Self-sinking tidal flat thermal diffusivity detection device and method based on unmanned aerial vehicle transportation

Abstract

A self-sinking type tidal flat thermal diffusivity detection device based on unmanned aerial vehicle conveying comprises tidal flat anti-sinking detection equipment and an unmanned aerial vehicle used for conveying the tidal flat anti-sinking detection equipment to a tidal flat area. The tidal flat anti-sinking detection equipment comprises an anti-sinking plate used for providing a stable supporting platform on a tidal flat and a floating plate fixedly connected with the anti-sinking plate through a telescopic soft rope, a plurality of anti-sinking foot pipes are fixed to the bottom of the anti-sinking plate, and temperature detection rods used for detecting temperature information of different depths of the tidal flat are inserted into the anti-sinking plate. The temperature detection rod penetrates through the floating plate, a hanging ring is installed on the top of the temperature detection rod, and a hook is installed on the unmanned aerial vehicle. The invention aims to develop the unmanned laying platform of the tidal flat, realize safe, rapid and efficient healthy observation of the tidal flat, realize acquisition of the temperature of each layer of the tidal flat, further calculate the thermal diffusivity of the tidal flat, provide actual measurement data support for scientific research activities such as offshore dynamic environment numerical simulation and provide technical support for tidal flat monitoring and protection.

Description

Technical Field

[0001] The present invention relates to the technical field of tidal flat detection, in particular to a self-sinking tidal flat thermal diffusivity detection device based on drone transportation, and also to a self-sinking tidal flat thermal diffusivity detection method based on drone transportation. Background Art

[0002] Tidal flats are located in the transition zone between land and sea where the tidal action is significant. They have environmental characteristics with both land and sea attributes. They are a hot spot for coastal resource development and one of the most vulnerable and economically valuable areas on Earth. At the same time, due to their special geographical location and composition, tidal flats are usually dominated by silt and are relatively deep. It is difficult for observers to deploy and retrieve instruments, and people and vehicles can easily sink into the mud, affecting the progress of observation activities. Summary of the invention

[0003] The technical problem to be solved by the present invention is to address the shortcomings of the existing technology and provide a self-sinking tidal flat thermal diffusivity detection device based on drone transportation, aiming to develop an unmanned tidal flat deployment platform, realize safe, fast and efficient tidal flat health observation, obtain the temperature of each layer of the tidal flat, and further calculate the tidal flat thermal diffusivity, so as to provide measured data support for scientific research activities such as numerical simulation of offshore dynamic environment, and provide technical support for tidal flat monitoring and protection.

[0004] Another technical problem to be solved by the present invention is to provide a method for detecting thermal diffusivity of a self-sinking tidal flat based on drone transportation.

[0005] The technical problem to be solved by the present invention is achieved through the following technical solutions. The present invention is a self-sinking tidal flat thermal diffusivity detection device based on drone transportation, including a tidal flat anti-sinking detection device and a drone used to transport the tidal flat anti-sinking detection device to the tidal flat area. The tidal flat anti-sinking detection device includes an anti-sinking plate for providing a stable support platform on the tidal flat and a floating plate fixedly connected to the anti-sinking plate by a retractable soft rope. A number of anti-sinking foot tubes are fixed to the bottom of the anti-sinking plate. A temperature detection rod for detecting temperature information at different depths of the tidal flat is inserted on the anti-sinking plate. The temperature detection rod runs through the floating plate. A mounting ring is installed on the top of the temperature detection rod. A hook is installed on the drone for connecting with the mounting ring to launch and recover the tidal flat anti-sinking detection equipment.

[0006] A data acquisition and transmission device is also installed on the floating plate to receive and process temperature data from the temperature detection rod, and can save the collected data in the internal memory, and transmit the collected data to a remote data center or receiving device in real time via wireless means.

[0007] The technical problem to be solved by the present invention can be further achieved through the following technical solutions. For the self-sinking tidal flat thermal diffusivity detection device based on drone transportation mentioned above, the temperature detection rod includes a slender iron rod, and a number of temperature detectors are installed at equal intervals at the lower part of the slender iron rod for synchronously observing the temperature of different layers of tidal flats.

[0008] The technical problem to be solved by the present invention can be further achieved through the following technical solutions. For the self-sinking tidal flat thermal diffusivity detection device based on drone transportation mentioned above, a reserved circular hole fixedly matched with the temperature detection rod is provided on the floating plate, and a mounting hole matched with the temperature detection rod is provided on the anti-sinking plate. Connection holes matched with the retractable soft rope are also provided at the four corners of the floating plate, and fixing holes matched with the retractable soft rope are provided at the four corners of the anti-sinking plate.

[0009] The technical problem to be solved by the present invention can also be further achieved through the following technical solutions. For the self-sinking tidal flat thermal diffusivity detection device based on drone transportation mentioned above, the drone is equipped with anti-sinking legs, and foam plates are installed on the anti-sinking legs to increase the contact area between the drone and the tidal flat and prevent the drone from sinking into the tidal flat.

[0010] The technical problem to be solved by the present invention can be further achieved by the following technical solutions. For the self-sinking tidal flat thermal diffusivity detection device based on drone transportation described above, the data acquisition and transmission equipment includes a data acquisition and calculation device, a data storage and transmission device, a power supply device and a GPS positioning device.

[0011] The data acquisition device is used to obtain the hourly tidal flat temperature data of different layers, and calculate the vertical thermal diffusivity of the tidal flat according to the formula. The obtained tidal flat temperature and tidal flat thermal diffusivity data are stored and transmitted in real time;

[0012] The GPS positioning device is used for positioning, which facilitates the recovery of the device;

[0013] The power supply device is powered by a lithium battery, installed on a floating plate, and is fully waterproofed.

[0014] The technical problem to be solved by the present invention can also be further achieved through the following technical solutions. For the self-sinking tidal flat thermal diffusivity detection device based on drone transportation mentioned above, a waterproof sealing box that cooperates with the data acquisition and transmission equipment is installed on the top of the floating plate, and a circuit board, a battery integrated box and a GPS positioning device integrated box are also arranged in the waterproof sealing box.

[0015] The technical problem to be solved by the present invention can be further achieved through the following technical scheme. For the self-sinking tidal flat thermal diffusivity detection device based on drone transportation described above, the anti-sinking foot tube is a stainless steel foot tube, and there are 4 anti-sinking foot tubes, which are respectively arranged at the four corners of the anti-sinking plate.

[0016] The technical problem to be solved by the present invention can be further achieved by the following technical solutions. For the self-sinking tidal flat thermal diffusivity detection device based on drone transportation described above, a self-sinking tidal flat thermal diffusivity detection method based on drone transportation is provided, and the steps are as follows:

[0017] (1) Assemble the detection device based on the tidal flat characteristics and environmental features of the observation area;

[0018] (2) Assembling the device indoors, connecting the floating plate and the anti-sinking plate through a retractable soft rope, installing and fixing the anti-sinking foot pipe on the anti-sinking plate, and rigidly connecting the temperature detection rod to the anti-sinking plate. Then, arranging temperature detectors at equal intervals on the temperature detection rod and performing calibration operations;

[0019] (3) Mount the tidal flat anti-sinking detection device on the UAV, tie thin wires to the reserved circular holes around the floating plate, connect the four thin wires to one point and connect them to the hook, and connect the mounting ring on the temperature detection rod to the hook to ensure that the tidal flat anti-sinking detection device is stable when placed;

[0020] (4) Use a drone to transport the tidal flat anti-sinking detection equipment to the designated location, and remotely control the placement operation. Wait for the tidal flat anti-sinking detection equipment to be slowly fixed on the tidal flat, and at the same time obtain the real-time transmission of tidal flat temperature and thermal diffusivity data, check the data acquisition and transmission effects, and debug the functions;

[0021] (5) Maintenance and recovery operations: regularly use drones to observe and maintain the tidal flat anti-sinking detection equipment, and finally recover it at a scheduled time according to the GPS coordinates.

[0022] The technical problem to be solved by the present invention can be further achieved by the following technical solutions. For the above-mentioned self-sinking tidal flat thermal diffusivity detection method based on drone transportation, in this method, the thermal diffusivity of the tidal flat is calculated by using the measured tidal flat temperature, interlayer spacing and time, and solving the vertical thermal diffusivity of the tidal flat based on Fourier's law and the heat conduction equation. Specifically, the thermal diffusivity α can be derived through the following relationship through the heat conduction equation of the tidal flat:

[0023]

[0024] Where: T represents temperature; t represents time; z represents depth; α represents thermal diffusivity.

[0025] The technical problem to be solved by the present invention can be further achieved by the following technical solutions: for the above-mentioned self-sinking tidal flat thermal diffusivity detection method based on drone transportation, at a depth of z between two tidal flats, 1 and z 2 If a period of time is known, such as t 1 and t 2 The thermal diffusivity is calculated by the following steps:

[0026] (1) Measure the temperature at different times:

[0027] Assume that at two depths z 1 and z 2 The temperatures measured at 1 (t 1 ), T 2 (t 1 ) and T 1 (t 2 ), T 2 (t 2 );

[0028] (2) Calculate the temperature gradient:

[0029]

[0030] Where: T 1 (t) and T 2 (t) represents different time t 1 and t 2 The temperature, Z 2 -Z 1 is the distance between two measurement points;

[0031] (3) Calculate the rate of change of temperature over time:

[0032]

[0033] Get depth Z 1 The rate of temperature change at

[0034] (4) Calculate the thermal diffusivity α:

[0035] According to the heat conduction equation:

[0036]

[0037] Simplified to:

[0038]

[0039] Compared with the prior art, the present invention aims to establish a tidal flat temperature detection platform in the tidal flat area to collect, process and transmit data in real time, which can not only improve the detection efficiency, but also reduce the danger of on-site detection by personnel. At the same time, the tidal flat temperature and tidal flat thermal diffusivity data obtained through detection can provide support for numerical simulation of offshore environmental dynamics, and further provide technical reference for coastal ecological protection, fishery breeding, tourism resource development and other activities. The specific beneficial effects are as follows:

[0040] 1. Innovative detection methods to improve efficiency: The device uses drones to quickly deploy and recover tidal flat anti-sinking detection equipment, greatly shortening the detection cycle and improving detection efficiency. This innovative method overcomes the difficulty of traditional detection methods in reaching complex tidal flat areas, providing a more convenient and efficient solution for scientific research and practical applications;

[0041] 2. Ensure personnel safety and reduce costs: Traditional tidal flat detection requires on-site operation by personnel, which faces many safety risks. This device uses drones for remote control, which effectively avoids direct contact between personnel and the harsh environment, greatly reducing the safety risks of detection operations. At the same time, automated detection reduces manpower requirements, reduces detection costs, and improves the economy of operations;

[0042] 3. Accurate data collection to support multidisciplinary research: The temperature detection rod in the device can penetrate into different depths of the tidal flat and accurately collect temperature data, providing high-quality data support for the analysis of the thermal diffusion rate of the tidal flat. These data are not only helpful for research in the fields of marine science and environmental science, but also provide basic data for numerical simulation of offshore environmental dynamics, promoting the cross-integration and development of multiple disciplines. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A structural schematic diagram of the present invention;

[0044] Figure 2 It is a structural schematic diagram of the floating plate of the present invention;

[0045] Figure 3 It is a structural schematic diagram of the anti-sinking plate of the present invention;

[0046] Figure 4 It is a schematic structural diagram of the waterproof sealing box of the present invention;

[0047] Figure 5 It is a schematic diagram of the device composition and process of the present invention. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] Reference Figure 1-5 A self-sinking tidal flat thermal diffusivity detection device based on drone transportation includes a tidal flat anti-sinking detection device and a drone 1 for transporting the tidal flat anti-sinking detection device to the tidal flat area. The tidal flat anti-sinking detection device includes an anti-sinking plate 10 for providing a stable support platform on the tidal flat and a floating plate 5 fixedly connected to the anti-sinking plate 10 through a retractable soft rope 4. A plurality of anti-sinking foot tubes 6 are fixed to the bottom of the anti-sinking plate 10. The anti-sinking foot tubes 6 are fixed to the anti-sinking plate 10 and are rigidly connected. After reaching the designated position, they automatically sink into the tidal flat to start The floating plate 5 is connected to the anti-sinking plate 10 through a retractable soft rope 4, which can be relatively displaced with the anti-sinking plate 10 and float up with the tide, and can also be anchored by the retractable soft rope 4 to avoid separation from the anti-sinking plate 10; preferably, the floating plate 5 adopts a hard foam board, the anti-sinking plate 10 adopts an anti-sinking iron plate, and the retractable soft rope 4 adopts a 304 stainless steel wire rope, which is strong and reliable, and the anti-sinking foot tube 6 is a stainless steel foot tube, and the anti-sinking foot tube 6 is provided with 4, and is respectively arranged at the four corners of the anti-sinking plate 10;

[0050] A temperature detection rod 8 for detecting temperature information at different depths of the tidal flat is inserted on the anti-sinking plate 10. Specifically, the temperature detection rod 8 includes a slender iron rod, and a plurality of temperature detectors 9 are installed at equal intervals at the lower part of the slender iron rod for synchronously observing the temperature of different layers of the tidal flat. The parameters of the temperature detector 9 are as follows:

[0051] Table 1 Temperature detector parameters

[0052]

[0053] Preferably, a reserved circular hole 13 is provided on the floating plate 5 for fixedly fitting with the temperature detection rod 8, so that the floating plate 5 can be relatively positioned with the temperature detection rod 8, which not only allows the floating plate 5 to float up and down with the action of the tide, but also ensures that the temperature detection rod 8 does not change position with the floating of the floating plate 5, and a mounting hole 15 is provided on the anti-sinking plate 10 for fitting with the temperature detection rod 8, which is used to fix the temperature detection rod 8. A rigid connection is adopted between the two, which helps to fix them on the tidal flat, and connecting holes 12 for fitting with the retractable soft rope 4 are also provided at the four corners of the floating plate 5, and fixing holes 14 for fitting with the retractable soft rope 4 are provided at the four corners of the anti-sinking plate 10, so as to ensure the stability and reliability of the connection between the floating plate 5 and the anti-sinking plate 10.

[0054] Secondly, the temperature detection rod 8 is arranged through the floating plate 5, and a mounting ring 3 is installed on the top of the temperature detection rod 8. A hook 2 is installed on the drone 1 for connecting with the mounting ring 3 to launch and recover the tidal flat anti-sinking detection equipment; the drone 1 is used to use the hook 2 to cooperate with the mounting ring to realize the transportation of the tidal flat anti-sinking detection equipment and to throw it at the designated location. Preferably, the drone 1 is equipped with anti-sinking legs 7, and foam boards are installed on the anti-sinking legs 7 to increase the contact area between the drone 1 and the tidal flat to prevent the drone 1 from sinking into the tidal flat;

[0055] In order to realize data collection and transmission, a data collection and transmission device is also installed on the floating plate 5, which is used to receive and process the temperature data from the temperature detection rod 8, and can store the collected data in the internal memory, and transmit the collected data to the remote data center or receiving device in real time by wireless means, avoiding the limitations of wired transmission and improving the flexibility and convenience of data transmission;

[0056] Specific:

[0057] The data acquisition and transmission equipment includes a data acquisition and calculation device, a data storage and transmission device, a power supply device and a GPS positioning device;

[0058] The data acquisition device is used to obtain the hourly tidal flat temperature data of different layers, and calculate the vertical thermal diffusivity of the tidal flat according to the formula. The obtained tidal flat temperature and tidal flat thermal diffusivity data are stored and transmitted in real time;

[0059] The GPS positioning device is used for positioning, which facilitates the recovery of the device;

[0060] The power supply device is powered by a lithium battery, installed on the floating plate 5, and is fully waterproofed.

[0061] In order to facilitate the installation of the data acquisition and transmission equipment, a waterproof sealing box 11 that cooperates with the data acquisition and transmission equipment is installed on the top of the floating plate 5. A circuit board, a battery integrated box 16 and a GPS positioning device integrated box 17 are also arranged in the waterproof sealing box 11. The waterproof sealing box 11 can also be sealed with a waterproof sealant 18 to ensure the safety and waterproofness of the electronic components to the greatest extent.

[0062] A method for detecting thermal diffusivity of a self-sinking tidal flat based on drone delivery, the steps of which are as follows:

[0063] (1) Assemble the detection device based on the tidal flat characteristics and environmental features of the observation area;

[0064] Consult the nautical charts and other information of the observation area, and conduct on-site investigation to understand the approximate depth of the tidal flat mud, determine the length of the thin line, the height of the device layout and the length of the fixed leg pipe;

[0065] Check the weather information of the observation area to avoid strong winds, rain and other weather conditions, and choose the landing time for drone delivery based on tidal forecast data;

[0066] (2) Assembling the device indoors, connecting the floating plate and the anti-sinking plate through a retractable soft rope, installing and fixing the anti-sinking foot pipe on the anti-sinking plate, and rigidly connecting the temperature detection rod to the anti-sinking plate. Then, arranging temperature detectors at equal intervals on the temperature detection rod and performing calibration operations;

[0067] (3) Mount the tidal flat anti-sinking detection device on the UAV, tie thin wires to the reserved circular holes around the floating plate, connect the four thin wires to one point and connect them to the hook, and connect the mounting ring on the temperature detection rod to the hook to ensure that the tidal flat anti-sinking detection device is stable when placed;

[0068] (4) Use a drone to transport the tidal flat anti-sinking detection equipment to the designated location, and remotely control the placement operation. Wait for the tidal flat anti-sinking detection equipment to be slowly fixed on the tidal flat, and at the same time obtain the real-time transmission of tidal flat temperature and thermal diffusivity data, check the data acquisition and transmission effects, and debug the functions;

[0069] (5) Maintenance and recovery operations: regularly use drones to observe and maintain the tidal flat anti-sinking detection equipment, and finally recover it at a scheduled time according to the GPS coordinates.

[0070] In this method, the thermal diffusivity of the tidal flat is calculated by using the measured tidal flat temperature, interlayer spacing and time, and solving the vertical thermal diffusivity of the tidal flat based on Fourier's law and the heat conduction equation. Specifically, the thermal diffusivity α can be derived through the following relationship through the heat conduction equation of the tidal flat:

[0071]

[0072] Where: T represents temperature; t represents time; z represents depth; α represents thermal diffusivity.

[0073] In the two tidal flats, the depth is z 1 and z 2 If a period of time is known, such as t 1 and t 2 The thermal diffusivity is calculated by the following steps:

[0074] (1) Measure the temperature at different times:

[0075] Assume that at two depths z 1 and z 2The temperatures measured at 1 (t 1 ), T 2 (t 1 ) and T 1 (t 2 ), T 2 (t 2 );

[0076] (2) Calculate the temperature gradient:

[0077]

[0078] Where: T 1 (t) and T 2 (t) represents different time t 1 and t 2 The temperature, Z 2 -Z 1 is the distance between two measurement points;

[0079] (3) Calculate the rate of change of temperature over time:

[0080]

[0081] Get depth Z 1 The rate of temperature change at

[0082] (4) Calculate the thermal diffusivity α:

[0083] According to the heat conduction equation:

[0084]

[0085] Simplified to:

[0086]

[0087] Due to its special geographical location, the tidal flat area repeatedly experiences changes in flooding-exposure state, and the observation difficulty is relatively greater than that of seawater and soil. In addition, the offshore tidal flat area is usually dominated by silt, and personnel on-site observations are prone to fall into the silt, which is not only dangerous but also inefficient. The present invention aims to establish a tidal flat temperature detection platform in the tidal flat area, and to collect, process and transmit data in real time, which can not only improve the detection efficiency, but also reduce the danger of on-site detection by personnel. The tidal flat temperature and tidal flat thermal diffusivity data obtained through detection can provide support for numerical simulation of offshore environmental dynamics, and further provide technical references for coastal ecological protection, fishery breeding, tourism resource development and other activities.

Claims

1. A self-sinking tidal flat thermal diffusivity detection device based on drone transportation, characterized in that: It includes a tidal flat anti-sinking detection device and a drone for transporting the tidal flat anti-sinking detection device to a tidal flat area. The tidal flat anti-sinking detection device includes an anti-sinking plate for providing a stable support platform on the tidal flat and a floating plate fixedly connected to the anti-sinking plate through a retractable soft rope. A plurality of anti-sinking foot tubes are fixed at the bottom of the anti-sinking plate. A temperature detection rod for detecting temperature information at different depths of the tidal flat is inserted on the anti-sinking plate. The temperature detection rod runs through the floating plate. A mounting ring is installed on the top of the temperature detection rod. A hook is installed on the drone for connecting with the mounting ring to launch and recover the tidal flat anti-sinking detection device. A data acquisition and transmission device is also installed on the floating plate to receive and process temperature data from the temperature detection rod, and can save the collected data in the internal memory, and transmit the collected data to a remote data center or receiving device in real time via wireless means.

2. The self-sinking tidal flat thermal diffusivity detection device based on drone transportation according to claim 1 is characterized by: The temperature detection rod comprises a slender iron rod, and a plurality of temperature detectors are installed at equal intervals at the lower part of the slender iron rod for synchronously observing the temperature of different layers of tidal flats.

3. The self-sinking tidal flat thermal diffusivity detection device based on drone transportation according to claim 1 or 2 is characterized in that: A reserved circular hole is provided on the floating plate for fixing with the temperature detection rod, a mounting hole is provided on the anti-sinking plate for matching with the temperature detection rod, connecting holes for matching with the retractable soft rope are also provided at the four corners of the floating plate, and fixing holes for matching with the retractable soft rope are provided at the four corners of the anti-sinking plate.

4. The self-sinking tidal flat thermal diffusivity detection device based on drone transportation according to claim 1 is characterized by: The UAV is provided with anti-sinking legs, and foam plates are installed on the anti-sinking legs to increase the contact area between the UAV and the tidal flat and prevent the UAV from sinking into the tidal flat.

5. The self-sinking tidal flat thermal diffusivity detection device based on drone transportation according to claim 1 is characterized by: The data acquisition and transmission equipment includes a data acquisition and calculation device, a data storage and transmission device, a power supply device and a GPS positioning device. The data acquisition device is used to obtain the hourly tidal flat temperature data of different layers, and calculate the vertical thermal diffusivity of the tidal flat according to the formula. The obtained tidal flat temperature and tidal flat thermal diffusivity data are stored and transmitted in real time; The GPS positioning device is used for positioning, which facilitates the recovery of the device; The power supply device is powered by a lithium battery, installed on a floating plate, and is fully waterproofed.

6. The self-sinking tidal flat thermal diffusivity detection device based on drone transportation according to claim 1 or 5, characterized in that: A waterproof sealing box matched with the data acquisition and transmission equipment is installed on the top of the floating plate, and a circuit board, a battery integrated box and a GPS positioning device integrated box are also arranged in the waterproof sealing box.

7. The self-sinking tidal flat thermal diffusivity detection device based on drone transportation according to claim 1 is characterized by: The anti-sinking foot tubes are stainless steel foot tubes, and there are four anti-sinking foot tubes, which are respectively arranged at the four corners of the anti-sinking plate.

8. A method for detecting thermal diffusivity of a self-sinking tidal flat based on drone transport, characterized in that: The method uses the self-sinking tidal flat thermal diffusivity detection device based on drone transportation as described in any one of claims 1 to 7, and the steps are as follows: (1) Assemble the detection device based on the tidal flat characteristics and environmental features of the observation area; (2) Assembling the device indoors, connecting the floating plate and the anti-sinking plate through a retractable soft rope, installing and fixing the anti-sinking foot pipe on the anti-sinking plate, and rigidly connecting the temperature detection rod to the anti-sinking plate. Then, arranging temperature detectors at equal intervals on the temperature detection rod and performing calibration operations; (3) Mount the tidal flat anti-sinking detection device on the UAV, tie thin wires to the reserved circular holes around the floating plate, connect the four thin wires to one point and connect them to the hook, and connect the mounting ring on the temperature detection rod to the hook to ensure that the tidal flat anti-sinking detection device is stable when placed; (4) Use a drone to transport the tidal flat anti-sinking detection equipment to the designated location, and remotely control the placement operation. Wait for the tidal flat anti-sinking detection equipment to be slowly fixed on the tidal flat, and at the same time obtain the real-time transmission of tidal flat temperature and thermal diffusivity data, check the data acquisition and transmission effects, and debug the functions; (5) Maintenance and recovery operations: regularly use drones to observe and maintain the tidal flat anti-sinking detection equipment, and finally recover it at a scheduled time according to the GPS coordinates.

9. The method for detecting thermal diffusivity of a self-sinking tidal flat based on drone transportation according to claim 8 is characterized in that: In this method, the thermal diffusivity of the tidal flat is calculated by using the measured tidal flat temperature, interlayer spacing and time, and solving the vertical thermal diffusivity of the tidal flat based on Fourier's law and the heat conduction equation. Specifically, the thermal diffusivity α can be derived through the following relationship through the heat conduction equation of the tidal flat: Where: T represents temperature; t represents time; z represents depth; α represents thermal diffusivity.

10. The method for detecting thermal diffusivity of a self-sinking tidal flat based on drone transportation according to claim 9 is characterized in that: Between two tidal flats at depths z1 and z2, if the temperature changes over a period of time, such as t1 and t2, are known, the thermal diffusivity can be calculated by the following steps: (1) Measure the temperature at different times: Assume that the temperatures measured at two depths z1 and z2 are T1(t1), T2(t1) and T1(t2), T2(t2) respectively; (2) Calculate the temperature gradient: Where: T1(t) and T2(t) represent the temperature at different times t1 and t2 respectively, and Z2-Z1 is the distance between the two measurement points; (3) Calculate the rate of change of temperature over time: Take the temperature change rate at depth Z1; (4) Calculate the thermal diffusivity α: According to the heat conduction equation: Simplified to:

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