CN113589403A - Augmented reality display method and system based on image communication - Google Patents
Augmented reality display method and system based on image communication Download PDFInfo
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- CN113589403A CN113589403A CN202111167734.5A CN202111167734A CN113589403A CN 113589403 A CN113589403 A CN 113589403A CN 202111167734 A CN202111167734 A CN 202111167734A CN 113589403 A CN113589403 A CN 113589403A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
- H04N13/106—Processing image signals
Abstract
The invention relates to the field of cave exploration equipment, and discloses an augmented reality display method and system based on image communication.
Description
Technical Field
The invention relates to the field of cave exploration equipment, in particular to an augmented reality display method and system based on image communication.
Background
The exploration of the mine holes and the natural caves is human activities with great significance all the time, can help people to continuously discover new natural resources, cultural resources and the like, can improve the understanding of the people on the own global environment, and meanwhile, the exploration of the mine holes and the natural caves is activities with strong speciality and has certain unpredictable dangerousness.
In the prior art, when cave exploration is carried out, in order to ensure the safety in the exploration, professional teams composed of a large number of professionals in various fields are invited to execute the cave exploration, and the cave exploration system has good team quality and professional exploration survival skills and can quickly and effectively deal with the occurrence of emergency.
However, for cave environments with more complex environments and more uncertainty, even professional teams may suddenly encounter many unmanageable security risks during the exploration process, and therefore, an augmented reality display method and system based on image communication are proposed herein to solve the above problems.
Disclosure of Invention
The present invention is directed to an augmented reality display method and system based on image communication, so as to solve the problems set forth in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides an augmented reality display system based on image communication, includes environment vision collection module, environment thickness collection module, signal relay transmission module and regional scene output module, environment vision collection module with environment thickness collection module corresponds the setting, signal relay transmission module is used for connecting regional scene output with environment vision collection module and environment thickness collection module:
the environment vision acquisition module is used for acquiring and acquiring environment distribution data in the cave, wherein the environment distribution data is used for representing the distribution condition of the internal environment of the cave;
the environment thickness acquisition module is used for acquiring and acquiring structural depth data in the cave, wherein the structural depth data is used for representing the thickness distribution of an environment structure in the cave;
the signal relay transmission modules are used for acquiring and forwarding the environment distribution data and the structure depth data, and the number of the signal relay transmission modules is multiple;
and the region scene output module is used for receiving the environment distribution data and the structure depth data and generating a three-dimensional scene model, and the three-dimensional scene model is used for representing the distribution condition of the environment and the environment structure of the cave.
As a further scheme of the invention: the cave-traveling module is also included;
the cave advancing module is used for supporting and driving the environment vision acquisition module, the environment thickness acquisition module and the signal relay transmission module to advance in the cave.
As a further scheme of the invention: the environment distribution data comprises cave distance data, cave image data and three-dimensional path data, and the environment vision acquisition module comprises:
the spatial distance measurement unit is used for acquiring the cave distance data, and the cave distance data is used for representing the distance between each point position of the cave on a certain vertical tangent plane and the environment vision acquisition module;
the space image acquisition unit is used for acquiring and acquiring cave image data, and the cave image data is used for representing image information of a certain place of a cave;
and the path recording unit is used for acquiring and obtaining the three-dimensional path data, and the three-dimensional path data is used for representing the motion path information of the environment vision acquisition module in the space.
As a further scheme of the invention: the path recording unit includes:
the direction recording subunit is used for recording the advancing direction of the environmental vision acquisition module in a three-dimensional space, wherein the advancing direction comprises vertical deflection and horizontal deflection;
and the stroke recording subunit is used for acquiring the stroke amount of the environment vision acquisition module in a certain direction.
As a further scheme of the invention: the aerial image acquisition unit includes:
the request receiving subunit is used for receiving an image acquisition instruction, and the image acquisition instruction is used for controlling the spatial image acquisition unit to acquire cave image data;
the illumination generation subunit is used for responding to the image acquisition instruction and generating illumination in a designated area in the cave according to the image acquisition instruction;
the image acquisition subunit is used for responding to the image acquisition instruction and acquiring cave image data of a designated area in a cave according to the image acquisition instruction;
and the orientation adjusting subunit is used for responding to the image acquisition instruction and adjusting the orientation directions of the image acquisition subunit and the illumination generating subunit according to the image acquisition instruction.
As a further scheme of the invention: the region scene output module includes:
the three-dimensional scene generation unit is used for receiving the environment distribution data and the structure depth data and establishing a three-dimensional scene model according to the environment distribution data and the structure depth data;
and the mobile scene output unit is used for generating exploration path information, extracting a three-dimensional scene model at the current cave position according to the exploration path information and outputting the three-dimensional scene model.
As a further scheme of the invention: the cavern travel module comprises:
the travelling unit is used for driving the cave travelling module to travel;
and the obstacle avoidance unit is used for judging the environment and generating a travelling route of the cave travelling module.
An augmented reality display method based on image communication comprises the following steps:
acquiring environmental distribution data and structural depth data in a cave by using acquisition equipment, wherein the environmental distribution data is used for representing the distribution condition of the internal environment of the cave, and the structural depth data is used for representing the thickness distribution of the internal environment structure of the cave;
acquiring and forwarding the environment distribution data and the structure depth data;
and receiving the environment distribution data and the structure depth data, and generating a three-dimensional scene model, wherein the three-dimensional scene model is used for representing the distribution condition of the environment and the environment structure of the cave.
As a further aspect of the invention, the collection device travels in the cavern.
As a still further aspect of the present invention, the environment distribution data includes cave distance data, cave image data, and three-dimensional path data, and the step of acquiring, by the acquisition device, the environment distribution data and the structural depth data in the cave includes:
acquiring cave distance data, wherein the cave distance data are used for representing the distance from each position of the cave to the acquisition equipment on a certain vertical tangent plane;
acquiring cave image data, wherein the cave image data is used for representing image information of a certain place of a cave;
acquiring and obtaining the three-dimensional path data, wherein the three-dimensional path data is used for representing motion path information of the acquisition equipment in space;
and acquiring structural depth data.
Compared with the prior art, the invention has the beneficial effects that: gather the inside environmental structure information of cave through using collection equipment, thereby obtain the inside structure distribution condition of a relatively perfect cave, thereby can realize before explorations personnel explore the cave, carry out safety assessment and safety analysis through the inside structure distribution of cave and structure thickness in advance, plan in advance and explore the route, reduce the potential safety hazard of exploring the in-process, reduce proruption situation's emergence probability, regional scene output module can also realize and show the overlapping display in cave simultaneously, and then reach the mode through augmented reality and explore the in-process in search personnel are supplementary and explore.
Drawings
Fig. 1 is a block diagram of an augmented reality display system based on image communication.
Fig. 2 is a block diagram illustrating an environmental vision acquisition module in an augmented reality display system based on image communication.
Fig. 3 is a block diagram illustrating a path recording unit in an augmented reality display system based on image communication.
Fig. 4 is a block diagram illustrating a spatial image capturing unit in an augmented reality display system based on image communication.
Fig. 5 is a block diagram illustrating a regional scene output module in an augmented reality display system based on image communication.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following detailed description of specific embodiments of the present invention is provided in connection with specific embodiments.
As shown in fig. 1, an augmented reality display system based on image communication provided for an embodiment of the present invention includes an environmental vision acquisition module 100, an environmental thickness acquisition module 300, a signal relay transmission module 500, and a region scene output module 700, where the environmental vision acquisition module 100 is disposed corresponding to the environmental thickness acquisition module 300, and the signal relay transmission module 500 is configured to connect the region scene output module 700 with the environmental vision acquisition module 100 and the environmental thickness acquisition module 300:
the environmental vision acquisition module 100 is configured to acquire environmental distribution data in the cave, where the environmental distribution data is used to characterize a distribution condition of an internal environment of the cave.
In this embodiment, the environmental vision acquiring module 100 is used for acquiring data of an environment inside the cave, for example, sensing each direction in the cave through a sensor to obtain related environmental distribution data, where the data is finally used for constructing a distribution situation of the environment inside the cave, that is, establishing a spatial model inside the cave.
The environment thickness acquisition module 300 is configured to acquire structural depth data in the cavern, where the structural depth data is used to characterize the thickness distribution of the internal environment structure of the cavern.
In this embodiment, the environmental thickness collecting module 300 is used to further collect data of the environmental structure inside the cavern, the data collected here is further used depending on the collection result of the environmental vision collecting module 100, for example, when the environmental vision collection module 100 collects the obtained environmental status inside the cave, at the position of a certain vertical section, the inner part of the cave is of an ellipsoid-like structure with a certain plane structure, at the moment, the environmental thickness acquisition module 300 will perform further data acquisition based on the cross-sectional ellipsoid-like structure, for example using an ultrasonic thickness measurement sensor or the like, further obtaining the structure thickness of each part of the quasi-ellipsoidal shape in the cave through the data acquisition of the sensor, may be used to provide personnel with security assessments everywhere inside the cave to assist in specifying a complete cave exploration plan.
The signal relay transmission module 500 is configured to acquire and forward the environment distribution data and the structure depth data, where the number of the signal relay transmission modules 500 is multiple.
In this embodiment, the signal relay transmission module 500 may be understood as a data sending device and a data relay device, that is, the number of the signal relay transmission module 500 may be multiple, and mainly depends on the depth of the device entering the cave and the environment, and the multiple signal relay transmission modules 500 are respectively used for being directly connected with the environment vision acquisition module 100 and the environment thickness acquisition module 300 to send the data acquired by the two, and then the data is transmitted back to the hands of the relevant people through the multiple other signal relay transmission modules 500 arranged at intervals as signal relays.
The area scene output module 700 is configured to receive the environment distribution data and the structure depth data, and generate a three-dimensional scene model, where the three-dimensional scene model is used to represent the distribution of the environment and the environmental structure of the cave.
In this embodiment, the regional scene output module 700 is used for processing the data acquired by the signal relay transmission module 500 according to the above and establishing a structural environment inside the cave, and mainly includes a spatial structure inside the cave and a thickness distribution of a cave wall surface (for example, a structural model may be established by scanning a surface structure in a region at the top of the cave, and then an internal structure of the region may be scanned by means of ultrasonic waves and the like to obtain a thickness of the structure or whether there is a dangerous structure that may cause falling, such as a cavity inside the structure, and whether there is a dangerous structure that may cause falling of people due to easy breakage on the ground), where the regional scene output module may be equipment such as AR glasses, the intelligent cave system is overlapped with the actual cave environment to provide a prompt function, and can also be a display device and the like, so that the advance planning of explorationists is facilitated.
As another preferred embodiment of the present invention, the cave travel module is further included;
the cavern traveling module is configured to support and drive the environmental vision acquisition module 100, the environmental thickness acquisition module 300, and the signal relay transmission module 500 to travel in the cavern.
In this embodiment, a new module cave traveling module is continuously introduced, and this module is used to support and carry the environmental vision acquisition module 100, the environmental thickness acquisition module 300, and the signal relay transmission module 500 for traveling, that is, the cave traveling module is a structure for carrying and traveling, and can be a device structure for dealing with various complex terrains to advance in the cave, so as to realize the advancement of the relevant acquisition and data transmission module inside the cave.
As shown in fig. 2, as another preferred embodiment of the present invention, the environment distribution data includes cave distance data, cave image data, and three-dimensional path data, and the environment vision acquisition module 100 includes:
and the spatial distance measuring unit 101 is configured to acquire the cave distance data, where the cave distance data is used to represent a distance between each point location of the cave on a certain vertical tangent plane and the environmental vision acquiring module 100.
And the spatial image acquisition unit 102 is used for acquiring and acquiring cave image data, wherein the cave image data is used for representing image information of a certain place of the cave.
And the path recording unit 103 is configured to acquire the three-dimensional path data, where the three-dimensional path data is used to represent motion path information of the environmental vision acquisition module 100 in a space.
In this embodiment, the environmental vision acquisition module 100 is briefly described here, and mainly includes measurement of a spatial environment structure and recording of an equipment travel path, that is, cave distance data and unit path data, and through these two data, a simulation can be performed to establish a substantially three-dimensional scene model of a cave internal structure, so as to provide a basis for subsequent exploration.
As shown in fig. 3, as another preferred embodiment of the present invention, the path recording unit 103 includes:
a direction recording subunit 1031, configured to record a traveling direction of the environmental vision acquisition module 100 in a three-dimensional space, where the traveling direction includes a vertical deflection and a horizontal deflection.
A journey logging subunit 1032, configured to obtain a journey amount of the environmental vision acquisition module 100 in a certain direction.
In this embodiment, the horizontal deflection and the vertical deflection respectively correspond to the north-south direction and the horizontal plane, and may be specifically completed by a device such as a compass, a level meter, and the like, and then the spatial path through which the device moves may be drawn in a three-dimensional space by the stroke amount recorded by the stroke recording subunit 1032, so that the problems that the accuracy of an existing positioning system and the like in a cave is not sufficient and signals cannot be transmitted and arrive can be effectively solved.
As shown in fig. 4, as another preferred embodiment of the present invention, the aerial image acquiring unit 102 includes:
a request receiving subunit 1021, configured to receive an image obtaining instruction, where the image obtaining instruction is used to control the spatial image obtaining unit 102 to acquire cave image data.
And an illumination generating subunit 1022, configured to, in response to the image acquisition instruction, generate illumination in a specified area in the cave according to the image acquisition instruction.
And an image obtaining sub-unit 1023, configured to respond to the image obtaining instruction, and obtain cave image data of a specified area in the cave according to the image obtaining instruction.
An orientation adjusting subunit 1024, configured to respond to the image acquisition instruction, and adjust the orientation directions of the image acquisition subunit 1023 and the illumination generating subunit 1022 according to the image acquisition instruction.
In the present embodiment, the aerial image capturing unit 102 is further described, and it can be understood that the aerial image capturing unit 102 is not always in operation, but rather under the control of image acquisition instructions, because the equipment in the cavern has limited energy, and as it progresses deeper into the cavern ahead of the explorations team, the supplement and replacement of the energy source are difficult, so the energy source is needed to be used sparingly, therefore, part of the non-most main high-energy-consumption structural units can be started after receiving manual control, so that the energy consumption can be reduced, and the space image acquisition unit is one of the high-energy-consumption structural units, the provided high-definition cave interior picture is mainly used for assisting in searching and further judging the generated three-dimensional scene model, so that the picture is not necessary.
As shown in fig. 5, as another preferred embodiment of the present invention, the area scene output module 700 includes:
a three-dimensional scene generating unit 701, configured to receive the environment distribution data and the structure depth data, and build a three-dimensional scene model according to the environment distribution data and the structure depth data.
And a mobile scene output unit 702, configured to generate exploration path information, extract a three-dimensional scene model at the current cave location according to the exploration path information, and output the three-dimensional scene model.
In this embodiment, the mobile scene output unit 702 may be a device such as AR glasses that can be used to output an AR image, and thus, display of augmented reality is achieved, that is, a three-dimensional scene model is output and is covered with a real cave environment structure, so that when an explorationist looks in one direction, a specific structural hierarchy of the cave in the one direction can be seen clearly, and therefore, even in a cave that is not completely illuminated by dark, an explorationist can be effectively helped to judge the landform in each direction, and occurrence of an accident caused by misjudgment of the landform is avoided.
As another preferred embodiment of the present invention, the cave travel module includes:
and the travelling unit is used for driving the cave travelling module to travel.
And the obstacle avoidance unit is used for judging the environment and generating a travelling route of the cave travelling module.
In this embodiment, the cave traveling module is an automatic traveling structure with an automatic obstacle avoidance function, and can automatically judge and travel the environment.
The invention also provides an augmented reality display method based on image communication, which comprises the following steps:
the method comprises the steps that collection equipment collects and obtains environment distribution data and structural depth data in a cave, wherein the environment distribution data are used for representing the distribution situation of the internal environment of the cave, and the structural depth data are used for representing the thickness distribution of the internal environment structure of the cave.
And acquiring and forwarding the environment distribution data and the structure depth data.
And receiving the environment distribution data and the structure depth data, and generating a three-dimensional scene model, wherein the three-dimensional scene model is used for representing the distribution condition of the environment and the environment structure of the cave.
As another preferred embodiment of the invention, said collecting device travels in said cavern.
As another preferred embodiment of the present invention, the environment distribution data includes cavern distance data, cavern image data, and three-dimensional path data, and the step of acquiring the environment distribution data and the structural depth data in the cavern by the acquisition device includes:
and acquiring the cave distance data, wherein the cave distance data is used for representing the distance from each position of the cave to the acquisition equipment on a certain vertical tangent plane.
Acquiring cave image data, wherein the cave image data is used for representing image information of a certain place of a cave.
And acquiring the three-dimensional path data, wherein the three-dimensional path data is used for representing the motion path information of the acquisition equipment in the space.
And acquiring structural depth data.
It should be understood that the steps are not limited to being performed in the exact order described, and that the steps may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in various embodiments may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. The utility model provides an augmented reality display system based on image communication, its characterized in that, includes environment vision collection module, environment thickness collection module, signal relay transmission module and regional scene output module, environment vision collection module with environment thickness collection module corresponds the setting, signal relay transmission module is used for connecting regional scene output with environment vision collection module and environment thickness collection module:
the environment vision acquisition module is used for acquiring and acquiring environment distribution data in the cave, wherein the environment distribution data is used for representing the distribution condition of the internal environment of the cave;
the environment thickness acquisition module is used for acquiring and acquiring structural depth data in the cave, wherein the structural depth data is used for representing the thickness distribution of an environment structure in the cave;
the signal relay transmission modules are used for acquiring and forwarding the environment distribution data and the structure depth data, and the number of the signal relay transmission modules is multiple;
and the region scene output module is used for receiving the environment distribution data and the structure depth data and generating a three-dimensional scene model, and the three-dimensional scene model is used for representing the distribution condition of the environment and the environment structure of the cave.
2. The image communication-based augmented reality display system of claim 1, further comprising a cave travel module;
the cave advancing module is used for supporting and driving the environment vision acquisition module, the environment thickness acquisition module and the signal relay transmission module to advance in the cave.
3. The image communication-based augmented reality display system of claim 1, wherein the environmental distribution data comprises cavern distance data, cavern image data, and three-dimensional path data, and the environmental vision acquisition module comprises:
the spatial distance measurement unit is used for acquiring the cave distance data, and the cave distance data is used for representing the distance between each point position of the cave on a certain vertical tangent plane and the environment vision acquisition module;
the space image acquisition unit is used for acquiring and acquiring cave image data, and the cave image data is used for representing image information of a certain place of a cave;
and the path recording unit is used for acquiring and obtaining the three-dimensional path data, and the three-dimensional path data is used for representing the motion path information of the environment vision acquisition module in the space.
4. The image communication-based augmented reality display system of claim 3, wherein the path recording unit comprises:
the direction recording subunit is used for recording the advancing direction of the environmental vision acquisition module in a three-dimensional space, wherein the advancing direction comprises vertical deflection and horizontal deflection;
and the stroke recording subunit is used for acquiring the stroke amount of the environment vision acquisition module in a certain direction.
5. The image communication-based augmented reality display system of claim 4, wherein the spatial image acquisition unit comprises:
the request receiving subunit is used for receiving an image acquisition instruction, and the image acquisition instruction is used for controlling the spatial image acquisition unit to acquire cave image data;
the illumination generation subunit is used for responding to the image acquisition instruction and generating illumination in a designated area in the cave according to the image acquisition instruction;
the image acquisition subunit is used for responding to the image acquisition instruction and acquiring cave image data of a designated area in a cave according to the image acquisition instruction;
and the orientation adjusting subunit is used for responding to the image acquisition instruction and adjusting the orientation directions of the image acquisition subunit and the illumination generating subunit according to the image acquisition instruction.
6. The image communication-based augmented reality display system of claim 1, wherein the region scene output module comprises:
the three-dimensional scene generation unit is used for receiving the environment distribution data and the structure depth data and establishing a three-dimensional scene model according to the environment distribution data and the structure depth data;
and the mobile scene output unit is used for generating exploration path information, extracting a three-dimensional scene model at the current cave position according to the exploration path information and outputting the three-dimensional scene model.
7. The image communication-based augmented reality display system of claim 2, wherein the cave travel module comprises:
the travelling unit is used for driving the cave travelling module to travel;
and the obstacle avoidance unit is used for judging the environment and generating a travelling route of the cave travelling module.
8. An augmented reality display method based on image communication is characterized by comprising the following steps:
acquiring environmental distribution data and structural depth data in a cave by using acquisition equipment, wherein the environmental distribution data is used for representing the distribution condition of the internal environment of the cave, and the structural depth data is used for representing the thickness distribution of the internal environment structure of the cave;
acquiring and forwarding the environment distribution data and the structure depth data;
and receiving the environment distribution data and the structure depth data, and generating a three-dimensional scene model, wherein the three-dimensional scene model is used for representing the distribution condition of the environment and the environment structure of the cave.
9. The image communication-based augmented reality display method of claim 8, wherein the acquisition device travels in the cave.
10. The image communication-based augmented reality display method according to claim 9, wherein the environment distribution data includes cave distance data, cave image data, and three-dimensional path data, and the step of acquiring the environment distribution data and the structural depth data in the cave by the acquisition device includes:
acquiring cave distance data, wherein the cave distance data are used for representing the distance from each position of the cave to the acquisition equipment on a certain vertical tangent plane;
acquiring cave image data, wherein the cave image data is used for representing image information of a certain place of a cave;
acquiring and obtaining the three-dimensional path data, wherein the three-dimensional path data is used for representing motion path information of the acquisition equipment in space;
and acquiring structural depth data.
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