A method, system, device, equipment and medium for detecting bare soil.

Abstract

This application provides a method, system, apparatus, equipment, and medium for bare soil detection, relating to the field of data processing technology. The method includes: obtaining a test model of a region to be tested and obtaining a thermal imaging image of the region to be tested. The test model is a three-dimensional model created using point cloud data of the region to be tested collected by lidar. The method uses the obtained thermal imaging image to determine temperature information at different points in the test model. Based on the temperature information at different points, the method determines the bare soil coverage area from the test model. The method counts the number of points in the bare soil coverage area and determines the bare soil coverage rate of the region to be tested based on the counted number of points and the total number of points in the test model. Applying the solution provided in this application can improve the accuracy of bare soil detection.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and in particular to a method, system, device, equipment and medium for detecting bare soil. Background Technology

[0002] At construction sites, to reduce environmental damage caused by dust, it is usually required to cover bare soil using dust nets, dustproof cloths, vegetation, etc. To obtain the bare soil coverage status, it is necessary to measure the ratio of the area of ​​covered bare soil to the total area of ​​bare soil at the construction site, thus obtaining the bare soil coverage rate.

[0003] In related technologies, to detect the bare soil coverage rate, cameras are usually used to collect images of the areas of the construction site that need to be covered with bare soil. Then, the collected images are processed into grids to identify whether the image content in each grid is covered bare soil. Finally, the proportion of grids containing covered bare soil is calculated as the bare soil coverage rate.

[0004] While the above method can obtain the bare soil coverage rate, it is difficult to ensure that the camera is pointing vertically at the ground when using a camera to acquire images of the area that needs to be covered with bare soil. This can easily lead to different ground areas corresponding to different grids in the obtained images. Consequently, when calculating the bare soil coverage rate directly based on the number of grids, the accuracy of the calculated bare soil coverage rate is likely to be low. Summary of the Invention

[0005] The purpose of this application is to provide a method, system, device, equipment, and medium for detecting bare soil, so as to improve the accuracy of bare soil detection. The specific technical solution is as follows:

[0006] In a first aspect, embodiments of this application provide a method for detecting bare soil, the method comprising:

[0007] A test model of the test area is obtained, and a thermal imaging image of the test area is obtained. The test model is a three-dimensional model created using point cloud data of the test area collected by lidar.

[0008] The temperature information at different points in the model under test is determined using the obtained thermal imaging images;

[0009] Based on the temperature information at different locations, the bare soil coverage area is determined from the model to be tested;

[0010] The number of data points in the bare soil covered area is counted, and the bare soil coverage rate of the area to be tested is determined based on the counted number of data points and the total number of data points in the model to be tested.

[0011] In one embodiment of this application, determining the bare soil coverage area from the model to be tested based on temperature information at different locations includes:

[0012] Based on the temperature information at different locations, the boundary points between covered and uncovered bare soil are determined from the model to be tested.

[0013] The closed area enclosed by each boundary point is defined as the bare soil coverage area;

[0014] or

[0015] Find the points in the model to be tested whose temperature information is within the preset target temperature range, and determine the area where the found points are located as the bare soil coverage area.

[0016] In one embodiment of this application, determining the boundary point between covered bare soil and uncovered bare soil from the model to be tested based on temperature information at different locations includes:

[0017] Based on the temperature information at different locations, the starting boundary point between covered bare soil and uncovered bare soil is determined from the model to be tested;

[0018] Temperature boundary points are determined from the points adjacent to the starting boundary point, wherein the temperature boundary point is a point whose temperature information difference with the starting boundary point is less than a preset temperature difference value.

[0019] The starting boundary point is updated to the temperature boundary point, and the process returns to the step of determining the temperature boundary point from the points adjacent to the starting boundary point, until a preset termination condition is met. The termination condition includes at least one of the following conditions: there is no temperature boundary point among the points adjacent to the starting boundary point, or the same point is repeatedly determined as a temperature boundary point.

[0020] or

[0021] For each point, calculate the difference in temperature information between that point and its adjacent points;

[0022] The points whose differences are greater than a preset difference threshold are identified from each point and used as the boundary points between covered bare soil and uncovered bare soil.

[0023] In one embodiment of this application, determining the closed area enclosed by each boundary point as the bare soil coverage area includes:

[0024] Determine the closed area enclosed by each boundary point. When the number of determined closed areas is greater than or equal to 2, remove the overlapping areas from the determined closed areas to obtain the bare soil covered area.

[0025] In one embodiment of this application, the temperature information includes temperature or color;

[0026] The step of determining the bare soil coverage area from the model under test based on temperature information at different locations includes:

[0027] Based on the temperature and location information of different points, clustering is performed on points in the model under test that have similar temperature information and similar location information to obtain multiple clustering results;

[0028] From the multiple clustering results obtained, select the clustering results whose temperature information of the included points is within the preset target temperature range, and use them as the bare soil coverage area;

[0029] or

[0030] Based on the temperature information at different locations, the target locations whose temperature information falls within the target temperature range are found from the model under test;

[0031] Based on the temperature and location information of different target points, target points in the model under test with similar temperature information and similar location information are clustered to obtain multiple clustering results, which are used as bare soil coverage areas.

[0032] Secondly, embodiments of this application provide a bare soil detection device, the device comprising:

[0033] The data acquisition module is used to acquire the model to be tested of the area to be tested and to acquire the thermal imaging image of the area to be tested. The model to be tested is a three-dimensional model created using point cloud data of the area to be tested collected by lidar.

[0034] The model creation module is used to determine the temperature information at different points in the model under test using the obtained thermal imaging images;

[0035] The area determination module is used to determine the bare soil coverage area from the model under test based on the temperature information at different points;

[0036] The bare soil detection module is used to count the number of points in the bare soil covered area, and to determine the bare soil coverage rate of the area to be tested based on the counted number of points and the total number of points in the model to be tested.

[0037] In one embodiment of this application, the region determination module includes:

[0038] The boundary point determination unit is used to determine the boundary points between covered bare soil and uncovered bare soil from the model under test based on the temperature information at different points.

[0039] The region determination unit is used to determine the closed area enclosed by each boundary point, which serves as the bare soil coverage area.

[0040] or

[0041] The range determination unit is used to find points in the model under test whose temperature information is within a preset target temperature range, and to determine the area where the found points are located as the bare soil coverage area.

[0042] In one embodiment of this application, the boundary point determination unit is specifically used for:

[0043] Based on the temperature information at different locations, the starting boundary point between covered bare soil and uncovered bare soil is determined from the model to be tested;

[0044] Temperature boundary points are determined from the points adjacent to the starting boundary point, wherein the temperature boundary point is a point whose temperature information difference with the starting boundary point is less than a preset temperature difference value.

[0045] The starting boundary point is updated to the temperature boundary point, and the process returns to the step of determining the temperature boundary point from the points adjacent to the starting boundary point, until a preset termination condition is met. The termination condition includes at least one of the following conditions: there is no temperature boundary point among the points adjacent to the starting boundary point, or the same point is repeatedly determined as a temperature boundary point.

[0046] or

[0047] For each point, calculate the difference in temperature information between that point and its adjacent points;

[0048] The points whose differences are greater than a preset difference threshold are identified from each point and used as the boundary points between covered bare soil and uncovered bare soil.

[0049] In one embodiment of this application, the region determination unit is specifically used for:

[0050] Determine the closed area enclosed by each boundary point. When the number of determined closed areas is greater than or equal to 2, remove the overlapping areas from the determined closed areas to obtain the bare soil covered area.

[0051] In one embodiment of this application, the temperature information includes temperature or color;

[0052] The region determination module is specifically used for:

[0053] Based on the temperature and location information of different points, clustering is performed on points in the model under test that have similar temperature information and similar location information to obtain multiple clustering results;

[0054] From the multiple clustering results obtained, the clustering results in which the temperature information of the points contained are within the preset target temperature range are selected as the bare soil coverage area;

[0055] or

[0056] Based on the temperature information at different locations, the target locations whose temperature information falls within the target temperature range are found from the model under test;

[0057] Based on the temperature and location information of different target points, target points in the model under test with similar temperature information and similar location information are clustered to obtain multiple clustering results, which are used as bare soil coverage areas.

[0058] Thirdly, embodiments of this application provide an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0059] Memory, used to store computer programs;

[0060] When a processor executes a program stored in memory, it implements any of the steps described in the first aspect.

[0061] Fourthly, embodiments of this application provide a bare soil detection system, the system including a lidar, a thermal imaging camera, and electronic equipment as described in the third aspect, wherein:

[0062] The lidar is used to collect point cloud data of the area to be measured and send the collected point cloud data or the model to be measured to the electronic device. The model to be measured is a three-dimensional model created using the point cloud data of the area to be measured.

[0063] The thermal imaging camera is used to acquire thermal images of the area to be measured and to send the acquired thermal images to the electronic device.

[0064] Fifthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of any of the methods described in the first aspect.

[0065] This application also provides a computer program product containing instructions that, when run on a computer, cause the computer to execute any of the bare soil detection methods described above.

[0066] Beneficial effects of the embodiments in this application:

[0067] The bare soil detection scheme provided in this application provides a test model of the area to be tested and a thermal imaging image of the area. The test model is a three-dimensional model created using point cloud data of the area collected by lidar. Temperature information at different points in the test model is determined using the obtained thermal imaging image. Based on the temperature information at different points, the bare soil coverage area is determined from the test model. The number of points in the bare soil coverage area is counted, and the bare soil coverage rate of the area is determined based on the counted number of points and the total number of points in the test model. This allows for the acquisition of a three-dimensional model of the area to be tested based on point cloud data and temperature information. The obtained model accurately reflects the terrain and temperature information of each point in the area. Since there is a temperature difference between covered and uncovered bare soil, the bare soil coverage area can be determined from the obtained model based on the temperature information at different points in the test model. Furthermore, the bare soil coverage rate can be calculated based on the number of points in the bare soil coverage area and the total number of points in the test model. Therefore, the scheme provided in this application can improve the accuracy of bare soil detection. Attached Figure Description

[0068] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0069] Figure 1 A schematic flowchart illustrating a method for detecting bare soil provided in an embodiment of this application;

[0070] Figure 2 A schematic diagram of a test model provided in an embodiment of this application;

[0071] Figure 3 A schematic diagram of a drone provided as an embodiment of this application;

[0072] Figure 4 A schematic diagram of covered bare soil provided for an embodiment of this application;

[0073] Figure 5 A flowchart illustrating a boundary point determination method provided in an embodiment of this application;

[0074] Figure 6 This is a schematic diagram of a bare soil covering area provided in an embodiment of this application;

[0075] Figure 7 This is a schematic diagram of the structure of a bare soil detection system provided in an embodiment of this application;

[0076] Figure 8 This is a schematic diagram of the structure of a bare soil detection device provided in an embodiment of this application;

[0077] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0078] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0079] To improve the accuracy of bare soil detection, this application provides a method, system, device, equipment, and medium for bare soil detection, which will be described in detail below.

[0080] This application provides a method for detecting bare soil, which can be applied to electronic devices such as computers, servers, and bare soil detection platforms. The method includes:

[0081] A test model of the test area is obtained, and a thermal imaging image of the test area is obtained. The test model is a three-dimensional model created using point cloud data of the test area collected by lidar.

[0082] The temperature information at different points in the model under test is determined using the obtained thermal imaging images;

[0083] Based on the temperature information at different locations, the bare soil coverage area is determined from the model to be tested;

[0084] The number of data points in the bare soil covered area is counted. Based on the counted number of data points and the total number of data points in the model to be tested, the bare soil coverage rate of the area to be tested is determined.

[0085] This approach allows for the creation of a 3D model of the area to be measured based on point cloud data and temperature information. This model accurately reflects the terrain and temperature information at various points within the measured area. Since there is a temperature difference between covered and uncovered bare soil, the bare soil coverage area can be determined from the model based on the temperature information at different points. Furthermore, the bare soil coverage rate can be calculated based on the number of points in the covered area and the total number of points in the model. Therefore, the solution provided in the above embodiment can improve the accuracy of bare soil detection.

[0086] The above-mentioned methods for detecting bare soil are described in detail below.

[0087] See Figure 1 , Figure 1 This is a flowchart illustrating a method for detecting bare soil provided in an embodiment of this application. The method includes the following steps S101-S104:

[0088] S101, obtain the test model of the test area and obtain the thermal imaging image of the test area.

[0089] The model to be tested is a three-dimensional model created using point cloud data of the area to be tested collected by lidar.

[0090] The areas to be tested can be construction sites, green areas, farms, etc.

[0091] Specifically, point cloud data of the area to be measured can be collected using lidar. LiDAR can emit laser beams to detect information such as the position and velocity of the area. Specifically, a laser beam can be emitted towards the area as detection information, and the echo signal reflected back from the area can be received. By comparing the echo signal with the detection signal, information such as the azimuth, height, distance relative to the lidar, velocity, attitude, and shape of the area can be obtained. This point cloud data reflects the terrain information of the area. Subsequently, a 3D model can be obtained based on the above point cloud data, which serves as the model to be measured. (See [link to relevant documentation]). Figure 2 , Figure 2 This is a schematic diagram of a test model provided in an embodiment of this application. The test model can reflect the terrain information of the test area. A thermal imaging camera is used to perform photosensitive imaging of the infrared rays emitted by objects in the test area to obtain a thermal imaging image of the test area, which can reflect the temperature information of the test area.

[0092] In one embodiment of this application, the model to be tested transmitted by the lidar can be obtained directly.

[0093] Specifically, after acquiring point cloud data of the area to be measured, the lidar can create a 3D model based on the point cloud data and send the 3D model to the electronic device. The electronic device receives the 3D model as the model of the area to be measured.

[0094] In addition, electronic devices can also receive point cloud data sent by lidar, and use the received point cloud data to perform 3D modeling, thereby obtaining a 3D model of the area to be measured, which serves as the model to be measured.

[0095] In one embodiment of this application, multiple lidar and thermal imaging cameras can be deployed in the area to be tested. Different lidar and thermal imaging cameras are used to collect point cloud data and thermal imaging images of different areas in the area to be tested. The point cloud data collected by the different lidars are fused to obtain complete point cloud data of the area to be tested. The thermal imaging images collected by the different thermal imaging cameras are fused to obtain complete temperature information of the area to be tested. Alternatively, the temperature information of different areas can be obtained by using thermal imaging images collected by different thermal imaging cameras, and then the temperature information of different areas can be fused to obtain complete temperature information of the area to be tested.

[0096] In one embodiment of this application, the aforementioned lidar and thermal imaging camera can also be deployed on a drone. The drone can fly over the area to be tested. During the flight, the lidar and thermal imaging camera can collect point cloud data and thermal images of different areas in the area to be tested, thereby obtaining point cloud data and temperature information of different areas. Finally, complete point cloud data and temperature information of the area to be tested can be obtained.

[0097] See Figure 3 , Figure 3 This is a schematic diagram of a drone provided in an embodiment of this application. The drone has a gimbal deployed under its main body. The gimbal can be used to install a lidar and a thermal imaging camera. The gimbal supports up-and-down movement and left-and-right rotation, thereby driving the lidar and thermal imaging camera to move up-and-down and rotate left-and-right, facilitating the lidar and thermal imaging camera to collect data on the area to be measured on the ground.

[0098] S102, use the obtained thermal imaging images to determine the temperature information at different points in the model under test.

[0099] Specifically, the obtained thermal imaging images can reflect the temperature information at different locations in the area under test. By utilizing the correspondence between different locations and different points in the model under test, the temperature information at different locations can be mapped to different points in the model under test, thereby obtaining the temperature information at different points in the model under test.

[0100] S103, based on the temperature information at different locations, determine the bare soil coverage area from the model to be tested.

[0101] Specifically, uncovered bare soil emits different intensities of infrared radiation than covered bare soil, resulting in different temperature characteristics between the two types of soil. See also Figure 4 , Figure 4 This is a schematic diagram of covered bare soil provided in an embodiment of this application. Figure 4In a model where bare soil is covered by dust-proof netting, there is a temperature difference between the covered and uncovered areas. Therefore, based on the temperature information at different points in the model, the area containing the covered bare soil can be determined, thus identifying the bare soil coverage area.

[0102] In one embodiment of this application, points whose temperature information falls within a preset target temperature range can be found in the model to be tested, and the area where the found points are located can be determined as the bare soil coverage area.

[0103] The aforementioned target temperature range refers to the range of temperature information of the covered bare soil. This target temperature range can be preset manually or obtained through actual on-site measurement; this embodiment does not limit the specific values.

[0104] S104, count the number of points in the bare soil covered area, and determine the bare soil coverage rate of the area to be tested based on the counted number of points and the total number of points in the model to be tested.

[0105] Specifically, after determining the bare soil coverage area, the number of points in the bare soil coverage area of ​​the model to be tested can be counted, and the total number of points in the entire area to be tested can be counted as the total number of points. Then, based on the counted number of points and the total number of points in the model to be tested, the bare soil coverage rate of the area to be tested can be determined.

[0106] In one embodiment of this application, when determining the bare soil coverage rate, the ratio of the number of points in the bare soil covered area to the total number of points can be calculated as the bare soil coverage rate. Alternatively, the product of the ratio and a preset error coefficient can be calculated as the bare soil coverage rate, where the error coefficient can be 0.8, 0.9, 1.25, etc.

[0107] In one embodiment of this application, a prompt message can be generated if the obtained bare soil coverage rate is lower than the preset required coverage rate.

[0108] Specifically, to prevent environmental pollution caused by uncovered bare soil, it is usually required that the ratio of the area of ​​covered bare soil to the total area reaches a required coverage rate. The required coverage rate can be 99%, 95%, etc. If the bare soil coverage rate calculated in step S104 does not reach the required coverage rate, a prompt message can be generated to prompt staff to carry out supervision and handling.

[0109] In one embodiment of this application, the above-mentioned prompt information may carry the location information of the uncovered area where the uncovered bare soil is located.

[0110] Specifically, when the bare soil coverage rate does not meet the required coverage rate, the area in the model to be tested other than the bare soil covered area can be identified as the uncovered area. Based on the location of the uncovered area in the model to be tested, the location information of the uncovered area in the actual area to be tested can be determined. Then, a prompt message carrying the location information is generated so that the staff can understand the location of the uncovered bare soil based on the prompt message, which facilitates the treatment of the uncovered bare soil.

[0111] The bare soil detection scheme provided in the above embodiments can obtain a test model of the area to be tested and obtain a thermal imaging image of the area to be tested. The test model is a three-dimensional model created using point cloud data of the area to be tested collected by lidar. The temperature information of different points in the test model is determined using the obtained thermal imaging image. Based on the temperature information of different points, the bare soil coverage area is determined from the test model. The number of points in the bare soil coverage area is counted, and the bare soil coverage rate of the area to be tested is determined based on the counted number of points and the total number of points in the test model. This allows for the acquisition of a three-dimensional model of the area to be tested based on point cloud data and temperature information. As the test model, the obtained model accurately reflects the topography of the area to be tested and the temperature information of each point. Since there is a temperature difference between covered and uncovered bare soil, the bare soil coverage area can be determined from the obtained model based on the temperature information of different points in the test model. Furthermore, the bare soil coverage rate can be calculated based on the number of points in the bare soil coverage area and the total number of points in the test model. Therefore, it is evident that applying the scheme provided in the above embodiments can improve the accuracy of bare soil detection.

[0112] In one embodiment of this application, when determining the bare soil coverage area in step S103 above, the following can be done:

[0113] Based on the temperature information at different locations, the boundary points between covered and uncovered bare soil are determined from the model to be tested; the closed area enclosed by each boundary point is determined as the bare soil coverage area.

[0114] Specifically, there is a significant difference in temperature information between covered and uncovered bare soil. Therefore, based on the temperature information at different locations, the boundary points between covered and uncovered bare soil can be determined from the model under test. Then, the closed area enclosed by each boundary point can be determined, and this closed area can be taken as the bare soil coverage area.

[0115] In one embodiment of this application, for each point, the temperature difference between that point and adjacent points can be calculated. Points with a temperature difference greater than a preset difference threshold are then identified as boundary points between covered and uncovered bare soil. This difference threshold can be set manually or obtained through actual measurement.

[0116] See Figure 5 , Figure 5 This application provides a flowchart illustrating a boundary point determination method, which includes the following steps S501-S503:

[0117] S501, based on the temperature information at different locations, determine the starting boundary point between covered bare soil and uncovered bare soil from the model to be tested.

[0118] Specifically, the difference in temperature information between each point and its adjacent points can be calculated, and the point with the difference greater than a preset difference threshold can be determined as the starting boundary point; or the point with the largest difference can be determined as the starting boundary point; in addition, the point selected by the staff through an external input device can also be received as the starting boundary point, etc., but this application embodiment does not limit this.

[0119] S502, determine the temperature boundary point from the points adjacent to the starting boundary point.

[0120] Among them, the temperature boundary point is: the point where the temperature information difference between the boundary point and the starting boundary point is less than the preset temperature difference value. The above temperature boundary point can be understood as: the boundary point between the area covered by bare soil and the area not covered by bare soil in the model to be tested.

[0121] Specifically, the points adjacent to the starting boundary point can be determined. Then, the temperature difference between each adjacent point and the starting boundary point can be calculated. Points whose temperature difference is less than a preset temperature difference value can be identified as temperature boundary points. For example, assuming the starting boundary point is point A, there are 6 points adjacent to point A. The temperature difference between each of these 6 points and point A can be calculated, and the points whose temperature difference is less than the preset temperature difference value can be identified as temperature boundary points.

[0122] In one embodiment of this application, if there are multiple points whose temperature information difference with the starting boundary point is less than the temperature difference value, all of the above points can be used as temperature boundary points, or the point with the smallest difference can be selected as the temperature boundary point. This application does not limit this.

[0123] S503, update the starting boundary point to the temperature boundary point, return to step S502, until the preset termination condition is met.

[0124] The termination condition includes at least one of the following conditions: there is no temperature boundary point among the points adjacent to the starting boundary point, or the same point is repeatedly determined as a temperature boundary point.

[0125] Specifically, the starting boundary point can be updated to the temperature boundary point determined in step S502, and then step S502 can be re-executed to determine a new temperature boundary point. The starting boundary point and temperature boundary point can both be understood as the boundary point between the area covered by bare soil and the area not covered by bare soil in the model to be tested. When the above termination condition is not met, steps S502 and S503 can be executed repeatedly until there are no points adjacent to the starting boundary point whose temperature information difference with the starting boundary point is less than the preset temperature difference value, or until the temperature boundary point previously determined has been determined as a temperature boundary point. This indicates that the same point has been repeatedly determined as a temperature boundary point. At this time, the above loop process can be terminated, and the closed area enclosed by the determined starting boundary point and temperature boundary point is taken as the bare soil coverage area where the bare soil is located.

[0126] In one embodiment of this application, when determining the bare soil coverage area, the closed area enclosed by each boundary point can be determined. When the number of determined closed areas is greater than or equal to 2, the overlapping areas are removed from the determined closed areas to obtain the bare soil coverage area.

[0127] Specifically, after obtaining the closed areas enclosed by each boundary point, if the number of determined closed areas is greater than or equal to 2, then overlapping closed areas can be identified from these areas. The overlapping areas are then removed, and the area remaining after removing the overlapping areas is considered the bare soil covered area. See also... Figure 6 , Figure 6 This is a schematic diagram of a bare soil covering area provided in an embodiment of this application. Figure 6 There is an overlapping area between the elliptical closed region 1 and the circular closed region 2. This overlapping area can be removed to obtain the shaded area, which can then be used as the bare soil coverage area. This process removes uncovered bare soil areas within the resulting closed regions, improving the accuracy of the obtained bare soil coverage area.

[0128] In one embodiment of this application, the temperature information may include temperature or color. In step S103 above, when determining the bare soil coverage area from the model to be tested, points in the model to be tested with similar temperature information and similar location information can be clustered according to the temperature information and location information of different points to obtain multiple clustering results. From the multiple clustering results obtained, the clustering result in which the temperature information of the included points is within the preset target temperature range is selected as the bare soil coverage area.

[0129] Among them, when selecting the clustering results that represent the covered bare soil, the clustering results selected by the staff through an external input device can be received as the clustering results that represent the covered bare soil;

[0130] Alternatively, clustering results that meet preset conditions can be selected as the clustering results representing the covered bare soil. The preset conditions may be: the mathematical statistical value of the temperature information of the included points is within the target temperature range, and the mathematical statistical value may be the mean, median, etc.

[0131] The above-mentioned preset condition may also be: the number of points within the target temperature range among the included points reaches a preset number, such as 2000, 5000, etc.

[0132] The above-mentioned preset condition can also be: for each cluster result, the ratio of the number of points within the target temperature range to the total number of points reaches a preset ratio, such as 70%, 85%, etc.

[0133] Specifically, points in the model under test with similar temperature and location information can be clustered together to obtain multiple clustering results. Then, from these multiple clustering results, the clustering results where the temperature information of the included points falls within a preset target temperature range can be selected as the bare soil coverage area. For example, if the temperature information is temperature, points in the model under test with similar temperature and location information can be clustered together to obtain multiple clustering results. Then, from these multiple clustering results, the clustering results where the temperature of the included points falls within a preset target temperature range can be selected as the bare soil coverage area. Similarly, if the temperature information is color, points in the model under test with similar color and location information can be clustered together to obtain multiple clustering results. Then, from these multiple clustering results, the clustering results where the color of the included points falls within a preset target color saturation range can be selected as the bare soil coverage area.

[0134] In addition, based on the temperature information of different points, target points whose temperature information falls within the target temperature range can be found in the model to be tested; based on the temperature and location information of different target points, target points in the model to be tested with similar temperature information and similar location information can be clustered to obtain multiple clustering results, which can be used as bare soil coverage areas.

[0135] Specifically, we can first find the points in the model to be tested whose temperature information meets the above target temperature range and use them as target points. Then, according to the temperature information and location information of different target points, we can group the target points with similar temperature information and similar location information into one class, and take the area where each clustering result is located as the bare soil coverage area.

[0136] In one embodiment of this application, based on a preset color correspondence between temperature and color, different points in the model to be tested are colored according to the temperature information of different points; and the bare soil coverage area is determined from the model to be tested according to the color of different points.

[0137] The color correspondence mentioned above refers to the relationship between different temperatures and colors. For example, the color corresponding to 15-20℃ can be yellow, the color corresponding to 10-25℃ can be brown, and the color corresponding to 5-10℃ can be blue, etc.

[0138] Specifically, after obtaining the temperature information of different points in the model to be tested, different points can be colored according to a preset color correspondence. Subsequently, the bare soil coverage area can be determined from the model to be tested based on the color of different points. For example, points of different colors can be clustered, and points with similar colors can be grouped into one class. Then, points belonging to a preset color can be determined from the above clustering results as points of bare soil coverage area. The preset color is a pre-defined color that represents the covered bare soil. Alternatively, points belonging to the above preset color can be found, and the closed area enclosed by the searched points can be determined as the bare soil coverage area, etc.

[0139] The bare soil detection scheme provided in the above embodiments can obtain a test model of the area to be tested and obtain a thermal imaging image of the area to be tested. The test model is a three-dimensional model created using point cloud data of the area to be tested collected by lidar. The temperature information of different points in the test model is determined using the obtained thermal imaging image. Based on the temperature information of different points, the bare soil coverage area is determined from the test model. The number of points in the bare soil coverage area is counted, and the bare soil coverage rate of the area to be tested is determined based on the counted number of points and the total number of points in the test model. This allows for the acquisition of a three-dimensional model of the area to be tested based on point cloud data and temperature information. As the test model, the obtained model accurately reflects the topography of the area to be tested and the temperature information of each point. Since there is a temperature difference between covered and uncovered bare soil, the bare soil coverage area can be determined from the obtained model based on the temperature information of different points in the test model. Furthermore, the bare soil coverage rate can be calculated based on the number of points in the bare soil coverage area and the total number of points in the test model. Therefore, it is evident that applying the scheme provided in the above embodiments can improve the accuracy of bare soil detection.

[0140] Corresponding to the above-mentioned bare soil detection method, this application also provides a bare soil detection system, which will be described in detail below.

[0141] See Figure 7 , Figure 7 This is a schematic diagram of a bare soil detection system provided in an embodiment of this application. The system includes a lidar 701, a thermal imaging camera 702, and an electronic device 703. The electronic device is used to execute the bare soil detection method described above, wherein:

[0142] The lidar 701 is used to collect point cloud data of the area to be measured and send the collected point cloud data or the model to be measured to the electronic device 703. The model to be measured is a three-dimensional model created using the point cloud data of the area to be measured.

[0143] The thermal imaging camera 702 is used to acquire thermal imaging images of the area to be measured and to send the acquired thermal imaging images to the electronic device 703.

[0144] In one embodiment of this application, the system further includes a drone, wherein:

[0145] The drone is used to carry lidar and thermal imaging cameras to detect along the area to be measured.

[0146] Specifically, the drone can fly along a preset path carrying a lidar and a thermal imaging camera, or it can fly according to the control instructions of the staff, so that the lidar and thermal imaging camera can collect point cloud data and thermal images of the area to be tested during the flight.

[0147] In one embodiment of this application, a drone carrying a lidar and a thermal imaging camera can be controlled to detect along the area to be tested according to a preset detection cycle. The preset cycle can be three days, one day, 12 hours, etc. Alternatively, when bare soil detection is required, the drone can be manually controlled to carry a lidar and a thermal imaging camera to detect along the area to be tested.

[0148] Corresponding to the above-mentioned bare soil detection method, this application also provides a bare soil detection device, which will be described in detail below.

[0149] See Figure 8 , Figure 8 This is a schematic diagram of a bare soil detection device provided in an embodiment of this application. The device includes:

[0150] The data acquisition module 801 is used to acquire the model to be tested of the area to be tested and to acquire the thermal imaging image of the area to be tested. The model to be tested is a three-dimensional model created using point cloud data of the area to be tested collected by lidar.

[0151] The model creation module 802 is used to determine the temperature information at different points in the model under test using the obtained thermal imaging images;

[0152] The area determination module 803 is used to determine the bare soil coverage area from the model to be tested based on the temperature information at different points.

[0153] The bare soil detection module 804 is used to count the number of points in the bare soil covered area and determine the bare soil coverage rate of the area to be tested based on the counted number of points and the total number of points in the model to be tested.

[0154] In one embodiment of this application, the region determination module 803 includes:

[0155] The boundary point determination unit is used to determine the boundary points between covered bare soil and uncovered bare soil from the model under test based on the temperature information at different points.

[0156] The region determination unit is used to determine the closed area enclosed by each boundary point, which serves as the bare soil coverage area.

[0157] or

[0158] The range determination unit is used to find points in the model under test whose temperature information is within a preset target temperature range, and to determine the area where the found points are located as the bare soil coverage area.

[0159] In one embodiment of this application, the boundary point determination unit is specifically used for:

[0160] Based on the temperature information at different locations, the starting boundary point between covered bare soil and uncovered bare soil is determined from the model to be tested;

[0161] Temperature boundary points are determined from the points adjacent to the starting boundary point, wherein the temperature boundary point is a point whose temperature information difference with the starting boundary point is less than a preset temperature difference value.

[0162] The starting boundary point is updated to the temperature boundary point, and the process returns to the step of determining the temperature boundary point from the points adjacent to the starting boundary point, until a preset termination condition is met. The termination condition includes at least one of the following conditions: there is no temperature boundary point among the points adjacent to the starting boundary point, or the same point is repeatedly determined as a temperature boundary point.

[0163] or

[0164] For each point, calculate the difference in temperature information between that point and its adjacent points;

[0165] The points whose differences are greater than a preset difference threshold are identified from each point and used as the boundary points between covered bare soil and uncovered bare soil.

[0166] In one embodiment of this application, the region determination unit is specifically used for:

[0167] Determine the closed area enclosed by each boundary point. When the number of determined closed areas is greater than or equal to 2, remove the overlapping areas from the determined closed areas to obtain the bare soil covered area.

[0168] In one embodiment of this application, the temperature information includes temperature or color;

[0169] The region determination module 803 is specifically used for:

[0170] Based on the temperature and location information of different points, clustering is performed on points in the model under test that have similar temperature information and similar location information to obtain multiple clustering results;

[0171] From the multiple clustering results obtained, select the clustering results whose temperature information of the included points is within the preset target temperature range, and use them as the bare soil coverage area;

[0172] or

[0173] Based on the temperature information at different locations, the target locations whose temperature information falls within the target temperature range are found from the model under test;

[0174] Based on the temperature and location information of different target points, target points in the model under test with similar temperature information and similar location information are clustered to obtain multiple clustering results, which are used as bare soil coverage areas.

[0175] The bare soil detection scheme provided in the above embodiments can obtain a test model of the area to be tested and obtain a thermal imaging image of the area to be tested. The test model is a three-dimensional model created using point cloud data of the area to be tested collected by lidar. The temperature information of different points in the test model is determined using the obtained thermal imaging image. Based on the temperature information of different points, the bare soil coverage area is determined from the test model. The number of points in the bare soil coverage area is counted, and the bare soil coverage rate of the area to be tested is determined based on the counted number of points and the total number of points in the test model. This allows for the acquisition of a three-dimensional model of the area to be tested based on point cloud data and temperature information. As the test model, the obtained model accurately reflects the topography of the area to be tested and the temperature information of each point. Since there is a temperature difference between covered and uncovered bare soil, the bare soil coverage area can be determined from the obtained model based on the temperature information of different points in the test model. Furthermore, the bare soil coverage rate can be calculated based on the number of points in the bare soil coverage area and the total number of points in the test model. Therefore, it is evident that applying the scheme provided in the above embodiments can improve the accuracy of bare soil detection.

[0176] This application also provides an electronic device, such as... Figure 9 As shown, it includes a processor 901, a communication interface 902, a memory 903, and a communication bus 904, wherein the processor 901, the communication interface 902, and the memory 903 communicate with each other through the communication bus 904.

[0177] Memory 903 is used to store computer programs;

[0178] The processor 901 is used to execute the program stored in the memory 903 to implement the above-mentioned bare soil detection method steps.

[0179] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0180] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0181] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0182] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0183] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described bare soil detection methods.

[0184] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the bare soil detection methods described above.

[0185] The bare soil detection scheme provided in the above embodiments can obtain a test model of the area to be tested and obtain a thermal imaging image of the area to be tested. The test model is a three-dimensional model created using point cloud data of the area to be tested collected by lidar. The temperature information of different points in the test model is determined using the obtained thermal imaging image. Based on the temperature information of different points, the bare soil coverage area is determined from the test model. The number of points in the bare soil coverage area is counted, and the bare soil coverage rate of the area to be tested is determined based on the counted number of points and the total number of points in the test model. This allows for the acquisition of a three-dimensional model of the area to be tested based on point cloud data and temperature information. As the test model, the obtained model accurately reflects the topography of the area to be tested and the temperature information of each point. Since there is a temperature difference between covered and uncovered bare soil, the bare soil coverage area can be determined from the obtained model based on the temperature information of different points in the test model. Furthermore, the bare soil coverage rate can be calculated based on the number of points in the bare soil coverage area and the total number of points in the test model. Therefore, it is evident that applying the scheme provided in the above embodiments can improve the accuracy of bare soil detection.

[0186] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0187] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0188] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments, device embodiments, electronic device embodiments, computer-readable storage medium embodiments, and computer program product embodiments are basically similar to the method embodiments, and therefore the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0189] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A method for detecting bare soil, characterized in that, The method includes: A test model of the test area is obtained, and a thermal imaging image of the test area is obtained. The test model is a three-dimensional model created using point cloud data of the test area collected by lidar. The temperature information at different points in the model under test is determined using the obtained thermal imaging images; the temperature information of uncovered bare soil is different from that of covered bare soil. Based on the temperature information at different locations, the bare soil coverage area is determined from the model to be tested; The number of data points in the bare soil covered area is counted, and the bare soil coverage rate of the area to be tested is determined based on the counted number of data points and the total number of data points in the model to be tested. The step of determining the temperature information at different points in the model under test using the obtained thermal imaging image includes: The obtained thermal imaging images reflect the temperature information at different locations in the area to be tested. By utilizing the correspondence between different locations and different points in the model to be tested, the temperature information at different locations is mapped to different points in the model to be tested, thereby obtaining the temperature information at different points in the model to be tested. The step of determining the bare soil coverage area from the model under test based on temperature information at different locations includes: Based on the temperature information at different locations, the boundary points between covered and uncovered bare soil are determined from the model to be tested; the closed area enclosed by each boundary point is determined as the bare soil coverage area. Alternatively, find the points in the model to be tested where the temperature information is within the preset target temperature range, and determine the area where the found points are located as the bare soil coverage area. Alternatively, based on the temperature and location information of different points, cluster the points in the model under test that have similar temperature information and similar location information to obtain multiple clustering results; from the multiple clustering results obtained, select the clustering result in which the temperature information of the included points is within the preset target temperature range as the bare soil coverage area. Alternatively, based on the temperature information at different locations, target locations whose temperature information falls within the target temperature range are found in the model to be tested; based on the temperature and location information of different target locations, target locations in the model to be tested with similar temperature information and similar location information are clustered to obtain multiple clustering results, which are used as bare soil coverage areas.

2. The method according to claim 1, characterized in that, The step of determining the boundary points between covered and uncovered bare soil from the model under test based on temperature information at different locations includes: Based on the temperature information at different locations, the starting boundary point between covered bare soil and uncovered bare soil is determined from the model to be tested; Temperature boundary points are determined from the points adjacent to the starting boundary point, wherein the temperature boundary point is a point whose temperature information difference with the starting boundary point is less than a preset temperature difference value. The starting boundary point is updated to the temperature boundary point, and the process returns to the step of determining the temperature boundary point from the points adjacent to the starting boundary point, until a preset termination condition is met. The termination condition includes at least one of the following conditions: there is no temperature boundary point among the points adjacent to the starting boundary point, or the same point is repeatedly determined as a temperature boundary point. or For each point, calculate the difference in temperature information between that point and its adjacent points; The points whose differences are greater than a preset difference threshold are identified from each point and used as the boundary points between covered bare soil and uncovered bare soil.

3. The method according to claim 1, characterized in that, The determination of the enclosed area bounded by each boundary point as the bare soil coverage area includes: Determine the closed area enclosed by each boundary point. When the number of determined closed areas is greater than or equal to 2, remove the overlapping areas from the determined closed areas to obtain the bare soil covered area.

4. A bare soil detection device, characterized in that, The device includes: The data acquisition module is used to acquire the model to be tested of the area to be tested and to acquire the thermal imaging image of the area to be tested. The model to be tested is a three-dimensional model created using point cloud data of the area to be tested collected by lidar. The model creation module is used to determine the temperature information of different points in the model under test using the obtained thermal imaging images; wherein, the temperature information of uncovered bare soil is different from that of covered bare soil. The area determination module is used to determine the bare soil coverage area from the model under test based on the temperature information at different points; The bare soil detection module is used to count the number of points in the bare soil covered area and determine the bare soil coverage rate of the area to be tested based on the counted number of points and the total number of points in the model to be tested. Specifically, the model creation module is used to obtain thermal imaging images that reflect temperature information at different locations in the area to be tested. By utilizing the correspondence between different locations and different points in the model to be tested, the temperature information at different locations is mapped to different points in the model to be tested, thereby obtaining the temperature information at different points in the model to be tested. Specifically, the region determination module is used to: determine the boundary points between covered and uncovered bare soil in the model under test based on temperature information from different locations; determine the closed area enclosed by each boundary point as the bare soil coverage area; or, find points in the model under test whose temperature information is within a preset target temperature range, and determine the area where the found points are located as the bare soil coverage area; or, cluster points in the model under test with similar temperature information and similar location information based on temperature and location information from different locations, obtaining multiple clustering results; select the clustering result containing points whose temperature information is within the preset target temperature range from the multiple clustering results, as the bare soil coverage area; or, find target points in the model under test whose temperature information is within the target temperature range based on temperature information from different locations; cluster target points in the model under test with similar temperature information and similar location information based on temperature and location information from different target points, obtaining multiple clustering results, as the bare soil coverage area.

5. The apparatus according to claim 4, characterized in that, The region determination module is specifically used for: Based on the temperature information at different locations, the starting boundary point between covered bare soil and uncovered bare soil is determined from the model to be tested; Temperature boundary points are determined from the points adjacent to the starting boundary point, wherein the temperature boundary point is a point whose temperature information difference with the starting boundary point is less than a preset temperature difference value. The starting boundary point is updated to the temperature boundary point, and the process returns to the step of determining the temperature boundary point from the points adjacent to the starting boundary point, until a preset termination condition is met. The termination condition includes at least one of the following conditions: there is no temperature boundary point among the points adjacent to the starting boundary point, or the same point is repeatedly determined as a temperature boundary point. or For each point, calculate the difference in temperature information between that point and its adjacent points; The points where the difference is greater than the preset difference threshold are identified from each point and used as the boundary points between covered bare soil and uncovered bare soil. The region determination module is specifically used for: Determine the closed area enclosed by each boundary point. When the number of determined closed areas is greater than or equal to 2, remove the overlapping areas from the determined closed areas to obtain the bare soil covered area.

6. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the steps of the method described in any one of claims 1-3.

7. A bare soil detection system, characterized in that, The system includes a lidar, a thermal imaging camera, and the electronic device as described in claim 6, wherein: The lidar is used to collect point cloud data of the area to be measured and send the collected point cloud data or the model to be measured to the electronic device. The model to be measured is a three-dimensional model created using the point cloud data of the area to be measured. The thermal imaging camera is used to acquire thermal images of the area to be measured and to send the acquired thermal images to the electronic device.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method described in any one of claims 1-3.

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