CN116089406B - Barrier visualization processing system for ocean mapping - Google Patents
Barrier visualization processing system for ocean mapping Download PDFInfo
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Abstract
The invention relates to the technical field of ocean mapping, and discloses a barrier visualization processing method for ocean mapping, which comprises the following steps of selecting a target measuring area, and establishing a measuring surface above the measuring area, wherein the measuring surface comprises an actual measuring surface; the square array on the actual measuring surface is distributed with a plurality of measuring points, and the measuring points are arrayed in the length direction and the width direction; the measuring point is provided with a visual measuring device for carrying out visual mapping on a target measuring area. This a visual processing system of obstacle for ocean survey and drawing is through introducing the contained angle and wind speed information of wind direction and sunk position, the influence weight of temperature difference change in sunk position to the measuring point that is located these regions to judge whether these measuring points are easily influenced, and screen out the region that easily is influenced, and carry out accurate measurement to wind direction and wind-force in this region, be convenient for people quick screening out risk region through above-mentioned mode.
Description
Technical Field
The invention relates to the technical field of ocean mapping, in particular to an obstacle visualization processing system for ocean mapping.
Background
Various environmental factors are inevitably encountered in the ocean mapping process, more in the prior art for measurement on the sea surface or unmanned aerial vehicles are needed to assist, however, the accuracy of measurement can be determined by some environmental factors on the sea surface such as wind, topography or the influence generated jointly between wind and topography, and how to coordinate the problems is important;
meanwhile, in the aspect of data processing, in particular marine mapping, marine mapping data are complex, the processing time of the data is longer, more data are caused by repeated redundancy data, and a mode capable of reducing the redundancy degree of data processing is to be formed.
Disclosure of Invention
The present invention provides an obstacle visualization processing system for marine mapping that facilitates solving the problems noted in the background above.
The invention provides the following technical scheme: a method for visualizing an obstacle for marine surveying, comprising the steps of,
selecting a target measurement area, and establishing a measurement surface above the measurement area, wherein the measurement surface comprises an actual measurement surface;
the square array on the actual measuring surface is distributed with a plurality of measuring points, and the measuring points are arrayed in the length direction and the width direction;
the measuring points are provided with visual measuring equipment for carrying out visual mapping on a target measuring area, and the distance between two adjacent measuring points is matched with the detection diameter of the visual measuring equipment to obtain first mapping information;
and acquiring the height information of the obstacle, comparing the height information of the obstacle with the height information of the measuring surface, and if the height information of the obstacle is larger than the height information of the measuring surface, adding a node information judging flow, and correcting the error of the first mapping information to obtain a mapping result.
As an alternative to the obstacle visualization processing system for marine surveying according to the invention, wherein: the measuring point configuration visual measuring device is used for performing visual mapping on a target measuring area and specifically comprises the following steps:
a plurality of vision measurement devices are configured on a measurement point, and a first measurement ring is established by taking the measurement point as a center and taking the detection radius of the vision measurement devices as a radius, wherein two adjacent measurement rings in the length direction and the width direction are tangent;
the first measuring ring is positioned on the target measuring area and divides the target measuring area into a first coverage area and a first clearance area; recording mapping data of the first coverage area named first coverage data; the measurement point located in the first coverage area is denoted herein as a first measurement point;
acquiring a central coordinate point of a first gap area, forming new measurement points, namely second measurement points, configuring visual measurement equipment for each second measurement point, establishing a second measurement circle by taking the detection radius of the visual measurement equipment as the radius, covering the first gap area, and recording mapping data of the first gap area as first gap data;
and integrating the first gap data and the first coverage data to obtain a mapping result of the target measurement area.
As an alternative to the obstacle visualization processing system for marine surveying according to the invention, wherein: the node information judging process specifically comprises the following steps:
acquiring an obstacle in a target measurement area, and constructing a profile distribution diagram of the obstacle according to a overlooking angle as a reference view angle;
selecting concave parts in the profile map and recording the positions of the concave parts as risk areas;
acquiring local meteorological data, wherein the local meteorological data specifically comprises wind speed information and wind direction information of a target measurement area;
constructing airflow convolution values of the risk areas:
specifically, selecting a concave position on a windward side in a profile distribution diagram, and taking bulges at two sides of an opening of the concave position as two datum points;
constructing an included angle indication line according to the two datum points;
and according to the wind direction information, acquiring an included angle between the wind direction information and an included angle indicating line, and recording the included angle as a wind direction folding angle, wherein if the airflow convolution value=wind speed×wind direction folding angle, and if the airflow convolution value is greater than a first set value K1, recording a measuring point positioned in the concave position as a risk measuring point.
As an alternative to the obstacle visualization processing system for marine surveying according to the invention, wherein: the air temperature value in the concave position is surveyed, specifically:
surveying the inner surface area of the recessed location;
the inner surface area includes the sum of areas in the longitudinal direction and in the horizontal direction in the recess;
measuring the temperature of the air in the concave position and the temperature on the surface of the concave open sea, and calculating a temperature difference;
the air temperature value = inner surface area x temperature difference, and if the air temperature value is greater than the second set value K2, the measurement point located in the concave position is denoted as a risk measurement point.
As an alternative to the obstacle visualization processing system for marine surveying according to the invention, wherein: the inner surface area includes an active insolation area that receives insolation and an inactive insolation area that fails to receive insolation, wherein,
the calculation mode of the effective sunlight area comprises the following steps:
obtaining geographic information of the concave position, including latitude information, longitude information and time information for measuring the target measuring area,
according to the information, simulating the display positions of the yin-yang boundary lines of the concave positions at different time nodes of a day, and measuring the display positions of the yin-yang boundary lines of sunlight at different time points in the concave positions at a plurality of time nodes;
calculating the sum of the exposure areas of the concave positions at each time point according to the positions of the dividing lines, and then, the effective sunlight area = the sum of the exposure areas of the concave positions at a plurality of time points/(the measurement times);
then ineffective solar area = total area of recessed locations-effective time area;
acquiring the temperature of an exposure position in a concave position, calculating the temperature difference between the temperature of the exposure position and the temperature on the sea surface outside the concave position, and the temperature of a shadow position in the concave position, and calculating the temperature difference between the temperature of the shadow position and the temperature on the sea surface outside the concave position;
air temperature value = effective solar area x exposure position temperature and temperature difference on the pit-out sea level + ineffective solar area x shadow position temperature and temperature difference on the pit-out sea level.
As an alternative to the obstacle visualization processing system for marine surveying according to the invention, wherein: integrating the data of the risk measurement points, judging the data risk degree of the risk measurement points, and marking the data risk degree as a risk value, and when the risk value is larger than a preset threshold value;
establishing a plurality of wind direction measuring points at the concave positions, wherein the wind direction measuring points and an actual measuring surface are on the same plane;
measuring a wind variation value in the concave position and comparing the wind variation value with a wind variation threshold F, specifically;
drawing a vector diagram of wind direction and wind power on each wind direction measuring point, setting a wind direction deviation threshold value, and calculating the number of nodes larger than the wind direction deviation threshold value; marked as X1;
setting a wind power difference threshold value, and calculating the number of nodes larger than the wind power difference threshold value; denoted as N1;
then, the wind variation value= (x1+n1)/(horizontal cross-sectional area of the concave position);
and if the wind variation value is larger than the wind variation threshold value F, performing data error adjustment.
As an alternative to the obstacle visualization processing system for marine surveying according to the invention, wherein: the data error adjustment specifically includes:
acquiring measurement circle information of the risk measurement points and adjacent 4 measurement points around the risk measurement points;
the measuring ring formed by the risk measuring point is intersected with the measuring ring formed by the adjacent 4 measuring points, and 4 checking measuring rings are formed;
if the risk measurement point belongs to the first measurement point, the measurement points adjacent to the measurement point are all second measurement points;
re-measuring the first measuring point and the second measuring points if the first measuring point and the adjacent 4 second measuring points are in the risk range area;
if the second measuring point is among 4 second measuring points adjacent to the first measuring point, acquiring a second measuring ring of which the second measuring point is not in the risk area, and recording data in the checking measuring ring in the second measuring point;
simultaneously recording data of the corresponding checking measuring ring in the first measuring point;
comparing the data in the two detection measuring rings, and if the data in the two detection measuring rings are similar, judging that the data in the first measuring ring represented by the first measuring point is qualified;
and comparing the measurement information in the other three second measurement circles intersected with the first measurement point on the basis of the first measurement point, if the data are matched, judging that the data in the second measurement circle are qualified, otherwise, retesting the data of the second measurement point.
As an alternative to the obstacle visualization processing system for marine surveying according to the invention, wherein: adding a correction measuring surface;
the actual measurement surface and the correction measurement surface are not in the same plane, the correction measurement surface and the actual measurement surface are two measurement surfaces which are parallel to each other and are in a vertical relation, a plurality of measurement points are distributed on the correction measurement surface in a square array, the measurement points on the correction measurement surface are staggered with the measurement points on the actual measurement surface in the vertical direction, and vision measurement equipment is arranged on the measurement points and used for performing vision mapping on a target measurement area to obtain second mapping information;
comparing the corrected first mapping information with the second mapping information, screening abnormal values, re-measuring the abnormal part, comparing the measured result with the previous two times, and selecting two data matched with the measured value as a result to output.
A system for a method of obstacle visualization processing for marine surveying, comprising,
a plurality of unmanned aerial vehicles carrying vision measurement equipment;
a plurality of unmanned aerial vehicles carrying wind direction and wind power detection equipment;
the control device is used for controlling the unmanned aerial vehicle, the visual detection device and the wind direction and wind force detection device; the information collection module is assembled in the control equipment and used for collecting the collected information; and the judging module is used for judging the collected information and adjusting the processing scheme according to the judging result.
As an alternative to the obstacle visualization processing system for marine surveying according to the invention, wherein: the control apparatus further includes:
at least one processor; and a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to enable the processor to perform an obstacle visualization method for marine mapping.
The invention has the following beneficial effects:
1. this a visual processing system of obstacle for ocean survey and drawing is through introducing the contained angle and the wind speed information of wind direction and sunk position, the influence weight of temperature difference change in sunk position to the measuring point that is located these regions to judge whether these measuring points are easily influenced, and screen out the region that easily is influenced, and carry out accurate measurement to wind direction and wind-force in this region, be convenient for people to screen out risk region fast through above-mentioned mode, reduce the screening processing cost of data simultaneously.
2. According to the barrier visualization processing system for ocean surveying and mapping, through introducing the inspection measuring ring, the data in the risk area can be compared with the data in the non-risk area to a certain extent according to the measured data in the non-risk area, the accuracy of the data can be represented by the existing acquired data on the one hand by adopting the judging mode, the problem that labor is consumed by a data re-measurer is avoided as much as possible, meanwhile, the accuracy of unmanned aerial vehicle data in the risk area can be screened, the accuracy of the whole data can be represented according to the accuracy of the local data acquired by the vision measuring equipment in the measuring point, and meanwhile, the accuracy of other data can be detected more conveniently according to the condition of the data in the place where the data can be mixed with other measuring points.
Drawings
Fig. 1 is a system block diagram of the structure of the present invention.
FIG. 2 is a schematic diagram of the structure of the wind direction and angle indication line according to the present invention.
FIG. 3 is a schematic diagram of a distribution structure of a first measuring ring according to the present invention.
Fig. 4 is a schematic structural diagram of a second measuring ring and a first measuring ring according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
A method for visualizing an obstacle for marine surveying, comprising the steps of,
selecting a target measurement area, and establishing a measurement surface above the measurement area, wherein the measurement surface comprises an actual measurement surface;
the square array on the actual measuring surface is distributed with a plurality of measuring points, and the measuring points are arrayed in the length direction and the width direction;
the measuring points are provided with visual measuring equipment for carrying out visual mapping on a target measuring area, the distance between two adjacent measuring points is matched with the detection diameter of the visual measuring equipment, and in the embodiment, the distance between two adjacent measuring points is the same as the detection diameter of the visual measuring equipment, so that first mapping information is obtained; the vision processing device comprises a camera, a graphic processing device and the like, and is mainly used for surveying the topography and the land feature and extracting and acquiring data.
And acquiring the height information of the obstacle, comparing the height information of the obstacle with the height information of the measuring surface, and if the height information of the obstacle is larger than the height information of the measuring surface, adding a node information judging flow, and correcting the error of the first mapping information to obtain a mapping result.
The measuring point configuration visual measuring equipment is used for carrying out visual mapping on a target measuring area and specifically comprises the following steps:
a plurality of vision measurement devices are configured on a measurement point, and a first measurement ring is established by taking the measurement point as a center and taking the detection radius of the vision measurement devices as a radius, wherein two adjacent measurement rings in the length direction and the width direction are tangent; therefore, when the actual measuring surface and the measuring points are constructed, the overlapping positions of all the visual measuring devices can be effectively reduced, the complexity of data processing can be greatly improved if the overlapping positions are too many, and the processing difficulty of the data can be increased if the redundant data are too much.
The first measuring ring is positioned on the target measuring area and divides the target measuring area into a first coverage area and a first clearance area; recording mapping data of the first coverage area named first coverage data; the measurement point located in the first coverage area is denoted herein as a first measurement point;
acquiring a central coordinate point of a first gap area, forming new measurement points, namely second measurement points, configuring visual measurement equipment for each second measurement point, establishing a second measurement circle by taking the detection radius of the visual measurement equipment as the radius, covering the first gap area, and recording mapping data of the first gap area as first gap data;
and integrating the first gap data and the first coverage data to obtain a mapping result of the target measurement area.
Through the coverage of the first measuring ring and the second measuring ring, the measuring area can be completely covered, and the positions of the first measuring ring and the second measuring ring which are mutually staggered can also be used for verifying data of adjacent measuring points, so that the accuracy of the data is ensured.
The node information judging process specifically comprises the following steps:
acquiring an obstacle in a target measurement area, and constructing a profile distribution diagram of the obstacle according to a overlooking angle as a reference view angle; reference is specifically made to fig. 2;
selecting concave parts in the profile map and recording the positions of the concave parts as risk areas; the recessed location in fig. 2 is a risk area;
acquiring local meteorological data, wherein the local meteorological data specifically comprises wind speed information and wind direction information of a target measurement area; the acquisition mode can be based on data issued by a meteorological office, and preferably, the wind direction and the wind force of a target measurement area can be detected through carried wind direction and wind force detection equipment;
constructing airflow convolution values of the risk areas: because wind easily changes direction and even forms air current to rotate when entering a position with a folding angle, the measuring method needs to use an unmanned plane to detect sea areas, so that wind power on the sea surface and wind direction conditions need to be considered particularly, under the conventional condition, when the wind power reaches 4 levels, the unmanned plane is not suitable for operation, the wind power is smaller and the wind direction is uniform, the operating requirement of the unmanned plane can be met, but for some special nodes, such as the concave positions, the concave positions can be the cracks of small islands in the embodiment; the above-mentioned sunk position is easy to promote wind force and wind direction change in sunk when facing the wind, this change wind force and wind direction that is especially fast are not suitable for unmanned aerial vehicle to operate in general, in order to ensure the accurate degree of data,
specifically, selecting a concave position on a windward side in a profile distribution diagram, and taking bulges at two sides of an opening of the concave position as two datum points;
constructing an included angle indication line according to the two datum points;
according to the wind direction information, the included angle between the wind direction information and the included angle indication line is obtained and is recorded as a wind direction folding angle, if the airflow convolution value=wind speed×wind direction folding angle, and if the airflow convolution value is greater than a first set value K1, the measuring point positioned in the concave position is recorded as a risk measuring point, and the weight is recorded as 0.3. In this embodiment, K1 may be set according to the overall mass of the unmanned aerial vehicle, and generally, the greater the mass of the unmanned aerial vehicle, the greater the capability of resisting wind speed and wind direction change, in this embodiment, the unit of wind speed is m/second, the unit of wind direction angle is an angle, and in this embodiment, the wind direction angle is selected as an acute angle or a right angle formed by wind direction and an included angle indication line;
in this embodiment, K1 may be set to 30, which is used to represent the force of the wind flowing into the concave position in a certain included angle in unit time, where the greater the force, the greater the included angle, the more easily the concave position forms a disordered airflow.
Optionally, specifically, the method further includes measuring the air temperature value in the concave position, wherein the temperature is a standard for measuring that a certain position is easy to generate air flow change, and cyclone is formed, more because the local temperature is too high, the surrounding air flow is internally pressed and staggered to form cyclone, so that the obstacle position is different from the sea water quality, is more easily heated and causes the local temperature nearby the obstacle position to be too high, thereby causing the blowing on the sea-wind island, and increasing the variable factors of the air flow, and the method specifically comprises the following steps:
surveying the inner surface area of the recessed location;
the inner surface area includes the sum of areas in the longitudinal direction and in the horizontal direction in the recess;
measuring the temperature of the air in the concave position and the temperature on the surface of the concave open sea, and calculating a temperature difference;
the temperature value=the inner surface area×the temperature difference value, and if the temperature value is greater than the second set value K2, the measurement point located in the concave position is denoted as a risk measurement point, and the weight is denoted as 0.7.
The unit of the inner surface area is square kilometer, the unit of the temperature difference is degrees celsius,
the air temperature value represents the temperature difference accumulated value caused under all areas, and the sea wind is more easily formed due to the overlarge temperature difference accumulated value, so that the measuring difficulty of the area is increased.
Further, the inner surface area includes an effective sunlight area for receiving sunlight and an ineffective sunlight area for not receiving sunlight, wherein,
the calculation mode of the effective sunlight area comprises the following steps:
obtaining geographic information of the concave position, including latitude information, longitude information and time information for measuring the target measuring area, wherein the information can determine a specific place of the position and change of sun height in the time period, so as to simulate specific change conditions of a shadow area and an exposure area in the concave position according to the data and the appearance of the obstacle (including but not limited to the height of the obstacle and the concave position of the surface),
according to the information, simulating the display positions of the yin-yang boundary lines of the concave positions at different time nodes of a day, and measuring the display positions of the yin-yang boundary lines of sunlight at different time points in the concave positions at a plurality of time nodes;
calculating the sum of the exposure areas of the concave positions at each time point according to the positions of the dividing lines, and then, the effective sunlight area = the sum of the exposure areas of the concave positions at a plurality of time points/(the measurement times);
then ineffective solar area = total area of recessed locations-effective time area;
acquiring the temperature of an exposure position in a concave position, calculating the temperature difference between the temperature of the exposure position and the temperature on the sea surface outside the concave position, and the temperature of a shadow position in the concave position, and calculating the temperature difference between the temperature of the shadow position and the temperature on the sea surface outside the concave position;
air temperature value = effective solar area x exposure position temperature and temperature difference on the pit-out sea level + ineffective solar area x shadow position temperature and temperature difference on the pit-out sea level.
Integrating the data of the risk measurement points, judging the data risk degree of the risk measurement points, and marking the data risk degree as a risk value, and when the risk value is larger than a preset threshold value; in this embodiment, the specific integration method is to add the two sets of data,
establishing a plurality of wind direction measuring points at the concave positions, wherein the wind direction measuring points and an actual measuring surface are on the same plane;
measuring a wind variation value in the concave position and comparing the wind variation value with a wind variation threshold F, specifically;
drawing a vector diagram of wind direction and wind power on each wind direction measuring point, setting a wind direction deviation threshold value, and calculating the number of nodes larger than the wind direction deviation threshold value; marked as X1; the wind direction deviation threshold value is expressed as a wind direction measuring point with a deviation angle of wind direction larger than a certain angle and is used for representing that the wind direction change degree in the area is large.
Setting a wind power difference threshold value, and calculating the number of nodes larger than the wind power difference threshold value; denoted as N1; correspondingly, the wind power difference threshold value is used for representing the change of wind force, and the change is large and suitable, so that the surveying and mapping accuracy of the unmanned aerial vehicle is easy to become low;
then, the wind variation value= (x1+n1)/(horizontal cross-sectional area of the concave position);
and if the wind variation value is larger than the wind variation threshold value F, performing data error adjustment.
The wind change value is used for representing the wind force and the change quantity of the wind direction in a unit area in the measuring surface positioned at the concave position, and the larger the wind force and the change quantity of the wind direction are, the more the data acquired by the unmanned aerial vehicle positioned in the area deviate from the actual accurate value.
The data error adjustment specifically includes:
referring to 3-4 specifically, acquiring the risk measurement point and measurement circle information of adjacent 4 measurement points around the risk measurement point;
the measuring ring formed by the risk measuring point is intersected with the measuring ring formed by the adjacent 4 measuring points, and 4 checking measuring rings are formed;
if the risk measurement point belongs to the first measurement point, the measurement points adjacent to the measurement point are all second measurement points;
re-measuring the first measuring point and the second measuring points if the first measuring point and the adjacent 4 second measuring points are in the risk range area;
if the second measuring point is among 4 second measuring points adjacent to the first measuring point, acquiring a second measuring ring of which the second measuring point is not in the risk area, and recording data in the checking measuring ring in the second measuring point;
simultaneously recording data of the corresponding checking measuring ring in the first measuring point;
comparing the data in the two detection measuring rings, and if the data in the two detection measuring rings are similar, judging that the data in the first measuring ring represented by the first measuring point is qualified;
and comparing the measurement information in the other three second measurement circles intersected with the first measurement point on the basis of the first measurement point, if the data are matched, judging that the data in the second measurement circle are qualified, otherwise, retesting the data of the second measurement point.
According to the measurement mode, the accuracy of the data can be compared with the data in the risk area according to the measurement data in the non-risk area to a certain extent, the accuracy of the data can be represented by the acquired data in the judgment mode, the problem that labor is consumed by a data re-measurer is avoided as much as possible, meanwhile, the accuracy of unmanned aerial vehicle data in the risk area can be screened, the accuracy of the whole data can be represented according to the accuracy of the local data acquired by the vision measurement equipment in the measurement point, and meanwhile, the accuracy of other data can be detected more conveniently according to the condition of the data in the place where the data is mixed with other measurement points. The first measuring ring and the second measuring ring are matched with each other, so that the target measuring area can be completely covered on one hand, and a plurality of detection measuring rings are formed on the other hand and used for verifying the accuracy of the associated data.
Adding a correction measuring surface;
the actual measurement surface and the correction measurement surface are not in the same plane, the correction measurement surface and the actual measurement surface are two measurement surfaces which are parallel to each other and are in a vertical relation, a plurality of measurement points are distributed on the correction measurement surface in a square array, the measurement points on the correction measurement surface are staggered with the measurement points on the actual measurement surface in the vertical direction, and vision measurement equipment is arranged on the measurement points and used for performing vision mapping on a target measurement area to obtain second mapping information;
comparing the corrected first mapping information with the second mapping information, screening abnormal values, re-measuring the abnormal part, comparing the measured result with the previous two times, and selecting two data matched with the measured value as a result to output.
The method is characterized in that a correction measuring surface is added, the measuring data of the correction measuring surface is identical to that of an actual measuring surface, the difference is that the correction measuring surface and the actual measuring surface are two measuring surfaces which are parallel to each other and are in a vertical relation, a plurality of measuring points are distributed on the correction measuring surface in a square array, and the measuring points on the correction measuring surface and the measuring points on the actual measuring surface are staggered in the vertical direction so that the mapping result of a target measuring area can be represented through other heights and measuring angles.
According to the method, firstly, a target monitoring area can be effectively covered by dividing a first measuring ring and a second measuring ring, meanwhile, the generation of repeated data can be reduced to the greatest extent through the tangential mode of adjacent first measuring rings, a gap area is formed, the gap area is covered by the second measuring ring, the continuity between the data of the first measuring ring and the data of the second measuring ring can be promoted on the premise of covering the measuring area, different parameters such as wind power, temperature, landform factors and the like are adopted, and different parameters and weights are set to roughen the area where the data problem possibly occurs;
secondly, the unmanned plane with wind power and wind direction monitoring equipment is adopted to accurately measure the area, the screening range can be reduced to the greatest extent through the method, accurate information of wind power and wind direction in the screened concave area is obtained, the measuring point most likely to be influenced by the wind power and the wind direction is primarily judged according to the information of the wind power and the wind direction, finally, the accuracy of data is verified according to the measuring point and the checking measuring ring formed by the four measuring points adjacent to the measuring point in an interactive mode, the processing quantity of the data can be greatly reduced through the method, and meanwhile, the accuracy of data processing is guaranteed to a certain extent.
A system for a method of obstacle visualization processing for marine surveying, comprising,
a plurality of unmanned aerial vehicles carrying vision measurement equipment;
a plurality of unmanned aerial vehicles carrying wind direction and wind power detection equipment;
the control device is used for controlling the unmanned aerial vehicle, the visual detection device and the wind direction and wind force detection device; the information collection module is assembled in the control equipment and used for collecting the collected information; and the judging module is used for judging the collected information and adjusting the processing scheme according to the judging result.
The control apparatus further includes:
at least one processor; and a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor to enable the processor to perform an obstacle visualization method for marine mapping.
The control device in the embodiments of the present disclosure may include, but is not limited to, a mobile phone, a notebook computer, for example.
As shown in fig. 1, the control device may include a processing means, i.e., a processor (e.g., a central processing unit, a graphic processor, etc.), which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) or a program loaded from a storage means into a Random Access Memory (RAM). In the RAM, various programs and data required for the operation of the electronic device are also stored. The processing device, ROM and RAM are connected to each other via a bus. An input/output (I/O) interface is also connected to the bus.
In general, the following devices may be connected to the I/O interface: input devices including, for example, touch screens, touch pads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices including, for example, liquid Crystal Displays (LCDs), speakers, vibrators, etc.; storage devices including, for example, magnetic tape, hard disk, etc.; a communication device. The communication means may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. While an electronic device having various means is shown in the figures, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The 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 connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The name of the unit does not in any way constitute a limitation of the unit itself, for example the first acquisition unit may also be described as "unit acquiring at least two internet protocol addresses".
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof.
The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the disclosure are intended to be covered by the protection scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (7)
1. A method for visualizing an obstacle for marine surveying, characterized by: comprises the following steps of the method,
selecting a target measurement area, and establishing a measurement surface above the measurement area, wherein the measurement surface comprises an actual measurement surface;
the square array on the actual measuring surface is distributed with a plurality of measuring points, and the measuring points are arrayed in the length direction and the width direction;
the measuring points are provided with visual measuring equipment for carrying out visual mapping on a target measuring area, and the distance between two adjacent measuring points is matched with the detection diameter of the visual measuring equipment to obtain first mapping information;
acquiring the height information of the obstacle, comparing the height information of the obstacle with the height information of the measuring surface, if the height information of the obstacle is larger than the height information of the measuring surface, adding a node information judging flow, and correcting the error of the first mapping information to obtain a mapping result;
the measuring point configuration visual measuring device is used for performing visual mapping on a target measuring area and specifically comprises the following steps:
a plurality of vision measurement devices are configured on a measurement point, and a first measurement ring is established by taking the measurement point as a center and taking the detection radius of the vision measurement devices as a radius, wherein two adjacent measurement rings in the length direction and the width direction are tangent;
the first measuring ring is positioned on the target measuring area and divides the target measuring area into a first coverage area and a first clearance area; recording mapping data of the first coverage area named first coverage data; the measurement point located in the first coverage area is denoted herein as a first measurement point;
acquiring a central coordinate point of a first gap area, forming new measurement points, namely second measurement points, configuring visual measurement equipment for each second measurement point, establishing a second measurement circle by taking the detection radius of the visual measurement equipment as the radius, covering the first gap area, and recording mapping data of the first gap area as first gap data;
integrating the first gap data and the first coverage data to obtain a mapping result of the target measurement area;
the node information judging process specifically comprises the following steps:
acquiring an obstacle in a target measurement area, and constructing a profile distribution diagram of the obstacle according to a overlooking angle as a reference view angle;
selecting concave parts in the profile map and recording the positions of the concave parts as risk areas;
acquiring local meteorological data, wherein the local meteorological data specifically comprises wind speed information and wind direction information of a target measurement area;
constructing airflow convolution values of the risk areas:
specifically, selecting a concave position on a windward side in a profile distribution diagram, and taking bulges at two sides of an opening of the concave position as two datum points;
constructing an included angle indication line according to the two datum points;
and according to the wind direction information, acquiring an included angle between the wind direction information and an included angle indicating line, and recording the included angle as a wind direction folding angle, wherein if the airflow convolution value=wind speed×wind direction folding angle, and if the airflow convolution value is greater than a first set value K1, recording a measuring point positioned in the concave position as a risk measuring point.
2. The obstacle visualization processing method for marine surveying according to claim 1, wherein: the air temperature value in the concave position is surveyed, specifically:
surveying the inner surface area of the recessed location;
the inner surface area includes the sum of areas in the longitudinal direction and in the horizontal direction in the recess;
measuring the temperature of the air in the concave position and the temperature on the surface of the concave open sea, and calculating a temperature difference;
the air temperature value = inner surface area x temperature difference, and if the air temperature value is greater than the second set value K2, the measurement point located in the concave position is denoted as a risk measurement point.
3. The obstacle visualization processing method for marine surveying according to claim 2, wherein: the inner surface area includes an active insolation area that receives insolation and an inactive insolation area that fails to receive insolation, wherein,
the calculation mode of the effective sunlight area comprises the following steps:
obtaining geographic information of the concave position, including latitude information, longitude information and time information for measuring the target measuring area,
according to the information, simulating the display positions of the yin-yang boundary lines of the concave positions at different time nodes of a day, and measuring the display positions of the yin-yang boundary lines of sunlight at different time points in the concave positions at a plurality of time nodes;
calculating the sum of the exposure areas of the concave positions at each time point according to the positions of the dividing lines, and then, the effective sunlight area = the sum of the exposure areas of the concave positions at a plurality of time points/(the measurement times);
then ineffective solar area = total area of recessed locations-effective time area;
acquiring the temperature of an exposure position in a concave position, calculating the temperature difference between the temperature of the exposure position and the temperature on the sea surface outside the concave position, and the temperature of a shadow position in the concave position, and calculating the temperature difference between the temperature of the shadow position and the temperature on the sea surface outside the concave position;
air temperature value = effective solar area x exposure position temperature and temperature difference on the pit-out sea level + ineffective solar area x shadow position temperature and temperature difference on the pit-out sea level.
4. The obstacle visualization processing method for marine surveying according to claim 1, wherein: integrating the data of the risk measurement points, judging the data risk degree of the risk measurement points, and marking the data risk degree as a risk value, and when the risk value is larger than a preset threshold value;
establishing a plurality of wind direction measuring points at the concave positions, wherein the wind direction measuring points and an actual measuring surface are on the same plane;
measuring a wind variation value in the concave position and comparing the wind variation value with a wind variation threshold F, specifically;
drawing a vector diagram of wind direction and wind power on each wind direction measuring point, setting a wind direction deviation threshold value, and calculating the number of nodes larger than the wind direction deviation threshold value; marked as X1;
setting a wind power difference threshold value, and calculating the number of nodes larger than the wind power difference threshold value; denoted as N1;
then, the wind variation value= (x1+n1)/(horizontal cross-sectional area of the concave position);
and if the wind variation value is larger than the wind variation threshold value F, performing data error adjustment.
5. The obstacle visualization processing method for marine surveying according to claim 4, wherein: the data error adjustment specifically includes:
acquiring measurement circle information of the risk measurement points and adjacent 4 measurement points around the risk measurement points;
the measuring ring formed by the risk measuring point is intersected with the measuring ring formed by the adjacent 4 measuring points, and 4 checking measuring rings are formed;
if the risk measurement point belongs to the first measurement point, the measurement points adjacent to the measurement point are all second measurement points;
re-measuring the first measuring point and the second measuring points if the first measuring point and the adjacent 4 second measuring points are in the risk range area;
if the second measuring point is among 4 second measuring points adjacent to the first measuring point, acquiring a second measuring ring of which the second measuring point is not in the risk area, and recording data in the checking measuring ring in the second measuring point;
simultaneously recording data of the corresponding checking measuring ring in the first measuring point;
comparing the data in the two detection measuring rings, and if the data in the two detection measuring rings are similar, judging that the data in the first measuring ring represented by the first measuring point is qualified;
and comparing the measurement information in the other three second measurement circles intersected with the first measurement point on the basis of the first measurement point, if the data are matched, judging that the data in the second measurement circle are qualified, otherwise, retesting the data of the second measurement point.
6. The obstacle visualization processing method for marine surveying according to claim 5, wherein: adding a correction measuring surface;
the actual measurement surface and the correction measurement surface are not in the same plane, the correction measurement surface and the actual measurement surface are two measurement surfaces which are parallel to each other and are in a vertical relation, a plurality of measurement points are distributed on the correction measurement surface in a square array, the measurement points on the correction measurement surface are staggered with the measurement points on the actual measurement surface in the vertical direction, and vision measurement equipment is arranged on the measurement points and used for performing vision mapping on a target measurement area to obtain second mapping information;
comparing the corrected first mapping information with the second mapping information, screening abnormal values, re-measuring the abnormal part, comparing the measured result with the previous two times, and selecting two data matched with the measured value as a result to output.
7. A system for implementing the obstacle visualization processing method for marine surveying according to any one of claims 1 to 6, characterized in that: comprising the steps of (a) a step of,
a plurality of unmanned aerial vehicles carrying vision measurement equipment;
a plurality of unmanned aerial vehicles carrying wind direction and wind power detection equipment;
the control device is used for controlling the unmanned aerial vehicle, the visual detection device and the wind direction and wind force detection device; the information collection module is assembled in the control equipment and used for collecting the collected information; and the judging module is used for judging the collected information and adjusting the processing scheme according to the judging result.
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