CN114627252A - Unmanned aerial vehicle for obtaining surface temperature distribution and method for obtaining surface temperature distribution map - Google Patents
Unmanned aerial vehicle for obtaining surface temperature distribution and method for obtaining surface temperature distribution map Download PDFInfo
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- CN114627252A CN114627252A CN202210125904.1A CN202210125904A CN114627252A CN 114627252 A CN114627252 A CN 114627252A CN 202210125904 A CN202210125904 A CN 202210125904A CN 114627252 A CN114627252 A CN 114627252A
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- 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
- G06T17/05—Geographic models
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- 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
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
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- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
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- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
Abstract
The utility model provides an unmanned aerial vehicle and earth's surface temperature distribution map's that obtain earth's surface temperature distribution acquisition method, takes the thermal infrared image to the target area through the unmanned aerial vehicle that carries the thermal infrared camera, obtains earth's surface temperature distribution data on a large scale, carries out quick concatenation processing to earth's surface temperature data based on the thermal infrared image of taking to obtain earth's surface temperature distribution map, make it possible to obtain the earth's surface temperature distribution map of target moment in the day. And the earth surface temperature data are quickly spliced, so that the efficiency of obtaining an earth surface temperature distribution diagram is improved. Therefore, the method is used for accurately researching the strength of the urban ground temperature heat island in the day, and further provides scientific decision support for a city manager to deal with the problem of the urban ground temperature heat island.
Description
Technical Field
The application relates to the technical field of environmental monitoring, in particular to an unmanned aerial vehicle for acquiring earth surface temperature distribution and an acquisition method of an earth surface temperature distribution diagram.
Background
The global climate warming and urbanization cause the phenomenon that the temperature of the urban center is higher than that of the suburb, namely the urban heat island effect. The urban heat island research is divided into two research directions of an air temperature heat island and a ground temperature heat island. For the research on the ground temperature thermal conductance, because of the convenience of acquiring satellite remote sensing ground temperature data, a large amount of urban ground temperature heat island researches based on the satellite remote sensing ground temperature data are available at present.
For the acquisition of satellite remote sensing ground temperature data, due to factors such as the re-simulation period of a satellite, ground resolution, cloud layer interference and the like, the simultaneous acquisition of ground surface temperature data with high time resolution and high spatial resolution cannot be guaranteed. Therefore, most of the urban geothermal heat island research focuses on urban daily-scale heat island strength research, and the daily urban heat island strength research cannot be carried out.
The heterogeneity of the urban underlying surface is high, and landscape fragmentation caused by artificial facilities is serious. Therefore, accurate urban surface heat island research requires centimeter-level large-range high spatial resolution surface temperature data. The rise of unmanned aerial vehicle technique provides the possibility for nimble earth's surface temperature data on a large scale of acquireing. However, the single thermal infrared data picture shot by the existing unmanned aerial vehicle thermal infrared camera is difficult to splice, and the single thermal infrared data picture is not beneficial to analyzing the surface temperature distribution of different ground object types.
Disclosure of Invention
The main technical problem who solves of this application is the thermal infrared data picture of sola that current unmanned aerial vehicle thermal infrared camera shot, is difficult to the concatenation, is unfavorable for carrying out the analysis to the earth's surface temperature distribution of different ground object types.
According to a first aspect, there is provided in an embodiment a drone for obtaining a surface temperature distribution, comprising:
the position acquisition module is used for acquiring position information;
the thermal infrared camera is used for shooting thermal infrared images;
the unmanned aerial vehicle flight platform is used for providing flight power;
the cloud deck is used for connecting the thermal infrared camera and the unmanned aerial vehicle flying platform;
the processor is arranged in the unmanned aerial vehicle flight platform and used for executing the following steps:
respectively controlling a thermal infrared camera to shoot at a plurality of preset positions above a target area to obtain a plurality of thermal infrared images, wherein the thermal infrared images shot at adjacent positions in the plurality of preset positions have overlapping areas;
when shooting is carried out each time, current position information is obtained through the position obtaining module and stored in the thermal infrared image;
arranging the plurality of thermal infrared images according to position information contained in the plurality of thermal infrared images to obtain an initial arrangement result;
aligning the initial arrangement result according to the maximum value of the number of the preset key points and the maximum value of the number of the preset connection points to obtain a rough distribution result of the earth surface temperature of the target area;
determining the earth surface point cloud of the target area according to the rough distribution result of the earth surface temperature of the target area;
establishing a ground surface mesh model of the target area according to the ground surface point cloud of the target area;
and obtaining the earth surface temperature distribution map of the target area according to a preset texture type, a preset mapping mode and the earth surface grid model of the target area.
According to a second aspect, there is provided in an embodiment a drone comprising:
the position acquisition module is used for acquiring position information;
the thermal infrared camera is used for shooting thermal infrared images;
the unmanned aerial vehicle flight platform is used for providing flight power;
the cloud deck is used for connecting the thermal infrared camera and the unmanned aerial vehicle flying platform;
the processor is arranged in the unmanned aerial vehicle flight platform and used for executing the following steps:
respectively controlling a thermal infrared camera to shoot at a plurality of preset positions above a target area to obtain a plurality of thermal infrared images, wherein the thermal infrared images shot at adjacent positions in the plurality of preset positions have overlapping areas;
when shooting is carried out each time, current position information is obtained through the position obtaining module and stored in the thermal infrared image;
transmitting the plurality of thermal infrared images to an electronic device to cause the electronic device to perform the steps of:
arranging the plurality of thermal infrared images according to position information contained in the plurality of thermal infrared images to obtain an initial arrangement result;
aligning the initial arrangement result according to the maximum value of the number of the preset key points and the maximum value of the number of the preset connection points to obtain a rough distribution result of the earth surface temperature of the target area;
determining the earth surface point cloud of the target area according to the rough distribution result of the earth surface temperature of the target area;
establishing a ground surface mesh model of the target area according to the ground surface point cloud of the target area;
and obtaining the earth surface temperature distribution map of the target area according to a preset texture type, a preset mapping mode and the earth surface grid model of the target area.
According to a third aspect, an embodiment provides a method for obtaining a surface temperature profile, including:
acquiring a plurality of thermal infrared images corresponding to a target time point, wherein the thermal infrared images are respectively shot at a plurality of preset positions in a target area, and the thermal infrared images shot at adjacent positions in the preset positions have overlapping areas;
aligning the plurality of thermal infrared images according to the maximum number of key points and the maximum number of connection points to obtain a rough distribution result of the earth surface temperature of the target area;
determining the earth surface point cloud of the target area according to the rough distribution result of the earth surface temperature of the target area;
establishing a ground surface mesh model of the target area according to the ground surface point cloud of the target area;
and obtaining the earth surface temperature distribution map of the target area according to a preset texture type, a preset mapping mode and the earth surface grid model of the target area.
Optionally, each thermal infrared image in the multiple thermal infrared images includes position information, and the aligning process is performed on the multiple thermal infrared images according to the maximum value of the number of key points and the maximum value of the number of connection points to obtain a rough distribution result of the earth surface temperature of the target area, including:
arranging the plurality of thermal infrared images according to position information contained in the plurality of thermal infrared images to obtain an initial arrangement result;
and aligning the initial arrangement result according to the maximum value of the number of the key points and the maximum value of the number of the connection points to obtain a rough distribution result of the earth surface temperature of the target area.
Optionally, the plurality of thermal infrared images are shot by an unmanned aerial vehicle, the unmanned aerial vehicle comprises a thermal infrared camera and a position acquisition module, and position information obtained by the position acquisition module is stored in the thermal infrared images shot by the thermal infrared camera.
Optionally, each thermal infrared image in the multiple thermal infrared images includes a direction parameter, and the aligning process is performed on the multiple thermal infrared images according to the maximum value of the number of key points and the maximum value of the number of connection points to obtain a rough distribution result of the earth surface temperature of the target area, including:
arranging the plurality of thermal infrared images according to direction parameters contained in the plurality of thermal infrared images to obtain an initial arrangement result;
and aligning the initial arrangement result according to the preset maximum value of the number of the key points and the preset maximum value of the number of the connection points to obtain a rough distribution result of the earth surface temperature of the target area.
Optionally, when the target time point is noon, the maximum value of the number of key points is 40000, and the maximum value of the number of connection points is 4000;
when the target time point is early morning or late evening, the maximum value of the number of the key points is greater than or equal to 10000 and less than or equal to 40000, and the maximum value of the number of the connection points is greater than or equal to 1000 and less than or equal to 4000.
Optionally, the texture type comprises an ambient light scattering map; the mapping mode includes: an orthophoto mode.
According to a fourth aspect, an embodiment provides a computer readable storage medium having a program stored thereon, the program being executable by a processor to implement the method according to the third aspect as described above.
According to the above-mentioned embodiment, the method for acquiring the unmanned aerial vehicle for acquiring the surface temperature distribution and the surface temperature distribution map includes acquiring a plurality of thermal infrared images corresponding to a target time point through surface temperature changes shot by the unmanned aerial vehicle carrying a thermal infrared camera, the plurality of thermal infrared images being shot at a plurality of preset positions in a target area respectively, the thermal infrared images shot at adjacent positions in the plurality of preset positions having overlapping regions, performing alignment processing on the plurality of thermal infrared images according to the maximum value of the number of key points and the maximum value of the number of connection points to obtain a rough distribution result of the surface temperature of the target area, determining a surface point cloud of the target area according to the rough distribution result of the surface temperature of the target area, establishing a surface mesh model of the target area according to the surface point cloud of the target area, establishing a preset mapping mode and a surface mesh model of the target area according to a preset texture type, a preset mapping mode and a surface mesh model of the target area, and obtaining the surface temperature distribution map of the target area. Therefore, the earth surface temperature data are spliced quickly, an earth surface temperature distribution diagram is obtained, the intensity research of the urban earth temperature heat island in the day can be accurately carried out, and a scientific decision support is provided for an urban manager to deal with the urban earth temperature heat island problem.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle provided in an embodiment of the present application;
fig. 2 is a schematic flowchart of a method for obtaining a surface temperature distribution map according to an embodiment of the present disclosure;
FIG. 3A is a plot of the surface temperature at 10 points of zone A as provided herein;
FIG. 3B is a plot of the surface temperature at 11 points in zone A, as provided herein;
FIG. 3C is a plot of the surface temperature at 12 points in zone A as provided herein;
FIG. 3D is a plot of the surface temperature at 13 points in zone A as provided herein;
FIG. 3E is a plot of the surface temperature at zone A, 14, as provided herein;
fig. 3F is a surface temperature distribution diagram of a region a at 15 according to the present application.
Detailed Description
The present application will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous specific details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
The utility model provides an acquire unmanned aerial vehicle and earth's surface temperature distribution map's acquisition method of earth's surface temperature distribution, unmanned aerial vehicle through carrying hot infrared camera shoots hot infrared image to the target area, earth's surface temperature distribution data on a large scale is acquireed, the earth's surface temperature data is carried out the concatenation processing fast based on the hot infrared image of shooting, thereby earth's surface temperature distribution map is obtained, for accurate carry out the research of day city earth temperature heat island intensity, and then provide scientific decision support for city manager should provide city earth temperature heat island problem.
An unmanned aerial vehicle provided by the embodiment of the application is introduced with reference to fig. 1.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an unmanned aerial vehicle provided in an embodiment of the present application, where the unmanned aerial vehicle provided in the embodiment may include, but is not limited to:
a position acquisition module 1 for acquiring position information;
a thermal infrared camera 4 for taking a thermal infrared image;
the unmanned aerial vehicle flight platform 2 is used for providing flight power;
the cloud deck 3 is used for connecting the thermal infrared camera 4 and the unmanned aerial vehicle flying platform 2;
the processor is arranged in the unmanned aerial vehicle flying platform 2 and used for executing the following steps:
respectively controlling the thermal infrared cameras 4 to shoot at a plurality of preset positions above the target area to obtain a plurality of thermal infrared images;
when shooting is carried out each time, the current position information is obtained through the position obtaining module 1 and is stored in the thermal infrared image.
Wherein the thermal infrared images taken at adjacent ones of the plurality of preset positions have an overlapping area.
Optionally, the proportion of the overlap area in the thermal infrared image is greater than or equal to 40%, that is, when the unmanned aerial vehicle is cruising, the unmanned aerial vehicle can shoot at a heading overlap rate not lower than 40% and a side overlap rate not lower than 40%.
Further, the position acquisition module 1 is arranged on the unmanned aerial vehicle flight platform 2; the thermal infrared camera 4 is arranged below the holder 3, and a lens of the thermal infrared camera 4 faces downwards.
Further, the position acquisition module 1 may include, but is not limited to, a GPS antenna.
Further, the Image Format of the thermal infrared Image may be a Tag Image File Format (TIFF).
In practical application, after receiving a shooting instruction, the processor acquires a preset shooting area range, controls the unmanned aerial vehicle flying platform 2 to fly in the preset shooting area range, controls the thermal infrared camera 4 to shoot at preset intervals to obtain a thermal infrared image, acquires current position information through the position acquisition module 1, stores the current position information in the thermal infrared image, and the process can be called cruising.
The shooting instruction can be a user trigger operation received through a touch screen control or a key and the like.
The preset shooting area range is a preset shooting range, and in practical application, when the earth surface temperature distribution map of a target time point of a target area needs to be acquired, one or more unmanned aerial vehicles are selected to shoot according to the size of the target area or the accuracy of the target time point.
After the plurality of thermal infrared images are acquired through the unmanned aerial vehicle, the plurality of thermal infrared images can be spliced, and therefore the earth surface temperature distribution map of the target time point is obtained.
Further, after the unmanned aerial vehicle acquires the thermal infrared images of the plurality of pieces of storage position information, the processor in the unmanned aerial vehicle can be used for splicing the thermal infrared images of the plurality of pieces of storage position information, so that the earth surface temperature distribution map of the target time point is obtained; the plurality of thermal infrared images of the stored position information can also be sent to the electronic device, and the electronic device performs stitching processing on the plurality of thermal infrared images of the stored position information, so as to obtain the earth surface temperature distribution map of the target time point. The electronic device may be a computer, a tablet device, a server, or other devices with arithmetic processing capabilities.
A method for obtaining a surface temperature distribution map of a target time point by stitching a plurality of thermal infrared images storing position information is described in the following with specific embodiments.
Referring to fig. 2, fig. 2 is a schematic flowchart of a method for acquiring a surface temperature distribution map according to an embodiment of the present disclosure, where the method provided by the present disclosure is executed by an unmanned aerial vehicle and an electronic device, where the electronic device may be a computer, a tablet device, or a server and other devices with arithmetic processing capabilities. The method provided by the embodiment comprises the following steps:
step 201: and acquiring a plurality of thermal infrared images corresponding to the target time points.
The thermal infrared images are respectively shot at a plurality of preset positions in the target area. Each thermal infrared image in the plurality of thermal infrared images stores position information of a preset position, namely each thermal infrared image stores position information when the thermal infrared image is shot.
Wherein the thermal infrared images taken at adjacent ones of the plurality of preset positions have overlapping regions.
Optionally, the plurality of thermal infrared images may be captured by one or more drones as shown in fig. 1.
Step 202: and aligning the plurality of thermal infrared images according to the maximum number of the key points and the maximum number of the connection points to obtain a rough distribution result of the earth surface temperature of the target area.
Time sequence, positional information when can shooting according to a plurality of thermal infrared image or unmanned aerial vehicle's when shooting azimuth etc. carry out preliminary arrangement to a plurality of thermal infrared image. And aligning the preliminarily arranged thermal infrared images according to the maximum number of the key points and the maximum number of the connection points, so as to obtain a rough distribution result of the landmark temperature of the target area.
The Key points (keypoints) are pixel points selected from parts with high contrast and characteristic texture in the thermal infrared image.
The maximum value of the number of Key points (Key point limit) can be determined according to the total number of the pixel points of the whole thermal infrared image and the shooting content of the thermal infrared image.
Optionally, one thermal infrared image is 30 ten thousand pixels, and the maximum value of the number of the key points may be set to any value that is greater than or equal to 10000 and less than or equal to 40000 according to whether the difference of the earth surface temperature is significant.
For example, in the case where the target time point is at noon, the temperature difference between different features is generally large due to the thermal infrared image at noon, and the maximum value of the number of key points may be set large, for example, the maximum value of the number of key points is set to 40000.
Illustratively, when the target time point is early morning or late afternoon, the maximum value of the number of key points is 10000 or more and 40000 or less.
In the thermal infrared image of early morning, evening or pure lawn, the surface temperature is uniform, the difference is not significant, the maximum value of the number of the key points can be set to be smaller, for example, the maximum value of the number of the key points is set to 10000.
Optionally, the maximum value of the number of the key points may be adjusted according to the quality of the spliced earth surface temperature distribution map.
Wherein, the connection point (Tie point) is a point with higher quality selected from the determined key points.
Optionally, in the thermal infrared image stitching process, the maximum value of the number of connection points (Tie point limit) may be set to any value that is greater than or equal to 1000 and less than or equal to 4000.
Illustratively, in the case where the target time point is noon, the maximum number of connection points is 4000. Since the temperature difference between different features is large, usually at midday, the maximum value of the number of connection points can be set to be large, for example, the maximum value of the number of connection points is set to 4000.
Illustratively, in the case where the target time point is early morning or late afternoon, the maximum value of the number of connection points is 1000 or more and 4000 or less.
In the thermal infrared image of early morning, evening or pure lawn, the maximum value of the number of the connection points can be set to be smaller, for example, the maximum value of the number of the connection points is set to be 1000, because the ground surface temperature is uniform and the difference is not obvious.
Optionally, the maximum value of the number of the connection points may be adjusted according to the quality of the spliced earth surface temperature distribution map.
Step 203: and determining the earth surface point cloud of the target area according to the rough distribution result of the earth surface temperature of the target area.
According to the rough distribution result of the surface temperature of the target area, a point cloud of the three-dimensional surface of the target area can be constructed, and the point cloud of the surface can also be called a surface point cloud model.
Optionally, step 203 may be implemented by:
step 2031: the selected connection points in each thermal infrared photograph are marked in three-dimensional space.
Step 2032: and connecting the connecting points of the overlapped areas of every two adjacent thermal infrared images with each other, thereby constructing the three-dimensional point cloud of the target area.
Illustratively, 1000 connection points are acquired for each thermal infrared image, and the positions of the connection points in the three-dimensional space are calculated. The thermal infrared photograph of each plane may generate a three-dimensional point cloud formed of 1000 connection points. Assuming that each thermal infrared picture and the adjacent thermal infrared picture have the overlap of not less than 40% of the area, the connection points in the overlap area can be fused with each other to form the three-dimensional point cloud of the overlap area, so that the three-dimensional point cloud of the target area can be obtained.
Step 204: and establishing a ground surface mesh model of the target area according to the ground surface point cloud of the target area.
And establishing a three-dimensional surface mesh model of the target area according to the surface point cloud of the target area.
Step 205: and obtaining the earth surface temperature distribution map of the target area according to the preset texture type, the preset mapping mode and the earth surface grid model of the target area.
And filling the rough distribution result of the earth surface temperature of the target region into the earth surface grid model of the target region according to the preset texture type and the preset mapping mode, namely filling temperature information into the earth surface grid model, so as to obtain the earth surface temperature distribution diagram of the target region.
The preset texture type is a texture map pattern of the surface temperature distribution map, for example, an ambient light scattering map may be set.
The preset mapping mode is a mapping angle of the earth surface temperature distribution map, and may be an orthophoto mode, for example.
In this embodiment, a plurality of thermal infrared images corresponding to the target time point are obtained through the surface temperature change shot by the unmanned aerial vehicle carrying the thermal infrared camera, the thermal infrared images are respectively shot at a plurality of preset positions in the target area, the thermal infrared images shot at adjacent positions in the plurality of preset positions have overlapping areas, and according to the maximum value of the number of key points and the maximum value of the number of connection points, aligning the plurality of thermal infrared images to obtain a rough distribution result of the surface temperature of the target area, determining the earth surface point cloud of the target area according to the rough distribution result of the earth surface temperature of the target area, and establishing a ground surface mesh model of the target area according to the ground surface point cloud of the target area, and obtaining a ground surface temperature distribution map of the target area according to a preset texture type, a preset mapping mode and the ground surface mesh model of the target area. It is possible to obtain a surface temperature distribution map of the target time in the day. And the earth surface temperature data are quickly spliced, so that the efficiency of obtaining an earth surface temperature distribution diagram is improved. Therefore, the method is used for accurately researching the strength of the urban ground temperature heat island in the day, and further provides scientific decision support for a city manager to deal with the problem of the urban ground temperature heat island.
For example, referring to fig. 3A-3F, fig. 3A-3F are plots of the surface temperature distribution obtained by the above method at various times of the day with a spatial resolution of 15.53 cm and a coverage area of 10 hectares. Fig. 3A is a surface temperature distribution diagram of 10 points in an a-zone provided by the present application, fig. 3B is a surface temperature distribution diagram of 11 points in an a-zone provided by the present application, fig. 3C is a surface temperature distribution diagram of 12 points in an a-zone provided by the present application, fig. 3D is a surface temperature distribution diagram of 13 points in an a-zone provided by the present application, fig. 3E is a surface temperature distribution diagram of 14 points in an a-zone provided by the present application, and fig. 3F is a surface temperature distribution diagram of 15 points in an a-zone provided by the present application. Fig. 3A to 3F are actually color images (color is not shown in the figures), different colors are displayed according to different temperature settings, the correspondence between temperature and color can be set by a user, and a legend indicating the correspondence between temperature and color is shown in the upper left of each of fig. 3A to 3F, where T represents temperature. Therefore, the method for acquiring the surface temperature distribution map provided by the embodiment of the application can acquire the surface temperature distribution map with high time and high spatial resolution.
In some scenes such as grasslands and the like, the similarity between the shot thermal infrared images at a plurality of preset positions of the target area is high, so that the image splicing operation is difficult to perform only by depending on the image information in the thermal infrared images.
In other embodiments, the acquired thermal infrared image may carry information related to the shooting position of the thermal infrared image, so that the thermal infrared image may be aligned according to the information related to the shooting position. The following will explain details of the present invention by specific examples.
In a possible implementation manner, each thermal infrared image in the plurality of thermal infrared images includes position information, and step 202 may be implemented by:
step 2021: and arranging the plurality of thermal infrared images according to the position information contained in the plurality of thermal infrared images to obtain an initial arrangement result.
The initial arrangement result is a result of arranging a plurality of thermal infrared images. And in the arranging process, the thermal infrared images adjacent in position are adjacently arranged according to the position information.
Step 2022: and aligning the initial arrangement result according to the maximum value of the number of the key points and the maximum value of the number of the connection points to obtain a rough distribution result of the earth surface temperature of the target area.
Optionally, the plurality of thermal infrared images are shot by the unmanned aerial vehicle, the unmanned aerial vehicle comprises a thermal infrared camera and a position acquisition module, and position information obtained by the position acquisition module is stored in the thermal infrared images shot by the thermal infrared camera. I.e. the plurality of thermal infrared images may be captured by the drone shown in fig. 1.
In the embodiment, the thermal infrared images carrying the position information can be arranged according to the position information, so that the thermal infrared images can be quickly aligned to obtain a rough distribution result, and the thermal infrared images can be aligned in a scene with relatively single earth surface features to obtain an earth surface temperature distribution map. In addition, the thermal infrared images are arranged according to the position information and then aligned, so that the speed of obtaining a rough distribution result is high, and the splicing efficiency is high.
In another possible implementation manner, each thermal infrared image in the plurality of thermal infrared images includes a direction parameter, and step 202 may be implemented by:
step 202 a: and arranging the plurality of thermal infrared images according to the direction parameters contained in the plurality of thermal infrared images to obtain an initial arrangement result.
Wherein, the direction parameter can be the relevant parameter of the direction of flight when shooting the unmanned aerial vehicle of hot infrared image and patrolling and voyage. According to the direction parameters, the motion trail of the unmanned aerial vehicle can be determined, namely the position relation of a plurality of thermal infrared images can be determined.
Step 202 b: and aligning the initial arrangement result according to the preset maximum value of the number of the key points and the preset maximum value of the number of the connection points to obtain a rough distribution result of the earth surface temperature of the target area.
This embodiment, through carrying the thermal infrared image of direction parameter, can realize arranging the thermal infrared image according to the direction parameter to carry out quick alignment operation, obtain rough distribution result, make under the relatively single scene of earth's surface characteristic, can align the thermal infrared image, thereby obtain earth's surface temperature distribution map. In addition, the thermal infrared images are arranged according to the direction parameters and then aligned, so that the speed of obtaining a rough distribution result is high, and the splicing efficiency is high.
Embodiments of the present application provide a computer-readable storage medium, on which a program is stored, where the program can be executed by a processor to implement the method for acquiring a surface temperature distribution map provided by the above embodiments.
Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments may be implemented by hardware, or may be implemented by computer programs. When all or part of the functions of the above embodiments are implemented by a computer program, the program may be stored in a computer-readable storage medium, and the storage medium may include: a read only memory, a random access memory, a magnetic disk, an optical disk, a hard disk, etc., and the program is executed by a computer to realize the above functions. For example, the program may be stored in a memory of the device, and when the program in the memory is executed by the processor, all or part of the functions described above can be implemented. In addition, when all or part of the functions in the above embodiments are implemented by a computer program, the program may be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a removable hard disk, and may be downloaded or copied to a memory of a local device, or may be version-updated in a system of the local device, and when the program in the memory is executed by a processor, all or part of the functions in the above embodiments may be implemented.
The present application has been described with reference to specific examples, which are provided only to aid understanding of the present application and are not intended to limit the present application. For a person skilled in the art to which the application pertains, several simple deductions, modifications or substitutions may be made according to the idea of the application.
Claims (10)
1. The utility model provides an unmanned aerial vehicle who obtains earth's surface temperature distribution which characterized in that includes:
the position acquisition module is used for acquiring position information;
the thermal infrared camera is used for shooting thermal infrared images;
the unmanned aerial vehicle flight platform is used for providing flight power;
the cloud deck is used for connecting the thermal infrared camera and the unmanned aerial vehicle flying platform;
the processor is arranged in the unmanned aerial vehicle flight platform and used for executing the following steps:
respectively controlling a thermal infrared camera to shoot at a plurality of preset positions above a target area to obtain a plurality of thermal infrared images, wherein the thermal infrared images shot at adjacent positions in the plurality of preset positions have overlapping areas;
when shooting is carried out each time, current position information is obtained through the position obtaining module, and the current position information is stored in the thermal infrared image;
arranging the plurality of thermal infrared images according to position information contained in the plurality of thermal infrared images to obtain an initial arrangement result;
aligning the initial arrangement result according to the maximum value of the number of the preset key points and the maximum value of the number of the preset connection points to obtain a rough distribution result of the earth surface temperature of the target area;
determining the earth surface point cloud of the target area according to the rough distribution result of the earth surface temperature of the target area;
establishing a ground surface mesh model of the target area according to the ground surface point cloud of the target area;
and obtaining the earth surface temperature distribution map of the target area according to a preset texture type, a preset mapping mode and the earth surface grid model of the target area.
2. The drone of claim 1, wherein the position acquisition module is disposed on the drone flight platform; the thermal infrared camera is arranged below the holder, and a lens of the thermal infrared camera faces downwards;
the position acquisition module comprises a GPS antenna.
3. An unmanned aerial vehicle, comprising:
the position acquisition module is used for acquiring position information;
a thermal infrared camera for taking a thermal infrared image;
the unmanned aerial vehicle flight platform is used for providing flight power;
the cloud deck is used for connecting the thermal infrared camera and the unmanned aerial vehicle flying platform;
the processor is arranged in the unmanned aerial vehicle flight platform and used for executing the following steps:
respectively controlling a thermal infrared camera to shoot at a plurality of preset positions above a target area to obtain a plurality of thermal infrared images, wherein the thermal infrared images shot at adjacent positions in the plurality of preset positions have overlapping areas;
when shooting is carried out each time, current position information is obtained through the position obtaining module and stored in the thermal infrared image;
transmitting the plurality of thermal infrared images to an electronic device to cause the electronic device to perform the steps of:
arranging the plurality of thermal infrared images according to position information contained in the plurality of thermal infrared images to obtain an initial arrangement result;
aligning the initial arrangement result according to the maximum value of the number of the preset key points and the maximum value of the number of the preset connection points to obtain a rough distribution result of the earth surface temperature of the target area;
determining the earth surface point cloud of the target area according to the rough distribution result of the earth surface temperature of the target area;
establishing a ground surface mesh model of the target area according to the ground surface point cloud of the target area;
and obtaining the earth surface temperature distribution map of the target area according to a preset texture type, a preset mapping mode and the earth surface grid model of the target area.
4. A method for obtaining a surface temperature profile, comprising:
acquiring a plurality of thermal infrared images corresponding to a target time point, wherein the plurality of thermal infrared images are respectively shot at a plurality of preset positions in a target area, and the thermal infrared images shot at adjacent positions in the plurality of preset positions have overlapping areas;
aligning the plurality of thermal infrared images according to the maximum number of key points and the maximum number of connection points to obtain a rough distribution result of the earth surface temperature of the target area;
determining the earth surface point cloud of the target area according to the rough distribution result of the earth surface temperature of the target area;
establishing a ground surface mesh model of the target area according to the ground surface point cloud of the target area;
and obtaining the earth surface temperature distribution map of the target area according to a preset texture type, a preset mapping mode and the earth surface grid model of the target area.
5. The method of claim 4, wherein each thermal infrared image in the plurality of thermal infrared images includes position information, and the aligning the plurality of thermal infrared images according to the maximum number of key points and the maximum number of connection points to obtain the rough distribution result of the surface temperature of the target area comprises:
arranging the plurality of thermal infrared images according to position information contained in the plurality of thermal infrared images to obtain an initial arrangement result;
and aligning the initial arrangement result according to the maximum value of the number of the key points and the maximum value of the number of the connection points to obtain a rough distribution result of the earth surface temperature of the target area.
6. The method of claim 5, wherein the plurality of thermal infrared images are captured by a drone, the drone including a thermal infrared camera and a location acquisition module, the thermal infrared image captured by the thermal infrared camera having stored therein location information obtained by the location acquisition module.
7. The method of claim 4, wherein each thermal infrared image in the plurality of thermal infrared images includes a direction parameter, and the aligning the plurality of thermal infrared images according to the maximum number of key points and the maximum number of connection points to obtain the rough distribution result of the surface temperature of the target area comprises:
arranging the plurality of thermal infrared images according to direction parameters contained in the plurality of thermal infrared images to obtain an initial arrangement result;
and aligning the initial arrangement result according to the preset maximum value of the number of the key points and the preset maximum value of the number of the connection points to obtain a rough distribution result of the earth surface temperature of the target area.
8. The method according to any one of claims 4 to 7, wherein in the case where the target time point is noon, the maximum value of the number of key points is 40000, and the maximum value of the number of connection points is 4000;
when the target time point is early morning or late evening, the maximum value of the number of the key points is greater than or equal to 10000 and less than or equal to 40000, and the maximum value of the number of the connection points is greater than or equal to 1000 and less than or equal to 4000.
9. The method of any of claims 4-7, wherein the texture type comprises an ambient light scatter map; the mapping mode includes: an orthophoto mode.
10. A computer-readable storage medium, characterized in that the medium has stored thereon a program which is executable by a processor to implement the method according to any one of claims 4-9.
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| CN116228766B (en) * | 2023-05-08 | 2023-07-25 | 德中(深圳)激光智能科技有限公司 | Intelligent regulation and control method and system for plasma processing equipment |
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