A geological information acquisition method and system based on a UAV

Abstract

The application provides a geological information collection method and system based on a UAV. The method is applied to the system, and the method comprises the following steps: based on a first altitude of the highest point in a geological information collection area and the shape of the area, calculating data of a first flight path of the UAV and sending the data to the UAV, so that the UAV flies around the geological information collection area along the first flight path; scanning the geological information collection area, obtaining sparse point cloud data, and obtaining data of the second altitude of all scanned points in the geological information collection area; based on the data of all the second altitudes and the data of the first flight path, calculating data of a second flight path of the UAV and sending the data to the UAV, so that the UAV flies around the geological information collection area along the second flight path; and performing secondary scanning on the geological information collection area, and obtaining dense point cloud data. The application has the effect of improving the efficiency of topographic data collection.

Description

Technical Field

[0001] This application relates to the technical field of geological surveying, specifically to a method and system for geological information acquisition based on unmanned aerial vehicles (UAVs). Background Technology

[0002] Geological information collection is an important means for humankind to understand the laws of nature. A comprehensive geological map of a country or region is a state secret, which is related to the country's strategic direction in the economic field and also has very important reference value for preventing natural disasters.

[0003] As an important part of geological information collection, topographic mapping refers to all surveying and mapping work involved in the entire process from topographic data collection to the compilation of results documents.

[0004] With the rapid development of 3D modeling technology, it is increasingly being applied to topographic surveying. Constructing 3D models of the terrain based on collected topographic data makes topographic surveying data more visual. Currently, however, collecting topographic data typically requires surveyors to carry equipment into the field, a process that is time-consuming. Therefore, a method to improve the efficiency of topographic data collection is needed. Summary of the Invention

[0005] This application provides a geological information acquisition method and system based on unmanned aerial vehicles (UAVs), which improves the efficiency of terrain data acquisition.

[0006] The first aspect of this application provides a geological information acquisition method based on unmanned aerial vehicles (UAVs), applied to a system, the method comprising:

[0007] Based on the first elevation of the highest point in the geological information collection area and the shape of the area, the data of the first flight path of the UAV is calculated;

[0008] The data of the first flight path is sent to the drone, so that the drone flies around the geological information collection area along the first flight path;

[0009] During the flight of the UAV along the first flight path, the geological information collection area is scanned to obtain sparse point cloud data of the geological information collection area and to obtain the second altitude data of all scanned points in the geological information collection area.

[0010] Based on all the data for the second altitude and the data for the first flight path, the data for the second flight path of the UAV is calculated;

[0011] The data of the second flight path is sent to the UAV, so that the UAV flies around the geological information collection area along the second flight path;

[0012] During the flight of the UAV along the second flight path, a secondary scan is performed on the geological information collection area to obtain dense point cloud data of the geological information collection area.

[0013] By adopting the above technical solution, the system calculates the first flight path data of the UAV based on the highest point's elevation and the area's shape within the geological information collection area, and sends this data to the UAV, enabling it to fly high around the geological information collection area along this first flight path. During the UAV's flight along the first flight path, a pre-installed system on the UAV scans the geological information collection area, collecting sparse point cloud data, i.e., data on the main features of the geological information collection area. Simultaneously, it acquires the second elevation data of all scanned points within the area, facilitating the subsequent calculation of the UAV's secondary flight path based on this data. Based on all the second elevation data and the first flight path data, the system calculates the second flight path data of the UAV and sends it to the UAV, enabling it to fly low around the geological information collection area along this second flight path. During the UAV's flight along the second flight path, the UAV is more closely aligned with the geological information collection area, resulting in more refined feature data (i.e., denser point cloud data) during the system's secondary scan. In these two UAV flights, the system can complete the data collection of the geological information collection area with just two scans, thus improving the efficiency of terrain data acquisition.

[0014] Optionally, the first altitude is obtained, and the first flight altitude of the UAV is calculated, wherein the first flight altitude is equal to the sum of the first altitude and the first preset distance;

[0015] The horizontal flight path of the UAV is planned using a scanline method, and the first flight path is calculated based on the first flight altitude and the horizontal flight path.

[0016] By adopting the above technical solution, the system obtains the first flight altitude by adding the first altitude to the first preset distance, enabling the UAV to fly at a high altitude. The UAV's flight altitude is always higher than the geological information collection area, preventing collisions with objects in the geological information collection area during flight. Using a scanline method to plan the UAV's horizontal flight path allows the system to scan the entire area during flight, thereby acquiring sparse point cloud data, i.e., data on the main features of the geological information collection area.

[0017] Optionally, a second flight altitude is calculated based on all the data of the second altitude, so that the second flight altitude of the UAV at any scanning point is equal to the sum of the second altitude of the scanning point and the second preset distance;

[0018] The second flight path is calculated based on the horizontal flight path and the second flight altitude.

[0019] By adopting the above technical solution, the system obtains multiple second flight altitudes by adding all the second altitude data with the second preset distance, enabling the UAV to fly at a low altitude. This prevents the UAV from colliding with objects in the geological information collection area, while also allowing the UAV to stay closer to the geological information collection area. The system then completes a second precise scan of the area, thereby obtaining more detailed dense point cloud data.

[0020] Optionally, the positioning data, altitude data, and attitude data of the UAV can be acquired in real time;

[0021] Based on the positioning data, the altitude data, and the attitude data, the point cloud location data of the sparse point cloud and the dense point cloud are calculated.

[0022] By adopting the above technical solution, the system can acquire the UAV's positioning data, altitude data, and attitude data in real time, and calculate the position data of sparse point clouds and dense point clouds based on the above data, which facilitates the system to unify the coordinate system for sparse point clouds and dense point clouds in the future.

[0023] Optionally, if there are unscanned unknown areas in the geological information collection area, the third flight path data of the UAV is calculated based on the shape and location data of the unknown areas, so that the UAV flies around the unknown areas along the third flight path;

[0024] The unknown region is scanned to obtain point cloud data of the unknown region.

[0025] By adopting the above technical solution, the system completes the scanning of unknown areas that have not been scanned and obtains point cloud data of the unknown areas, which facilitates further improvement of the data of the geological information collection area.

[0026] Optionally, the UAV may fly around the geological information collection area along the second flight path;

[0027] The geological information collection area is scanned three times to collect color information of the geological information collection area, including color data and location data of color point clouds.

[0028] By adopting the above technical solution, the system performs three scans of the geological information collection area, collecting color data and location data of the color point cloud of the collection area, thereby obtaining more comprehensive data of the geological information collection area.

[0029] Optionally, the sparse point cloud location data, dense point cloud location data, and the color point cloud location data are processed to transform the coordinates of the sparse point cloud, the dense point cloud, and the color point cloud to the same coordinate system.

[0030] Based on the transformed sparse point cloud, dense point cloud, and colored point cloud, a colored three-dimensional model of the geological information collection area is established.

[0031] By adopting the above technical solution, the system transforms sparse point clouds, dense point clouds, and colored point clouds to the same coordinate system and establishes a colored three-dimensional model of the geological information collection area, which facilitates the visualization of the collected data.

[0032] A second aspect of this application provides a geological information acquisition system based on unmanned aerial vehicles (UAVs), the system comprising a processing module, a transmission module, and an acquisition module, wherein:

[0033] The processing module is used to calculate the first flight path data of the UAV based on the first elevation of the highest point in the geological information collection area and the shape of the area.

[0034] The sending module is used to send the data of the first flight path to the UAV, so that the UAV flies around the geological information collection area along the first flight path;

[0035] The acquisition module is used to scan the geological information acquisition area during the flight of the UAV along the first flight path, acquire sparse point cloud data of the geological information acquisition area, and acquire the second altitude data of all scanned points in the geological information acquisition area.

[0036] The processing module is also used to calculate data of the second flight path of the UAV based on all the data of the second altitude and the first flight path;

[0037] The sending module is further configured to send data of the second flight path to the UAV, so that the UAV flies around the geological information collection area along the second flight path;

[0038] The acquisition module is also used to perform a secondary scan of the geological information acquisition area during the flight of the UAV along the second flight path, and to obtain dense point cloud data of the geological information acquisition area.

[0039] Optionally, the system further includes a positioning module;

[0040] The positioning module is used to acquire the positioning data, altitude data, and attitude data of the UAV in real time; and to calculate the point cloud position data of the sparse point cloud and the dense point cloud based on the positioning data, altitude data, and attitude data.

[0041] In summary, this application includes at least the following beneficial technical effects:

[0042] 1. The system calculates the UAV's initial flight path based on the highest point within the geological information collection area, ensuring the UAV's altitude remains above all objects in the area and preventing collisions. During the UAV's initial flight path, the system performs an initial scan of the geological information collection area, acquiring data on its main features, i.e., sparse point cloud data. It then acquires the second elevation data for all scanned points, facilitating subsequent processing modules to calculate the UAV's secondary flight path, ensuring a closer alignment with the geological information collection area.

[0043] 2. The system calculates the data for the second flight path based on the data from the second altitude and the first flight path, enabling the UAV to fly low around the geological information collection area along the second flight path. This prevents the UAV from colliding with objects within the geological information collection area. Furthermore, during flight, because the UAV is closer to the geological information collection area, the data scanned by the system is more detailed, i.e., dense point cloud data is collected.

[0044] 3. During the two flights of the UAV, the system can complete the data collection of the geological information collection area through two scans, without the need for manual collection of a lot of time, thus improving the efficiency of terrain data collection. Attached Figure Description

[0045] Figure 1 This is a flowchart illustrating a geological information acquisition method based on unmanned aerial vehicles (UAVs) disclosed in an embodiment of this application.

[0046] Figure 2 This is a schematic diagram of the structure of a geological information acquisition system based on an unmanned aerial vehicle (UAV) disclosed in an embodiment of this application.

[0047] Explanation of reference numerals in the attached diagram: 1. Processing module; 2. Transmitting module; 3. Acquisition module; 4. Positioning module. Detailed Implementation

[0048] In the description of the embodiments in this application, words such as "illustrative," "for example," or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "illustrative," "for example," or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of words such as "illustrative," "for example," or "for example" is intended to present the relevant concepts in a specific manner.

[0049] In the description of the embodiments of this application, unless otherwise stated, the term "multiple" means two or more. For example, multiple systems means two or more systems, and multiple screen terminals means two or more screen terminals. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0050] Before introducing the embodiments of this application, some terms involved in the embodiments of this application will be explained first.

[0051] In reverse engineering, the collection of point data on the surface of an object obtained through measurement or scanning equipment is called a point cloud.

[0052] Sparse point clouds are collections of point data acquired using measuring equipment, characterized by a small number of points and large distances between them. Sparse points are also known as feature points, which are points in the scanned object that have obvious features, are easy to detect and match, and can represent the simple geometric shape and outline of the object, such as corner points, edge points, and other feature points.

[0053] Dense point clouds are collections of point data with a large number of points and small spacing between them, acquired using scanning equipment. Dense point clouds can accurately represent the shape and appearance of objects, enabling the reconstruction of the entire 3D scene or object.

[0054] A color point cloud is a collection of point data obtained based on the principles of photogrammetry. The point data includes the three-dimensional coordinates (XYZ) and color information (RGB).

[0055] This embodiment discloses a geological information acquisition method based on unmanned aerial vehicles (UAVs), referring to... Figure 1 It includes the following steps:

[0056] S100 calculates the first flight path data of the UAV based on the first elevation of the highest point in the geological information acquisition area and the shape of the area.

[0057] S110, send the data of the first flight path to the UAV so that the UAV flies around the geological information collection area along the first flight path.

[0058] S120 scans the geological information collection area during the flight of the UAV along the first flight path, obtains sparse point cloud data of the geological information collection area, and obtains the second altitude data of all scanned points in the geological information collection area.

[0059] S130 calculates the second flight path data for the UAV based on all the data from the second altitude and the first flight path.

[0060] S140, send data on the second flight path to the UAV so that the UAV can fly around the geological information collection area along the second flight path.

[0061] The S150 performs a secondary scan of the geological information collection area during the UAV's flight along the second flight path to acquire dense point cloud data of the geological information collection area.

[0062] Specifically, the system pre-acquires the elevation of all mountains within the geological information collection area, setting the elevation of the highest mountain as the first elevation. Then, based on the first elevation and the area's shape, the system calculates the first flight path data for the UAV and sends this data to the UAV, enabling it to fly high around the geological information collection area along this path. Since the UAV's flight altitude is always higher than any objects within the geological information collection area, collisions are prevented. During the UAV's flight along the first path, a pre-installed system on the UAV scans the geological information collection area, collecting sparse point cloud data, i.e., data on the main features of the area. The system acquires the second elevation data for all scanned points within the area, facilitating the subsequent calculation of the UAV's secondary flight path. Based on all the second elevation data and the first flight path data, the system calculates the second flight path data for the UAV and sends it to the UAV, enabling it to fly low around the geological information collection area along this second path, again preventing collisions. The system performs a secondary scan of the geological information collection area. Because the UAV is closer to the area, the system obtains more detailed data, specifically dense point cloud data. During the UAV's two flights, the system completes data collection for the geological information collection area through two scans, improving the efficiency of terrain data acquisition. In this embodiment, the acquisition of sparse and dense point cloud data are conventional techniques in the relevant technical field and will not be elaborated further. The scanning method for the geological information collection area can include using lidar, static photography with a camera, or a structured light sensor. This embodiment preferably uses lidar.

[0063] A laser radar (LiDAR) is a radar system that uses laser beams to detect the position, velocity, and other characteristics of a target. Its working principle involves emitting a detection signal (laser beam) towards the target, then comparing the received echo signal reflected from the target with the detection signal. After appropriate processing, information about the target, such as its distance, azimuth, altitude, velocity, attitude, and shape, can be obtained. In this embodiment, the LiDAR includes a laser ranging system, an optomechanical scanning unit, a control unit, a Global Positioning System (GPS), an Inertial Measurement Unit (IMU), and a storage unit.

[0064] In one possible implementation, step S100 further includes the following steps:

[0065] Obtain the first altitude and calculate the first flight altitude of the UAV, which is equal to the sum of the first altitude and the first preset distance. Plan the horizontal flight path of the UAV using a scanline method, and calculate the first flight path based on the first flight altitude and the horizontal flight path.

[0066] Specifically, the system obtains the first flight altitude by adding a first altitude to a first preset distance, thus ensuring the UAV always flies at this first altitude. The first preset distance is determined based on the effective scanning distance of the scanning device, but this embodiment does not specify a particular distance. Planning the UAV's horizontal flight path using a scan line method includes the following steps: First, the planar projection shape of the geological information collection area is approximated as a rectangular region. The UAV flies along a straight line through the rectangular region, turns at the edge of the region, and then flies in the opposite direction along a parallel straight line, repeating this process line by line to traverse the entire rectangular region. The spacing between the straight lines is determined based on the effective scanning radius of the scanning device, ensuring a complete scan of the entire rectangular region. The UAV's horizontal flight path in the horizontal direction is calculated by coinciding with the first flight altitude in the vertical direction to obtain the first flight path.

[0067] In one possible implementation, a second flight altitude is calculated based on data from all second altitudes, such that the second flight altitude of the UAV at any given scan point is equal to the sum of the second altitude of that scan point and a second preset distance. A second flight path is then calculated based on the horizontal flight path and the second flight altitude.

[0068] Specifically, in the horizontal direction, the drone continues to fly along a horizontal flight path. In the vertical direction, it first acquires the second altitude data of all scanned points. The second altitude is added to a second preset distance to obtain the second flight altitude. Then, when the drone is directly above any scanned point, the distance between the drone and the scanned point is the value of the second flight altitude. The second preset distance is determined based on the effective scanning distance of the scanning device, and this embodiment does not impose a specific limitation.

[0069] In one possible implementation, the drone's positioning data, altitude data, and attitude data are acquired in real time. Based on the positioning data, altitude data, and attitude data, the point cloud location data of sparse and dense point clouds are calculated.

[0070] Specifically, the UAV is pre-equipped with GPS, a barometer, and an attitude sensor. During scanning, the GPS acquires the location data of the scanned position and sends it to the system; the barometer measures the air pressure data at the UAV's location and sends it to the system; the system calculates the altitude data of the UAV's location based on the air pressure data; and the attitude sensor acquires the UAV's attitude data and sends it to the system. Based on the location data, altitude data, attitude data, and the device-to-scan distance data detected by the scanning equipment, the point cloud position data of sparse and dense point clouds are calculated, facilitating the subsequent unification of the coordinate system between the sparse and dense point clouds. Acquiring and calculating the point cloud position data is a standard technique in the relevant field and will not be elaborated further here.

[0071] In one possible implementation, the following steps are included after step S150:

[0072] If there are unscanned unknown areas within the geological information collection area, the system calculates a third flight path for the UAV based on the shape and location data of these unknown areas, enabling the UAV to fly around the unknown areas along this path. The system then scans the unknown areas to acquire point cloud data, thereby completing the data collection for the geological information collection area.

[0073] In one possible implementation, the following steps are included after step S150:

[0074] Data for a second flight path is sent to the UAV, enabling it to fly around the geological information collection area along that path. The geological information collection area is scanned three times to collect color information, including color data and location data of the color point cloud.

[0075] Specifically, the UAV continues to fly around the geological information collection area along a second flight path, and the system collects color data and location data of the colored point cloud in the geological information collection area. In this embodiment, the preferred method for collecting the colored point cloud is to acquire the color data of the colored point cloud through a panoramic camera and obtain the positioning data of the scanning location through GPS, thereby calculating the location data of the colored point cloud.

[0076] In one possible implementation, the location data of sparse point clouds, dense point clouds, and colored point clouds are processed to transform their coordinates to the same coordinate system. Based on the transformed sparse, dense, and colored point clouds, a colored 3D model of the geological information acquisition area is established.

[0077] Specifically, to ensure the stitching of point cloud data of the same type obtained from multiple scanning locations of the same area, the system first acquires the overlapping portions of point cloud data from two adjacent scanning locations, then overlaps these overlapping portions to complete the stitching. This process is repeated for all point cloud data. Next, the coordinates of sparse, dense, and colored point clouds in the default coordinate system are transformed to the geodetic coordinate system. The default coordinate system is the coordinate system centered on the UAV during data acquisition. The geodetic coordinate system is a real-world coordinate system established in geodesy using a reference ellipsoid as the reference surface. Transforming the coordinates of different types of scanned point cloud data from the default coordinate system to a unified geodetic coordinate system enables the stitching of different types of point cloud data and ensures that the system coordinates are consistent with the actual spatial state of the scanned target, satisfying the requirement that the point cloud data accurately reflect the spatial conditions of the site, thus preparing for the next step of topographic mapping.

[0078] Regarding the coordinate system transformation method, this embodiment preferably uses the positioning data, altitude data, and attitude data of the scanning device for coordinate transformation. First, the system calculates the coordinates of the point cloud data in the default coordinate system based on the positioning data, attitude data, and the distance from the scanning device to the scanning point. Then, it calculates the coordinates of the scanning device in the geodetic coordinate system based on the positioning data and altitude data. Finally, the center point of the default coordinate system is converted to the coordinates of the scanning device in the geodetic coordinate system, completing the coordinate system transformation. In this embodiment, conventional technical means for coordinate system transformation in related technical fields will not be further elaborated here.

[0079] This embodiment also discloses a geological information acquisition system based on unmanned aerial vehicles (UAVs), referring to... Figure 2 The system includes a processing module 1, a sending module 2, and a data acquisition module 3, wherein:

[0080] Processing module 1 calculates the first flight path data of the UAV based on the first elevation of the highest point in the geological information collection area and the shape of the area;

[0081] The sending module 2 sends the data of the first flight path to the UAV, so that the UAV flies around the geological information collection area along the first flight path;

[0082] During the flight of the UAV along the first flight path, the data acquisition module 3 scans the geological information acquisition area to obtain sparse point cloud data of the geological information acquisition area and to obtain the second elevation data of all scanned points in the geological information acquisition area.

[0083] Processing module 1 calculates the data for the second flight path of the UAV based on all the data at the second altitude and the first flight path;

[0084] The sending module 2 sends data of the second flight path to the UAV, so that the UAV flies around the geological information collection area along the second flight path;

[0085] During the flight of the UAV along the second flight path, the data acquisition module 3 performs a secondary scan of the geological information acquisition area to obtain dense point cloud data of the geological information acquisition area.

[0086] In one possible implementation, refer to Figure 2 The system also includes a positioning module 4;

[0087] The positioning module 4 acquires the UAV's positioning data, altitude data, and attitude data in real time; and calculates the point cloud position data of sparse point cloud and dense point cloud based on the positioning data, altitude data, and attitude data.

[0088] In one possible implementation, the system acquires a first altitude and calculates a first flight altitude of the UAV, wherein the first flight altitude is equal to the sum of the first altitude and a first preset distance;

[0089] The horizontal flight path of the UAV is planned using the scan line method, and the first flight path is calculated based on the first flight altitude and the horizontal flight path.

[0090] In one possible implementation, the system calculates the second flight altitude based on all the data of the second altitude, so that the second flight altitude of the UAV at any scanning point is equal to the sum of the second altitude of the scanning point and the second preset distance;

[0091] The second flight path is calculated based on the horizontal flight path and the second flight altitude.

[0092] In one possible implementation, the system acquires the drone's positioning data, altitude data, and attitude data in real time.

[0093] Based on positioning data, altitude data, and attitude data, the point cloud location data of sparse point clouds and dense point clouds are calculated.

[0094] In one possible implementation, if the geological information collection area contains an unknown area that has not been scanned, the system calculates the data of a third flight path for the UAV based on the shape and location data of the unknown area, so that the UAV flies around the unknown area along the third flight path.

[0095] Scan the unknown area to obtain point cloud data of the unknown area.

[0096] In one possible implementation, the system enables the drone to fly around the geological information collection area along a second flight path;

[0097] The geological information collection area was scanned three times to collect color information, including color data and location data of the color point cloud.

[0098] In one possible implementation, the system processes sparse point cloud location data, dense point cloud location data, and colored point cloud location data, transforming the coordinates of the sparse point cloud, dense point cloud, and colored point cloud to the same coordinate system.

[0099] A color 3D model of the geological information collection area is established based on the transformed sparse point cloud, dense point cloud, and colored point cloud.

[0100] The foregoing description is merely an exemplary embodiment of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Those skilled in the art will readily conceive of other embodiments of this disclosure upon considering the specification and the disclosure of practical truth. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure. The specification and embodiments are considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

Claims

1. A method for geological information acquisition based on unmanned aerial vehicles (UAVs), characterized in that, The method is applied to the system, and the method includes: Based on the first elevation of the highest point in the geological information collection area and the shape of the area, the data of the first flight path of the UAV is calculated; The data of the first flight path is sent to the drone, so that the drone flies around the geological information collection area along the first flight path; During the flight of the UAV along the first flight path, the geological information collection area is scanned to obtain sparse point cloud data of the geological information collection area and to obtain the second altitude data of all scanned points in the geological information collection area. Based on all the data for the second altitude and the data for the first flight path, the data for the second flight path of the UAV is calculated; The data of the second flight path is sent to the UAV, so that the UAV flies around the geological information collection area along the second flight path; During the flight of the UAV along the second flight path, a secondary scan is performed on the geological information collection area to obtain dense point cloud data of the geological information collection area.

2. The method for geological information acquisition based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The data used to calculate the first flight path of the UAV based on the highest point's elevation and the shape of the area within the geological information collection region specifically includes: Obtain the first altitude and calculate the first flight altitude of the UAV, wherein the first flight altitude is equal to the sum of the first altitude and the first preset distance; The horizontal flight path of the UAV is planned using a scanline method, and the first flight path is calculated based on the first flight altitude and the horizontal flight path.

3. The method for geological information acquisition based on unmanned aerial vehicles (UAVs) according to claim 2, characterized in that, The method for calculating the second flight path of the UAV based on all the data of the second altitude and the data of the first flight path specifically includes: The second flight altitude is calculated based on all the data of the second altitude, so that the second flight altitude of the UAV at any scanning point is equal to the sum of the second altitude of the scanning point and the second preset distance; The second flight path is calculated based on the horizontal flight path and the second flight altitude.

4. The method for geological information acquisition based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The step of scanning the geological information collection area during the flight of the UAV along the first flight path to obtain sparse point cloud data of the geological information collection area and second elevation data of all scanned points within the geological information collection area, and the step of performing a secondary scan of the geological information collection area during the flight of the UAV along the second flight path to obtain dense point cloud data of the geological information collection area, specifically further includes: The drone's positioning data, altitude data, and attitude data are acquired in real time. Based on the positioning data, the altitude data, and the attitude data, the point cloud location data of the sparse point cloud and the dense point cloud are calculated.

5. A method for geological information acquisition based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, After the UAV performs a secondary scan of the geological information collection area and acquires dense point cloud data during its flight along the first flight path, the method further includes: If there are unknown areas that have not been scanned in the geological information collection area, the third flight path data of the UAV is calculated based on the shape and location data of the unknown areas, so that the UAV flies around the unknown areas in the third flight path; The unknown region is scanned to obtain point cloud data of the unknown region.

6. A method for geological information acquisition based on unmanned aerial vehicles (UAVs) according to claim 4, characterized in that, During the flight of the UAV along the second flight path, after performing a secondary scan of the geological information collection area to obtain dense point cloud data, the method further includes: The drone is instructed to fly around the geological information collection area along the second flight path; The geological information collection area is scanned three times to collect color information of the geological information collection area, including color data and location data of color point clouds.

7. A method for geological information acquisition based on unmanned aerial vehicles (UAVs) according to claim 6, characterized in that, After establishing a three-dimensional model of the geological information acquisition area based on the sparse point cloud and the dense point cloud, the method further includes: The sparse point cloud location data, dense point cloud location data, and color point cloud location data are processed to transform the coordinates of the sparse point cloud, dense point cloud, and color point cloud to the same coordinate system. Based on the transformed sparse point cloud, dense point cloud, and colored point cloud, a colored three-dimensional model of the geological information collection area is established.

8. A geological information acquisition system based on unmanned aerial vehicles (UAVs), characterized in that, The system includes a processing module (1), a sending module (2), and a data acquisition module (3), wherein: The processing module (1) is used to calculate the data of the first flight path of the UAV based on the first elevation of the highest point in the geological information collection area and the shape of the area. The sending module (2) is used to send the data of the first flight path to the UAV, so that the UAV flies around the geological information collection area along the first flight path; The acquisition module (3) is used to scan the geological information acquisition area during the flight of the UAV along the first flight path, to acquire sparse point cloud data of the geological information acquisition area, and to acquire the second altitude data of all scanned points in the geological information acquisition area. The processing module (1) is also used to calculate the data of the second flight path of the UAV based on all the data of the second altitude and the first flight path; The sending module (2) is also used to send the data of the second flight path to the UAV, so that the UAV flies around the geological information collection area along the second flight path; The acquisition module (3) is also used to perform a secondary scan of the geological information acquisition area during the flight of the UAV along the second flight path, and to obtain dense point cloud data of the geological information acquisition area.

9. A geological information acquisition system based on unmanned aerial vehicles (UAVs) according to claim 8, characterized in that, The system also includes a positioning module (4); The positioning module (4) is used to acquire the positioning data, altitude data and attitude data of the UAV in real time; and to calculate the point cloud position data of the sparse point cloud and the dense point cloud based on the positioning data, the altitude data and the attitude data.

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