Plant community three-dimensional dynamic monitoring method and system

Abstract

The invention provides a plant community three-dimensional dynamic monitoring method and system. The system comprises an information acquisition device and a ground measurement and control device, the information acquisition device is used for acquiring image data and point cloud data of a plant community; the information acquisition device comprises an unmanned aerial vehicle, and a camera, 3D scanning equipment and at least one sensor which are arranged on the unmanned aerial vehicle; the ground measurement and control device comprises a data preprocessing module and a three-dimensional reconstruction module, and the preprocessing module is used for receiving the image data and the point cloud data and preprocessing the image data and the point cloud data to generate a data file; and the three-dimensional reconstruction module constructs a three-dimensional model of the plant community based on the data file so as to monitor the three-dimensional structure and dynamic change of the plant community through the three-dimensional model. According to the invention, automatic, continuous and real-time monitoring of the three-dimensional structure and dynamic change of the plant community is realized, and visual and comprehensive information support is provided for engineering construction of ecological environment protection and management and city updating.

Description

Technical Field

[0001] The present application relates to the technical field of ecological environment monitoring and protection, and in particular to the technical field of three-dimensional dynamic monitoring of plant communities. Background Art

[0002] Plant communities are an important part of the ecosystem, and their dynamic changes are of great significance to the protection and management of the ecological environment and engineering construction. For example, in urban renewal projects, it is crucial to respect the plant foundation of the plot and improve the environment suitable for human habitation, and to provide accurate plant information in real time.

[0003] Traditional plant community monitoring methods mainly rely on manual observation and recording, which is not only time-consuming and labor-intensive, but also difficult to achieve comprehensive and accurate monitoring of the three-dimensional structure and dynamic changes of plant communities. Summary of the invention

[0004] The present application provides a three-dimensional dynamic monitoring method and system for plant communities, which are used to automatically, continuously and in real time monitor the three-dimensional structure and dynamic changes of plant communities, and provide support for ecological environment protection and management as well as engineering construction.

[0005] In the first aspect, an embodiment of the present application provides a three-dimensional dynamic monitoring system for a plant community, comprising: an information collection device and a ground measurement and control device; the information collection device is used to obtain image data and point cloud data of a plant community; the information collection device includes a drone and a camera, a 3D scanning device and at least one sensor installed on the drone; the ground measurement and control device includes a data preprocessing module and a three-dimensional reconstruction module, the preprocessing module is used to receive the image data and the point cloud data, and preprocess the image data and the point cloud data to generate a data file; the three-dimensional reconstruction module constructs a three-dimensional model of the plant community based on the data file, so as to monitor the three-dimensional structure and dynamic changes of the plant community through the three-dimensional model.

[0006] In an implementation of the first aspect, the 3D scanning device includes any one or a combination of a three-dimensional laser scanner, a lidar, a stereo camera, or a time-of-flight camera; the sensor includes any one or a combination of a lidar sensor, a multispectral sensor, and a high-definition RGB sensor.

[0007] In an implementation of the first aspect, the drone is further equipped with a meteorological monitoring device for collecting meteorological data of the area where the plant community is located in real time, so that the three-dimensional reconstruction module can construct a three-dimensional model of the plant community.

[0008] In an implementation of the first aspect, the three-dimensional reconstruction module also includes: a demand input module for receiving monitoring requirements input by a user; a UAV parameter configuration module for configuring flight parameters for the UAV according to the monitoring requirements, and the flight parameters include at least a flight route, an altitude, and a speed; and an early warning and suggestion module for generating and outputting early warning information and monitoring suggestions according to the monitoring requirements and the three-dimensional model of the plant community.

[0009] In an implementation of the first aspect, the three-dimensional reconstruction module also includes: a data analysis and processing module; the data analysis and processing module includes: a diversity analysis unit, which is used to evaluate the diversity of plant communities using species index indicators; a structure analysis unit, which is used to analyze the structural stability and characteristics of the plant community based on at least one data of the species composition, age structure, vertical structure, and spatial distribution of the plant community; an ecological stability analysis unit, which is used to combine meteorological, soil and plant growth data to evaluate the anti-interference and recovery capabilities of the plant community, and analyze the response and adaptation of the plant community to environmental changes.

[0010] In an implementation of the first aspect, the ground measurement and control device also includes a data integration and visualization module for integrating various data output by the information acquisition device and displaying monitoring data and analysis results through a visualization tool.

[0011] In an implementation of the first aspect, the ground measurement and control device also includes a monitoring plan configuration module for configuring the monitoring target, monitoring content, monitoring method, monitoring frequency, and monitoring range of the plant community.

[0012] In an implementation of the first aspect, the ground measurement and control device is also connected to the water replenishment facilities and the drainage facilities, and adjusts the water depth and / or the nutrient concentration of the water body by controlling the water replenishment facilities and the drainage facilities to perform real-time regulation of the plant community.

[0013] In an implementation of the first aspect, the ground measurement and control device further includes: a visual servo control module, which controls a robot or a plant community management actuator based on plant image features.

[0014] In the second aspect, an embodiment of the present application provides a three-dimensional dynamic monitoring method for a plant community, which is applied to the three-dimensional dynamic monitoring system for a plant community as described above, including: configuring flight parameters for a drone, and acquiring image data and point cloud data of the plant community through a camera, a 3D scanning device and at least one sensor installed on the drone; preprocessing the image data and the point cloud data to generate a data file, and constructing a three-dimensional model of the plant community based on the data file, so as to monitor the three-dimensional structure and dynamic changes of the plant community through the three-dimensional model.

[0015] The three-dimensional dynamic monitoring method of plant communities provided in the embodiments of the present application has the following beneficial effects:

[0016] This application realizes automatic, continuous and real-time monitoring of the three-dimensional structure and dynamic changes of plant communities through drones equipped with high-definition cameras and 3D scanning equipment, receives, stores and processes data through ground measurement and control devices, realizes centralized management and efficient use of data, and generates three-dimensional models of plant communities through three-dimensional reconstruction modules, providing intuitive and comprehensive information support for ecological environmental protection and management and urban renewal engineering construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Shown is a schematic diagram of the principle structure of a three-dimensional dynamic monitoring system for plant communities according to an embodiment of the present application.

[0018] Figure 2 Shown is a system block diagram of the operation of a three-dimensional dynamic monitoring system for plant communities according to an embodiment of the present application.

[0019] Figure 3 Shown is a data processing flow chart of a ground measurement and control device in a three-dimensional dynamic monitoring system of a plant community in one embodiment of the present application.

[0020] Figure 4 Shown is a workflow diagram of a three-dimensional reconstruction module in a three-dimensional dynamic monitoring system for plant communities according to an embodiment of the present application.

[0021] Figure 5 Shown is a partial functional principle block diagram of a three-dimensional reconstruction module in a three-dimensional dynamic monitoring system for plant communities according to an embodiment of the present application.

[0022] Figure 6 Shown is a principle block diagram of a ground measurement and control device in a three-dimensional dynamic monitoring system of a plant community in one embodiment of the present application.

[0023] Figure 7 Shown is a schematic diagram of the data processing principle of the ground measurement and control device in the three-dimensional dynamic monitoring system of the plant community according to one embodiment of the present application.

[0024] Figure 8 Shown is a flow chart of a three-dimensional dynamic monitoring method of a plant community according to an embodiment of the present application.

[0025] Component number description

[0026] 100 Plant Community 3D Dynamic Monitoring System

[0027] 110 Information Collection Device

[0028] 111 Drone

[0029] 120 Ground measurement and control device

[0030] 121 3D Reconstruction Module

[0031] 121a Requirement Input Module

[0032] 121b UAV parameter configuration module

[0033] 121c Warning and Advisory Module

[0034] 122 Data analysis and processing module

[0035] 123 Monitoring plan configuration module

[0036] 124 Data Integration and Visualization Module

[0037] 125 Visual Servo Control Module

[0038] 126 Control Module

[0039] Steps S100 to S200 DETAILED DESCRIPTION

[0040] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0041] This embodiment provides a three-dimensional dynamic monitoring method and system for plant communities, which are used to automatically, continuously and in real time monitor the three-dimensional structure and dynamic changes of plant communities, and provide support for ecological environment protection and management as well as engineering construction.

[0042] The following will be combined with the attached examples of the present application Figure 1 To Attachment Figure 8 , the technical scheme in the embodiment of the present application is described in detail, so that those skilled in the art can understand and implement the three-dimensional dynamic monitoring method of plant communities in the present embodiment without creative labor.

[0043] Figure 1 The schematic diagram of the plant community three-dimensional dynamic monitoring system according to one embodiment of the present application is shown. Figure 1As shown, the three-dimensional dynamic monitoring system 100 of the plant community provided in the embodiment of the present application includes an information collection device 110 and a ground measurement and control device 120; the information collection device 110 is used to obtain image data and point cloud data of the plant community; the ground measurement and control device 120 constructs a three-dimensional model of the plant community to monitor the three-dimensional structure and dynamic changes of the plant community through the three-dimensional model.

[0044] The information collection device 110 and the ground measurement and control device 120 in the plant community three-dimensional dynamic monitoring system 100 of this embodiment are described in detail below.

[0045] Figure 2 The system block diagram of the plant community three-dimensional dynamic monitoring system 100 according to one embodiment of the present application is shown. The information collection device 110 includes a drone 11 and a camera, a 3D scanning device and at least one sensor installed on the drone 11.

[0046] In one implementation of this embodiment, the 3D scanning device includes any one or a combination of three-dimensional laser scanner, lidar, stereo camera or time-of-flight camera; the sensor includes any one or a combination of lidar sensor, multispectral sensor and high-definition RGB sensor.

[0047] The 3D scanning device works by emitting a laser beam and receiving its reflected signal. When the laser beam hits the surface of the plant, part of the light will return along the original path and be captured by the receiver inside the 3D scanning device. By measuring the time difference or phase difference of the laser's round trip, the distance between the 3D scanning device and the plant can be accurately calculated, and combined with the angle encoder data inside the 3D scanning device, the three-dimensional coordinates of each reflection point can be calculated. The point cloud data composed of a large number of three-dimensional points truly reflects the topography of the scanning area and the morphology of the plant community.

[0048] In this embodiment, the information collection device 110 uses a drone 11 equipped with a high-definition camera, a 3D scanning device, and a variety of high-precision sensors to obtain image data and point cloud data of the plant community. Dynamic monitoring of the three-dimensional morphological structure of the plant community is achieved. The three-dimensional morphological data of plants at different time points, including leaf length, leaf width, plant height, canopy coverage, etc., are captured to construct a three-dimensional model of the plant community.

[0049] In one implementation of this embodiment, the drone 11 is also equipped with a meteorological monitoring device for collecting meteorological data of the area where the plant community is located in real time, so as to provide the three-dimensional reconstruction module 121 with a three-dimensional model of the plant community. The meteorological monitoring device collects meteorological data of the area where the plant community is located in real time, including temperature, humidity, wind speed, etc., and sends these data to the ground measurement and control device 120 via wireless transmission.

[0050] Figure 3 The data processing flow chart of the ground measurement and control device 120 in the plant community three-dimensional dynamic monitoring system 100 according to an embodiment of the present application is shown. Figure 3 As shown, in this embodiment, the ground measurement and control device 120 includes a data preprocessing module and a three-dimensional reconstruction module 121. The preprocessing module is used to receive the image data and the point cloud data, and preprocess the image data and the point cloud data to generate a data file; the three-dimensional reconstruction module 121 constructs a three-dimensional model of the plant community based on the data file to monitor the three-dimensional structure and dynamic changes of the plant community through the three-dimensional model.

[0051] After receiving the data, the ground measurement and control device 120 performs preprocessing and analyzes the stored data. Use synchronous data visualization and provide early warning and decision support. Specifically, the preprocessing module cleans, filters and formats the collected raw data to ensure the accuracy and consistency of the data. For missing or abnormal data, interpolation, smoothing and other methods are used to process it, and then the preprocessed data file is obtained. After receiving the data, the ground measurement and control device 120 performs preprocessing and analyzes the stored data. Use synchronous data visualization and provide early warning and decision support.

[0052] In this embodiment, the 3D reconstruction module 121 system uses multi-sensor data fusion technology to fuse the data obtained by different sensors to generate comprehensive and accurate 3D phenotypic data of plant communities. The data fusion method not only improves the accuracy of the data, but also solves the problem that a single sensor is difficult to model in a 3D phenotypic structure.

[0053] Specifically, in this embodiment, the detection and analysis of plant communities include but are not limited to the collection of three-dimensional morphological information: such as geometric structure, color, and surface albedo; species identification and classification: such as combining image processing technology and machine learning algorithms, point cloud data can be processed and analyzed to achieve accurate identification and classification of different plant species; ecological monitoring and evaluation: such as using a three-dimensional laser scanner for regular scanning, three-dimensional point cloud data at different time points in the same area can be obtained. By comparing these data, the changes in plant communities can be intuitively observed, such as species replacement, changes in vegetation coverage, etc.; forestry resource management: In forestry resource management, this technology can be used to accurately calculate the operating area, estimate the amount of timber stock, plan the operating route, etc., as well as scientific research and education. The ground measurement and control device 120 can more intuitively understand the growth mechanism and ecological process of plants by constructing a three-dimensional model of the plant community.

[0054] Figure 4The following is a flowchart showing the workflow of the three-dimensional reconstruction module 121 in the plant community three-dimensional dynamic monitoring system 100 according to an embodiment of the present application. Figure 4 As shown, the three-dimensional reconstruction module 121 uses image processing technology and stereo matching technology to extract feature points or feature areas in the image and point cloud image of the plant community, and establish a corresponding relationship between them. Then the camera is calibrated and the posture is estimated to determine the internal and external parameters of the camera. The three-dimensional coordinates of the feature points are calculated using the triangulation principle to generate three-dimensional point cloud data, and then the surface of the plant community is reconstructed and texture mapped to restore the three-dimensional information of the plant community.

[0055] Figure 5 The following is a block diagram showing the functional principles of a portion of the 3D reconstruction module 121 in the 3D dynamic monitoring system 100 for plant communities according to an embodiment of the present application. Figure 5 As shown, in one implementation of this embodiment, the three-dimensional reconstruction module 121 also includes: a demand input module 121a, a drone parameter configuration module 121b and a warning and suggestion module 121c.

[0056] The demand input module 121a is used to receive monitoring requirements input by the user; the drone parameter configuration module 121b is used to configure flight parameters for the drone 11 according to the monitoring requirements, and the flight parameters at least include the flight route, altitude and speed, so that the drone 11 flies on the route set by the three-dimensional reconstruction module 121, captures images of the plant community through a high-definition camera, and obtains point cloud data of the plant community through a 3D scanning device; the early warning and suggestion module 121c generates and outputs early warning information and monitoring suggestions according to the monitoring requirements and the three-dimensional model of the plant community.

[0057] For example, requirements such as relevant specifications, regulations or environmental requirements suitable for human habitation can be input into the three-dimensional reconstruction module 121, and the early warning and suggestion module 121c outputs plant community suggestions that are beneficial to environmental health. In addition, the early warning and suggestion module 121c can be configured with a self-learning learning model, which analyzes the collected data and continuously optimizes the monitoring management method and plant community suggestions.

[0058] Therefore, the ground measurement and control device 120 of this embodiment includes early warning and decision support, in which the three-dimensional reconstruction module 121 establishes an early warning mechanism based on monitoring data and analysis results, timely discovers potential ecological problems, and provides a scientific basis and decision support for ecological protection, restoration and management.

[0059] Figure 6 The schematic diagram of the ground measurement and control device 120 in the plant community three-dimensional dynamic monitoring system 100 according to an embodiment of the present application is shown. Figure 6As shown, in one implementation of this embodiment, the three-dimensional reconstruction module 121 also includes: a data analysis and processing module 122. Figure 7 As shown, the data analysis and processing module 122 includes: a diversity analysis unit, which is used to evaluate the diversity of plant communities using species index indicators; a structure analysis unit, which is used to analyze the structural stability and characteristics of the plant community based on at least one of the data of species composition, age structure, vertical structure, and spatial distribution of the plant community; an ecological stability analysis unit, which is used to combine meteorological, soil and plant growth data to evaluate the anti-interference and recovery capabilities of the plant community, and analyze the response and adaptation of the plant community to environmental changes.

[0060] That is to say, in this embodiment, the data analysis includes diversity analysis, structural analysis and ecological stability analysis. Diversity analysis uses indicators such as species richness index and species evenness index to evaluate the diversity of plant communities. Structural analysis analyzes the structural stability and characteristics of plant communities based on data such as species composition, age structure, vertical structure, and spatial distribution. Ecological stability analysis combines meteorological, soil, and plant growth data to evaluate the anti-interference and recovery capabilities of plant communities, and uses time series analysis, regression analysis, and other methods to study the response and adaptation mechanism of plant communities to environmental changes.

[0061] In one implementation of this embodiment, Figure 6 As shown, the ground measurement and control device 120 also includes a data integration and visualization module 124, which is used to integrate various data output by the information collection device 110 and display the monitoring data and analysis results through a visualization tool.

[0062] In this embodiment, the data integration and visualization integrates and consolidates data from different sources to form a complete monitoring data set. Visualization tools such as charts and maps are used to display monitoring data and analysis results, so that managers can intuitively understand the ecological status of plant communities.

[0063] In this embodiment, the ground measurement and control device 120 is used to receive, store and analyze information data, and preset monitoring plans and algorithms, and can monitor plant communities regularly or in real time. Figure 6 As shown, the ground measurement and control device 120 also includes a monitoring plan configuration module 123, which is used to configure the monitoring target, monitoring content, monitoring method, monitoring frequency, and monitoring range of the plant community. That is, the preset monitoring plan includes monitoring target, monitoring content, monitoring method, monitoring frequency, and monitoring range.

[0064] Specifically, the monitoring objectives include evaluating the diversity of plant communities, including indicators such as species richness and species uniformity; analyzing the structure and distribution of plant communities, including but not limited to species composition, age structure, vertical structure, and spatial distribution; monitoring the ecological stability of plant communities, and evaluating their anti-interference and recovery capabilities to external interference. The monitoring content includes plant species and quantity or density: recording the number or density of plant species in the monitoring area; meteorological data: monitoring meteorological factors such as temperature, humidity, rainfall, wind speed, and analyzing their impact on plant communities; plant growth data: recording plant growth conditions, such as height, canopy, biomass, etc. The monitoring method includes arranging soil sensors, vegetation index sensors and other equipment in the monitoring area to collect and transmit monitoring data in real time. The system connects to the drone 11 device to obtain remote sensing parameters such as vegetation coverage and NDVI (normalized vegetation index) in the monitoring area, and analyzes the distribution and changes of plant communities. The monitoring frequency includes formulating a reasonable monitoring frequency based on the growth cycle of the plant and the monitoring needs. The monitoring scope includes clarifying the scope and boundaries of the monitoring area to ensure the accuracy and representativeness of the monitoring data. Different monitoring scales and scopes can be selected according to research objectives and monitoring needs.

[0065] In one implementation of this embodiment, Figure 6 As shown, the ground measurement and control device 120 is configured with a control module 126, which is connected to the water replenishment facilities and the drainage facilities. The water depth and / or the nutrient concentration of the water body are adjusted by controlling the water replenishment facilities and the drainage facilities to perform real-time regulation of the plant community.

[0066] Therefore, the ground measurement and control device 120 in this embodiment can perform real-time regulation on the plant community according to the monitoring results, for example, by controlling the water replenishment facilities and drainage facilities, adjusting the water depth and / or the nutrient concentration of the water body to adapt to different seasons, different water level changes, different environmental changes, etc.

[0067] In one implementation of this embodiment, Figure 6 As shown, the ground measurement and control device 120 also includes: a visual servo control module 125, which controls a robot or a plant community management actuator based on plant image features.

[0068] In specific applications, this embodiment adopts a visual servo control strategy based on plant image features. Through a rectangular coordinate robot or related equipment, robot visual servo positioning control with green plants as test objects is realized to improve the accuracy and efficiency of monitoring, such as monitoring of submerged plant communities.

[0069] This embodiment uses machine vision technology and combines plant image features to accurately control the plant community management mechanism. The visual servo control module 125 extracts key features in plant images, such as color, shape, texture, etc., to construct a visual feedback system, thereby achieving accurate control of robots or other actuators.

[0070] Therefore, the three-dimensional dynamic monitoring system 100 of the plant community in this embodiment realizes automatic, continuous and real-time monitoring of the three-dimensional structure and dynamic changes of the plant community through the drone 11 equipped with a high-definition camera and a 3D scanning device; receives, stores and processes data through the ground measurement and control device 120, thereby realizing centralized management and efficient use of data; generates a three-dimensional model of the plant community through the three-dimensional reconstruction module 121, providing intuitive and comprehensive information support for ecological environment protection and management and urban renewal engineering construction.

[0071] Figure 8 The flowchart of the three-dimensional dynamic monitoring method of plant communities according to one embodiment of the present application is shown. Figure 8 As shown, an embodiment of the present application provides a three-dimensional dynamic monitoring method for plant communities, which is applied to the three-dimensional dynamic monitoring system 100 for plant communities as described above. The three-dimensional dynamic monitoring method for plant communities includes the following steps S100 to S200.

[0072] Step S100, configuring flight parameters for the drone 11, and acquiring image data and point cloud data of the plant community through a camera, a 3D scanning device, and at least one sensor installed on the drone 11;

[0073] Step S200, preprocessing the image data and the point cloud data to generate a data file, and constructing a three-dimensional model of the plant community based on the data file, so as to monitor the three-dimensional structure and dynamic changes of the plant community through the three-dimensional model.

[0074] In this embodiment, first, the flight route, altitude, speed and other parameters of the drone 11 are set according to the monitoring requirements; then, the drone 11 is started to collect data, including image data, point cloud data and meteorological data, and synchronously, the ground measurement and control device 120 receives and processes these data to generate a pre-processed data file; finally, the three-dimensional model of the plant community is generated through the three-dimensional reconstruction module 121, and subsequent analysis and processing are performed. At the same time, plant community environmental protection optimization suggestions can be output according to the input requirements.

[0075] During the entire process, the monitoring results and data statistics can be displayed in real time, allowing users to understand and grasp the dynamic changes of plant communities at any time.

[0076] The protection scope of the three-dimensional dynamic monitoring method of plant communities described in the embodiment of the present application is not limited to the execution order of the steps listed in the present embodiment. All solutions implemented by adding, reducing or replacing steps in the prior art based on the principles of the present application are included in the protection scope of the present application.

[0077] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the three-dimensional dynamic monitoring method of a plant community provided in any embodiment of the present application is implemented.

[0078] In the embodiment of the present application, any combination of one or more storage media can be used. The storage medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a RAM, a ROM, an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, a device or a device or used in combination with it.

[0079] In some embodiments, the ground measurement and control device 120 can be a mobile phone, a tablet computer, a wearable device, a vehicle-mounted device, an augmented reality (AR) / virtual reality (VR) device, a laptop computer, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (PDA) and other terminal devices. In addition, the three-dimensional dynamic monitoring method of plant communities provided in this application can also be applied to databases, servers, and service response systems based on terminal artificial intelligence. The embodiments of this application do not impose any restrictions on the specific application scenarios of the three-dimensional dynamic monitoring method of plant communities.

[0080] The ground measurement and control device 120 provided in the embodiment of the present application includes a memory and a processor.

[0081] The memory is used to store computer programs; preferably, the memory includes: ROM, RAM, disk, USB flash drive, memory card or CD-ROM and other media that can store program codes.

[0082] Specifically, the memory may include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) and / or a cache memory. The ground measurement and control device 120 may further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory may include at least one program product, which has a set (e.g., at least one) of program modules, which are configured to perform the functions of the various embodiments of the present application.

[0083] The processor is connected to the memory and is used to execute the computer program stored in the memory so that the ground measurement and control device 120 executes the three-dimensional dynamic monitoring method of plant communities provided in any embodiment of the present application.

[0084] Optionally, the processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0085] Optionally, the ground measurement and control device 120 in this embodiment may further include a display. The display is communicatively connected with the memory and the processor, and is used to display a GUI interaction interface related to the three-dimensional dynamic monitoring method of plant communities.

[0086] In summary, the present application realizes automatic, continuous and real-time monitoring of the three-dimensional structure and dynamic changes of plant communities through the drone 11 equipped with a high-definition camera and a 3D scanning device, receives, stores and processes data through the ground measurement and control device 120, realizes centralized management and efficient use of data, and generates a three-dimensional model of the plant community through the three-dimensional reconstruction module 121, providing intuitive and comprehensive information support for ecological environment protection and management and urban renewal engineering construction. Therefore, the present application effectively overcomes various shortcomings in the prior art and has a high industrial utilization value.

[0087] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A three-dimensional dynamic monitoring system for plant communities, characterized in that: include: Information collection device and ground measurement and control device; The information collection device is used to obtain image data and point cloud data of plant communities; the information collection device includes a drone and a camera, a 3D scanning device and at least one sensor installed on the drone; The ground measurement and control device comprises a data preprocessing module and a three-dimensional reconstruction module, wherein the preprocessing module is used to receive the image data and the point cloud data, and preprocess the image data and the point cloud data to generate a data file; The three-dimensional reconstruction module constructs a three-dimensional model of the plant community based on the data file, so as to monitor the three-dimensional structure and dynamic changes of the plant community through the three-dimensional model.

2. The three-dimensional dynamic monitoring system of plant communities according to claim 1, characterized in that: The 3D scanning device includes any one or a combination of three-dimensional laser scanner, laser radar, stereo camera or time-of-flight camera; the sensor includes any one or a combination of laser radar sensor, multi-spectral sensor and high-definition RGB sensor.

3. The three-dimensional dynamic monitoring system for plant communities according to claim 1 or 2, characterized in that: The drone is also equipped with a meteorological monitoring device for collecting meteorological data of the area where the plant community is located in real time, so that the three-dimensional reconstruction module can construct a three-dimensional model of the plant community.

4. The three-dimensional dynamic monitoring system of plant communities according to claim 1, characterized in that: The three-dimensional reconstruction module also includes: A demand input module is used to receive monitoring requirements input by users; A UAV parameter configuration module, used to configure flight parameters for the UAV according to the monitoring requirements, wherein the flight parameters include at least a flight route, an altitude, and a speed; The early warning and suggestion module generates and outputs early warning information and monitoring suggestions according to the monitoring requirements and the three-dimensional model of the plant community.

5. The three-dimensional dynamic monitoring system of plant communities according to claim 1, characterized in that: The three-dimensional reconstruction module also includes: a data analysis and processing module; the data analysis and processing module includes: Diversity analysis unit, used to assess the diversity of plant communities using species index indicators; A structural analysis unit, used to analyze the structural stability and characteristics of the plant community based on at least one of the data of species composition, age structure, vertical structure, and spatial distribution of the plant community; The ecological stability analysis unit is used to combine meteorological, soil and plant growth data to evaluate the anti-disturbance and resilience of plant communities and to analyze the response and adaptation of plant communities to environmental changes.

6. The three-dimensional dynamic monitoring system of plant communities according to claim 5, characterized in that: The ground measurement and control device also includes a data integration and visualization module, which is used to integrate various data output by the information acquisition device and display the monitoring data and analysis results through a visualization tool.

7. The three-dimensional dynamic monitoring system of plant communities according to claim 1, characterized in that: The ground measurement and control device also includes a monitoring plan configuration module for configuring the monitoring target, monitoring content, monitoring method, monitoring frequency, and monitoring range of the plant community.

8. The three-dimensional dynamic monitoring system of plant communities according to claim 1, characterized in that: The ground measurement and control device is also connected to the water replenishment facilities and the drainage facilities, and adjusts the water depth and / or the nutrient concentration of the water body by controlling the water replenishment facilities and the drainage facilities, so as to perform real-time regulation and control of the plant community.

9. The three-dimensional dynamic monitoring system of plant communities according to claim 1, characterized in that: The ground measurement and control device also includes: a visual servo control module, which controls a robot or a plant community management actuator based on plant image features.

10. A three-dimensional dynamic monitoring method for plant communities, characterized in that: The three-dimensional dynamic monitoring system for plant communities as claimed in any one of claims 1 to 9 comprises: configuring flight parameters for the drone, and acquiring image data and point cloud data of the plant community through a camera, a 3D scanning device, and at least one sensor installed on the drone; The image data and the point cloud data are preprocessed to generate a data file, and a three-dimensional model of the plant community is constructed based on the data file, so as to monitor the three-dimensional structure and dynamic changes of the plant community through the three-dimensional model.

Images