CN114777744A - Geological measurement method and device in ancient biology field and electronic equipment - Google Patents
Geological measurement method and device in ancient biology field and electronic equipment Download PDFInfo
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Abstract
The invention provides a geological measurement method, a device and electronic equipment in the field of ancient biology, wherein the method comprises the following steps: setting a flight route of an unmanned aerial vehicle, wherein the flight route can cover a geological region to be mapped, which relates to ancient biological information; acquiring a plurality of frames of images acquired when the unmanned aerial vehicle takes an aerial photograph along the flight route, wherein the two adjacent frames of images are partially overlapped; and generating a three-dimensional model of the geological region according to the multi-frame image. According to the geological measurement method, the device and the electronic equipment in the field of ancient biology, provided by the embodiment of the invention, the image of the geological region is aerial photographed by the unmanned aerial vehicle, manual measurement is not needed, the surveying and mapping efficiency can be improved, and the manual field time can be greatly reduced; the two adjacent frames of images are partially overlapped, so that the images can be conveniently and accurately spliced, and the problem of serious image stretching or splicing traces is avoided; in the accurate condition of unmanned aerial vehicle location, do not need the manual work to get a point and arrange the accuse, can further simplify manual operation.
Description
Technical Field
The invention relates to the technical field of paleontology, in particular to a geological measurement method, a geological measurement device, electronic equipment and a computer-readable storage medium in the paleontology field.
Background
The ancient organism refers to organisms in geological historical periods, including plants, invertebrates, vertebrates and the like, and biological remains and activity remains of the ancient organisms are attached to stratums to form ancient fossil organisms. In order to study the distribution of fossil in rock strata (for example, fossil sites), it is necessary to draw a geological map of a certain area and then generate a geological profile based on other data, for example, a cross-section of the deluxe area located in the middle of the inner Mongolia autonomous region.
The geological map mapping in the traditional paleontology field mostly adopts an artificial metering mode, namely geological phenomena and mutual relations in the paleontology field are roughly drawn according to a certain proportion, and then the spatial relations of geology in the paleontology field are described in a plane mode. This kind of mode is wasted time and energy, and needs the manual work to get a point and arrange the accuse to avoid the unmatched problem in space, the operation is complicated.
Disclosure of Invention
In order to solve the existing technical problems, the embodiment of the invention provides a geological measurement method, a geological measurement device, electronic equipment and a computer-readable storage medium in the field of ancient biology.
In a first aspect, an embodiment of the present invention provides a geological measurement method in the field of ancient biology, including:
setting a flight route of an unmanned aerial vehicle, wherein the flight route can cover a geological area to be mapped and related to ancient biological information;
acquiring multiple frames of images acquired by the unmanned aerial vehicle during aerial photography along the flight route, wherein the two adjacent frames of images are partially overlapped;
and generating a three-dimensional model of the geological region according to the multi-frame image.
In a second aspect, an embodiment of the present invention further provides a geologic measurement apparatus in the field of ancient biology, including:
the system comprises a route setting module, a route setting module and a route setting module, wherein the route setting module is used for setting a flight route of the unmanned aerial vehicle, and the flight route can cover a geological region to be mapped, which relates to paleontological information;
the image acquisition module is used for acquiring multi-frame images acquired by the unmanned aerial vehicle during aerial photography along the flight route, and the two adjacent frames of images are partially overlapped;
and the processing module is used for generating a three-dimensional model of the geological region according to the multi-frame images.
In a third aspect, an embodiment of the present invention provides an electronic device, including a bus, a transceiver, a memory, a processor, and a computer program stored on the memory and operable on the processor, where the transceiver, the memory, and the processor are connected via the bus, and the computer program, when executed by the processor, implements any one of the steps in the method for measuring geology in the field of ancient biology.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the method for geologic survey in the field of ancient biology described in any one of the above.
According to the geological measurement method, the device, the electronic equipment and the computer-readable storage medium in the ancient biology field, a flight route capable of covering a geological region related to ancient biology information is set for the unmanned aerial vehicle, so that the unmanned aerial vehicle can shoot images in the geological region when flying along the flight route, and then a three-dimensional model of the geological region is generated by using multi-frame images. According to the method, the image of the geological region is aerial photographed by the unmanned aerial vehicle, manual metering is not needed, the mapping efficiency can be improved, and the manual field time can be greatly reduced; the adjacent two frames of images are partially overlapped, so that the images can be conveniently and accurately spliced, and the problem of serious image stretching or splicing marks is avoided; in the accurate condition of unmanned aerial vehicle location, do not need the manual work to get a point and arrange the accuse, can further simplify manual operation.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the background art of the present invention, the drawings required to be used in the embodiments or the background art of the present invention will be described below.
FIG. 1 is a flow chart of a geological measurement method in the field of archaea according to an embodiment of the present invention;
FIG. 2A is a schematic diagram of a method for geologic survey in the field of ancient biology, according to an embodiment of the present invention, showing a plurality of flight sub-routes;
FIG. 2B is a schematic diagram illustrating a distance relationship between an unmanned aerial vehicle flying along a flight sub-route in the geological survey method in the ancient biology field according to the embodiment of the invention;
FIG. 3 is a schematic side view of an image acquisition device for acquiring an inclined earth surface image in the method for geologic survey in the field of ancient biology according to the embodiment of the present invention;
FIG. 4 is a schematic diagram of a rectangular coordinate system established in the geological survey method in the field of ancient biology according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an inclined surface plane of an ancient biological field geological survey method according to an embodiment of the present invention;
FIG. 6 is another schematic diagram of an inclined surface plane of an ancient biological field geological survey method according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of an archaeological field geological measurement apparatus according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device for performing a geologic measurement method in the field of archaea according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described below with reference to the drawings.
Fig. 1 shows a flow chart of a geological measurement method in the field of ancient biology, which is provided by the embodiment of the invention. As shown in fig. 1, the method includes:
step 101: set up unmanned aerial vehicle's flight route, the flight route can cover the geological region that relates to the ancient biological information who treats the survey and drawing.
In the embodiment of the invention, when a certain geological region containing paleontological information needs to be mapped, the region can be used as a geological region to be mapped, and the subsequent geological regions refer to regions related to paleontological information. For example, if a fossil exists in a certain area, or a stratum or a terrain containing paleobiological information is involved, the certain area may be regarded as a geological area. When the model of the geological region is drawn, the embodiment of the invention collects the image of the geological region by using the unmanned aerial vehicle, and then generates the three-dimensional model of the geological region by using a three-dimensional reconstruction technology and the like.
Specifically, the embodiment of the invention sets the flight line of the unmanned aerial vehicle, so that the unmanned aerial vehicle can fly along the flight line. Wherein, this flight route can cover complete this geological area for unmanned aerial vehicle utilizes the image acquisition device wherein can gather the image that can cover complete geological area. The image acquisition device can be a camera and the like.
Step 102: acquiring multiple frames of images acquired when the unmanned aerial vehicle takes an aerial photograph along a flight route, wherein the two adjacent frames of images are partially overlapped.
In the embodiment of the invention, after the flight path is set, the unmanned aerial vehicle can be controlled to take an aerial photograph along the flight path, so that the image of the geological region is shot. Because the geological region is large, in order to ensure the definition, resolution and the like of a shot image, multi-frame images are generally collected; for example, during the course of the unmanned aerial vehicle flying along the flight route, the image 1 is taken at the position point 1, and the image 2 … … is taken at the position point 2, so that a plurality of frames of images can be acquired. In order to join a plurality of frame images, two adjacent frame images need to be partially overlapped.
Step 103: and generating a three-dimensional model of the geological region according to the multi-frame images.
In the embodiment of the invention, after the multi-frame image of the geological region is acquired, the three-dimensional model of the geological region can be generated. For example, a three-dimensional model of the geological region may be rendered based on existing three-dimensional generation software (Smart3D, ContextCapture, meshlab), and the like. Then, the coordinates, height differences and the like of any point in the geological region can be derived based on the three-dimensional model, and the ancient biogenetic fossil and the like in the geological region can be conveniently analyzed subsequently. In the rendering process, the three-dimensional model boundary can be customized to eliminate redundant data, so that the rendering efficiency is improved, and the subsequent rendering period is shortened.
According to the geological measurement method in the ancient biology field, provided by the embodiment of the invention, the flight route capable of covering the geological region is arranged for the unmanned aerial vehicle, so that the unmanned aerial vehicle can shoot images in the geological region when flying along the flight route, and then the multi-frame image is utilized to generate the three-dimensional model of the geological region. According to the method, the image of the geological region is aerial photographed by the unmanned aerial vehicle, manual metering is not needed, the mapping efficiency can be improved, and the manual field time can be greatly reduced; the adjacent two frames of images are partially overlapped, so that the images can be conveniently and accurately spliced, and the problem of serious image stretching or splicing marks is avoided; in the accurate condition of unmanned aerial vehicle location, do not need the manual work to get a point and arrange the accuse, can further simplify manual operation.
Optionally, the step 101 "setting a flight line of the drone" includes:
step A1: setting a flight route comprising a plurality of flight sub routes, wherein different flight sub routes correspond to different flight heights, and the flight sub route corresponding to the highest flight height can cover a geological area to be mapped; the overlapping rate of the visual fields between two adjacent frames of images along the flight sub-route is less than 50%.
At present, the unmanned aerial vehicle is used for collecting images in scenes such as drawing city maps, but the resolution requirements of the scenes on the images are low, and the unmanned aerial vehicle can fly along an S-shaped air route once. In the embodiment of the present invention, in order to study accurate information of a geological region, a three-dimensional model of the geological region needs to have a higher resolution, for example, a fossil production horizon and a relationship between an upper rock layer and a lower rock layer need to be accurately marked. The relation between the aerial distance h and the ground resolution R is as follows: h is f multiplied by R/p, wherein f is the focal length of the image acquisition device, and p is the pixel size; in order to ensure higher resolution, the aerial distance is required to be smaller, namely unmanned aerial vehicle low-altitude shooting is required. In the field of ancient biology, due to the fact that the situation that the surface relief is large often exists, the precision of the collected image is difficult to guarantee when the ancient biology flies at only one height.
In the embodiment of the invention, the flight path is divided into a plurality of flight sub-paths with different flight heights, so that the unmanned aerial vehicle can acquire the surface images of the geological region from different heights, and the surface images at different heights are acquired, and each surface image can have higher precision, so that a high-resolution three-dimensional model can be constructed; the cross shooting can be realized through flight sub-routes with different heights, and the integrity of data collected in a geological region can be improved; in the process of constructing the three-dimensional model, images acquired at different heights can be mutually constrained, so that the three-dimensional model can be accurately generated due to high spatial matching degree under the condition of low visual field overlapping rate of two adjacent frames of images.
Specifically, in general, in order to implement three-dimensional reconstruction, the overlapping rate of two adjacent frames of images needs to be higher than 50%, and generally about 60%; in the embodiment of the invention, the flight sub-routes with different heights are arranged, the images are acquired from different heights in a cross manner, and the requirement of the overlapping rate of two adjacent frames of images can be reduced, namely the overlapping rate can be lower than 50%, so that the number of images can be reduced during shooting, and the image acquisition efficiency is improved. In addition, too low overlapping rate of the visual fields easily causes a problem of a serious splice mark, so alternatively, the overlapping rate of the visual fields is not less than 30%.
In addition, optionally, in the flying process of the unmanned aerial vehicle, the power consumption of the unmanned aerial vehicle is larger for overcoming the gravity acting by changing the elevation of the unmanned aerial vehicle, so that the endurance time of the unmanned aerial vehicle can be greatly reduced; in order to avoid the situation that the height of the unmanned aerial vehicle is changed too frequently, the multiple flight sub-flight paths with different heights can be connected in series according to the sequence of the flight heights from high to low (or from low to high) to form a complete flight path, so that the cruising ability of the unmanned aerial vehicle can be ensured under the condition of realizing multi-height shooting.
On the basis of the above embodiment, the step a1 of setting a flight path including a plurality of flight sub-paths includes:
step A11: and under the condition that the geological region contains an inclined earth surface, setting at least one low-flight subpane, wherein the low-flight subpane is other flight subpanes except the flight subpane corresponding to the highest flight height.
Step A12: setting an orientation angle of an image acquisition device in the unmanned aerial vehicle for the low-flight secondary air route, wherein the orientation angle is oriented to the inclined ground surface; the low-flight sub-routes corresponding to different flight heights are provided with different orientation angles.
In the embodiment of the invention, the surface of the geological region is not a plane generally, the surface of a part of the region is inclined, and the inclined angle of some inclined surfaces is larger, such as a fault basin, lake facies stratigraphic sediment and the like. If the image acquisition device shoots vertically downwards, a clear image of the inclined ground surface is not easy to acquire, so that the embodiment of the invention sets a low-flight sub-route for the inclined ground surface, and the orientation angle of the image acquisition device corresponding to the low-flight sub-route faces the inclined plane of the inclined ground surface, so that the surface image of the inclined ground surface can be acquired better. For example, the orientation angle is oriented as much as possible towards the inclined ground surface, such that the orientation of the image acquisition device is perpendicular to the surface of the inclined ground surface.
If different orientation angles are set for different inclined ground surfaces in the low flight sub-route, the orientation angle of the image acquisition device can be frequently adjusted, and the problem that two adjacent frames of images are staggered up and down easily exists at the junction of different inclined ground surfaces. Therefore, in the embodiment of the invention, for a certain low-flying sub-route, a unique orientation angle is set, namely the attitude of the image acquisition device relative to the unmanned aerial vehicle is unchanged.
Referring to fig. 2A, if a raised terrain exists in the geological region, the terrain is schematically represented by a rectangular pyramid in fig. 2A. In fig. 2A, the terrain comprises 4 sloping ground surfaces, each having a different slope angle; embodiments of the invention may provide multiple flight subparalls for the terrain, three flight subparalls L1, L2, and L3 are shown in FIG. 2A. Wherein the flight subpath L1 has the highest flight altitude, which can be shot vertically downward (or shot slightly obliquely), the arrow in fig. 2A indicates the orientation of the image capturing device. The flight sub-routes L2 and L3 with lower heights are shot obliquely, namely the flight sub-routes are provided with corresponding orientation angles, and the orientation angles are kept unchanged when different oblique ground surfaces are shot; the flight subpaths L2 and L3 are both a low flight subpath. For the terrain such as a depression or a fault, the principle of generating the low-flight sub-route is similar, and the detailed description is omitted here.
Further optionally, when the flight subpath is set, the distance from the flight subpath to the inclined ground does not exceed the curvature radius of the inclined ground in the horizontal direction. Since the surface of the inclined ground surface is uneven and the curvature radius thereof is difficult to determine, the distance between the inclined ground surface and the center line of the mountain where the inclined ground surface is located is approximated as the curvature radius of the inclined ground surface in the embodiment. As shown in fig. 2B, the shape and structure of the mountain is represented by a cone, the point P is the position where the unmanned aerial vehicle flies along the flight sub-course, and the distance from the flight sub-course to the inclined ground surface is PE for the point P, at this time, the curvature radius of the inclined ground surface in the horizontal direction can be approximately regarded as EF, and when the flight sub-course is set, PE < EF is ensured so that the unmanned aerial vehicle can acquire the image of the inclined ground surface at high resolution as much as possible.
As will be understood by those skilled in the art, there may be a plurality of independent inclined terrains in the geological region, for example, there are a plurality of raised terrains, or there are raised terrains and recessed terrains, etc. in the process of setting the flight path, this embodiment may set a plurality of flight sub-paths for each independent inclined terrains, respectively, and acquire images of each inclined terrains, respectively.
Optionally, the step a1 "of setting a flight path including a plurality of flight sub-paths" further includes:
step A13: and determining a preset overlapping rate r.
In the embodiment of the present invention, a suitable overlapping rate between two adjacent frames of images needs to be set, that is, a preset overlapping rate r. The smaller the preset overlap rate r is, the more easily splicing defects appear; the larger the preset overlap ratio r is, the more images need to be taken. In general, the preset overlap ratio r may be set to a value between 30% and 50%. In the embodiment of the present invention, the preset overlap ratio r is the minimum allowed overlap ratio.
Step A14: and setting the flight distance d of the unmanned aerial vehicle corresponding to the two adjacent frames of images for the low-flight sub-route, wherein the visual field overlapping rate between the two adjacent frames of images acquired by the unmanned aerial vehicle according to the flight distance d is not less than the preset overlapping rate r.
When setting up low flight sub-route, still need set up the unmanned aerial vehicle flight distance d that two adjacent frame images correspond, after unmanned aerial vehicle shoots a frame of image promptly, need fly how far and shoot next frame of image again. For avoiding appearing the concatenation problem, the field of vision overlap ratio between two adjacent frame images should be not less than and predetermines overlap ratio r, through setting up the unmanned aerial vehicle flying distance d that two adjacent frame images correspond, can realize this effect. Specifically, the larger the flying distance d is, the lower the field-of-view overlap ratio between two adjacent frame images is.
Optionally, the step a14 "of setting the flight distance d of the drone corresponding to two adjacent frames of images for the low-flight sub-route" includes steps a141 to a 142:
step A141: an inclination angle β in the low flight sub-route currently oriented towards the corresponding inclined ground surface is determined.
In the embodiment of the present invention, when a geological region needs to be mapped, the inclination angle of the earth surface at any position in the geological region may be determined based on a contour map, DEM (Digital Elevation Model) data, and the like of the geological region, and one adjacent region with a similar inclination angle is used as one inclined earth surface. Alternatively, the inclined ground surface may be marked by human observation, and the inclination angle of each inclined ground surface may be determined, which is not limited in this embodiment.
Step A142: and setting the flying distance d of the unmanned aerial vehicle corresponding to two adjacent frames of images for the low-flying sub-route, wherein the flying distance d meets the following requirements:
wherein,
h represents the distance from the image acquisition device to the inclined earth surface, alpha represents the acquisition angle of the image acquisition device,
indicating the orientation angle.
In the embodiment of the present invention, when the image capturing device of the unmanned aerial vehicle captures a ground image, a capturing angle (i.e., a field angle) of the image capturing device is fixed, and in this embodiment, the capturing angle is set to 2 α, an included angle between a capturing boundary of the image capturing device and an orientation of the image capturing device is α, and the angle α may be specifically determined based on parameters of the image capturing device. Referring to fig. 3, point P is an image capturing device, and the orientation of the image capturing device is PO; the angle between the orientation of the image capturing device P and the vertical direction is the orientation angle of the image capturing device, and is shown in FIG. 3
Indicating the orientation angle.
Optionally, the orientation angle
And the flight height of the low flight sub-route is in a negative correlation relationship. For example, the embodiment of the present invention may set four flight subpaths with different flight altitudes, the flight subpath with the highest flight altitude is shot vertically downwards, the remaining three flight subpaths are all low flight subpaths, and the orientation angles of the three low flight subpaths are 30 °, 45 °, and 60 ° in sequence according to the sequence of the flight altitudes from high to low. In the embodiment of the invention, in order to generate a three-dimensional model, certain view overlapping rate is required to be provided between images shot by different height sub-routes; if the orientation angles of all the low-flight sub-routes are set to be the same angle, more low-flight sub-routes are required to completely acquire the image of the inclined ground surface. According to the embodiment, different orientation angles are set for different low-flight sub-route lines, so that the height difference between the different low-flight sub-route lines can be increased, the number of the low-flight sub-route lines used for collecting the inclined earth surface is reduced, and the collection efficiency is improved.
If the ground currently acquired by the image acquisition device is inclined and the inclination angle of the ground is beta, the point O represents the intersection point of the central axis of the image acquisition device and the ground surface; due to the adoption of the image acquisition deviceThe collection range is similar to a rectangular pyramid structure, so that the collection area of the ground surface collected by the image collection device is in a trapezoid shape when facing an angle
When the inclination angle is equal to the inclination angle beta, the central axis PO of the image acquisition device is vertical to the surface of the earth surface, and the acquisition area of the earth surface acquired by the image acquisition device is square.
For convenience of description, referring to fig. 3, in the embodiment of the present invention, a rectangular coordinate system is established with an O point as an origin, an OP as a z axis, an up-down direction perpendicular to the OP as an x axis, and a horizontal direction of a surface of a ground (a direction between a near observer and a far observer in fig. 3) as a y axis; the positive y-axis direction is the direction toward the viewer in fig. 3. This rectangular coordinate system can be seen in particular in fig. 4.
As shown in fig. 4, let h be the distance from the image capturing device to the ground surface, i.e. the length of PO, and this distance h is the aerial distance of the image capturing device. Under the rectangular coordinate system, the coordinate of the point P is (0,0, h). In fig. 4, a 'B' C 'D' is an acquisition area when the image acquisition device acquires the xOy plane, and a 'B' C 'D' is a square; because the contained angle between the orientation PO of collection boundary A 'PB', B 'PC', C 'PD', D 'PA' and image acquisition device of image acquisition device is alpha, makes a htan alpha, then the coordinates of A ', B', C ', D' four points do in proper order: a '(a, a,0), B' (a, -a,0), C '(-a, -a,0), D' (-a, a, 0). From this, the equation of the point direction of the straight line a 'P, B' P is:
the point-wise equations for the line C 'P, D' P are:
referring to fig. 3, assuming that the angle between the ground surface and the xOy plane is θ, as can be seen from the angle relationship shown in fig. 3,
rotating the xOy plane along the y axis by theta to obtain a plane where the earth surface is located; referring to fig. 4, the collection area of the ground surface collected by the image collection device P is ABCD and has a trapezoidal shape. The normal vector of the surface ABCD can be expressed as (sin θ,0, cos θ), and since the surface ABCD also passes through the origin O, the point-normal equation of the surface ABCD is:
x sinθ+z cosθ＝0 (3)
as shown in fig. 4, the straight line a' P intersects the plane ABCD at the point a, and the following equation set (4) can be established by the above equations (1) and (3), and the coordinate of the point a can be obtained by solving:
wherein, the coordinate of the point A is
Since a is htan α, the coordinates of point a are:
similarly, the straight line B ' P, C ' P, D ' P intersects the plane ABCD at point B, point C, and point D, respectively. The coordinates of B, C, D four points can be solved by a simultaneous system of equations, and:
the coordinates of the point B are as follows:
the coordinates of the point C are:
the coordinates of the point D are as follows:
order to
The coordinates of the four points A, B, C, D are: a (B, B, -btan θ), B (B, -B, -btan θ), C (-C, -C, ctan θ), D (-C, C, ctan θ). The surface area of the earth collected by the image capture device can be seen in fig. 5, where M is the midpoint of AB and N is the midpoint of CD, as shown in fig. 4, where the four points of the MONP are coplanar. Based on the A, B, C, D four-point coordinates, the length of AB is 2b, and the length of CD is 2 c; the length of OM is the distance from point A or point B to the y-axis, and the length of ON is the distance from point C or point D to the y-axis, from which:
at a tilt angle beta greater than the orientation angle
In the case of (a) the (b),
in this case, b > c. Referring to fig. 5, when b > c, the image capturing device can capture the ABCD area in the ground surface; under the condition that the unmanned aerial vehicle ensures that the height is unchanged, the next frame of image acquired by the unmanned aerial vehicle is a frame of image moving along the y axis, and the next frame of image is represented by a dotted line in fig. 5. In addition, in order to distinguish the current frame image ABCD from the next frame image, the current frame image ABCD and the next frame image are staggered from each other in fig. 5.
To ensure that three-dimensional reconstruction can be subsequently achieved, the overlapping rate of the fields of view of two adjacent frames of images should be not less than a preset overlapping rate r, for example, the preset overlapping rate r is not less than 30%, for example, 30%, 40%, and the like. When the overlapping rate of the visual fields of two adjacent images is determined, the overlapping rate of the visual fields needs to be determined in a segmented manner because the ABCD is in a trapezoid shape.
Specifically, let the flight distance of the drone between two adjacent frames be d. At a tilt angle beta greater than the orientation angle
In the case ofThat is, when b > c, as shown in fig. 5, if the field of view overlap ratio of two adjacent frame images is equal to the preset overlap ratio r, and the flight distance d is less than or equal to 2c, when the flight distance d is 2c, the field of view overlap ratio of two adjacent frame images is less than or equal to the preset overlap ratio r, that is:
based on the above formula (5):
and then
This gives:
at an inclination angle beta smaller than the orientation angle
In the case of (1), when b < c, if the field of view overlap ratio of two adjacent frame images is equal to the preset overlap ratio r, the flying distance d is less than or equal to 2b, and when the flying distance d is equal to 2b, the field of view overlap ratio of two adjacent frame images is also less than or equal to the preset overlap ratio r. In the same way, the method can obtain the product,
thus, in
In order to ensure that the overlapping rate of the visual fields of two adjacent frames of images is greater than or equal to the preset overlapping rate r, the flying distance d does not exceed the smaller value of 2b and 2c, namely d is less than or equal to min (2b,2 c). At this time, when the flight distance of two adjacent frames is d, the overlapping rate of the fields of view of the two adjacent frames of images is:
the overlapping rate of the vision fields should be greater than or equal to the predetermined overlapping rateAnd r. That is to say that the first and second electrodes,
the available flight distance d should thus satisfy: d is less than or equal to (1-r) (b + c).
Thus, is at
And the flying distance d satisfies the following condition: d is less than or equal to (1-r) (b + c).
On the contrary, in
If the overlapping rate of the visual fields of two adjacent frames of images is equal to the preset overlapping rate r, the flying distance d exceeds the smaller value of 2b and 2c, namely d>min (2b,2 c). Taking the case of b > c as an example, referring to fig. 6, the flying distance d exceeds 2c, i.e. the length of CD, and the overlapping area of the fields of view of two adjacent frames of images is:
suppose that the flight distance is d1When the image is displayed, the view overlapping rate of two adjacent frames of images is equal to a preset overlapping rate r; the flying distance d is larger than 0 and smaller than 11Satisfies the following conditions: 2c < d1< 2d, and the relationship based on the overlapping rate of the fields of view is available:
solving for equation (7) above yields:
i.e. when the flight distance d does not exceed d1In this case, the overlapping rate of the views of two adjacent images may be greater than or equal to the preset overlapping rate r.
In the same way, can be obtained in
In the case of (b), if<c, when the flight distance d is
When the overlap rate of the visual fields of two adjacent frame images is equal to the preset overlap rate r, namely when the flight distance d does not exceed the preset overlap rate r
And then, the overlapping rate of the visual fields of two adjacent frames of images is greater than or equal to the preset overlapping rate r.
In summary, in
In this case, the flying distance d should satisfy:
optionally, the flying distance d at this time may be selected from: and d is min (2b,2c), namely, the view overlapping rate of two adjacent frames of images is ensured to be greater than or equal to the preset overlapping rate r.
In summary, in order to ensure that the overlapping rate of the visual fields of the two adjacent frames of images is greater than or equal to the preset overlapping rate r, the flying distance d between the two adjacent frames satisfies:
wherein,
in the embodiment of the invention, the orientation angle of the low-flight subpane is ensured
Under the condition of no change, for the inclined earth surface with different inclination angles beta, the flight distance d between two adjacent frames of images is set, so that the view overlapping rate of the two adjacent frames of images can be effectively ensured, and the follow-up accurate generation of the three-dimensional model can be ensured.
Further optionally, after the step a14 "sets the flight distance d" of the drone corresponding to two adjacent frames of images for the low-flying sub-route, "the method further includes:
step A15: a satellite received signal refresh interval at is determined.
Step A16: and setting the flight speed v for the low flight sub-route, wherein the flight speed v does not exceed d/delta t.
In the embodiment of the invention, the unmanned aerial vehicle generally determines the position information of the unmanned aerial vehicle through communication with the satellite, namely the period of updating the position information of the unmanned aerial vehicle is the refreshing interval delta t of the satellite receiving signal; in the refresh interval Δ t, if the drone flies by the distance d, two frames of images are acquired in one refresh interval Δ t, and the position information of the two frames of images is the same (because the drone does not update its position coordinates yet). According to the embodiment of the invention, the flying speed v of the unmanned aerial vehicle is set to be not more than d/delta t, so that the problem can be avoided. For example, the flying speed v ≦ d/2 Δ t.
The method for measuring geology in the field of ancient biology provided by the embodiment of the invention is described above in detail, and can also be realized by a corresponding device.
Fig. 7 shows a schematic structural diagram of a geologic survey device in the field of ancient biology, provided by an embodiment of the invention. As shown in fig. 7, the geological measurement apparatus in the field of ancient biology comprises:
a course setting module 71 for setting a flight course of the unmanned aerial vehicle, the flight course being capable of covering a geological region to be mapped which relates to paleontological information;
the image acquisition module 72 is configured to acquire a plurality of frames of images acquired by the unmanned aerial vehicle during aerial photography along the flight route, and two adjacent frames of images are partially overlapped;
and the processing module 73 is used for generating a three-dimensional model of the geological region according to the multi-frame images.
In one possible implementation, the route setting module 71 setting the flight route of the unmanned aerial vehicle includes:
setting a flight route comprising a plurality of flight sub routes, wherein different flight sub routes correspond to different flight heights, and the flight sub route corresponding to the highest flight height can cover a geological area to be mapped; and the visual field overlapping rate between two adjacent frames of images along the flight sub-route is less than 50%.
In one possible implementation, the route setting module 71 sets a flight route including a plurality of flight sub-routes, including:
under the condition that the geological region contains an inclined earth surface, setting at least one low-flight sub-route, wherein the low-flight sub-route is a flight sub-route other than the flight sub-route corresponding to the highest flight altitude;
setting an orientation angle of an image acquisition device in the unmanned aerial vehicle for the low-flying sub-route, wherein the orientation angle faces the inclined ground surface; the low-flying sub-routes corresponding to different flying heights are provided with different orientation angles.
In a possible implementation manner, the orientation angle is an included angle between the orientation of the image acquisition device and the vertical direction, and the orientation angle and the flying height of the low-flying sub-route are in a negative correlation relationship.
In a possible implementation, the route setting module 71 sets a flight route including a plurality of flight sub-routes, and further includes:
determining a preset overlapping rate r;
and setting the flying distance d of the unmanned aerial vehicle corresponding to two adjacent frames of images for the low-flying sub-route, wherein the visual field overlapping rate between two adjacent frames of images acquired by the flying distance d is not less than the preset overlapping rate r for the unmanned aerial vehicle.
In a possible implementation manner, the route setting module 71 sets a flying distance d of the unmanned aerial vehicle corresponding to two adjacent frames of images for the low-flying sub-route, including:
determining the inclination angle beta of the inclined earth surface corresponding to the current orientation in the low flight sub route;
for the low flight sub-route sets up the unmanned aerial vehicle flight distance d that two adjacent frames of images correspond, just the flight distance d satisfies:
wherein,
h represents the distance from the image acquisition device to the inclined earth surface, alpha represents the acquisition angle of the image acquisition device,
representing the orientation angle.
In one possible implementation, after setting the flight path setting module 71 to set the flight distance d of the drone corresponding to the two adjacent frames of images for the low-flight sub-flight path, the flight path setting module is further configured to:
determining a satellite receiving signal refreshing interval delta t;
and setting a flight speed v for the low flight sub-route, wherein the flight speed v does not exceed d/delta t.
In addition, an embodiment of the present invention further provides an electronic device, which includes a bus, a transceiver, a memory, a processor, and a computer program stored in the memory and operable on the processor, where the transceiver, the memory, and the processor are connected via the bus, and when the computer program is executed by the processor, the processes of the foregoing embodiments of the method for geologic survey in the field of ancient biology are implemented, and the same technical effects can be achieved, and are not described herein again to avoid repetition.
Specifically, referring to fig. 8, an electronic device according to an embodiment of the present invention includes a bus 1110, a processor 1120, a transceiver 1130, a bus interface 1140, a memory 1150, and a user interface 1160.
In an embodiment of the present invention, the electronic device further includes: a computer program stored on the memory 1150 and executable on the processor 1120, the computer program when executed by the processor 1120 performs the processes of the above-described paleobiological field geological measurement method embodiments.
A transceiver 1130 for receiving and transmitting data under the control of the processor 1120.
In embodiments of the invention in which a bus architecture (represented by bus 1110) is used, bus 1110 may include any number of interconnected buses and bridges, and bus 1110 may connect various circuits including one or more processors, represented by processor 1120, and a memory, represented by memory 1150.
The bus 1110 may also connect various other circuits such as peripherals, voltage regulators, or power management circuits to provide an interface between the bus 1110 and the transceiver 1130, as is well known in the art. Therefore, the embodiments of the present invention will not be further described.
The transceiver 1130 may be one element or may be multiple elements, such as multiple receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. For example: the transceiver 1130 receives external data from other devices, and the transceiver 1130 transmits data processed by the processor 1120 to other devices. Depending on the nature of the computer system, a user interface 1160 may also be provided, such as: touch screen, physical keyboard, display, mouse, speaker, microphone, trackball, joystick, stylus.
It is to be appreciated that in an embodiment of the invention, the memory 1150 may further include remotely located memory relative to the processor 1120, such remotely located memory may be coupled to the server via a network. One or more portions of the aforementioned networks may be an ad hoc network (ad hoc network), an intranet (intranet), an extranet (extranet), a Virtual Private Network (VPN), a Local Area Network (LAN), a Wireless Local Area Network (WLAN), a Wide Area Network (WAN), a Wireless Wide Area Network (WWAN), a Metropolitan Area Network (MAN), the Internet (Internet), a Public Switched Telephone Network (PSTN), a plain old telephone service network (POTS), a cellular telephone network, a wireless fidelity (Wi-Fi) network, and a combination of two or more of the aforementioned networks. For example, the cellular telephone network and the wireless network may be a global system for Mobile Communications (GSM) system, a Code Division Multiple Access (CDMA) system, a Worldwide Interoperability for Microwave Access (WiMAX) system, a General Packet Radio Service (GPRS) system, a Wideband Code Division Multiple Access (WCDMA) system, a Long Term Evolution (LTE) system, an LTE Frequency Division Duplex (FDD) system, an LTE Time Division Duplex (TDD) system, an advanced long term evolution (LTE-a) system, a Universal Mobile Telecommunications (UMTS) system, an enhanced Mobile Broadband (eMBB) system, a mass Machine Type Communication (mtc) system, an Ultra Reliable Low Latency Communication (urrllc) system, or the like.
It will be appreciated that the memory 1150 in embodiments of the present invention can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. Wherein the nonvolatile memory includes: Read-Only Memory (ROM), Programmable ROM (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), or Flash Memory.
The volatile memory includes: random Access Memory (RAM), which acts as an external cache. By way of example, and not limitation, many forms of RAM are available, such as: static random access memory (Static RAM, SRAM), Dynamic random access memory (Dynamic RAM, DRAM), Synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), Double Data Rate Synchronous Dynamic random access memory (Double Data Rate SDRAM, DDRSDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and Direct memory bus RAM (DRRAM). The memory 1150 of the electronic device described in connection with the embodiments of the invention includes, but is not limited to, the above-described and any other suitable types of memory.
In an embodiment of the present invention, memory 1150 stores the following elements of operating system 1151 and application programs 1152: an executable module, a data structure, or a subset thereof, or an expanded set thereof.
Specifically, the operating system 1151 includes various system programs such as: a framework layer, a core library layer, a driver layer, etc. for implementing various basic services and processing hardware-based tasks. Applications 1152 include various applications such as: media Player (Media Player), Browser (Browser), for implementing various application services. A program implementing a method of an embodiment of the invention may be included in application program 1152. The application 1152 includes: applets, objects, components, logic, data structures, and other computer system executable instructions that perform particular tasks or implement particular abstract data types.
In addition, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the processes of the above-mentioned embodiments of the method for geologic survey in the field of ancient biology, and can achieve the same technical effects, and in order to avoid repetition, the details are not repeated here.
The computer-readable storage medium includes: permanent and non-permanent, removable and non-removable media may be tangible devices that retain and store instructions for use by an instruction execution apparatus. The computer-readable storage medium includes: electronic memory devices, magnetic memory devices, optical memory devices, electromagnetic memory devices, semiconductor memory devices, and any suitable combination of the foregoing. The computer-readable storage medium includes: phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), non-volatile random access memory (NVRAM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic tape cartridge storage, magnetic tape disk storage or other magnetic storage devices, memory sticks, mechanically encoded devices (e.g., punched cards or raised structures in a groove having instructions recorded thereon), or any other non-transmission medium useful for storing information that may be accessed by a computing device. As defined in embodiments of the present invention, a computer-readable storage medium does not include transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses traveling through a fiber optic cable), or electrical signals transmitted through a wire.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus, electronic device, and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electrical, mechanical or other form of connection.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to solve the problem to be solved by the embodiment of the invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present invention may be substantially or partially contributed by the prior art, or all or part of the technical solutions may be embodied in a software product stored in a storage medium and including instructions for causing a computer device (including a personal computer, a server, a data center, or other network devices) to execute all or part of the steps of the methods of the embodiments of the present invention. And the storage medium includes various media that can store the program codes as listed in the foregoing.
In the description of the embodiments of the present invention, it should be apparent to those skilled in the art that the embodiments of the present invention may be embodied as methods, apparatuses, electronic devices, and computer-readable storage media. Thus, embodiments of the invention may be embodied in the form of: entirely hardware, entirely software (including firmware, resident software, micro-code, etc.), a combination of hardware and software. Furthermore, in some embodiments, embodiments of the invention may also be embodied in the form of a computer program product in one or more computer-readable storage media having computer program code embodied in the medium.
The computer-readable storage media described above may take any combination of one or more computer-readable storage media. The computer-readable storage medium includes: an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer-readable storage medium include: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only Memory (ROM), an erasable programmable read-only Memory (EPROM), a Flash Memory, an optical fiber, a compact disc read-only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any combination thereof. In embodiments of the invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, device.
The computer program code embodied on the computer readable storage medium may be transmitted using any appropriate medium, including: wireless, wire, fiber optic cable, Radio Frequency (RF), or any suitable combination thereof.
Computer program code for carrying out operations for embodiments of the present invention may be written in assembly instructions, Instruction Set Architecture (ISA) instructions, machine related instructions, microcode, firmware instructions, state setting data, integrated circuit configuration data, or in one or more programming languages, including an object oriented programming language, such as: java, Smalltalk, C + +, and also include conventional procedural programming languages, such as: c or a similar programming language. The computer program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be over any of a variety of networks, including: a Local Area Network (LAN) or a Wide Area Network (WAN), which may be connected to the user's computer, may be connected to an external computer.
The embodiments of the present invention describe the provided method, apparatus, and electronic device through flowchart and/or block diagram.
It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions. These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.
These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing apparatus to function in a particular manner. Thus, the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks.
The above description is only a specific implementation of the embodiments of the present invention, but the scope of the embodiments of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the embodiments of the present invention, and should be covered by the scope of the embodiments of the present invention. Therefore, the protection scope of the embodiments of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A geologic measurement method in the field of ancient biology, comprising:
setting a flight route of an unmanned aerial vehicle, wherein the flight route can cover a geological region to be mapped, which relates to ancient biological information;
acquiring a plurality of frames of images acquired when the unmanned aerial vehicle takes an aerial photograph along the flight route, wherein the two adjacent frames of images are partially overlapped;
and generating a three-dimensional model of the geological region according to the multi-frame images.
2. The method of claim 1, wherein the setting a flight path of the drone comprises:
setting a flight sub-route comprising a plurality of flight sub-routes, wherein different flight sub-routes correspond to different flight heights, and the flight sub-route corresponding to the highest flight height can cover a geological area to be mapped; and the visual field overlapping rate between two adjacent frames of images along the flight sub-route is less than 50%.
3. The method of claim 2, wherein said setting a flight path including a plurality of flight sub-paths comprises:
under the condition that the geological region contains an inclined earth surface, setting at least one low-flight sub-route, wherein the low-flight sub-route is a flight sub-route other than the flight sub-route corresponding to the highest flight altitude;
setting an orientation angle of an image acquisition device in the unmanned aerial vehicle for the low-flying sub-route, wherein the orientation angle faces the inclined ground surface; the low-flying sub-routes corresponding to different flying heights are provided with different orientation angles.
4. The method of claim 3, wherein the orientation angle is an included angle between the orientation of the image acquisition device and a vertical direction, and the orientation angle is in a negative correlation relationship with the flight height of the low flight sub-route.
5. The method of claim 3, wherein said setting a flight path comprising a plurality of flight subpaths, further comprises:
determining a preset overlapping rate r;
and setting the flying distance d of the unmanned aerial vehicle corresponding to two adjacent frames of images for the low-flying sub-route, wherein the visual field overlapping rate between two adjacent frames of images acquired by the flying distance d is not less than the preset overlapping rate r for the unmanned aerial vehicle.
6. The method according to claim 5, wherein the setting of the flying distance d of the unmanned aerial vehicle corresponding to two adjacent frames of images for the low flight sub-route comprises:
determining the inclination angle beta of the inclined ground surface corresponding to the current orientation in the low-flying sub-route;
for the low flight sub-route sets up the unmanned aerial vehicle flight distance d that two adjacent frames of images correspond, just the flight distance d satisfies:
wherein,
h represents the distance from the image acquisition device to the inclined ground surface, alpha represents the acquisition angle of the image acquisition device,
representing the orientation angle.
7. The method of claim 5, wherein after setting the flight distance d of the drone for the low flight subpane corresponding to two adjacent frames of images, further comprising:
determining a satellite receiving signal refreshing interval delta t;
and setting a flight speed v for the low flight sub-route, wherein the flight speed v does not exceed d/delta t.
8. A geological measurement device in the field of archaea, comprising:
the system comprises a route setting module, a route setting module and a route setting module, wherein the route setting module is used for setting a flight route of the unmanned aerial vehicle, and the flight route can cover a geological region to be mapped and related to ancient biological information;
the image acquisition module is used for acquiring multi-frame images acquired by the unmanned aerial vehicle during aerial photography along the flight route, and the two adjacent frames of images are partially overlapped;
and the processing module is used for generating a three-dimensional model of the geological region according to the multi-frame images.
9. An electronic device comprising a bus, a transceiver, a memory, a processor and a computer program stored on the memory and executable on the processor, the transceiver, the memory and the processor being connected via the bus, characterized in that the computer program, when executed by the processor, carries out the steps of the method of geologic survey in the field of archaea as claimed in any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method of geologic measurement in the field of archaea as claimed in any one of claims 1 to 7.
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