystem service supply and demand area of ​​the area to be laid out; A resistance surface construction module, used to construct an ecosystem service flow resistance surface in the ecosystem service supply and demand area according to the basic data; The drone monitoring network layout module is used to construct ecosystem service corridor areas and ecosystem service strategic points based on the ecosystem service supply and demand areas and the ecosystem service flow resistance surface; and to construct a drone monitoring network based on the ecosystem service supply and demand areas, ecosystem service corridor areas and ecosystem service strategic points.

8. 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 method implements the steps of the method for layout of a drone monitoring network taking into account the flow of ecosystem service functions as described in any one of claims 1 to 6.

9. 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 taking into account the flow of ecosystem service functions as described in any one of claims 1 to 6.

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