Forest ecological environment monitoring data processing method, device, equipment and storage medium

Abstract

The present invention relates to the technical field of forest ecological environment monitoring, and discloses a forest ecological environment monitoring data processing method, device, equipment and storage medium. By extracting the monitoring position information and monitoring data type of each data monitoring device in the forest ecological environment monitoring task of the target area, an initial data receiving flight path is generated, and a data receiving drone is driven to perform the first data receiving flight action. According to the monitoring data of each data acquisition monitoring device received in the previous data receiving flight action, the data receiving interval time of each data acquisition monitoring device and the flight distance for performing all data receiving flight actions are considered, so that the data receiving drone always performs the data receiving flight action considering the optimal global data acquisition efficiency, improves the real-time and accuracy of sensor monitoring data collection, acquisition and feedback, improves data acquisition efficiency and can adaptively adjust the drone flight path planning of monitoring data under different circumstances.

Description

Technical Field

[0001] The present invention relates to the technical field of forest ecological environment monitoring, and in particular to a forest ecological environment monitoring data processing method, device, equipment and storage medium. Background Art

[0002] Forest ecological environment monitoring refers to the process of long-term, systematic observation and analysis of the composition, structure, function and external environmental elements of forest ecosystems using a variety of technical means such as physics, chemistry and biology. It usually covers many aspects such as forest vegetation itself (such as tree growth status, species diversity), soil properties, meteorological conditions, hydrological characteristics and the relationship between organisms. At present, three methods are usually used to monitor forest ecological environment data: sensor monitoring scheme, manual field monitoring scheme and remote sensing image or drone monitoring scheme. For the manual field monitoring scheme, there are defects such as high labor intensity, subjectivity of monitoring results and poor timeliness. For the remote sensing image or drone monitoring scheme, there are defects such as limited resolution and great influence by weather and environment. For the sensor monitoring scheme, due to its high real-time and good accuracy, it has a wide range of applications in large-scale and harsh environments such as forest ecological environment monitoring.

[0003] However, the following problems still exist when implementing the sensor monitoring solution: First, the network signal in remote forest areas is unstable, and the sensor monitoring data cannot be obtained in real time and conveniently. In scenarios with high real-time monitoring requirements, the sensor monitoring solution cannot meet the requirements; Second, due to the diverse types of forest ecological environment monitoring data and the different importance of different monitoring data, the frequency requirements for monitoring data acquisition are also different. How to improve the acquisition efficiency of sensor monitoring data, further improve the real-time performance of data collection and reduce the implementation cost of forest ecological environment monitoring has always been a difficulty; Third, although there are currently related technologies for acquiring and transmitting sensor monitoring data through drones, the flight path and monitoring data acquisition frequency of drone data acquisition are affected by changes in monitoring data (when the monitoring data deteriorates, it is usually necessary to increase the monitoring data acquisition frequency to ensure that abnormalities in the forest ecological environment can be discovered in time), which increases the difficulty of flight path planning for drone data acquisition.

[0004] Therefore, how to improve the real-time and accuracy of sensor monitoring data collection, acquisition, and feedback for forest ecological environment monitoring, improve data acquisition efficiency, and adaptively adjust monitoring data for drone flight path planning under different circumstances is a technical problem that needs to be solved urgently. Summary of the invention

[0005] The present invention provides a forest ecological environment monitoring data processing method, device, equipment and storage medium, aiming to solve at least one of the above-mentioned technical problems.

[0006] To achieve the above object, the present invention provides a method for processing forest ecological environment monitoring data, comprising the following steps:

[0007] Acquire the forest ecological environment monitoring task of the target area, and extract the monitoring location information and monitoring data type of several data collection and monitoring devices in the forest ecological environment monitoring task;

[0008] Acquire the forest ecological environment monitoring task of the target area, and extract the monitoring location information and monitoring data type of several data collection and monitoring devices in the forest ecological environment monitoring task;

[0009] Based on the monitoring location information of each data acquisition and monitoring device, an initial data receiving flight path is generated, and the initial data receiving flight path is sent to a data receiving drone equipped with a communication relay device, so as to drive the data receiving drone to perform the first data receiving flight action for each data acquisition and monitoring device;

[0010] According to the monitoring data received by the data receiving UAV through the communication relay device during the previous data receiving flight action and the monitoring data type of each data acquisition and monitoring device, the data receiving interval time of each data acquisition and monitoring device and the flight distance for performing all data receiving flight actions are considered, and a data receiving flight update path for the current data receiving flight action is generated; specifically comprising: based on the monitoring data type of each data acquisition and monitoring device, matching the data receiving standard frequency of each data acquisition and monitoring device in a comparison table of pre-defined monitoring data types and data receiving standard frequencies, and determining the theoretical maximum interval period of data reception for each data acquisition and monitoring device; according to the monitoring data received by the data receiving UAV through the communication relay device during the previous data receiving flight action and the standard monitoring data range of the corresponding data acquisition and monitoring device, generating a data receiving period adjustment ratio, and using the data receiving period adjustment ratio and the standard monitoring data range of each data acquisition and monitoring device The maximum interval period for data reception is used to calculate the actual maximum interval period for data reception of each data acquisition and monitoring device; based on the standard flight speed of the data receiving UAV, the constraint condition that the difference between two adjacent data reception times of each data acquisition and monitoring device is less than the corresponding actual maximum interval period for data reception, and the goal of minimizing the sum of the distances of the data receiving flight update paths in all subsequent data receiving flight actions, the data receiving flight strategy of the data receiving UAV is optimized; wherein the data receiving flight strategy includes the execution time and the data receiving flight update path of each subsequent data receiving flight action, and the data receiving flight update path passes through the communication range of at least one data acquisition and monitoring device; the data receiving flight update path corresponding to the data receiving flight action with the earliest execution time in the data receiving flight strategy is extracted, and the data receiving flight update path is used as the data receiving flight update path of the current data receiving flight action;

[0011] The data receiving flight update path is sent to the data receiving drone, driving the data receiving drone to perform a data receiving flight action for the corresponding data acquisition and monitoring equipment.

[0012] Optionally, the step of obtaining a forest ecological environment monitoring task in a target area and extracting monitoring location information and monitoring data type of a plurality of data collection and monitoring devices in the forest ecological environment monitoring task specifically includes:

[0013] Obtaining a forest ecological environment monitoring demand list; wherein the forest ecological environment monitoring demand list includes the layout locations of a number of data acquisition and monitoring devices deployed in the target area and a number of sensor types of sensor components configured in each data acquisition and monitoring device;

[0014] The data types corresponding to the deployment locations and the several sensor types are used as monitoring location information and monitoring data type respectively, a forest ecological environment monitoring task for the target area is generated, and the forest ecological environment monitoring task is published to a forest ecological environment monitoring task database;

[0015] Access the forest ecological environment monitoring task database, obtain the forest ecological environment monitoring tasks of the target area, and extract the monitoring location information and monitoring data type of several data collection and monitoring devices in the forest ecological environment monitoring tasks.

[0016] Optionally, based on the monitoring position information of each data acquisition monitoring device, the steps of generating the data receiving flight initial path include:

[0017] Obtain the communication module identification of each data collection and monitoring device, and based on the communication module identification, match the relationship comparison table between the communication distance interval and the forest coverage rate of each data collection and monitoring device generated through testing provided by the data collection and monitoring device manufacturer;

[0018] Calling a satellite remote sensing image of a target area, inputting the satellite remote sensing image into a forest coverage area recognition model, obtaining a forest coverage area of ​​the target area, and using the monitoring location information of each data acquisition monitoring device to calculate the forest coverage rate of the smallest unit grid partition to which the monitoring location information belongs;

[0019] Determine the communication distance interval of each data collection and monitoring device according to the relationship comparison table of each data collection and monitoring device and the forest coverage rate of the smallest unit grid partition to which the monitoring location information belongs;

[0020] Based on the monitoring location information and communication distance interval of each data acquisition and monitoring device, the communication range of each data acquisition and monitoring device is drawn in the electronic map of the target area, and the data receiving flight initial path of the data receiving UAV passing through the communication range of each data acquisition and monitoring device is generated.

[0021] Optionally, the data receiving flight initial path is sent to a data receiving drone equipped with a communication relay device, and the data receiving drone is driven to perform the first data receiving flight action steps for each data collection and monitoring device, specifically including:

[0022] Sending the data receiving flight initial path to a data receiving drone equipped with a communication relay device, driving the flight component of the data receiving drone to perform a flight action along the data receiving flight initial path;

[0023] When the data receiving drone flies within the communication range of each data collection and monitoring device, the communication relay device of the data receiving drone is driven to communicate with the corresponding data collection and monitoring device to obtain the forest ecological environment monitoring data collected between the last communication and the current communication stored in the data collection and monitoring device;

[0024] After completing this communication, a data cleaning instruction is transmitted to the corresponding data collection and monitoring equipment, driving the data collection and monitoring equipment to clear the stored forest ecological environment monitoring data.

[0025] Optionally, the data receiving flight update path is sent to the data receiving drone, and the data receiving drone is driven to perform the data receiving flight action steps for the corresponding data acquisition and monitoring equipment, specifically including:

[0026] Sending the data receiving flight update path to the data receiving UAV, driving the flight component of the data receiving UAV to perform a flight action along the data receiving flight update path at an execution time corresponding to the data receiving flight action;

[0027] When the data receiving drone flies within the communication range of each data collection and monitoring device, the communication relay device of the data receiving drone is driven to communicate with the corresponding data collection and monitoring device to obtain the forest ecological environment monitoring data collected between the last communication and the current communication stored in the data collection and monitoring device;

[0028] After completing this communication, a data cleaning instruction is transmitted to the corresponding data collection and monitoring equipment, driving the data collection and monitoring equipment to clear the stored forest ecological environment monitoring data.

[0029] Optionally, after sending the data receiving flight update path to the data receiving drone and driving the data receiving drone to execute the data receiving flight action step for the corresponding data acquisition and monitoring device, the method further includes:

[0030] After completing each data receiving flight action, returning to the step of generating a data receiving cycle adjustment ratio according to the monitoring data received by the data receiving UAV through the communication relay device during the previous data receiving flight action and the standard monitoring data range of the corresponding data acquisition monitoring device;

[0031] Determine whether the data receiving cycle adjustment ratio of the current data receiving flight action is the same as the data receiving cycle adjustment ratio of the previous data receiving flight action; if so, continue to execute the data receiving flight action of the current data receiving flight update path; if not, re-execute the step of calculating the actual maximum interval period of data reception for each data acquisition and monitoring device by using the data receiving cycle adjustment ratio and the maximum interval period of data reception for each data acquisition and monitoring device;

[0032] The data receiving flight strategy of the data receiving UAV is solved by using the recovered actual maximum interval period of data receiving, and the data receiving flight update path of subsequent data receiving flight actions is generated.

[0033] In addition, in order to achieve the above-mentioned purpose, the present invention also provides a forest ecological environment monitoring data processing device, comprising:

[0034] A task acquisition module is used to acquire the forest ecological environment monitoring task of the target area and extract the monitoring location information and monitoring data type of several data collection and monitoring devices in the forest ecological environment monitoring task;

[0035] A first execution module is used to generate an initial data receiving flight path based on the monitoring location information of each data acquisition and monitoring device, send the initial data receiving flight path to a data receiving drone equipped with a communication relay device, and drive the data receiving drone to perform a first data receiving flight action for each data acquisition and monitoring device;

[0036] The path updating module is used to generate a data receiving flight update path for the current data receiving flight action based on the monitoring data received by the data receiving UAV through the communication relay device during the previous data receiving flight action and the monitoring data type of each data acquisition and monitoring device, taking into account the data receiving interval time of each data acquisition and monitoring device and the flight distance for performing all data receiving flight actions; specifically comprising: based on the monitoring data type of each data acquisition and monitoring device, matching the data receiving standard frequency of each data acquisition and monitoring device in a pre-defined comparison table of monitoring data type and data receiving standard frequency, and determining the theoretical maximum interval period of data reception for each data acquisition and monitoring device; generating a data receiving period adjustment ratio based on the monitoring data received by the data receiving UAV through the communication relay device during the previous data receiving flight action and the standard monitoring data range of the corresponding data acquisition and monitoring device, and using the data receiving period adjustment ratio and each data acquisition The maximum interval period of data reception of the monitoring equipment is calculated, and the actual maximum interval period of data reception of each data acquisition and monitoring equipment is calculated; based on the standard flight speed of the data receiving UAV as the benchmark, the difference between two adjacent data reception times of each data acquisition and monitoring equipment is less than the corresponding actual maximum interval period of data reception as the constraint condition, and the shortest sum of the distances of the data receiving flight update paths in all subsequent data receiving flight actions as the goal, the data receiving flight strategy of the data receiving UAV is optimized; wherein, the data receiving flight strategy includes the execution time and the data receiving flight update path of each subsequent data receiving flight action, and the data receiving flight update path passes through the communication range of at least one data acquisition and monitoring equipment; the data receiving flight update path corresponding to the data receiving flight action with the earliest execution time in the data receiving flight strategy is extracted, and the data receiving flight update path is used as the data receiving flight update path of the current data receiving flight action;

[0037] The second execution module is used to send the data receiving flight update path to the data receiving UAV, driving the data receiving UAV to execute the data receiving flight action for the corresponding data acquisition and monitoring equipment.

[0038] In addition, in order to achieve the above-mentioned objectives, the present invention also provides a forest ecological environment monitoring data processing device, which includes: a memory, a processor, and a forest ecological environment monitoring data processing program stored on the memory and run on the processor. When the forest ecological environment monitoring data processing program is executed by the processor, the forest ecological environment monitoring data processing method as described above is implemented.

[0039] In addition, in order to achieve the above-mentioned purpose, the present invention also provides a storage medium, on which a forest ecological environment monitoring data processing program is stored. When the forest ecological environment monitoring data processing program is executed by a processor, the above-mentioned forest ecological environment monitoring data processing method is implemented.

[0040] The beneficial effects of the present invention are as follows: a method, device, equipment and storage medium for processing forest ecological environment monitoring data are proposed, which extracts the monitoring location information and monitoring data type of each data monitoring device in the forest ecological environment monitoring task of the target area, generates the initial data receiving flight path using the monitoring location information, drives the data receiving drone to perform the first data receiving flight action, and according to the monitoring data and monitoring data type of each data acquisition monitoring device received in the previous data receiving flight action, considers the data receiving interval time of each data acquisition monitoring device and the flight distance for performing all data receiving flight actions, adopts a non-fixed period drone data receiving flight strategy, solves and generates the data receiving flight update path of each subsequent data receiving flight action, and re-solves and plans the subsequent data receiving flight update path when the monitoring data is abnormal, so that the data receiving drone always performs the data receiving flight action considering the optimal global data acquisition efficiency, improves the real-time and accuracy of the sensor monitoring data collection, acquisition and return of forest ecological environment monitoring, improves the data acquisition efficiency and can adaptively adjust the drone flight path planning of monitoring data under different circumstances. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention;

[0042] Figure 2 A schematic diagram of a process flow of an embodiment of a method for processing forest ecological environment monitoring data according to the present invention;

[0043] Figure 3 The present invention is a structural block diagram of a forest ecological environment monitoring data processing device in an embodiment of the present invention.

[0044] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0046] like Figure 1 As shown, Figure 1It is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention.

[0047] like Figure 1 As shown, the device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or it may be a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0048] Those skilled in the art will understand that Figure 1 The structure of the device shown in the figure does not constitute a limitation of the device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0049] like Figure 1 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a forest ecological environment monitoring data processing program.

[0050] exist Figure 1 In the terminal shown, the network interface 1004 is mainly used to connect to the backend server and communicate data with the backend server; the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client; and the processor 1001 can be used to call the forest ecological environment monitoring data processing program stored in the memory 1005 and perform the following operations:

[0051] Acquire the forest ecological environment monitoring task of the target area, and extract the monitoring location information and monitoring data type of several data collection and monitoring devices in the forest ecological environment monitoring task;

[0052] Based on the monitoring location information of each data acquisition and monitoring device, an initial data receiving flight path is generated, and the initial data receiving flight path is sent to a data receiving drone equipped with a communication relay device, so as to drive the data receiving drone to perform the first data receiving flight action for each data acquisition and monitoring device;

[0053] Generate a data receiving flight update path for the current data receiving flight action based on the monitoring data received by the data receiving drone through the communication relay device during the previous data receiving flight action and the type of monitoring data of each data collecting and monitoring device, taking into account the data receiving interval time of each data collecting and monitoring device and the flight distance of performing all data receiving flight actions;

[0054] The data receiving flight update path is sent to the data receiving drone, driving the data receiving drone to perform a data receiving flight action for the corresponding data acquisition and monitoring equipment.

[0055] The specific embodiments of the present invention applied to the device are basically the same as the embodiments of the forest ecological environment monitoring data processing method described below, and will not be described in detail here.

[0056] The embodiment of the present invention provides a method for processing forest ecological environment monitoring data, referring to Figure 2 , Figure 2 It is a flow chart of an embodiment of the forest ecological environment monitoring data processing method of the present invention.

[0057] In this embodiment, the forest ecological environment monitoring data processing method includes the following steps:

[0058] S100: Acquire a forest ecological environment monitoring task in a target area, and extract monitoring location information and monitoring data types of a plurality of data collection and monitoring devices in the forest ecological environment monitoring task;

[0059] S200: generating an initial data receiving flight path based on the monitoring location information of each data acquisition and monitoring device, sending the initial data receiving flight path to a data receiving drone equipped with a communication relay device, and driving the data receiving drone to perform the first data receiving flight action for each data acquisition and monitoring device;

[0060] S300: Generate a data receiving flight update path for the current data receiving flight action according to the monitoring data received by the data receiving drone through the communication relay device during the previous data receiving flight action and the type of monitoring data of each data collecting and monitoring device, taking into account the data receiving interval time of each data collecting and monitoring device and the flight distance of performing all data receiving flight actions;

[0061] S400: Sending the data receiving flight update path to the data receiving drone, driving the data receiving drone to perform a data receiving flight action for the corresponding data acquisition and monitoring equipment.

[0062] It should be noted that the following problems still exist when implementing the sensor monitoring solution: First, the network signal in remote forest areas is unstable, and the sensor monitoring data cannot be obtained in real time and conveniently. In scenarios with high real-time monitoring requirements, the sensor monitoring solution cannot meet the requirements; Second, due to the diverse types of forest ecological environment monitoring data and the different importance of different monitoring data, the frequency requirements for monitoring data acquisition are also different. How to improve the acquisition efficiency of sensor monitoring data, further improve the real-time nature of data collection and reduce the implementation cost of forest ecological environment monitoring has always been a difficulty; Third, although there are currently related technologies for acquiring and transmitting sensor monitoring data through drones, the flight path and monitoring data acquisition frequency of drone data acquisition are affected by changes in monitoring data (when the monitoring data deteriorates, it is usually necessary to increase the monitoring data acquisition frequency to ensure that abnormalities in the forest ecological environment can be discovered in time), which increases the difficulty of flight path planning for drone data acquisition.

[0063] In order to solve the above problems, this embodiment extracts the monitoring location information and monitoring data type of each data collection and monitoring device in the forest ecological environment monitoring task of the target area, uses the monitoring location information to generate the initial data receiving flight path, drives the data receiving UAV to perform the first data receiving flight action, and according to the monitoring data and monitoring data type of each data collection and monitoring device received in the previous data receiving flight action, considers the data receiving interval time of each data collection and monitoring device and the flight distance for executing all data receiving flight actions, adopts a non-fixed period UAV data receiving flight strategy, solves and generates the data receiving flight update path for each subsequent data receiving flight action, and re-solves and plans the subsequent data receiving flight update path when an abnormal monitoring data is detected, so that the data receiving UAV always executes the data receiving flight action that considers the optimal global data acquisition efficiency, improves the real-time and accuracy of sensor monitoring data collection, acquisition, and feedback of forest ecological environment monitoring, improves data acquisition efficiency, and can adaptively adjust the UAV flight path planning of monitoring data under different circumstances.

[0064] In a preferred embodiment, the steps of obtaining a forest ecological environment monitoring task in a target area and extracting monitoring location information and monitoring data type of a plurality of data acquisition monitoring devices in the forest ecological environment monitoring task specifically include:

[0065] S110: Obtaining a forest ecological environment monitoring demand list; wherein the forest ecological environment monitoring demand list includes the locations of a plurality of data acquisition and monitoring devices deployed in the target area and a plurality of sensor types of sensor components configured in each data acquisition and monitoring device;

[0066] S120: Using the data types corresponding to the deployment locations and the multiple sensor types as monitoring location information and monitoring data type, respectively, generating a forest ecological environment monitoring task for the target area, and publishing the forest ecological environment monitoring task to a forest ecological environment monitoring task database;

[0067] S130: Access the forest ecological environment monitoring task database, obtain the forest ecological environment monitoring tasks of the target area, and extract the monitoring location information and monitoring data type of several data collection and monitoring devices in the forest ecological environment monitoring tasks.

[0068] In this embodiment, by obtaining the forest ecological environment monitoring demand list, extracting the layout locations of several data acquisition and monitoring devices in the target area recorded in the forest ecological environment monitoring demand list and several sensor types of the sensor components configured in each data acquisition and monitoring device, a forest ecological environment monitoring task is generated and published to the forest ecological environment monitoring task database. After that, the forest ecological environment monitoring personnel can access the forest ecological environment monitoring task database through the task terminal to obtain and execute the forest ecological environment monitoring task of the target area. It should be noted that the forest ecological environment monitoring task refers to the task of performing forest ecological environment monitoring data collection for the target area using several deployed sensors generated according to the forest ecological environment monitoring demand list proposed by the data demand department (usually used to study forest ecological problems); forest ecological environment monitoring data refers to the data collected by the deployed sensors; the monitoring data type is the type of data collected by the sensor, and the sensor type is the type of sensor (for example, the sensor type is a humidity sensor, and the monitoring data type is a humidity value); the data type corresponding to the sensor type is the type of data collected by the sensor.

[0069] In a preferred embodiment, based on the monitoring position information of each data acquisition monitoring device, the step of generating the data receiving flight initial path specifically includes:

[0070] S210: Acquire the communication module identification of each data collection and monitoring device, and match the relationship comparison table between the communication distance interval and the forest coverage rate of each data collection and monitoring device generated through testing provided by the data collection and monitoring device manufacturer based on the communication module identification;

[0071] S220: calling a satellite remote sensing image of the target area, inputting the satellite remote sensing image into a forest coverage area recognition model, obtaining a forest coverage area of ​​the target area, and using the monitoring location information of each data acquisition monitoring device to calculate the forest coverage rate of the minimum unit grid partition to which the monitoring location information belongs;

[0072] S230: Determine the communication distance interval of each data collection and monitoring device according to the relationship comparison table of each data collection and monitoring device and the forest coverage rate of the minimum unit grid partition to which the monitoring location information belongs;

[0073] S240: Based on the monitoring location information and communication distance interval of each data acquisition and monitoring device, the communication range of each data acquisition and monitoring device is drawn in the electronic map of the target area, and an initial receiving flight path of the data receiving drone passing through the communication range of each data acquisition and monitoring device is generated.

[0074] In this embodiment, the forest coverage area recognition model can adopt a pre-trained convolutional neural network model (CNN), and use the relationship between image features (such as spectral features, texture features or a combination of the two) in the satellite remote sensing image perceived by the convolutional neural network model during the pre-training process and the forest coverage to determine the area covered by trees in the satellite remote sensing image.

[0075] Furthermore, the data receiving flight initial path is sent to a data receiving drone equipped with a communication relay device, driving the data receiving drone to perform the first data receiving flight action steps for each data collection and monitoring device, specifically including:

[0076] S250: sending the data receiving flight initial path to a data receiving drone equipped with a communication relay device, and driving the flight component of the data receiving drone to perform a flight action along the data receiving flight initial path;

[0077] S260: When the data receiving drone flies within the communication range of each data collection and monitoring device, the communication relay device of the data receiving drone is driven to communicate with the corresponding data collection and monitoring device to obtain the forest ecological environment monitoring data collected between the last communication and the current communication stored in the data collection and monitoring device;

[0078] S270: After completing this communication, a data cleaning instruction is transmitted to the corresponding data collection and monitoring device, driving the data collection and monitoring device to clear the stored forest ecological environment monitoring data.

[0079] In this embodiment, after obtaining the monitoring location information of each data collection and monitoring device, the communication distance interval of each data collection and monitoring device is determined, and then the communication range of each data collection and monitoring device is drawn in the electronic map based on the monitoring location information, and the initial receiving flight path for performing the first data receiving flight action is generated, and the forest ecological environment monitoring data collected between the last communication and this communication stored in each data collection and monitoring device performing the first data receiving flight action is obtained by sending it to the data receiving drone and driving the data receiving drone to perform the first data receiving flight action.

[0080] In a preferred embodiment, according to the monitoring data received by the data receiving drone through the communication relay device during the previous data receiving flight action and the type of monitoring data of each data acquisition and monitoring device, the data receiving interval time of each data acquisition and monitoring device and the flight distance of performing all data receiving flight actions are considered, and the data receiving flight update path step of the current data receiving flight action is generated, specifically including:

[0081] S310: Based on the monitoring data type of each data acquisition and monitoring device, match the data receiving standard frequency of each data acquisition and monitoring device in a pre-defined comparison table of monitoring data type and data receiving standard frequency, and determine the theoretical maximum interval period of data receiving of each data acquisition and monitoring device;

[0082] S320: Generate a data receiving cycle adjustment ratio according to the monitoring data received by the data receiving drone through the communication relay device during the previous data receiving flight action and the standard monitoring data range of the corresponding data acquisition and monitoring device, and calculate the actual maximum interval period of data reception for each data acquisition and monitoring device by using the data receiving cycle adjustment ratio and the maximum interval period of data reception for each data acquisition and monitoring device;

[0083] S330: Taking the standard flight speed of the data receiving UAV as a benchmark, taking the difference between two adjacent data receiving times of each data acquisition and monitoring device being less than the corresponding actual maximum interval period of data reception as a constraint condition, and taking the sum of the distances of the data receiving flight update paths in all subsequent data receiving flight actions as the shortest as a goal, optimizing and solving the data receiving flight strategy of the data receiving UAV; wherein, the data receiving flight strategy includes the execution time of each subsequent execution of the data receiving flight action and the data receiving flight update path, and the data receiving flight update path passes through the communication range of at least one data acquisition and monitoring device;

[0084] S340: extracting the data receiving flight update path corresponding to the data receiving flight action with the earliest execution time in the data receiving flight strategy, and using the data receiving flight update path as the data receiving flight update path of the current data receiving flight action.

[0085] In this embodiment, before each data receiving flight action is executed, based on the monitoring data and monitoring data type of each data acquisition and monitoring device received in the previous data receiving flight action, the data reception interval time of each data acquisition and monitoring device and the flight distance for executing all data receiving flight actions are considered, and a non-fixed period UAV data receiving flight strategy is adopted to solve and generate a data receiving flight update path for each subsequent data receiving flight action, and when an abnormal monitoring data is detected, the subsequent data receiving flight update path is re-solved and planned, so that the data receiving UAV always executes the data receiving flight action that takes into account the optimal global data acquisition efficiency, thereby improving the real-time and accuracy of sensor monitoring data collection, acquisition, and feedback for forest ecological environment monitoring.

[0086] In a preferred embodiment, the data receiving flight update path is sent to the data receiving drone, driving the data receiving drone to perform the data receiving flight action steps for the corresponding data acquisition and monitoring equipment, specifically including:

[0087] S410: sending the data receiving flight update path to the data receiving UAV, driving the flight component of the data receiving UAV to perform a flight action along the data receiving flight update path at an execution time corresponding to the data receiving flight action;

[0088] S420: When the data receiving drone flies within the communication range of each data collection and monitoring device, the communication relay device of the data receiving drone is driven to communicate with the corresponding data collection and monitoring device to obtain the forest ecological environment monitoring data collected between the last communication and the current communication stored in the data collection and monitoring device;

[0089] S430: After completing this communication, a data cleaning instruction is transmitted to the corresponding data collection and monitoring device, driving the data collection and monitoring device to clear the stored forest ecological environment monitoring data.

[0090] Furthermore, after sending the data receiving flight update path to the data receiving drone and driving the data receiving drone to execute the data receiving flight action step for the corresponding data acquisition and monitoring device, it also includes:

[0091] S510: after completing each data receiving flight action, returning to the step of generating a data receiving cycle adjustment ratio according to the monitoring data received by the data receiving UAV through the communication relay device during the previous data receiving flight action and the standard monitoring data range of the corresponding data acquisition monitoring device;

[0092] S520: Determine whether the data receiving cycle adjustment ratio of the current data receiving flight action is the same as the data receiving cycle adjustment ratio of the previous data receiving flight action; if so, continue to execute the data receiving flight action of the current data receiving flight update path; if not, re-execute the step of calculating the actual maximum interval period of data receiving for each data acquisition and monitoring device by using the data receiving cycle adjustment ratio and the maximum interval period of data receiving for each data acquisition and monitoring device;

[0093] S530: Solve the data receiving flight strategy of the data receiving UAV using the recovered actual maximum interval period of data receiving, and generate a data receiving flight update path for subsequent data receiving flight actions.

[0094] In this embodiment, after obtaining the data receiving flight update path of each subsequent data receiving flight action, the data receiving flight update path is sent to the data receiving drone, driving the data receiving drone to obtain the forest ecological environment monitoring data collected between the last communication and the current communication stored in the data acquisition monitoring device. At the same time, after completing each data receiving flight action, it is determined whether the data receiving cycle adjustment ratio of the current data receiving flight action is the same as the data receiving cycle adjustment ratio of the previous data receiving flight action. If not, the data receiving flight update path of the subsequent data receiving flight action is re-solved and generated, considering the need to increase the frequency of monitoring data acquisition when the monitoring data deteriorates, to ensure that the abnormal forest ecological environment can be discovered in time, thereby improving the data acquisition efficiency while being able to adaptively adjust the drone flight path planning of monitoring data under different circumstances.

[0095] Reference Figure 3 , Figure 3 It is a structural block diagram of an embodiment of the forest ecological environment monitoring data processing device of the present invention.

[0096] like Figure 3 As shown, the forest ecological environment monitoring data processing device proposed in the embodiment of the present invention includes:

[0097] The task acquisition module 10 is used to acquire the forest ecological environment monitoring task of the target area and extract the monitoring location information and monitoring data type of several data collection and monitoring devices in the forest ecological environment monitoring task;

[0098] The first execution module 20 is used to generate an initial data receiving flight path based on the monitoring location information of each data acquisition and monitoring device, send the initial data receiving flight path to a data receiving drone equipped with a communication relay device, and drive the data receiving drone to perform the first data receiving flight action for each data acquisition and monitoring device;

[0099] The path updating module 30 is used to generate a data receiving flight update path for the current data receiving flight action according to the monitoring data received by the data receiving UAV through the communication relay device during the previous data receiving flight action and the type of monitoring data of each data collecting and monitoring device, taking into account the data receiving interval time of each data collecting and monitoring device and the flight distance of performing all data receiving flight actions;

[0100] The second execution module 40 is used to send the data receiving flight update path to the data receiving UAV, and drive the data receiving UAV to execute the data receiving flight action for the corresponding data acquisition and monitoring equipment.

[0101] Other embodiments or specific implementation methods of the forest ecological environment monitoring data processing device of the present invention can refer to the above-mentioned method embodiments and will not be repeated here.

[0102] In addition, the present invention also proposes a forest ecological environment monitoring data processing device, which includes: a memory, a processor, and a forest ecological environment monitoring data processing program stored on the memory and runable on the processor. When the forest ecological environment monitoring data processing program is executed by the processor, the steps of the forest ecological environment monitoring data processing method as described above are implemented.

[0103] The specific implementation of the forest ecological environment monitoring data processing equipment of the present application is basically the same as the various embodiments of the above-mentioned forest ecological environment monitoring data processing method, and will not be repeated here.

[0104] In addition, the present invention also proposes a readable storage medium, which includes a computer-readable storage medium on which a forest ecological environment monitoring data processing program is stored. The readable storage medium may be Figure 1 The memory 1005 in the terminal may also be at least one of a ROM (Read-Only Memory) / RAM (Random Access Memory), a magnetic disk, and an optical disk. The readable storage medium includes a number of instructions for enabling a forest ecological environment monitoring data processing device with a processor to execute the forest ecological environment monitoring data processing method described in each embodiment of the present invention.

[0105] The specific implementation methods in the readable storage medium of the present application are basically the same as the various embodiments of the above-mentioned forest ecological environment monitoring data processing method, and will not be repeated here.

[0106] It is understood that, in the description of this specification, the description with reference to the terms "one embodiment", "another embodiment", "other embodiments", or "first to Nth embodiments" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0107] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0108] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0109] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0110] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for processing forest ecological environment monitoring data, characterized in that: The following steps are involved: Acquire the forest ecological environment monitoring task of the target area, and extract the monitoring location information and monitoring data type of several data collection and monitoring devices in the forest ecological environment monitoring task; Based on the monitoring location information of each data acquisition and monitoring device, an initial data receiving flight path is generated, and the initial data receiving flight path is sent to a data receiving drone equipped with a communication relay device, so as to drive the data receiving drone to perform the first data receiving flight action for each data acquisition and monitoring device; According to the monitoring data received by the data receiving UAV through the communication relay device during the previous data receiving flight action and the monitoring data type of each data acquisition and monitoring device, the data receiving interval time of each data acquisition and monitoring device and the flight distance for performing all data receiving flight actions are considered, and a data receiving flight update path for the current data receiving flight action is generated; specifically comprising: based on the monitoring data type of each data acquisition and monitoring device, matching the data receiving standard frequency of each data acquisition and monitoring device in a comparison table of pre-defined monitoring data types and data receiving standard frequencies, and determining the theoretical maximum interval period of data reception for each data acquisition and monitoring device; according to the monitoring data received by the data receiving UAV through the communication relay device during the previous data receiving flight action and the standard monitoring data range of the corresponding data acquisition and monitoring device, generating a data receiving period adjustment ratio, and using the data receiving period adjustment ratio and the standard monitoring data range of each data acquisition and monitoring device The maximum interval period for data reception is used to calculate the actual maximum interval period for data reception of each data acquisition and monitoring device; based on the standard flight speed of the data receiving UAV, the constraint condition that the difference between two adjacent data reception times of each data acquisition and monitoring device is less than the corresponding actual maximum interval period for data reception, and the goal of minimizing the sum of the distances of the data receiving flight update paths in all subsequent data receiving flight actions, the data receiving flight strategy of the data receiving UAV is optimized; wherein the data receiving flight strategy includes the execution time and the data receiving flight update path of each subsequent data receiving flight action, and the data receiving flight update path passes through the communication range of at least one data acquisition and monitoring device; the data receiving flight update path corresponding to the data receiving flight action with the earliest execution time in the data receiving flight strategy is extracted, and the data receiving flight update path is used as the data receiving flight update path of the current data receiving flight action; The data receiving flight update path is sent to the data receiving drone, driving the data receiving drone to perform a data receiving flight action for the corresponding data acquisition and monitoring equipment.

2. The forest ecological environment monitoring data processing method according to claim 1, characterized in that: The steps of obtaining the forest ecological environment monitoring task of the target area and extracting the monitoring location information and monitoring data type of several data collection and monitoring devices in the forest ecological environment monitoring task specifically include: Obtaining a forest ecological environment monitoring demand list; wherein the forest ecological environment monitoring demand list includes the locations of a number of data acquisition and monitoring devices deployed in the target area and a number of sensor types of sensor components configured in each data acquisition and monitoring device; The data types corresponding to the deployment locations and the several sensor types are used as monitoring location information and monitoring data type respectively, a forest ecological environment monitoring task for the target area is generated, and the forest ecological environment monitoring task is published to a forest ecological environment monitoring task database; Access the forest ecological environment monitoring task database, obtain the forest ecological environment monitoring tasks of the target area, and extract the monitoring location information and monitoring data type of several data collection and monitoring devices in the forest ecological environment monitoring tasks.

3. The forest ecological environment monitoring data processing method according to claim 1, characterized in that: Based on the monitoring location information of each data acquisition monitoring device, the steps of generating the initial data receiving flight path include: Obtain the communication module identification of each data collection and monitoring device, and based on the communication module identification, match the relationship comparison table between the communication distance interval and the forest coverage rate of each data collection and monitoring device generated through testing provided by the data collection and monitoring device manufacturer; Calling a satellite remote sensing image of a target area, inputting the satellite remote sensing image into a forest coverage area recognition model, obtaining a forest coverage area of ​​the target area, and using the monitoring location information of each data acquisition monitoring device to calculate the forest coverage rate of the smallest unit grid partition to which the monitoring location information belongs; Determine the communication distance interval of each data collection and monitoring device according to the relationship comparison table of each data collection and monitoring device and the forest coverage rate of the smallest unit grid partition to which the monitoring location information belongs; Based on the monitoring location information and communication distance interval of each data acquisition and monitoring device, the communication range of each data acquisition and monitoring device is drawn in the electronic map of the target area, and the data receiving flight initial path of the data receiving UAV passing through the communication range of each data acquisition and monitoring device is generated.

4. The forest ecological environment monitoring data processing method according to claim 3, characterized in that: The initial data receiving flight path is sent to the data receiving drone equipped with the communication relay device, and the data receiving drone is driven to perform the first data receiving flight action steps for each data collection and monitoring device, specifically including: Sending the data receiving flight initial path to a data receiving drone equipped with a communication relay device, driving the flight component of the data receiving drone to perform a flight action along the data receiving flight initial path; When the data receiving drone flies within the communication range of each data collection and monitoring device, the communication relay device of the data receiving drone is driven to communicate with the corresponding data collection and monitoring device to obtain the forest ecological environment monitoring data collected between the last communication and the current communication stored in the data collection and monitoring device; After completing this communication, a data cleaning instruction is transmitted to the corresponding data collection and monitoring equipment, driving the data collection and monitoring equipment to clear the stored forest ecological environment monitoring data.

5. The forest ecological environment monitoring data processing method according to claim 1, characterized in that: The data receiving flight update path is sent to the data receiving drone, and the data receiving drone is driven to perform the data receiving flight action steps for the corresponding data acquisition and monitoring equipment, specifically including: Sending the data receiving flight update path to the data receiving UAV, driving the flight component of the data receiving UAV to perform a flight action along the data receiving flight update path at an execution time corresponding to the data receiving flight action; When the data receiving drone flies within the communication range of each data collection and monitoring device, the communication relay device of the data receiving drone is driven to communicate with the corresponding data collection and monitoring device to obtain the forest ecological environment monitoring data collected between the last communication and the current communication stored in the data collection and monitoring device; After completing this communication, a data cleaning instruction is transmitted to the corresponding data collection and monitoring equipment, driving the data collection and monitoring equipment to clear the stored forest ecological environment monitoring data.

6. The forest ecological environment monitoring data processing method according to claim 5, characterized in that: After sending the data receiving flight update path to the data receiving drone and driving the data receiving drone to execute the data receiving flight action step for the corresponding data acquisition and monitoring equipment, the method further includes: After completing each data receiving flight action, returning to the step of generating a data receiving cycle adjustment ratio according to the monitoring data received by the data receiving UAV through the communication relay device during the previous data receiving flight action and the standard monitoring data range of the corresponding data acquisition monitoring device; Determine whether the data receiving cycle adjustment ratio of the current data receiving flight action is the same as the data receiving cycle adjustment ratio of the previous data receiving flight action; if so, continue to execute the data receiving flight action of the current data receiving flight update path; if not, re-execute the step of calculating the actual maximum interval period of data reception for each data acquisition and monitoring device by using the data receiving cycle adjustment ratio and the maximum interval period of data reception for each data acquisition and monitoring device; The data receiving flight strategy of the data receiving UAV is solved by using the recovered actual maximum interval period of data receiving, and the data receiving flight update path of subsequent data receiving flight actions is generated.

7. A forest ecological environment monitoring data processing device, characterized in that: include: A task acquisition module is used to acquire the forest ecological environment monitoring task of the target area and extract the monitoring location information and monitoring data type of several data collection and monitoring devices in the forest ecological environment monitoring task; A first execution module is used to generate an initial data receiving flight path based on the monitoring location information of each data acquisition and monitoring device, send the initial data receiving flight path to a data receiving drone equipped with a communication relay device, and drive the data receiving drone to perform a first data receiving flight action for each data acquisition and monitoring device; The path updating module is used to generate a data receiving flight update path for the current data receiving flight action based on the monitoring data received by the data receiving UAV through the communication relay device during the previous data receiving flight action and the monitoring data type of each data acquisition and monitoring device, taking into account the data receiving interval time of each data acquisition and monitoring device and the flight distance for performing all data receiving flight actions; specifically comprising: based on the monitoring data type of each data acquisition and monitoring device, matching the data receiving standard frequency of each data acquisition and monitoring device in a pre-defined comparison table of monitoring data type and data receiving standard frequency, and determining the theoretical maximum interval period of data reception for each data acquisition and monitoring device; generating a data receiving period adjustment ratio based on the monitoring data received by the data receiving UAV through the communication relay device during the previous data receiving flight action and the standard monitoring data range of the corresponding data acquisition and monitoring device, and using the data receiving period adjustment ratio and each data acquisition The maximum interval period of data reception of the monitoring equipment is calculated, and the actual maximum interval period of data reception of each data acquisition and monitoring equipment is calculated; based on the standard flight speed of the data receiving UAV as the benchmark, the difference between two adjacent data reception times of each data acquisition and monitoring equipment is less than the corresponding actual maximum interval period of data reception as the constraint condition, and the shortest sum of the distances of the data receiving flight update paths in all subsequent data receiving flight actions as the goal, the data receiving flight strategy of the data receiving UAV is optimized; wherein, the data receiving flight strategy includes the execution time and the data receiving flight update path of each subsequent data receiving flight action, and the data receiving flight update path passes through the communication range of at least one data acquisition and monitoring equipment; the data receiving flight update path corresponding to the data receiving flight action with the earliest execution time in the data receiving flight strategy is extracted, and the data receiving flight update path is used as the data receiving flight update path of the current data receiving flight action; The second execution module is used to send the data receiving flight update path to the data receiving UAV, driving the data receiving UAV to execute the data receiving flight action for the corresponding data acquisition and monitoring equipment.

8. A forest ecological environment monitoring data processing device, characterized in that: The forest ecological environment monitoring data processing device includes: a memory, a processor, and a forest ecological environment monitoring data processing program stored in the memory and executable on the processor. When the forest ecological environment monitoring data processing program is executed by the processor, the forest ecological environment monitoring data processing method as described in any one of claims 1 to 6 is implemented.

9. A storage medium, characterized in that: The storage medium stores a forest ecological environment monitoring data processing program, and when the forest ecological environment monitoring data processing program is executed by the processor, the forest ecological environment monitoring data processing method according to any one of claims 1 to 6 is implemented.

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