CN115825067A - Geological information acquisition method and system based on unmanned aerial vehicle and electronic equipment - Google Patents
Geological information acquisition method and system based on unmanned aerial vehicle and electronic equipment Download PDFInfo
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- CN115825067A CN115825067A CN202310020153.1A CN202310020153A CN115825067A CN 115825067 A CN115825067 A CN 115825067A CN 202310020153 A CN202310020153 A CN 202310020153A CN 115825067 A CN115825067 A CN 115825067A
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Abstract
The application provides a geological information acquisition method and system based on an unmanned aerial vehicle and an electronic device. The method is applied to a system and comprises the following steps: calculating data of a first flight path of the unmanned aerial vehicle based on the acquired first altitude and the acquired region shape of the highest point in the geological information acquisition region, and sending the data to the unmanned aerial vehicle to enable the unmanned aerial vehicle to fly around the geological information acquisition region by the first flight path; scanning the geological information acquisition area to acquire sparse point cloud data and acquiring data of second altitudes of all scanned points in the geological information acquisition area; calculating data of a second flight path of the unmanned aerial vehicle based on all the data of the second altitude and the data of the first flight path, and sending the data to the unmanned aerial vehicle to enable the unmanned aerial vehicle to fly around the geological information acquisition area by the second flight path; and carrying out secondary scanning on the geological information acquisition area to obtain dense point cloud data. The method and the device have the effect of improving the topographic data acquisition efficiency.
Description
Technical Field
The application relates to the technical field of geological mapping, in particular to a geological information acquisition method and system based on an unmanned aerial vehicle and an electronic device.
Background
Geological information acquisition is an important means for people to know natural laws, wherein a global map of geological information of a country or a region belongs to national confidentiality, is related to the strategic direction of the country in the economic field, and has a very important reference value for preventing natural disasters.
As an important part of geological information acquisition, topographic mapping refers to a general term of all mapping operations involved in the whole process from topographic data acquisition to result documentation.
With the rapid development of three-dimensional modeling techniques, three-dimensional modeling techniques are increasingly being used for topographic mapping. A three-dimensional model of the terrain is constructed based on the acquired terrain data such that the terrain mapped data becomes visible. At present, for the acquisition of terrain data, a terrain surveying worker is required to carry relevant equipment to enter the field for data acquisition, and a large amount of time is required in the acquisition process. There is therefore a need for an acquisition mode that improves the efficiency of topographic data acquisition.
Disclosure of Invention
The application provides a geological information collection method and system based on an unmanned aerial vehicle and an electronic device, and the method and system have the effect of improving the topographic data collection efficiency.
In a first aspect of the present application, a geological information collection method based on an unmanned aerial vehicle is provided, which is applied to a system, and the method includes:
calculating data of a first flight path of the unmanned aerial vehicle based on the acquired first altitude and the area shape of the highest point in the geological information acquisition area;
sending data of the first flight path to the drone so that the drone flies around the geological information collection area in the first flight path;
scanning the geological information acquisition area in the process that the unmanned aerial vehicle flies in the first flight path, acquiring sparse point cloud data of the geological information acquisition area, and acquiring data of second altitudes of all scanned points in the geological information acquisition area;
calculating data of a second flight path for the drone to fly based on all of the data of the second altitude and the data of the first flight path;
sending data of the second flight path to the drone so that the drone flies around the geological information collection area in the second flight path;
and in the process that the unmanned aerial vehicle flies along the second flight path, performing secondary scanning on the geological information acquisition area to obtain dense point cloud data of the geological information acquisition area.
By adopting the technical scheme, the system calculates the data of the first flight path of the unmanned aerial vehicle based on the first altitude and the area shape of the highest point in the geological information acquisition area, and sends the data to the unmanned aerial vehicle, so that the unmanned aerial vehicle can fly at a high position around the geological information acquisition area by the first flight path. In the process that the unmanned aerial vehicle flies along the first flight path, a system preset on the unmanned aerial vehicle scans a geological information acquisition area, and sparse point cloud data of the geological information acquisition area, namely data of main features of the geological information acquisition area, are acquired. Meanwhile, the data of the second altitude of all scanned points in the area are obtained, and the secondary flight path of the unmanned aerial vehicle can be calculated by a follow-up system based on the data of the second altitude conveniently. The system calculates data of a second flight path of the unmanned aerial vehicle based on all data of the second altitude and data of the first flight path, and sends the data to the unmanned aerial vehicle, so that the unmanned aerial vehicle flies at a low position around a geological information acquisition area by the second flight path. During the flight process of the unmanned aerial vehicle along the second flight path, the unmanned aerial vehicle is more attached to the geological information acquisition area, and when the system carries out secondary scanning on the geological information acquisition area, the acquired feature data is more precise, namely dense point cloud data. In the two flight processes of the unmanned aerial vehicle, the system can complete data acquisition of a geological information acquisition area through two times of scanning, and the effect of improving the topographic data acquisition efficiency is achieved.
Optionally, the first altitude is obtained, and a first flying height at which the unmanned aerial vehicle flies is calculated, where the first flying height is equal to a sum of the first altitude and a first preset distance;
and planning a horizontal flight path of the unmanned aerial vehicle in a scanning line mode, and calculating the first flight path based on the first flight height and the horizontal flight path.
Through adopting above-mentioned technical scheme, the system obtains first flying height through first altitude and the first distance of predetermineeing adds to make unmanned aerial vehicle carry out the high-order flight with first flying height, unmanned aerial vehicle's flying height is higher than geological information collection region all the time, can prevent that unmanned aerial vehicle flight in-process from colliding with the regional object of geological information collection. The horizontal flight path of the unmanned aerial vehicle is planned in a scanning line mode, so that the unmanned aerial vehicle can scan the whole area in the flight process, and then sparse point cloud data, namely data of main features of a geological information acquisition area, is acquired.
Optionally, a second flying height is calculated based on all the data of the second altitude, so that the second flying height of the drone at any one scanning point is equal to the sum of the second altitude of the scanning point and a second preset distance;
calculating the second flight path based on the horizontal flight path and the second flight altitude.
Through adopting above-mentioned technical scheme, the system predetermines the distance based on all second altitude's data and second and adds and obtain a plurality of second flying height, makes unmanned aerial vehicle carry out the low-order flight with second flying height, when can preventing that unmanned aerial vehicle from colliding with the regional object of geological information collection, and unmanned aerial vehicle laminates the geological information collection region more, and the system is accomplished the accurate scanning of secondary to the region to acquire more meticulous dense point cloud data.
Optionally, the positioning data, the altitude data and the attitude data of the unmanned aerial vehicle are acquired in real time;
point cloud location data of the sparse point cloud and the dense point cloud is calculated based on the positioning data, the altitude data, and the pose data.
By adopting the technical scheme, the system acquires the positioning data, the altitude data and the attitude data of the unmanned aerial vehicle in real time, calculates the position data of the sparse point cloud and the dense point cloud based on the data, and is convenient for the system to subsequently unify the coordinate system of the sparse point cloud and the dense point cloud.
Optionally, if an unknown region which is not scanned exists in the geological information acquisition region, calculating data of a third flight path of the unmanned aerial vehicle based on the shape and position data of the unknown region, so that the unmanned aerial vehicle flies around the unknown region in the third flight path;
and scanning the unknown area to obtain point cloud data of the unknown area.
By adopting the technical scheme, the system finishes scanning the unscanned unknown area and acquires the point cloud data of the unknown area, thereby being convenient for further perfecting the data of the geological information acquisition area.
Optionally, flying the drone around the geological information acquisition area in the second flight path;
and scanning the geological information acquisition region for three times, and acquiring color information of the geological information acquisition region, wherein the color information comprises color data and position data of a color point cloud.
By adopting the technical scheme, the system scans the geological information acquisition area for three times, acquires the color data and the position data of the colored point cloud of the area, and can acquire more comprehensive data of the geological information acquisition area.
Optionally, processing the sparse point cloud position data, the dense point cloud position data and the color point cloud position data, and transforming the coordinates of the sparse point cloud, the dense point cloud and the color point cloud to the same coordinate system;
and establishing a color three-dimensional model of the geological information acquisition area based on the transformed sparse point cloud, dense point cloud and color point cloud.
By adopting the technical scheme, the system transforms the sparse point cloud, the dense point cloud and the color point cloud to the same coordinate system, and establishes the color three-dimensional model of the geological information acquisition area, so that the acquired data can be visualized conveniently.
In a second aspect of the present application, there is provided a geological information collection system based on unmanned aerial vehicles, the system comprising a processing module, a sending module and a collection module, wherein:
the processing module is used for calculating data of a first flight path of the unmanned aerial vehicle based on the acquired first altitude and the area shape of the highest point in the geological information acquisition area;
the sending module is configured to send data of the first flight path to the unmanned aerial vehicle, so that the unmanned aerial vehicle flies around the geological information collection area in the first flight path;
the acquisition module is used for scanning the geological information acquisition area in the flight process of the unmanned aerial vehicle in the first flight path, acquiring sparse point cloud data of the geological information acquisition area and acquiring second altitude data of all scanned points in the geological information acquisition area;
the processing module is further configured to calculate data of a second flight path of the unmanned aerial vehicle based on all the data of the second altitude and the first flight path;
the sending module is further configured to send data of the second flight path to the drone so that the drone flies around the geological information collection area in the second flight path;
the acquisition module is further used for carrying out secondary scanning on the geological information acquisition area in the process that the unmanned aerial vehicle flies along the second flight path to acquire dense point cloud data of the geological information acquisition area.
Optionally, the system further comprises a positioning module;
the positioning module is used for acquiring the positioning data, the altitude data and the attitude data of the unmanned aerial vehicle in real time; and calculating point cloud position data of the sparse point cloud and the dense point cloud based on the positioning data, the altitude data and the attitude data.
In a third aspect of the application, there is provided an electronic device comprising a processor, a memory, a user interface, and a network interface, the memory storing instructions, the user interface and the network interface each being configured to communicate to other devices, the processor being configured to execute the instructions stored in the memory to cause the electronic device to perform the method as described in any one of the above.
In summary, the present application at least includes the following beneficial technical effects:
1. the system calculates a first flight path of the unmanned aerial vehicle based on a first altitude of a highest point in the geological information acquisition area, so that the flight height of the unmanned aerial vehicle is always higher than all objects in the geological information acquisition area, and the unmanned aerial vehicle can be prevented from colliding with the objects in the geological information acquisition area. In the process that the unmanned aerial vehicle flies along the first flight path, the system scans the geological information acquisition area for the first time, and data of main features of the geological information acquisition area, namely sparse point cloud data, are acquired. The data of the second altitude of all scanned points are obtained, the follow-up processing module is convenient to calculate the secondary flight path of the unmanned aerial vehicle according to the data of the second altitude, and the flight path of the unmanned aerial vehicle is enabled to be more attached to the geological information acquisition area.
2. The system calculates the data of the second flight path based on the data of the second altitude and the data of the first flight path, so that the unmanned aerial vehicle flies at a low position around the geological information acquisition area by the second flight path, and the unmanned aerial vehicle can be prevented from colliding with objects in the geological information acquisition area. In the flight process, as the distance between the unmanned aerial vehicle and the geological information acquisition area is closer, the data scanned by the system is finer, namely dense point cloud data is acquired.
3. At unmanned aerial vehicle twice flight in-process, the system can accomplish the data acquisition to geological information collection region through twice scanning, need not artifical cost plenty of time and gathers, has realized the effect that improves topographic data collection efficiency.
Drawings
Fig. 1 is a schematic flow chart of a geological information collection method based on an unmanned aerial vehicle disclosed in an embodiment of the present application.
Fig. 2 is a schematic structural diagram of a geological information acquisition system based on an unmanned aerial vehicle disclosed in an embodiment of the present application.
Fig. 3 is a schematic structural diagram of an electronic device disclosed in an embodiment of the present application
Description of reference numerals: 1. a processing module; 2. a sending module; 3. an acquisition module; 4. a positioning module; 5. a processor; 6. a communication bus; 7. a user interface; 8. a network interface; 9. a memory.
Detailed Description
In the description of the embodiments of the present application, the words "exemplary," "for example," or "for instance" are used to indicate instances, or illustrations. Any embodiment or design described herein as "exemplary," "e.g.," or "e.g.," is not to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the words "illustrative," "such as," or "for example" are intended to present relevant concepts in a concrete fashion.
In the description of the embodiments of the present application, the term "plurality" means two or more unless otherwise specified. For example, the plurality of systems refers to two or more systems, and the plurality of screen terminals refers to two or more screen terminals. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit indication of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless otherwise specifically stated.
Before describing the embodiments of the present application, some terms referred to in the embodiments of the present application will be described first.
In the reverse engineering, a set of point data of the appearance surface of the object obtained by measuring or scanning equipment is called point cloud.
The sparse point cloud is a set of point data having a small number and a large dot pitch obtained by using a measuring device. The sparse points are feature points, that is, points with obvious features and convenient detection and matching in the scanned object, and can represent simple geometric shapes and contours of the object, such as feature points of the corner points, edge points and the like of the object.
Dense point clouds are collections of a large number of point data obtained using a scanning apparatus and having small dot-to-dot distances. The dense point cloud can represent the shape and appearance of the object finely, and the reconstruction of a three-dimensional scene or the full appearance of the object is realized.
The color point cloud is a set of point data obtained by the principle of photogrammetry, and the point data includes three-dimensional coordinates (XYZ) of points and color information (RGB).
The embodiment discloses a geological information acquisition method based on an unmanned aerial vehicle, which comprises the following steps of:
s100, calculating data of a first flight path of the unmanned aerial vehicle based on the first altitude of the highest point in the obtained geological information acquisition area and the area shape.
S110, sending data of the first flight path to the unmanned aerial vehicle so that the unmanned aerial vehicle flies around the geological information acquisition area in the first flight path.
And S120, scanning the geological information acquisition area in the process that the unmanned aerial vehicle flies in the first flight path, acquiring sparse point cloud data of the geological information acquisition area, and acquiring data of second altitudes of all scanned points in the geological information acquisition area.
And S130, calculating data of a second flight path of the unmanned aerial vehicle based on all the data of the second altitude and the data of the first flight path.
And S140, sending the data of the second flight path to the unmanned aerial vehicle so that the unmanned aerial vehicle flies around the geological information acquisition area by the second flight path.
S150, carrying out secondary scanning on the geological information acquisition area in the process that the unmanned aerial vehicle flies in the second flight path to acquire dense point cloud data of the geological information acquisition area.
Specifically, the system acquires the altitude of all mountains in a geological information acquisition area in advance, and the altitude of the highest mountain is set as a first altitude. Then the system is based on first altitude and regional shape, calculates the data of the first flight path of unmanned aerial vehicle flight to send the data of first flight path to unmanned aerial vehicle, make unmanned aerial vehicle carry out the high-order flight around geological information collection area with first flight path, because unmanned aerial vehicle's flight height is higher than all objects in geological information collection area all the time, can prevent that unmanned aerial vehicle and the object in the geological information collection area from colliding. During the flight process of the unmanned aerial vehicle through the first flight path, a system preset on the unmanned aerial vehicle scans a geological information acquisition area, and sparse point cloud data of the geological information acquisition area, namely data of main features of the geological information acquisition area, are acquired. The system acquires the data of the second altitude of all scanned points in the area, and the subsequent system can calculate the secondary flight path of the unmanned aerial vehicle based on the data of the second altitude. The system calculates the data of the second flight path of the unmanned aerial vehicle based on the data of all the second altitudes and the data of the first flight path, and sends the data to the unmanned aerial vehicle, so that the unmanned aerial vehicle flies at a low position around the geological information acquisition area by the second flight path, and the unmanned aerial vehicle can be prevented from colliding with objects in the geological information acquisition area. The system carries out secondary scanning to geological information collection region, because unmanned aerial vehicle and geological information collection region distance are closer, the data that the system scanned are more meticulous, gather dense point cloud data promptly. In the two flight processes of the unmanned aerial vehicle, the system can complete data acquisition of a geological information acquisition area through two times of scanning, and the effect of improving the topographic data acquisition efficiency is achieved. In this embodiment, acquiring the sparse point cloud data and the dense point cloud data is a conventional technical means in the related technical field, and further description is omitted here. The geological information collection area can be scanned by using a laser radar, a camera can be used for static photography scanning, a structured light sensor can be used for scanning, and the scanning is preferably performed by using the laser radar in the embodiment.
Laser Radar (Laser Radar) is a Radar system that emits a Laser beam to detect a characteristic quantity such as a position and a velocity of a target. The working principle is that a detection signal (laser beam) is emitted to a target, then a received echo signal reflected from the target is compared with the detection signal, and after appropriate processing is carried out, relevant information of the target, such as parameters of target distance, direction, height, speed, posture, shape and the like, can be obtained. In this embodiment, the laser radar includes a laser ranging System, an optical mechanical scanning Unit, a control Unit, a Global Positioning System (GPS), an Inertial Measurement Unit (IMU), and a storage Unit.
In a possible implementation manner, step S100 further includes the following steps:
obtaining a first altitude, calculating a first flying height of the unmanned aerial vehicle, wherein the first flying height is equal to the sum of the first altitude and a first preset distance. And planning the horizontal flight path of the unmanned aerial vehicle in a scanning line mode, and calculating a first flight path based on the first flight height and the horizontal flight path.
Specifically, the system obtains first flying height through first altitude and the first predetermined distance of adding to make unmanned aerial vehicle carry out the high-order flight with first flying height all the time. The first preset distance is determined according to an effective scanning distance of the scanning device, and this embodiment is not particularly limited. The method for planning and planning the horizontal flight path of the unmanned aerial vehicle in the scanning line mode comprises the following steps: firstly, the planar projection shape of a geological information acquisition area is approximate to a rectangular area, an unmanned aerial vehicle flies along a straight line to pass through the rectangular area, turns to the edge of the area, then flies along a parallel straight line in the opposite direction, and the whole rectangular area is traversed line by line repeatedly. The distance between the straight lines is determined according to the effective scanning radius of the scanning equipment so as to finish the scanning of the whole rectangular area. And the unmanned aerial vehicle carries out coincidence calculation on the horizontal flight path in the horizontal direction and the first flight height in the vertical direction to obtain a first flight path.
In one possible embodiment, the second flying height is calculated based on all the data of the second altitude, so that the second flying height of the drone at any one scanning point is equal to the sum of the second altitude of the scanning point and the second preset distance. A second flight path is calculated based on the horizontal flight path and the second flight altitude.
Specifically, in the horizontal direction, the drone continues to fly in a horizontal flight path. In the vertical direction, firstly, the data of the second altitude of all the scanned points are obtained, the second altitude and the second preset distance are added to obtain the second flying height, and then when the unmanned aerial vehicle is positioned right above any scanned point, the distance value between the unmanned aerial vehicle and the scanned point is the numerical value of the second flying height. The second preset distance is determined according to the effective scanning distance of the scanning device, and this embodiment is not particularly limited.
In one possible implementation, the positioning data, altitude data, and attitude data of the drone are acquired in real-time. Point cloud location data of the sparse point cloud and the dense point cloud is calculated based on the positioning data, the altitude data, and the pose data.
Specifically, unmanned aerial vehicle presets GPS, barometer and attitude sensor, and when the system scanned, GPS acquireed the location data of scanning position and sent to the system, and the barometer measures the atmospheric pressure data of unmanned position and sends to the system, and the system calculates the altitude data of unmanned position based on atmospheric pressure data, and attitude sensor acquireed unmanned aerial vehicle's attitude data and sends to the system. And calculating point cloud position data of the sparse point cloud and the dense point cloud based on the positioning data, the altitude data, the attitude data and the equipment-to-scanning distance data detected by the scanning equipment, so that the system can conveniently unify the coordinate system of the sparse point cloud and the dense point cloud. The point cloud position data is obtained and calculated by conventional technical means in the related field, and further description is omitted here.
In a possible embodiment, step S150 is followed by the following steps:
if the geological information acquisition area has an unknown area which is not scanned, the system calculates data of a third flight path of the unmanned aerial vehicle based on the shape and position data of the unknown area, so that the unmanned aerial vehicle flies around the unknown area by the third flight path. The system scans the unknown area to acquire the point cloud data of the unknown area, so that the data acquisition of the geological information acquisition area is further completed.
In a possible implementation, the following steps are further included after step S150:
and sending the data of the second flight path to the unmanned aerial vehicle so that the unmanned aerial vehicle flies around the geological information collection area in the second flight path. And scanning the geological information acquisition area for three times, and acquiring color information of the geological information acquisition area, wherein the color information comprises color data and position data of the color point cloud.
Specifically, the unmanned aerial vehicle continues to fly around the geological information collection area by the second flight path, and the system collects color data and position data of the color point cloud of the geological information collection area. In this embodiment, the color point cloud is preferably collected by a panoramic camera, and the position data of the color point cloud is calculated by acquiring the positioning data of the scanning position by a GPS.
In one possible embodiment, the sparse point cloud location data, the dense point cloud location data, and the color point cloud location data are processed to transform coordinates of the sparse point cloud, the dense point cloud, and the color point cloud to a same coordinate system. And establishing a color three-dimensional model of the geological information acquisition area based on the transformed sparse point cloud, dense point cloud and color point cloud.
Specifically, in order to ensure that the same type of point cloud data obtained by scanning the same area by a plurality of scanning positions can be spliced, the system firstly obtains the overlapped parts of the point cloud data obtained by two adjacent scanning positions, overlaps the overlapped parts to complete the splicing, and then sequentially completes the splicing of all the point cloud data by the same method. And then converting the coordinates of the sparse point cloud, the dense point cloud and the color point cloud in a default coordinate system into coordinates of a geodetic coordinate system, wherein the default coordinate system is a coordinate system taking the unmanned aerial vehicle as a central point in the data acquisition process. The geodetic coordinate system is a real world coordinate system established by taking a reference ellipsoid as a datum plane in geodetic surveying. The coordinates of the scanned point cloud data of different types in the default coordinate system are converted into the coordinates of the unified geodetic coordinate system, the scanned point cloud data of different types can be spliced, the system coordinates can be consistent with the real space state of a scanning target, the space condition that the point cloud data truly reflects a field is met, and preparation is made for the next topographic mapping work.
For the coordinate system conversion method, the present embodiment preferably performs coordinate conversion based on the positioning data, altitude data and posture data of the scanning device, and first, the system calculates the coordinates of the point cloud data in the default coordinate system according to the positioning data, posture data and the distance from the scanning device to the scanning point of the scanning device. And calculating the coordinate of the scanning equipment in a geodetic coordinate system according to the positioning data and the altitude data. And finally, converting the center point of the default coordinate system into the coordinate of the scanning equipment in the geodetic coordinate system to finish the conversion of the coordinate system. In this embodiment, further description of conventional technical means for converting the coordinate system into the related technical field is omitted here.
This embodiment also discloses a geological information collection system based on unmanned aerial vehicle, refer to fig. 2, and the system includes processing module 1, sending module 2 and collection module 3, wherein:
the processing module 1 calculates data of a first flight path of the unmanned aerial vehicle based on the acquired first altitude and the area shape of the highest point in the geological information acquisition area;
the sending module 2 sends the data of the first flight path to the unmanned aerial vehicle so that the unmanned aerial vehicle flies around the geological information acquisition area in the first flight path;
the acquisition module 3 scans a geological information acquisition area in the process that the unmanned aerial vehicle flies in a first flight path, acquires sparse point cloud data of the geological information acquisition area, and acquires second altitude data of all scanned points in the geological information acquisition area;
the processing module 1 calculates data of a second flight path of the unmanned aerial vehicle based on all data of the second altitude and the first flight path;
the sending module 2 sends the data of the second flight path to the unmanned aerial vehicle so that the unmanned aerial vehicle flies around the geological information acquisition area in the second flight path;
and the acquisition module 3 performs secondary scanning on the geological information acquisition area in the process that the unmanned aerial vehicle flies in the second flight path to acquire dense point cloud data of the geological information acquisition area.
In a possible embodiment, with reference to fig. 2, the system further comprises a positioning module 4;
the positioning module 4 acquires positioning data, altitude data and attitude data of the unmanned aerial vehicle in real time; and calculating point cloud position data of the sparse point cloud and the dense point cloud based on the positioning data, the altitude data and the attitude data.
In one possible implementation, the system obtains a first altitude, calculates a first flying height of the unmanned aerial vehicle, wherein the first flying height is equal to the sum of the first altitude and a first preset distance;
and planning the horizontal flight path of the unmanned aerial vehicle in a scanning line mode, and calculating a first flight path based on the first flight height and the horizontal flight path.
In one possible embodiment, the system calculates the second flying height based on all the data of the second altitude, so that the second flying height of the unmanned aerial vehicle at any one scanning point is equal to the sum of the second altitude of the scanning point and the second preset distance;
a second flight path is calculated based on the horizontal flight path and the second flight altitude.
In one possible implementation, the system acquires positioning data, altitude data and attitude data of the unmanned aerial vehicle in real time;
point cloud location data of the sparse point cloud and the dense point cloud is calculated based on the positioning data, the altitude data, and the pose data.
In one possible implementation mode, the system acquires unknown regions which are not scanned if the geological information acquisition regions exist, and calculates data of a third flight path of the unmanned aerial vehicle based on the shape and position data of the unknown regions, so that the unmanned aerial vehicle flies around the unknown regions by the third flight path;
and scanning the unknown area to obtain point cloud data of the unknown area.
In one possible embodiment, the system causes the drone to fly around the geological information collection area in a second flight path;
and scanning the geological information acquisition area for three times, and acquiring color information of the geological information acquisition area, wherein the color information comprises color data and position data of the color point cloud.
In one possible implementation, the system processes the sparse point cloud location data, the dense point cloud location data and the color point cloud location data, and transforms coordinates of the sparse point cloud, the dense point cloud and the color point cloud to be in the same coordinate system;
and establishing a color three-dimensional model of the geological information acquisition area based on the transformed sparse point cloud, dense point cloud and color point cloud.
The present application also provides an electronic device, and referring to fig. 3, the electronic device may include: at least one processor 5, at least one communication bus 6, a user interface 7, a network interface 8, at least one memory 9.
Wherein a communication bus 6 is used to enable the connection communication between these components.
The user interface 7 may include a Display screen (Display) and a Camera (Camera), and the optional user interface 7 may also include a standard wired interface and a wireless interface.
The network interface 8 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface).
The processor 5 may include one or more processing cores, among others. The processor 5 connects various parts within the entire server using various interfaces and lines, performs various functions of the server and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 9, and calling data stored in the memory 9. Alternatively, the processor 5 may be implemented in at least one hardware form of Digital Signal Processing (DSP), field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 5 may integrate one or a combination of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It is understood that the modem may be implemented by a single chip without being integrated into the processor 5.
The Memory 9 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory includes a non-transitory computer-readable medium. The memory 9 may be used to store instructions, programs, code sets or instruction sets. The memory 9 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-mentioned method embodiments, and the like; the storage data area may store the data and the like referred to above in the respective method embodiments. The memory 9 may optionally also be at least one memory device located remotely from the aforementioned processor 5. As shown, the memory 9, which is a computer storage medium, may include therein an operating system, a network communication module, a user interface module, and an application program of a drone-based geological information collection method.
In the electronic device shown in fig. 3, the user interface 7 is mainly used for providing an input interface for a user to obtain data input by the user; and the processor 5 may be configured to invoke an application program in the memory 9 that stores a drone-based geological information collection method, which when executed by the one or more processors 5, causes the electronic device to perform the method as described in one or more of the above embodiments.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required for this application.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of 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 coupling or direct coupling or communication connection between each other may be through some service interfaces, indirect coupling or communication connection of devices or units, and may be electrical or in other forms.
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 a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application 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 can be realized in a form of hardware, and can also be realized in a 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 separate product, may be stored in a computer readable memory 9. Based on such understanding, the technical solutions of the present application, which are essential or part of the technical solutions contributing to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product, which is stored in a memory 9 and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the embodiments of the present application. And the aforementioned memory 9 comprises: various media capable of storing program codes, such as a U disk, a removable hard disk, a magnetic disk, or an optical disk.
The above description is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure should not be limited thereby. That is, all equivalent changes and modifications made in accordance with the teachings of the present disclosure are intended to be included within the scope of the present disclosure. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (10)
1. A geological information acquisition method based on unmanned aerial vehicles is characterized in that the method is applied to a system, and the method comprises the following steps:
calculating data of a first flight path of the unmanned aerial vehicle based on the acquired first altitude and the area shape of the highest point in the geological information acquisition area;
sending data of the first flight path to the drone so that the drone flies around the geological information collection area in the first flight path;
scanning the geological information acquisition area in the process that the unmanned aerial vehicle flies in the first flight path, acquiring sparse point cloud data of the geological information acquisition area, and acquiring data of second altitudes of all scanned points in the geological information acquisition area;
calculating data of a second flight path for the drone to fly based on all of the data of the second altitude and the data of the first flight path;
sending data of the second flight path to the drone so that the drone flies around the geological information collection area in the second flight path;
and in the process that the unmanned aerial vehicle flies along the second flight path, performing secondary scanning on the geological information acquisition area to obtain dense point cloud data of the geological information acquisition area.
2. The geological information collection method based on unmanned aerial vehicle as claimed in claim 1, wherein the calculating data of the first flight path of the unmanned aerial vehicle based on the first altitude and the area of the highest point in the geological information collection area specifically comprises:
acquiring the first altitude, and calculating a first flying height of the unmanned aerial vehicle, wherein the first flying height is equal to the sum of the first altitude and a first preset distance;
and planning a horizontal flight path of the unmanned aerial vehicle in a scanning line mode, and calculating the first flight path based on the first flight height and the horizontal flight path.
3. The method of claim 2, wherein the data of the second flight path of the drone flight is calculated based on all the data of the second altitude and the data of the first flight path, and the method specifically comprises:
calculating a second flight height based on all the second altitude data, so that the second flight height of the unmanned aerial vehicle at any one scanning point is equal to the sum of the second altitude of the scanning point and a second preset distance;
calculating the second flight path based on the horizontal flight path and the second flight altitude.
4. The method according to claim 1, wherein the scanning of the geological information collection area during the flight of the unmanned aerial vehicle along the first flight path to obtain sparse point cloud data of the geological information collection area and obtain second altitude data of all scanned points in the geological information collection area, and the secondary scanning of the geological information collection area during the flight of the unmanned aerial vehicle along the second flight path to obtain dense point cloud data of the geological information collection area, further comprises:
acquiring positioning data, altitude data and attitude data of the unmanned aerial vehicle in real time;
point cloud location data of the sparse point cloud and the dense point cloud is calculated based on the positioning data, the altitude data, and the pose data.
5. The geological information collection method based on unmanned aerial vehicle as claimed in claim 1, wherein after the geological information collection area is scanned for the second time and dense point cloud data is obtained during the flight of the unmanned aerial vehicle in the first flight path, the method further comprises:
if the geological information acquisition region has an unknown region which is not scanned, calculating data of a third flight path of the unmanned aerial vehicle based on the shape and position data of the unknown region, so that the unmanned aerial vehicle flies around the unknown region by the third flight path;
and scanning the unknown area to obtain point cloud data of the unknown area.
6. The geological information collection method based on unmanned aerial vehicle as claimed in claim 4, wherein during the process of flying the unmanned aerial vehicle in the second flight path, the geological information collection area is scanned for the second time, and after dense point cloud data is obtained, the method further comprises:
causing the drone to fly around the geological information collection area in the second flight path;
and scanning the geological information acquisition region for three times, and acquiring color information of the geological information acquisition region, wherein the color information comprises color data and position data of a color point cloud.
7. The UAV-based geological information collection method of claim 6, wherein after said building a three-dimensional model of said geological information collection area based on said sparse point cloud and said dense point cloud, said method further comprises:
processing the sparse point cloud position data, the dense point cloud position data and the color point cloud position data, and transforming the coordinates of the sparse point cloud, the dense point cloud and the color point cloud to the same coordinate system;
and establishing a color three-dimensional model of the geological information acquisition area based on the transformed sparse point cloud, dense point cloud and color point cloud.
8. The geological information acquisition system based on unmanned aerial vehicle is characterized in that the system comprises a processing module (1), a sending module (2) and an acquisition module (3), wherein:
the processing module (1) is used for calculating data of a first flight path of the unmanned aerial vehicle based on the acquired first altitude of the highest point in the geological information acquisition area and the area shape;
the sending module (2) is configured to send data of the first flight path to the drone so that the drone flies around the geological information collection area in the first flight path;
the acquisition module (3) is used for scanning the geological information acquisition area in the process that the unmanned aerial vehicle flies in the first flight path, acquiring sparse point cloud data of the geological information acquisition area, and acquiring second altitude data of all scanned points in the geological information acquisition area;
the processing module (1) is further configured to calculate data of a second flight path of the unmanned aerial vehicle based on all the data of the second altitude and the first flight path;
the sending module (2) is further configured to send data of the second flight path to the drone so that the drone flies around the geological information collection area in the second flight path;
the acquisition module (3) is further configured to perform secondary scanning on the geological information acquisition area in the process that the unmanned aerial vehicle flies in the second flight path, so as to obtain dense point cloud data of the geological information acquisition area.
9. The geological information acquisition system based on unmanned aerial vehicles of claim 8, characterized in that it further comprises a positioning module (4);
the positioning module (4) is used for acquiring the positioning data, the altitude data and the attitude data of the unmanned aerial vehicle in real time; and calculating point cloud position data of the sparse point cloud and the dense point cloud based on the positioning data, the altitude data and the attitude data.
10. An electronic device, comprising a processor (5), a memory (9), a user interface (7) and a network interface (8), the memory (9) being configured to store instructions, the user interface (7) and the network interface (8) being configured to communicate with other devices, the processor (5) being configured to execute the instructions stored in the memory (9) to cause the electronic device to perform the method according to any one of claims 1-7.
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| CN202310020153.1A CN115825067A (en) | 2023-01-06 | 2023-01-06 | Geological information acquisition method and system based on unmanned aerial vehicle and electronic equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116165677A (en) * | 2023-04-24 | 2023-05-26 | 湖北中图勘测规划设计有限公司 | Geological investigation method and device based on laser radar |
| CN117367331A (en) * | 2023-12-04 | 2024-01-09 | 山西阳光三极科技股份有限公司 | Radar monitoring method and device for mining area earth surface deformation and electronic equipment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116165677A (en) * | 2023-04-24 | 2023-05-26 | 湖北中图勘测规划设计有限公司 | Geological investigation method and device based on laser radar |
| CN117367331A (en) * | 2023-12-04 | 2024-01-09 | 山西阳光三极科技股份有限公司 | Radar monitoring method and device for mining area earth surface deformation and electronic equipment |
| CN117367331B (en) * | 2023-12-04 | 2024-03-12 | 山西阳光三极科技股份有限公司 | Radar monitoring method and device for mining area earth surface deformation and electronic equipment |
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