Mangrove forest plant diversity investigation system and method based on unmanned aerial vehicle multi-mode cooperation

Abstract

The invention relates to a mangrove forest plant diversity investigation system and method based on unmanned aerial vehicle multi-mode cooperation, and belongs to the technical field of aerial remote sensing. The system comprises a data acquisition module, a control module and a charging module, the data acquisition module comprises an unmanned aerial vehicle and remote sensing equipment, and the unmanned aerial vehicle is used for carrying the remote sensing equipment to acquire the first remote sensing data above the mangrove forest and acquiring the second remote sensing data in the mangrove forest. Data acquisition is performed above the mangrove forest through the unmanned aerial vehicle I and the first remote sensing module, the mangrove forest plant diversity is estimated through the control module, the control module combines remote sensing data to generate a data acquisition path, and the unmanned aerial vehicle carries remote sensing equipment and performs secondary data acquisition in the mangrove forest along the data acquisition path. And diversity evaluation errors caused by mangrove forest canopy shielding of low plants are avoided.

Description

Technical Field

[0001] The present invention belongs to the field of aerial remote sensing technology, and in particular relates to a mangrove plant diversity survey system and method based on multimodal collaboration of unmanned aerial vehicles (UAVs). Background Art

[0002] Traditional mangrove plant diversity survey systems use drones equipped with remote sensing modules to collect remote sensing data from above the vegetation canopy. These data are then processed and analyzed to estimate mangrove plant diversity. This system has several limitations. Firstly, because the remote sensing modules only collect data from above, the dense mangrove canopy obscures the data, leading to a loss of information on vegetation below the canopy. This makes it difficult to capture the distribution of low-growing understory plants, which are unique to mangroves.

[0003] On the other hand, some mangroves are large in area, and the remote sensing data collection time is long. Mangroves may face high tides, and there will be blind spots in data collection. In order to ensure the accuracy of remote sensing data, the collection work needs to be interrupted. At this time, the drone lacks a landing point. If it waits for the tide to recede in place, it will need to hover continuously and consume electricity. If it flies away from the mangroves and lands, the survey efficiency will be reduced. Summary of the Invention

[0004] The purpose of the present invention is to provide a mangrove plant diversity survey system and method based on multimodal collaboration of drones in order to solve the above problems.

[0005] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0006] A mangrove plant diversity survey system and method based on multimodal collaboration of unmanned aerial vehicles (UAVs) includes:

[0007] Data acquisition module, used to collect mangrove remote sensing data;

[0008] a control module for estimating plant diversity based on remote sensing data of mangroves;

[0009] A charging module, used to provide power support to the data acquisition module;

[0010] Among them, the data acquisition module includes a drone and a remote sensing device, and the mangrove remote sensing data is divided into first remote sensing data and second remote sensing data. The drone is used to carry the remote sensing equipment to collect the first remote sensing data above the mangrove, and to collect the second remote sensing data inside the mangrove; the control module is also used to obtain the mangrove boundary information according to the first remote sensing data, and plan the data acquisition path of the drone based on the mangrove boundary information, so that after collecting the first remote sensing data, the drone carries the remote sensing equipment along the data acquisition path to collect the second remote sensing data inside the mangrove.

[0011] As a further optimization scheme of the present invention, the drone has a positioning module and a path planning module. The positioning module is used to obtain the location data of the drone. The path planning module is used to adjust the direction of travel of the drone when there is an obstacle in front of the drone, so that the drone can avoid the obstacle and return to the data collection path. The data collection path is distributed in an S shape within the boundary of the mangrove forest.

[0012] As a further optimization solution of the present invention, the control module is also used to identify branch targets based on the second remote sensing data, and a clamping component is provided on the top of the drone, and the clamping component is used to clamp the branch targets at high tide.

[0013] As a further optimization scheme of the present invention, a lifting component is provided between the casing of the drone and the clamping component, and a floating component is provided at the bottom of the drone's landing gear. The lifting component is used to lift the drone after the clamping component clamps the branch target, and the floating component is used to make the drone float on the water surface.

[0014] As a further optimization solution of the present invention, the floating component is a foldable floating structure, and the casing of the drone is provided with a pulling component for folding or unfolding the floating structure.

[0015] As a further optimization scheme of the present invention, the lifting assembly includes a box body and a box cover arranged on the top of the box body. A first wire roller is rotatably provided in the middle part of the inner side of the box body. The first wire roller is connected to the clamping assembly through a rope. The lifting assembly also includes a first driving member for rotating the first wire roller.

[0016] As a further optimization scheme of the present invention, the floating component includes a pair of mounting plates 1 and a pair of mounting plates 2, and the pair of mounting plates 1 are respectively fixed on both sides of the bottom of the landing gear of the drone, and a reset member is provided between the mounting plate 1 and the mounting plate 2, and the reset member is used to reset the mounting plate 2 to a state flush with the mounting plate 1. Both the mounting plate 1 and the mounting plate 2 are provided with airbags, and the pulling component includes a second line roller provided on both sides of the first line roller, and a transmission member provided between the second line roller and the first line roller, and the second line roller is connected to the mounting plate 2 by a rope.

[0017] As a further optimization scheme of the present invention, the upper and lower parts of the UAV casing are respectively provided with a first fixed pulley and a second fixed pulley, and a guide tube is provided on the side wall of the box body. The rope on the second wire roller passes through the guide tube, the first fixed pulley and the second fixed pulley in sequence and is connected to the mounting plate 2.

[0018] As a further optimization solution of the present invention, the clamping assembly includes a bracket and clamping claws respectively arranged on both sides of the bracket, and the clamping claws are provided with a clamping hoop, and one side of the clamping hoop is inclined downward.

[0019] A mangrove plant diversity survey method based on multimodal collaboration of unmanned aerial vehicles (UAVs) includes the following steps:

[0020] Step 1: collecting first remote sensing data above the mangrove forest, processing the first remote sensing data, and estimating plant diversity based on the processed data;

[0021] Step 2: obtaining mangrove boundary information according to the first remote sensing data, and planning a data collection path inside the mangrove based on the mangrove boundary information;

[0022] Step 3: collect second remote sensing data along the data collection path inside the mangrove forest, and perform data processing and plant diversity estimation on the second remote sensing data.

[0023] The beneficial effects of the present invention are:

[0024] 1) The present invention uses an unmanned aerial vehicle (UAV) equipped with a first remote sensing module to collect data above a mangrove forest. A control module screens and processes the remote sensing data and estimates the mangrove plant diversity. The control module combines the remote sensing data to obtain mangrove boundary information and generate a data collection path. The UAV equipped with remote sensing equipment performs secondary data collection within the mangrove forest along the data collection path, and the control module further analyzes the mangrove plant diversity. This can avoid diversity assessment errors caused by low-growing plants being obscured by the mangrove canopy.

[0025] 2) During high tide, the present invention connects the drone to the branches of mangrove plants through a clamping assembly, and at the same time, hoists the drone through a lifting assembly. The lifting assembly cooperates with the pulling assembly to open the foldable floating structure, so that the drone can float stably on the water surface. When the data collection task is interrupted due to high tide, the drone does not need to fly away from the mangroves. It can stop flying on the spot and wait for the tide to recede. After that, it can continue to perform the data collection task on the spot, thereby improving data collection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a system block diagram of the present invention;

[0027] Figure 2 It is a schematic diagram of the control module structure of the present invention;

[0028] Figure 3 It is a schematic diagram of the overall structure of the data acquisition module of the present invention;

[0029] Figure 4 Schematic diagram of the working state of the data acquisition module of the present invention at high tide;

[0030] Figure 5 is a side view of the data acquisition module of the present invention;

[0031] Figure 6 is a rear view of the data acquisition module of the present invention;

[0032] Figure 7 This is a schematic diagram of the internal structure of the lifting assembly of the present invention from a top view;

[0033] Figure 8 is a cross-sectional view of the lifting assembly of the present invention;

[0034] Figure 9 yes Figure 6 Enlarged view of point A in the middle.

[0035] In the figure: 1. UAV; 2. Remote sensing equipment; 3. Clamping assembly; 4. Lifting assembly; 5. Floating assembly; 6. Pulling assembly; 31. Bracket; 32. Clamping hoop; 33. Positioning column; 34. Gear rod; 35. Clamping arm; 36. Connecting rod; 37. Second driving member; 41. Box body; 42. Box cover; 43. First line roller; 44. First driving member; 45. Guide ring; 51. Mounting plate 1; 52. Mounting plate 2; 53. Resetting member; 54. Airbag; 61. Second line roller; 62. Transmission member; 63. First fixed pulley; 64. Second fixed pulley; 65. Guide tube. DETAILED DESCRIPTION

[0036] The present application is described in further detail below in conjunction with the accompanying drawings. It is necessary to point out that the following specific implementation methods are only used to further illustrate the present application and cannot be understood as limiting the scope of protection of the present application. Technicians in this field can make some non-essential improvements and adjustments to the present application based on the above application content.

[0037] Example 1

[0038] like Figure 1-3 As shown, this embodiment relates to a mangrove plant diversity survey system based on multimodal collaboration of unmanned aerial vehicles (UAVs), which includes a data acquisition module, a control module, and a charging module. The acquisition module is used to collect mangrove remote sensing data, which is divided into first remote sensing data and second remote sensing data. The control module is composed of a wireless communication unit, as well as a data analysis unit, a path generation unit, and an image recognition unit connected to the wireless communication unit. The data acquisition module includes an unmanned aerial vehicle (UAV) 1 and a remote sensing device 2. The UAV 1 is used to carry the remote sensing device 2 to collect the first remote sensing data above the mangroves and the second remote sensing data inside the mangroves.

[0039] The operating modes of drone 1 are divided into high-altitude data collection mode and low-altitude data collection mode. In high-altitude data collection mode, drone 1 is used to carry remote sensing device 2 above the mangrove forest to collect the first remote sensing data. Remote sensing device 2 is connected to the control module through drone 1. After receiving the first remote sensing data, the control module uses a data analysis unit to analyze and process the first remote sensing data and estimate plant diversity. The control module's path generation unit analyzes the mangrove forest boundary information based on the first remote sensing data and plans the drone 1's data collection path based on this mangrove boundary information. The control module then switches drone 1 to low-altitude data collection mode. In low-altitude data collection mode, drone 1, carrying remote sensing device 2, travels along the data collection path within the mangrove forest, allowing remote sensing device 2 to collect second remote sensing data. Remote sensing device 2 transmits the second remote sensing data to the control module, which then estimates plant diversity again based on the second remote sensing data.

[0040] Specifically, the drone 1 is connected to the wireless communication unit of the control module via wireless signals to transmit the first remote sensing data and the second remote sensing data to the wireless communication unit. The remote sensing device 2 is preferably a hyperspectral camera. Furthermore, in other embodiments, the hyperspectral camera can be replaced with a multispectral camera or a lidar, and a camera and a radar can be simultaneously installed on the bottom of the drone 1. The drone 1 is provided with a positioning module on its housing, and the drone 1 also has a built-in path planning module. The positioning module is used to obtain the position data of the drone 1. The path planning module is used to adjust the direction of travel of the drone 1 when there is an obstacle in front of the drone 1, so that the drone 1 can avoid the obstacle and return to the data collection path. The data collection path is distributed in an S-shape within the boundary of the mangrove forest.

[0041] When the survey system collects and processes the first remote sensing data, the control module causes drone 1 to enter high-altitude data collection mode. Once in high-altitude data collection mode, drone 1 carries remote sensing device 2 to collect data above the mangroves. Drone 1 then transmits the first remote sensing data collected by remote sensing device 2 to the control module's wireless communication unit. The wireless communication unit transmits the first remote sensing data to the data analysis unit, which then filters and preprocesses the first remote sensing data based on vegetation reflectance to obtain vegetation spectral data. This data is then used to estimate plant species beta diversity, thereby obtaining a mangrove plant diversity index. The aforementioned filtering and preprocessing of remote sensing data, as well as the estimation of plant species beta diversity using vegetation spectral data, are common knowledge in the field and will not be elaborated upon.

[0042] When the survey system collects and processes the second remote sensing data, the control module causes UAV 1 to enter low-altitude data collection mode. The control module's path generation unit obtains mangrove boundary information based on the vegetation spectral data and generates an S-shaped data collection path based on this information. The path generation unit transmits the data collection path to UAV 1 via the wireless communication unit, causing UAV 1 to enter low-altitude data collection mode. UAV 1, equipped with remote sensing device 2, collects the second remote sensing data along the data collection path. During this process, if an obstacle appears in front of UAV 1, UAV 1 adjusts its direction of travel using the path planning module. After avoiding the obstacle, UAV 1 returns to the data collection path, traversing the obstacle and continuing its journey. After traveling from the starting point of the data collection path to the end point, UAV 1 completes the second remote sensing data collection task. While avoiding obstacles, UAV 1 uses the path planning module to analyze the data collected by remote sensing device 2 in real time to determine whether there is an obstacle in front of UAV 1. Furthermore, several distance sensors can be installed on the exterior of UAV 1 to enable real-time obstacle monitoring.

[0043] The data analysis unit then screens and preprocesses the second remote sensing data, as well as estimates the beta diversity of plant species using the vegetation spectral data, to obtain a new mangrove plant diversity index. Mangrove plant diversity surveyors can compare the two estimated mangrove diversity indices to conduct a comprehensive analysis of mangrove plant diversity. The data acquisition module can collect remote sensing data within the mangroves to avoid inaccuracies in diversity assessment caused by obscuration of low-growing plants such as hawthorn ferns and acanthus serrata by the mangrove canopy.

[0044] During high tide, the water can easily overwhelm low-lying vegetation, leading to data collection errors. Therefore, the remote sensing device 2 of this embodiment does not collect data during high tide. Furthermore, to reduce power loss caused by the drone 1 hovering during high tide, this embodiment uses a clamping assembly 3 to suspend the drone 1 from the branches of mangrove plants during high tide and before the tide recedes. In this embodiment, the progress of high and low tides can be monitored using a downward-facing distance sensor on the drone 1. In other embodiments, the progress of high and low tides can also be monitored by analyzing the second remotely sensed data.

[0045] like Figure 3-5As shown, the drone 1 is equipped with a clamping assembly 3 on top, which is used to clamp branches and trunks during high tide. The clamping assembly 3 includes a bracket 31 and two clamping jaws on either side of the bracket 31. Each clamping jaw is equipped with a clamping hoop 32, which is tilted downward on one side. During high tide, the drone 1 transmits a portion of the second remote sensing data collected by the remote sensing device 2 to the wireless communication unit. This portion of the second remote sensing data is collected by the remote sensing device 2 around high tide. The wireless communication unit transmits this second remote sensing data to the image recognition module, which preprocesses and extracts features to identify mangrove branches and trunks, analyzes the posture and size of the mangrove branches, and determines whether a branch target is present for positioning. If a branch target is present, the branch target is transmitted to the drone 1 via the wireless communication unit. The branch target's inclination angle is consistent with or similar to that of the clamping hoop 32, and the difference between the branch target's inclination angle and the clamping hoop 32's inclination angle does not exceed an angle α. In this embodiment, α is preferably 5°. The drone 1 flies below a branch target and clamps the branch target with the clamping assembly 3 to locate the drone 1. The branch target is a branch of a mangrove plant that is nearly horizontal and of moderate thickness.

[0046] In order to prevent the branches and trunk targets from being subjected to a high gravity load, a lifting component 4 and a floating component 5 are provided on the UAV 1. The lifting component 4 is provided between the housing of the UAV 1 and the clamping component 3, and the floating component 5 is fixed to the bottom of the landing gear of the UAV 1. The lifting component 4 is used to hoist the UAV 1 after the clamping component 3 clamps the branches and trunk targets, and the floating component 5 is used to make the UAV 1 float on the water surface to reduce the gravity load of the data acquisition module on the branches and trunk targets. In addition, in order to ensure that the UAV 1 can float stably on the water surface and the maneuverability of the UAV 1 will not be reduced due to the excessive width of the floating component 5. The floating component 5 is set as a folding floating structure, and the folding and unfolding state of the floating structure is controlled by the pulling component 6. The floating structure also serves to raise the landing gear of the UAV 1 to increase the distance between the remote sensing equipment 2 and the water surface.

[0047] Specifically, if Figure 6-9As shown, the lifting assembly 4 comprises a box body 41 and a cover 42 fixedly mounted on the top of the box body 41. A first wire roller 43 is rotatably mounted in the middle of the inner side of the box body 41. The first wire roller 43 is connected to the clamping assembly 3 via a rope. The lifting assembly 4 also includes a first driving member 44 for rotating the first wire roller 43. This first driving member 44 has a locking function. In this embodiment, the first driving member 44 comprises a motor and a worm gear transmission mechanism, which is connected to the first wire roller 43 via the worm gear transmission mechanism. The first wire roller 43 has two wire grooves, each of which is wound with a rope. A guide ring 45 is provided on the inner side of the cover 42, corresponding to the two wire grooves of the first wire roller 43. A positioning post 33 is provided at the bottom of the bracket 31 of the clamping assembly 3, corresponding to the guide ring 45. The bottom of the positioning post 33 is inverted conical. The rope on the first wire roller 43 passes through the guide ring 45 and is connected to the positioning post 33.

[0048] The floating assembly 5 comprises a pair of mounting plates 1 51 and a pair of mounting plates 2 52. Mounting plates 1 51 are fixed to either side of the bottom of the landing gear of the drone 1. A reset member 53 is located between mounting plates 1 51 and 2, preferably a torsion spring, to reset mounting plates 2 52 to a flush position with mounting plates 1 51. A connecting rod is fixed between the two mounting plates 1 51. Both mounting plates 1 51 and 2 52 are equipped with airbags 54. When mounting plates 1 51 and 2 52 are flush, they abut against each other, with the airbags 54 positioned below them. The pulling assembly 6 comprises second rollers 61 located on either side of the first roller 43, and a transmission member 62 located between the second roller 61 and the first roller 43. The second rollers 61 are connected to mounting plates 2 52 via ropes. The second line roller 61 has the same structure as the first line roller 43 and also has two line grooves, each of which is provided with a rope. The second line rollers 61 are all rotatably arranged inside the box body 41. The transmission member 62 is preferably a gear set arranged between the first line roller 43 and the two second line rollers 61.

[0049] The upper and lower parts of the drone 1 are equipped with a first fixed pulley 63 and a second fixed pulley 64, respectively. Two first fixed pulleys 63 are located on either side of the upper part of the drone 1, and two second fixed pulleys 64 are located on either side of the bottom end of the lower part of the drone 1. A guide tube 65 is provided on the side wall of the box body 41. The rope on the second wire roller 61 passes through the guide tube 65, the first fixed pulley 63, and the second fixed pulley 64 in sequence before connecting to the second mounting plate 52.

[0050] When collecting the second remote sensing data, mounting plate 1 51 and mounting plate 2 52 form a predetermined angle. The floating structure is now folded, and the first actuator 44 has a locking function. At this point, the second line roller 61 remains stationary. It pulls mounting plate 2 52 via a rope, forcing mounting plate 2 52 to overcome the elastic force of the reset element 53 and form an angle with mounting plate 1 51. The bracket 31 and the cover 42 are in close contact, and the positioning post 33 is embedded in the guide ring 45. At high tide, the clamping assembly 3 clamps the branch target. Subsequently, the first actuator 44 rotates the first line roller 43, causing the drone 1 to descend. The cover 42 separates from the bracket 31, allowing the floating assembly 5 to fall to the water's surface. At the same time, the first line roller 43 drives the second line roller 61 to rotate through the gear set, releasing the rope on the second line roller 61. The floating structure unfolds under the elastic force of the reset member 53, and the second mounting plate 52 rotates to a state flush with the first mounting plate 51. The second mounting plate 52 and the first mounting plate 51 are abutted against each other, providing buoyancy to the data acquisition module through the airbag 54. After the tide recedes, the first driving member 44 drives the first line roller 43 to rotate in the opposite direction. The first line roller 43 drives the second line roller 61 to rotate through the gear set, causing the drone 1 to rise. At the same time, the second mounting plate 52 overcomes the elastic force of the reset member 53 and rotates, achieving the folding of the floating structure. In addition, a through hole is provided at the position corresponding to the guide ring 45 of the box cover 42, and the top of the through hole is chamfered. An elastic buffer layer is provided at the top of the box cover 42 or the bottom of the bracket 31. During the lifting process of the drone 1, the first drive member 44 first uses the first wire roller 43 and the rope to lift the box cover 42 to a position close to the bracket 31. At this point, a gap exists between the bracket 31 and the box cover 42, and the positioning post 33 is located within this gap, and the drone 1 is now in a hovering state. The clamping assembly 3 then separates from the branch target. Under its own weight, the bracket 31 moves downward a short distance and aligns with the box cover 42, and the positioning post 33 is embedded in the guide ring 45. The first drive member 44 then continues to drive the first wire roller 43 to rotate slightly in the opposite direction, tightening the rope around the first wire roller 43.

[0051] like Figure 9 As shown, the clamp of the clamping assembly 3 in this embodiment includes a gear rod 34 rotatably arranged on both sides of the bracket 31, a clamping arm 35 hinged to the end of the gear rod 34, and a connecting rod 36 hinged between the clamping arm 35 and the bracket 31. The gear rod 34 is composed of a gear and a rod body fixedly connected together. The gear rods 34 on both sides of the bracket 31 are meshed with each other. The gear of one of the gear rods 34 is connected to a second driving member 37. The second driving member 37 has the same structure as the first driving member 44 and will not be described in detail. The second driving member 37 has a locking ability to prevent the clamp from loosening. When clamping a branch target, the second driving member 37 drives the gear rod 34 on one side of the bracket 31 to rotate, and the gear rod 34 on the other side of the bracket 31 rotates synchronously under the meshing action. The gear rod 34 cooperates with the connecting rod 36 to drive the two clamping arms 35 to move closer to each other, so that the clamp 32 clamps the branch target.

[0052] Furthermore, an elastic sealing layer is incorporated into the guide tube 65. This prevents water from entering the housing 41 and, in conjunction with the zigzag shape of the guide tube 65, increases resistance to the rope. After the floating structure is deployed, if the second line roller 61 continues to rotate, the first mounting plate 51 and the second mounting plate 52 become flush and abut against each other, halting rotation. The rope released by the second line roller 61 is retained within the housing 41 due to resistance, preventing the rope from loosening outside the housing 41 and potentially contacting the water surface.

[0053] In some other embodiments, the wireless communication unit is further connected to a charging module, which includes another drone and a power supply module. The power supply module includes a power supply and a transmitting coil, and the drone 1 has a built-in receiving coil. In this embodiment, when the drone 1 is hovering, or after the clamping assembly 3 clamps the branch target, the charging module can charge the drone 1 through the power supply module. The above-mentioned wireless charging technology is common knowledge and will not be described in detail. In the case of a large mangrove area, the operating time of the drone 1 is long. To improve operating efficiency, the other drone can be equipped with a wireless charging power supply module to power the drone 1.

[0054] Example 2

[0055] This embodiment relates to a mangrove plant diversity survey method based on multimodal collaboration of drones. The method is based on the mangrove plant diversity survey system in the previous embodiment and includes the following steps:

[0056] Step 1: The control module causes drone 1 to enter high-altitude data collection mode. Drone 1, equipped with remote sensing device 2, collects data above the mangrove forest. Drone 1 transmits first remotely sensed data collected by remote sensing device 2 to the control module's wireless communication unit. The wireless communication unit then transmits the first remotely sensed data to the data analysis unit, which then filters and preprocesses the first remotely sensed data based on vegetation reflectance to obtain vegetation spectral data. This spectral data is then used to estimate plant species beta diversity and determine a mangrove plant diversity index.

[0057] Step 2: The path generation unit of the control module obtains mangrove boundary information based on the vegetation spectral data and generates an S-shaped data acquisition path based on the mangrove boundary information. The path generation unit transmits the data acquisition path to UAV 1 via the wireless communication unit.

[0058] In step 3, the control module causes drone 1 to enter low-altitude data collection mode. Drone 1, equipped with remote sensing equipment 2, collects second remote sensing data along a data collection path. If an obstacle appears in front of drone 1, drone 1 adjusts its direction of travel using the path planning module. After avoiding the obstacle, drone 1 returns to the data collection path, traversing the obstacle and continuing on. Drone 1 completes the second remote sensing data collection task by traveling from the starting point to the end point of the data collection path. The data analysis unit then screens and preprocesses the second remote sensing data, as well as estimates the beta diversity of plant species in the vegetation spectral data, to obtain a further mangrove plant diversity index. Furthermore, in the case of unusually shaped mangrove boundaries, multiple S-shaped data collection paths are generated, with drone 1 sequentially following each data collection path to enable data collection within the mangrove forest.

[0059] The above-described embodiments merely illustrate several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, and all such variations and improvements fall within the scope of protection of the present invention.

Claims

1. A mangrove plant diversity survey system based on multimodal collaboration of drones, characterized by: include: Data acquisition module, used to collect mangrove remote sensing data; a control module for estimating plant diversity based on remote sensing data of mangroves; A charging module, used to provide power support to the data acquisition module; The data acquisition module includes an unmanned aerial vehicle (1) and a remote sensing device (2), the mangrove remote sensing data is divided into first remote sensing data and second remote sensing data, and the unmanned aerial vehicle (1) is used to carry the remote sensing device (2) to collect the first remote sensing data above the mangrove, and to collect the second remote sensing data inside the mangrove; The control module is further configured to obtain mangrove boundary information based on the first remote sensing data, and to plan a data acquisition path for the drone (1) based on the mangrove boundary information, so that after acquiring the first remote sensing data, the drone (1) carries the remote sensing device (2) and acquires second remote sensing data within the mangrove along the data acquisition path.

2. The mangrove plant diversity survey system according to claim 1, characterized in that: The drone (1) has a positioning module and a path planning module, wherein the positioning module is used to obtain position data of the drone (1), and the path planning module is used to adjust the direction of travel of the drone (1) when an obstacle exists in front of the drone (1), so that the drone (1) avoids the obstacle and returns to a data collection path, wherein the data collection path is distributed in an S-shape within the boundary of the mangrove forest.

3. The mangrove plant diversity survey system according to claim 1, characterized in that: The control module is further used to identify a branch target according to the second remote sensing data, and a clamping component (3) is provided on the top of the drone (1), and the clamping component (3) is used to clamp the branch target at high tide.

4. The mangrove plant diversity survey system according to claim 3, characterized in that: A lifting assembly (4) is provided between the housing of the drone (1) and the clamping assembly (3), and a floating assembly (5) is provided at the bottom of the landing gear of the drone (1). The lifting assembly (4) is used to suspend the drone (1) after the clamping assembly (3) clamps the branch target, and the floating assembly (5) is used to make the drone (1) float on the water surface.

5. The mangrove plant diversity survey system according to claim 4, characterized in that: The floating component (5) is a foldable floating structure, and a pulling component (6) for folding or unfolding the floating structure is provided on the casing of the drone (1).

6. The mangrove plant diversity survey system according to claim 5, characterized in that: The lifting assembly (4) comprises a box body (41) and a box cover (42) arranged on the top of the box body (41); a first line roller (43) is rotatably provided in the middle of the inner side of the box body (41); the first line roller (43) is connected to the clamping assembly (3) through a rope; the lifting assembly (4) further comprises a first driving member (44) for rotating the first line roller (43).

7. The mangrove plant diversity survey system according to claim 6, characterized in that: The floating assembly (5) includes a pair of mounting plates (51) and a pair of mounting plates (52), wherein the pair of mounting plates (51) are fixedly mounted on both sides of the bottom of the landing gear of the UAV (1), and a reset member (53) is provided between the mounting plate (51) and the mounting plate (52), and the reset member (53) is used to reset the mounting plate (52) to a state flush with the mounting plate (51). Both the mounting plate (51) and the mounting plate (52) are provided with air bags (54). The pulling assembly (6) includes a second line roller (61) provided on both sides of the first line roller (43), and a transmission member (62) provided between the second line roller (61) and the first line roller (43), wherein the second line roller (61) is connected to the mounting plate (52) via a rope.

8. The mangrove plant diversity survey system according to claim 7, characterized in that: The upper and lower parts of the casing of the drone (1) are respectively provided with a first fixed pulley (63) and a second fixed pulley (64); a guide tube (65) is provided on the side wall of the box body (41); and a rope on the second wire roller (61) passes through the guide tube (65), the first fixed pulley (63) and the second fixed pulley (64) in sequence and is then connected to the second mounting plate (52).

9. The mangrove plant diversity survey system according to claim 3, characterized in that: The clamping assembly (3) comprises a bracket (31) and clamping claws respectively provided on both sides of the bracket (31); a clamping hoop (32) is provided on the clamping claws, and one side of the clamping hoop (32) is tilted downward.

10. A mangrove plant diversity survey method based on multimodal collaboration of unmanned aerial vehicles, characterized by: The method is based on the mangrove plant diversity survey system according to any one of claims 1 to 9, and comprises the following steps: Step 1: collecting first remote sensing data above the mangrove forest, processing the first remote sensing data, and estimating plant diversity based on the processed data; Step 2: obtaining mangrove boundary information according to the first remote sensing data, and planning a data collection path inside the mangrove based on the mangrove boundary information; Step 3: collect second remote sensing data along the data collection path inside the mangrove forest, and perform data processing and plant diversity estimation on the second remote sensing data.

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