A method for determining reservoir pollution based on drones

Abstract

The present invention discloses a method for determining reservoir pollution based on an unmanned aerial vehicle, including: acquiring video data of an aerial photograph of a reservoir by the unmanned aerial vehicle according to a predetermined flight route, as well as acquiring navigation and positioning data of the unmanned aerial vehicle, reservoir altitude data, and camera pose data; processing frame images in the video data according to an image difference algorithm to obtain first position data; searching for first coordinate data according to the first shooting time of a pollution difference image; determining camera angle data corresponding to the first shooting time of the pollution difference image according to the camera pose data and the first shooting time of the pollution difference image; and determining coordinate data where a pollution floating object is located according to the camera angle data, the first coordinate data, the reservoir altitude data, and the first position data. The present invention improves the accuracy of remote sensing technology for water body monitoring and realizes the function of analyzing the water quality of a water body.

Description

Technical Field

[0001] The present invention relates to the technical field of water quality analysis, and particularly to a method for determining reservoir pollution based on an unmanned aerial vehicle (UAV). Background Art

[0002] With the development of social productive forces and science and technology, water bodies have been polluted and damaged to varying degrees from various aspects. The increasingly serious pollution has brought extremely adverse consequences to the survival and development of mankind. According to the nature and toxicity of pollutants and the ways of harm to the water environment, reservoir pollution mainly includes acids and bases, pesticides, organic substances and nutrient salts, radionuclides, and solid wastes, etc. The water pollution caused by solid wastes is mainly composed of various human items: plastics, rubbers, woods, etc. The harms brought by floating on the water body include, for example, poisoning water organisms and harming humans through the food chain, etc.

[0003] In recent years, in reservoirs for ecological fish farming, reducing the input of solid wastes and salvaging and treating solid wastes have become an important means of controlling water pollution. However, currently, the means of discovering floating objects on the water body usually rely on ships to discover and salvage. The efficiency of discovering pollution floating objects on the water body by ships is relatively low, and it is difficult to conduct large-area observations and discover pollution floating objects on the water body. Summary of the Invention

[0004] The main object of the present invention is to propose a method for determining reservoir pollution based on an unmanned aerial vehicle, aiming to improve the efficiency of discovering pollution floating objects on the water body and being able to determine pollution floating objects on a large-area reservoir.

[0005] To achieve the above object, the present invention provides a method for determining reservoir pollution based on an unmanned aerial vehicle. The method for determining reservoir pollution based on an unmanned aerial vehicle includes the following steps:

[0006] Obtain video data of the reservoir taken by the unmanned aerial vehicle according to a predetermined flight route, and obtain the navigation and positioning data of the unmanned aerial vehicle, the altitude data of the reservoir, and the camera pose data;

[0007] Process the frame images in the video data according to the image difference algorithm to obtain a pollution difference image containing pollution floating objects and first position data of the pollution floating objects in the pollution difference image;

[0008] Search for first coordinate data of the unmanned aerial vehicle at the first shooting time in the navigation and positioning data according to the first shooting time of taking the pollution difference image;

[0009] Determine the camera angle data corresponding to the first shooting time of taking the pollution difference image according to the camera pose data and the first shooting time of taking the pollution difference image;

[0010] Determine the coordinate data of the pollution floating object based on the camera angle data, the first coordinate data, the reservoir altitude data, and the first position data.

[0011] Optionally, the step of processing the frame images in the video data according to the image difference algorithm to obtain a pollution difference image containing the pollution floating object and the first position data of the pollution floating object in the pollution frame image includes:

[0012] Process each frame image of the video data based on the water surface background modeling algorithm to obtain a water surface background image;

[0013] Compare the water surface background image with each frame image of the video data according to the image difference algorithm to obtain a pollution difference image with a pollution floating object in the picture;

[0014] Determine the first position data of the pollution floating object at its location in the pollution difference image.

[0015] Optionally, the step of determining the first position data of the pollution floating object at its location in the pollution difference image includes:

[0016] Determine the floating object pixels of the pollution floating object according to the pollution difference image;

[0017] When the floating object pixels are greater than a preset pixel threshold, use the center of the floating object pixels as the first position data.

[0018] Optionally, the camera pose data is the deflection angle of the drone and the rotation angle of the camera. The step of determining the camera angle data of the first shooting time for shooting the pollution difference image according to the camera pose data and the first shooting time for shooting the pollution difference image includes:

[0019] Determine the first three-axis direction angle vector of the drone according to the deflection angle of the drone;

[0020] Determine the second three-axis direction angle vector of the camera relative to the drone according to the rotation angle of the camera;

[0021] Perform angle vector calculation on the first three-axis direction angle vector and the second three-axis direction angle vector along the three axes of the x-axis, y-axis, and z-axis to obtain the camera angle data;

[0022] The calculation formula of the camera angle data is:

[0023]

[0024] Wherein, X2 is the angular vector of the first three-axis directional angle vector in the X-axis direction, X3 is the angular vector of the second three-axis directional angle vector in the X-axis direction, Y2 is the angular vector of the first three-axis directional angle vector in the Y-axis direction, Y3 is the angular vector of the second three-axis directional angle vector in the Y-axis direction, Z2 is the angular vector of the first three-axis directional angle vector in the Z-axis direction, Z3 is the angular vector of the second three-axis directional angle vector in the Z-axis direction, R1 is the angular vector of the camera angle data in the X-axis direction, R2 is the angular vector of the camera angle data in the Y-axis direction, and R3 is the angular vector of the camera angle data in the Z-axis direction.

[0025] Optionally, the step of determining the coordinate data of the pollution floating object according to the camera angle data, the first coordinate data, the reservoir altitude data, and the first position data includes:

[0026] Obtaining the UAV flight altitude according to the first coordinate data and the reservoir altitude data;

[0027] Obtaining the relative angle and relative distance of the pollution floating object relative to the UAV in the horizontal direction according to the camera angle data and the UAV flight altitude;

[0028] Determining the coordinate data of the pollution floating object according to the relative angle, the relative distance, and the first position data;

[0029] The calculation formula for the UAV flight altitude is:

[0030] H = Z1 - H1, where H is the UAV flight altitude, Z1 is the altitude in the first coordinate data, and H1 is the reservoir altitude data;

[0031] The calculation formula for the relative distance is:

[0032] L = H * sin(R1 + R2 + R3); where L is the relative distance;

[0033] The calculation formula for the relative angle is R = (R1 + R2), and R is the relative angle.

[0034] Optionally, before the step of finding the first coordinate data of the UAV at the first shooting time in the navigation and positioning data according to the first shooting time of the pollution frame image, it includes:

[0035] Finding the time when the pollution difference image is shot in the video data, and determining the time when the pollution difference image is shot as the first shooting time.

[0036] Optionally, after the step of determining the coordinate data of the pollution floating object according to the camera angle data, the first coordinate data, the reservoir altitude data, and the first position data, it includes:

[0037] Send the coordinate data of the pollution floating objects to the UAV management center, so that the UAV management center can handle the pollution floating objects in the reservoir.

[0038] Optionally, before the steps of obtaining the video data of the reservoir taken by the UAV according to a predetermined flight route, and obtaining the navigation and positioning data of the UAV, the reservoir altitude data, and the camera pose data, it includes:

[0039] Send a reservoir altitude acquisition instruction to the UAV management center;

[0040] Receive the reservoir altitude data returned by the UAV management center according to the reservoir altitude acquisition instruction.

[0041] The present invention provides a method for determining reservoir pollution based on a UAV. Through the above solution in this embodiment, the video data of the reservoir taken by the UAV according to a predetermined flight route is obtained, and the navigation and positioning data of the UAV, the reservoir altitude data, and the camera pose data are obtained; the frame images in the video data are processed according to the image difference algorithm to obtain a pollution difference image containing pollution floating objects and the first position data of the pollution floating objects in the pollution difference image; the first coordinate data of the UAV at the first shooting time is found in the navigation and positioning data according to the first shooting time of shooting the pollution difference image; according to the camera pose data and the first shooting time of shooting the pollution difference image, the camera angle data corresponding to the first shooting time of shooting the pollution difference image is determined; according to the camera angle data, the first coordinate data, the reservoir altitude data, and the first position data, the coordinate data of the pollution floating objects is determined. The efficiency of discovering pollution floating objects on the water body is improved, and it is possible to determine pollution floating objects on a large-area reservoir. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0043] Figure 1 It is a schematic flowchart of the method for determining reservoir pollution based on a UAV of the present invention.

[0044] The realization of the object of the present invention, the functional characteristics and advantages will be further described in conjunction with the embodiments with reference to the drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0046] Referring to Figure 1 , Figure 1 FIG. is a schematic flowchart of the first embodiment of the method for determining reservoir pollution based on an unmanned aerial vehicle according to the present invention.

[0047] In an embodiment of the present invention, the method for determining reservoir pollution based on an unmanned aerial vehicle is applied to a reservoir pollution determination device. The method for determining reservoir pollution based on an unmanned aerial vehicle includes:

[0048] Step S10, obtaining video data of an aerial photograph of a reservoir taken by an unmanned aerial vehicle according to a predetermined flight route, and obtaining navigation and positioning data of the unmanned aerial vehicle, reservoir altitude data, and camera pose data;

[0049] In this embodiment, in order to improve the efficiency of discovering pollution floating objects on the water body and be able to determine pollution floating objects on a large-area reservoir, the reservoir pollution determination device obtains video data of an aerial photograph of the reservoir taken by the unmanned aerial vehicle according to a predetermined flight route, and obtains navigation and positioning data of the unmanned aerial vehicle, reservoir altitude data, and camera pose data. Among them, the reservoir altitude data is obtained from the ground end before the unmanned aerial vehicle takes off, and the camera pose data is the deflection angle of the unmanned aerial vehicle and the rotation angle of the camera, which can be used to calculate the orientation of the camera relative to the longitude and latitude (such as 35° east of north, 30° west of south) and the angle of the camera relative to the vertical direction (0 to 90°).

[0050] Before step S10 of obtaining video data of an aerial photograph of a reservoir taken by an unmanned aerial vehicle according to a predetermined flight route, and obtaining navigation and positioning data of the unmanned aerial vehicle, reservoir altitude data, and camera pose data, it may include:

[0051] Step S11, sending a reservoir altitude acquisition instruction to the unmanned aerial vehicle management center;

[0052] In this embodiment, in order to obtain reservoir altitude data, the reservoir pollution determination device sends a reservoir altitude acquisition instruction to the unmanned aerial vehicle management center;

[0053] Step S12, receiving the reservoir altitude data returned by the unmanned aerial vehicle management center according to the reservoir altitude acquisition instruction.

[0054] In this embodiment, after the reservoir pollution determination device sends a reservoir altitude acquisition instruction to the unmanned aerial vehicle management center, it receives the reservoir altitude data returned by the unmanned aerial vehicle management center according to the reservoir altitude acquisition instruction.

[0055] Step S20, processing the frame images in the video data according to an image difference algorithm to obtain a pollution difference image containing pollution floating objects and first position data of the pollution floating objects in the pollution difference image;

[0056] In this embodiment, after the reservoir pollution determination device acquires the video data, it processes the frame images in the video data according to the image difference algorithm to obtain a pollution difference image containing pollution floating objects and first position data of the pollution floating objects in the pollution difference image.

[0057] Step S20 of processing the frame images in the video data according to the image difference algorithm to obtain a pollution difference image containing pollution floating objects and first position data of the pollution floating objects in the pollution difference image may include:

[0058] Step S21 of processing each frame image of the video data based on the water surface background modeling algorithm to obtain a water surface background image;

[0059] In this embodiment, after the reservoir pollution determination device acquires the video data, it processes each frame image of the video data based on the water surface background modeling algorithm to obtain a water surface background image.

[0060] Step S22 of comparing the water surface background image with each frame image of the video data according to the image difference algorithm to obtain a pollution difference image with pollution floating objects in the picture;

[0061] In this embodiment, after the reservoir pollution determination device obtains the water surface background image, it compares the water surface background image with each frame image of the video data according to the image difference algorithm to obtain a pollution difference image with pollution floating objects in the picture.

[0062] Step S23 of determining first position data of the pollution floating objects at their locations in the pollution difference image.

[0063] In this embodiment, after the reservoir pollution determination device obtains the pollution difference image with pollution floating objects in the picture, it determines first position data of the pollution floating objects at their locations in the pollution difference image.

[0064] Step S23 of determining first position data of the pollution floating objects at their locations in the pollution difference image may include:

[0065] Step S231 of determining the floating object pixels of the pollution floating objects according to the pollution difference image;

[0066] In this embodiment, after the reservoir pollution determination device obtains the pollution difference image with pollution floating objects in the picture, it determines the floating object pixels of the pollution floating objects according to the pollution difference image.

[0067] Step S232 of taking the center of the floating object pixels as the first position data when the floating object pixels are greater than a preset pixel threshold.

[0068] In this embodiment, by analogy, after the reservoir pollution determination device obtains the floating object pixels, when the floating object pixels are greater than the preset pixel threshold, the center of the floating object pixels is used as the first position data. Step S30: Search for the first coordinate data of the drone at the first shooting time in the navigation and positioning data according to the first shooting time of the captured pollution frame image;

[0069] In this embodiment, after the reservoir pollution determination device obtains the pollution difference image containing pollution floating objects, it searches for the first coordinate data of the drone at the first shooting time in the navigation and positioning data according to the first shooting time of the captured pollution difference image.

[0070] Before step S30 searches for the first coordinate data of the drone at the first shooting time in the navigation and positioning data according to the first shooting time of the captured pollution frame image, it may include:

[0071] Step S70: Search for the time when the pollution difference image is captured in the video data and determine the time when the pollution difference image is captured as the first shooting time.

[0072] In this embodiment, after the reservoir pollution determination device obtains the pollution difference image, it searches for the time when the pollution difference image is captured in the video data and determines the time when the pollution difference image is captured as the first shooting time.

[0073] Step S40: Determine the camera angle data corresponding to the first shooting time of the captured pollution difference image according to the camera pose data and the first shooting time of the captured pollution difference image;

[0074] In this embodiment, after the reservoir pollution determination device obtains the pollution difference image, it determines the camera angle data corresponding to the first shooting time of the captured pollution difference image according to the camera pose data and the first shooting time of the captured pollution difference image.

[0075] The camera pose data in step S40 is the deflection angle of the drone and the rotation angle of the camera. According to the camera pose data and the first shooting time of the captured pollution difference image, to determine the camera angle data at the first shooting time of the captured pollution difference image, it may include:

[0076] Step S41: Determine the first three-axis directional angle vector of the drone according to the deflection angle of the drone;

[0077] In this embodiment, after the reservoir pollution determination device obtains the pollution difference image, it determines the first three-axis directional angle vector of the drone according to the deflection angle of the drone.

[0078] Step S42: Determine the second three-axis directional angle vector of the camera relative to the drone according to the rotation angle of the camera;

[0079] In this embodiment, after obtaining the first three-axis directional angle vector, the reservoir pollution determination device determines the second three-axis directional angle vector of the camera relative to the drone according to the rotation angle of the camera.

[0080] Step S43: Calculate the angle vectors of the first three-axis directional angle vector and the second three-axis directional angle vector along the three axes of the x-axis, y-axis, and z-axis to obtain the camera angle data.

[0081] In this embodiment, after obtaining the second three-axis directional angle vector, the reservoir pollution determination device calculates the angle vectors of the first three-axis directional angle vector and the second three-axis directional angle vector along the three axes of the x-axis, y-axis, and z-axis to obtain the camera angle data.

[0082] The calculation formula for the camera angle data is as follows:

[0083]

[0084] Wherein, X2 is the angular vector of the first three-axis directional angle vector in the X-axis direction, X3 is the angular vector of the second three-axis directional angle vector in the X-axis direction, Y2 is the angular vector of the first three-axis directional angle vector in the Y-axis direction, Y3 is the angular vector of the second three-axis directional angle vector in the Y-axis direction, Z2 is the angular vector of the first three-axis directional angle vector in the Z-axis direction, Z3 is the angular vector of the second three-axis directional angle vector in the Z-axis direction, R1 is the angular vector of the camera angle data in the X-axis direction, R2 is the angular vector of the camera angle data in the Y-axis direction, and R3 is the angular vector of the camera angle data in the Z-axis direction.

[0085] Step S50: Determine the coordinate data of the pollution floating object according to the camera angle data, the first coordinate data, the reservoir altitude data, and the first position data.

[0086] In this embodiment, after obtaining the camera angle data, the first coordinate data, the reservoir altitude data, and the first position data, the reservoir pollution determination device determines the coordinate data of the pollution floating object according to the camera angle data, the first coordinate data, the reservoir altitude data, and the first position data.

[0087] Step S50 determining the coordinate data of the pollution floating object according to the camera angle data, the first coordinate data, the reservoir altitude data, and the first position data may include:

[0088] Step S51: Obtain the flight altitude of the drone according to the first coordinate data and the reservoir altitude data;

[0089] In this embodiment, after obtaining the camera angle data, the first coordinate data, the reservoir altitude data, and the first position data, the reservoir pollution determination device obtains the UAV flight altitude according to the first coordinate data and the reservoir altitude data.

[0090] Step S52: Obtain the relative angle and relative distance of the pollution floating object relative to the UAV in the horizontal direction according to the camera angle data and the UAV flight altitude;

[0091] In this embodiment, after obtaining the relative angle and relative distance, the reservoir pollution determination device obtains the relative angle and relative distance of the pollution floating object relative to the UAV in the horizontal direction according to the camera angle data and the UAV flight altitude.

[0092] Step S53: Determine the coordinate data where the pollution floating object is located according to the relative angle, the relative distance, and the first position data.

[0093] In this embodiment, after obtaining the relative angle, the relative distance, and the first position data, the reservoir pollution determination device determines the coordinate data where the pollution floating object is located according to the relative angle, the relative distance, and the first position data.

[0094] The calculation formula for the UAV flight altitude is:

[0095] H = Z1 - H1, where H is the UAV flight altitude, Z1 is the altitude in the first coordinate data, and H1 is the reservoir altitude data;

[0096] The calculation formula for the relative distance is:

[0097] L = H * sin(R1 + R2 + R3); where L is the relative distance;

[0098] The calculation formula for the relative angle is R = (R1 + R2), where R is the relative angle.

[0099] After step S50 determines the coordinate data where the pollution floating object is located according to the camera angle data, the first coordinate data, the reservoir altitude data, and the first position data, it may include:

[0100] Step S80: Send the coordinate data where the pollution floating object is located to the UAV management center so that the UAV management center can process the pollution floating objects in the reservoir.

[0101] In this embodiment, after the reservoir pollution determination device determines the coordinate data where the pollution floating object is located, it sends the coordinate data where the pollution floating object is located to the UAV management center so that the UAV management center can process the pollution floating objects in the reservoir.

[0102] For example, when it is necessary to determine the pollution of a reservoir by a drone, the drone is controlled to fly along a predetermined flight route, the reservoir is aerially photographed, the navigation and positioning data of the drone during flight is obtained, the altitude data of the reservoir and the angle of the camera are obtained; then each frame of the video is processed by a water surface background modeling algorithm to obtain a water surface background image; and the water surface background image is compared with each frame of the video data according to the image difference algorithm to obtain a pollution difference image with pollution floating objects in the picture, and then the floating object pixels of the pollutants are determined, and the central position of the floating object with a relatively large pixel is determined. Then, according to the deflection angle of the drone and the rotation angle of the camera in the camera pose data of the drone, the angle data (R1, R2, R3) of the camera relative to the ground is determined. Then, according to the coordinate data of the floating object and the altitude data of the reservoir, the flight altitude of the drone is obtained; then, according to the angle data (R1, R2, R3) of the camera relative to the ground and the flight altitude of the drone, the relative angle and relative distance of the pollution floating object relative to the drone in the horizontal direction are determined. Then, according to the angle, the relative distance and the first position data, the coordinate data where the pollution floating object is located is determined.

[0103] Through the above solution, in this embodiment, the video data of the reservoir aerially photographed by the drone according to the predetermined flight route is obtained, as well as the navigation and positioning data of the drone, the altitude data of the reservoir and the camera pose data; each frame of the video data is processed according to the image difference algorithm to obtain a pollution difference image containing pollution floating objects and the first position data of the pollution floating objects in the pollution difference image; the first coordinate data of the drone at the first shooting time is found in the navigation and positioning data according to the first shooting time of shooting the pollution difference image; according to the camera pose data and the first shooting time of shooting the pollution difference image, the camera angle data corresponding to the first shooting time of shooting the pollution difference image is determined; according to the camera angle data, the first coordinate data, the altitude data of the reservoir and the first position data, the coordinate data where the pollution floating object is located is determined. The efficiency of discovering pollution floating objects on the water body is improved, and it is possible to determine pollution floating objects on a large-area reservoir.

[0104] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of another identical element in the process, method, article or system including that element.

[0105] The serial numbers of the embodiments of the present invention above are only for description and do not represent the superiority or inferiority of the embodiments.

[0106] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to enable a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0107] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present invention.

Claims

1. A method for determining reservoir pollution based on an unmanned aerial vehicle, characterized in that The method includes: Obtaining video data of the reservoir taken by a drone according to a predetermined flight route, as well as obtaining the drone's navigation and positioning data, the reservoir elevation data, and the camera pose data; Processing the frame images in the video data according to the image difference algorithm to obtain a pollution difference image containing pollution floating objects and the first position data of the pollution floating objects in the pollution difference image; Searching for the first coordinate data of the drone at the first shooting time in the navigation and positioning data according to the first shooting time of taking the pollution difference image; Determining the camera angle data corresponding to the first shooting time of taking the pollution difference image according to the camera pose data and the first shooting time of taking the pollution difference image; Determining the coordinate data of the pollution floating objects according to the camera angle data, the first coordinate data, the reservoir elevation data, and the first position data.

2. The method for determining reservoir pollution based on an unmanned aerial vehicle according to claim 1, wherein The step of processing the frame images in the video data according to the image difference algorithm to obtain a pollution difference image containing pollution floating objects and the first position data of the pollution floating objects in the pollution difference image includes: Processing each frame image of the video data based on the water surface background modeling algorithm to obtain a water surface background image; Comparing the water surface background image with each frame image of the video data according to the image difference algorithm to obtain a pollution difference image with pollution floating objects in the picture; Determining the first position data of the pollution floating objects at their locations in the pollution difference image.

3. The method for determining reservoir pollution based on an unmanned aerial vehicle according to claim 2, wherein The step of determining the first position data of the pollution floating objects at their locations in the pollution difference image includes: Determining the floating object pixels of the pollution floating objects according to the pollution difference image; When the floating object pixels are greater than a preset pixel threshold, taking the center of the floating object pixels as the first position data.

4. The method for determining reservoir pollution based on an unmanned aerial vehicle according to claim 1, characterized in that, The camera pose data is the deflection angle of the drone and the rotation angle of the camera. The step of determining the camera angle data of the first shooting time of taking the pollution difference image according to the camera pose data and the first shooting time of taking the pollution difference image includes: Determining the first three-axis directional angle vector of the drone according to the deflection angle of the drone; Determining the second three-axis directional angle vector of the camera relative to the drone according to the rotation angle of the camera; Performing angle vector calculation on the first three-axis directional angle vector and the second three-axis directional angle vector along the three axes of the x-axis, y-axis, and z-axis to obtain the camera angle data; The calculation formula of the camera angle data is: Wherein, X2 is the angular vector of the first three-axis direction angle vector in the X-axis direction, X3 is the angular vector of the second three-axis direction angle vector in the X-axis direction, Y2 is the angular vector of the first three-axis direction angle vector in the Y-axis direction, Y3 is the angular vector of the second three-axis direction angle vector in the Y-axis direction, Z2 is the angular vector of the first three-axis direction angle vector in the Z-axis direction, Z3 is the angular vector of the second three-axis direction angle vector in the Z-axis direction, R1 is the angular vector of the camera angle data in the X-axis direction, R2 is the angular vector of the camera angle data in the Y-axis direction, and R3 is the angular vector of the camera angle data in the Z-axis direction.

5. The method for determining reservoir pollution based on an unmanned aerial vehicle according to claim 4, wherein The step of determining the coordinate data of the pollution floating object according to the camera angle data, the first coordinate data, the reservoir altitude data, and the first position data includes: Obtaining the flight altitude of the UAV according to the first coordinate data and the reservoir altitude data; Obtaining the relative angle and relative distance of the pollution floating object relative to the UAV in the horizontal direction according to the camera angle data and the flight altitude of the UAV; Determining the coordinate data of the pollution floating object according to the relative angle, the relative distance, and the first position data; The calculation formula for the flight altitude of the UAV is: H = Z1 - H1, where H is the flight altitude of the UAV, Z1 is the altitude in the first coordinate data, and H1 is the reservoir altitude data; The calculation formula for the relative distance is: L = H * sin(R1 + R2 + R3); where L is the relative distance; The calculation formula for the relative angle is R = (R1 + R2), and R is the relative angle.

6. The method for determining reservoir pollution based on an unmanned aerial vehicle according to claim 1, wherein Before the step of searching for the first coordinate data of the UAV at the first shooting time in the navigation and positioning data according to the first shooting time of the pollution difference image, it includes: Searching for the time of shooting the pollution difference image in the video data and determining the time of shooting the pollution difference image as the first shooting time.

7. The method for determining reservoir pollution based on an unmanned aerial vehicle according to claim 1, wherein After the step of determining the coordinate data of the pollution floating object according to the camera angle data, the first coordinate data, the reservoir altitude data, and the first position data, it includes: Sending the coordinate data of the pollution floating object to the UAV management center so that the UAV management center can process the pollution floating object in the reservoir.

8. The method for determining reservoir pollution based on an unmanned aerial vehicle according to claim 7, wherein Before the steps of obtaining the video data of the UAV's aerial photography of the reservoir according to the predetermined flight route, and obtaining the navigation and positioning data, reservoir altitude data, and camera pose data of the UAV, it includes: Sending a reservoir altitude acquisition instruction to the UAV management center; Receiving the reservoir altitude data returned by the UAV management center according to the reservoir altitude acquisition instruction.

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