A bare rock information processing method, device and electronic equipment

Abstract

The present application provides a kind of bare rock information processing method, device and electronic equipment, target area image can be obtained, target area image is the image that unmanned aerial vehicle is photographed when being in first flight height, facing target bare rock distribution area;First bare rock distribution information is obtained based on the chroma channel image corresponding to target area image;Second bare rock distribution information is obtained based on the luminance channel image corresponding to target area image;Target bare rock distribution information is obtained based on first bare rock distribution information and second bare rock distribution information.The present application can obtain target area image, corresponding chroma channel image and luminance channel image are obtained using image processing method, first bare rock distribution information and second bare rock distribution information are extracted, and target bare rock distribution information is obtained based on first bare rock distribution information and second bare rock distribution information.The present application can effectively reduce the human resources consumed in the process of determining bare rock distribution information, and effectively improve processing efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of information processing, and in particular to a bare rock information processing method and device and electronic equipment. BACKGROUND

[0002] Currently, the rock desertification problem is one of the most serious ecological and environmental problems in karst areas. The bare rock rate, i.e., the bare rock rate, is a basic quantitative index for assessing the rock desertification level and can be used to determine the bare rock distribution characteristics of the rock desertification area and to classify the rock desertification level.

[0003] Currently, the existing technology can determine the bare rock rate of the rock desertification area by manual visual inspection and mechanical point distribution.

[0004] However, when the area of the rock desertification area is large, the manual visual inspection and mechanical point distribution will consume a large amount of human resources and have low processing efficiency. SUMMARY

[0005] The present application provides a bare rock information processing method, device and electronic equipment to solve the defects of consuming a large amount of human resources and low processing efficiency in the prior art, which can effectively reduce the consumption of human resources in the process of determining the bare rock distribution information and effectively improve the processing efficiency.

[0006] In a first aspect, the present application provides a bare rock information processing method, comprising:

[0007] obtaining a target area image, the target area image being an image taken by a UAV facing a target bare rock distribution area when at a first flight height;

[0008] obtaining first bare rock distribution information based on a chroma channel image corresponding to the target area image;

[0009] obtaining second bare rock distribution information based on a luminance channel image corresponding to the target area image;

[0010] obtaining target bare rock distribution information based on the first bare rock distribution information and the second bare rock distribution information.

[0011] Optionally, the first bare rock distribution information includes a first bare rock distribution coordinate interval, and the second bare rock distribution information includes a second bare rock distribution coordinate interval; and the obtaining of the target bare rock distribution information based on the first bare rock distribution information and the second bare rock distribution information comprises:

[0012] determining the union of the first bare rock distribution coordinate interval and the second bare rock distribution coordinate interval as a target bare rock distribution coordinate interval;

[0013] Determine the target bare rock distribution information based on the target bare rock distribution coordinate interval.

[0014] Optionally, the first bare rock distribution information is obtained based on a chroma channel image corresponding to the target area image, including:

[0015] Determine a chroma segmentation threshold for distinguishing bare rock elements from non-bare rock elements in the chroma channel image;

[0016] Perform image segmentation in the chroma channel image based on the chroma segmentation threshold to obtain an image segmentation result;

[0017] Obtain the first bare rock distribution information based on the image segmentation result.

[0018] Optionally, the second bare rock distribution information is obtained based on a luminance channel image corresponding to the target area image, including:

[0019] Determine a luminance segmentation threshold for distinguishing bare rock elements from non-bare rock elements in the luminance channel image;

[0020] Perform image segmentation in the luminance channel image based on the luminance segmentation threshold to obtain an image segmentation result;

[0021] Obtain the second bare rock distribution information based on the image segmentation result.

[0022] Optionally, before the target area image is obtained, the bare rock information processing method further includes:

[0023] Obtain a first area image, which is an image taken by a UAV facing a first bare rock distribution area when the UAV is at an artificial visual height;

[0024] Obtain third bare rock distribution information determined by manually interpreting the first area image;

[0025] Obtain a group of area images, which includes images taken by a UAV facing the first bare rock distribution area when the UAV is at a plurality of test heights respectively;

[0026] Determine a first bare rock distribution information group corresponding to the group of area images based on an image processing method, the first bare rock distribution information group including bare rock distribution information corresponding to each image in the group of area images;

[0027] Determine the first flight height from the plurality of test heights based on a comparison result of each bare rock distribution information in the first bare rock distribution information group and the third bare rock distribution information.

[0028] Optionally, the first flight height is determined from the plurality of test heights based on a result of information comparison between each of the first set of bare rock distribution information and the third bare rock distribution information.

[0029] Each of the bare rock distribution information from the first set of bare rock distribution information, which has an information difference satisfying a preset difference condition with the third bare rock distribution information, is determined as a second set of bare rock distribution information.

[0030] The highest test height is determined as the first flight height from the test heights corresponding to each of the second set of bare rock distribution information.

[0031] Optionally, when the bare rock distribution information includes a bare rock rate, the each of the bare rock distribution information from the first set of bare rock distribution information, which has an information difference satisfying a preset difference condition with the third bare rock distribution information, is determined as a second set of bare rock distribution information, including:

[0032] Each of the bare rock distribution information from the first set of bare rock distribution information, which has a bare rock rate error not greater than a preset bare rock rate error threshold with the third bare rock distribution information, is determined as the second set of bare rock distribution information.

[0033] Optionally, the bare rock rate error includes a bare rock rate absolute error and / or a bare rock rate relative error.

[0034] In a second aspect, the present application further provides a bare rock information processing device, including: a first obtaining unit, a second obtaining unit, a third obtaining unit and a fourth obtaining unit; wherein:

[0035] The first obtaining unit is configured to obtain a target area image, the target area image being an image taken by a UAV facing a target bare rock distribution area when the UAV is at a first flight height;

[0036] The second obtaining unit is configured to obtain first bare rock distribution information based on a chroma channel image corresponding to the target area image;

[0037] The third obtaining unit is configured to obtain second bare rock distribution information based on a luminance channel image corresponding to the target area image;

[0038] The fourth obtaining unit is configured to obtain target bare rock distribution information based on the first bare rock distribution information and the second bare rock distribution information.

[0039] Optionally, the first bare rock distribution information includes a first bare rock distribution coordinate interval, and the second bare rock distribution information includes a second bare rock distribution coordinate interval; the fourth obtaining unit includes: a first determining unit and a second determining unit; wherein:

[0040] The first determining unit is configured to determine a union of the first bare rock distribution coordinate interval and the second bare rock distribution coordinate interval as a target bare rock distribution coordinate interval.

[0041] The second determining unit is configured to determine the target bare rock distribution information based on the target bare rock distribution coordinate interval.

[0042] Optionally, the second obtaining unit comprises a third determining unit, a first segmenting unit, a fifth obtaining unit and a sixth obtaining unit, wherein:

[0043] The third determining unit is configured to determine a chroma segmentation threshold for distinguishing bare rock elements from non-bare rock elements in the chroma channel image.

[0044] The first segmenting unit is configured to perform image segmentation in the chroma channel image based on the chroma segmentation threshold.

[0045] The fifth obtaining unit is configured to obtain an image segmentation result.

[0046] The sixth obtaining unit is configured to obtain the first bare rock distribution information based on the image segmentation result.

[0047] Optionally, the third obtaining unit comprises a fourth determining unit, a second segmenting unit, a sixth obtaining unit and a seventh obtaining unit, wherein:

[0048] The fourth determining unit is configured to determine a luminance segmentation threshold for distinguishing bare rock elements from non-bare rock elements in the luminance channel image.

[0049] The second segmenting unit is configured to perform image segmentation in the luminance channel image based on the luminance segmentation threshold.

[0050] The sixth obtaining unit is configured to obtain an image segmentation result.

[0051] The seventh obtaining unit is configured to obtain the second bare rock distribution information based on the image segmentation result.

[0052] Optionally, the bare rock information processing apparatus further comprises an eighth obtaining unit, an information obtaining unit, an image group obtaining unit, a fifth determining unit and a sixth determining unit, wherein:

[0053] The eighth obtaining unit is configured to obtain a first region image before the target region image is obtained, the first region image being an image taken by a UAV when facing a first bare rock distribution region at an artificial visual height.

[0054] The information obtaining unit is configured to obtain third bare rock distribution information determined by artificial interpretation of the first region image.

[0055] The image group obtaining unit is configured to obtain a regional image group, the regional image group comprising images taken by the unmanned aerial vehicle facing the first bare rock distribution area at a plurality of test altitudes respectively;

[0056] The fifth determining unit is configured to determine a first bare rock distribution information group corresponding to the regional image group based on an image processing manner, the first bare rock distribution information group comprising bare rock distribution information corresponding to each image in the regional image group;

[0057] The sixth determining unit is configured to determine the first flight altitude from the plurality of test altitudes based on a comparison result of each bare rock distribution information in the first bare rock distribution information group and the third bare rock distribution information.

[0058] Optionally, the sixth determining unit comprises a seventh determining unit and an eighth determining unit.

[0059] The seventh determining unit is configured to determine, from the first bare rock distribution information group, each bare rock distribution information satisfying a preset difference condition in information difference with the third bare rock distribution information as a second bare rock distribution information group.

[0060] The eighth determining unit is configured to determine, from test altitudes corresponding to each bare rock distribution information in the second bare rock distribution information group, a highest test altitude as the first flight altitude.

[0061] Optionally, when the bare rock distribution information comprises a bare rock rate, the seventh determining unit is configured to determine, from the first bare rock distribution information group, each bare rock distribution information with a bare rock rate error not greater than a preset bare rock rate error threshold as the second bare rock distribution information group.

[0062] Optionally, the bare rock rate error comprises a bare rock rate absolute error and / or a bare rock rate relative error.

[0063] In a third aspect, the present application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement any of the bare rock information processing methods.

[0064] In a fourth aspect, the present application further provides a non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program is executable by a processor to implement any of the bare rock information processing methods.

[0065] In a fifth aspect, the present application further provides a computer program product comprising a computer program which, when executed by a processor, implements any of the bare rock information processing methods described above.

[0066] The bare rock information processing method, device and electronic equipment provided by the present application can obtain a target region image, which is an image captured by a UAV when the UAV is at a first flight height and faces a target bare rock distribution area; based on a chroma channel image corresponding to the target region image, first bare rock distribution information is obtained; based on a luminance channel image corresponding to the target region image, second bare rock distribution information is obtained; and based on the first bare rock distribution information and the second bare rock distribution information, target bare rock distribution information is obtained. The present application can obtain a target region image generated by aerial photography of a target bare rock distribution area by a UAV, use image processing to obtain a corresponding chroma channel image and luminance channel image, extract first bare rock distribution information and second bare rock distribution information, and obtain target bare rock distribution information based on the first bare rock distribution information and the second bare rock distribution information. The present application can effectively reduce the human resources consumed in the determination of bare rock distribution information and effectively improve the processing efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0067] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0068] Figure 1 is a flowchart of the bare rock information processing method provided by the embodiments of the present application;

[0069] Figure 2 is a curve diagram of the bare rock rate changing with the flight height of the UAV provided by the embodiments of the present application;

[0070] Figure 3 is a curve diagram of the bare rock distribution area changing with the flight height of the UAV provided by the embodiments of the present application;

[0071] Figure 4 is a structural schematic diagram of the bare rock information processing device provided by the embodiments of the present application;

[0072] Figure 5 is a structural schematic diagram of the electronic equipment provided by the present application. DETAILED DESCRIPTION

[0073] In order to make the objects, technical solutions and advantages of the present application clearer, the following will clearly and completely describe the technical solutions in the present application with reference to the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0074] The following will be described in detail Figures 1-3 The bare rock information processing method of the present application is described.

[0075] As Figure 1 shown, the first bare rock information processing method according to an embodiment of the present application can include the following steps:

[0076] S101, obtaining a target region image, the target region image being an image taken by a UAV when facing a target bare rock distribution area at a first flight height;

[0077] The target bare rock distribution area can be a bare rock distribution area in which bare rock distribution information needs to be extracted. The bare rock distribution area is an area in which bare rocks are distributed, such as a stony desertification area.

[0078] The bare rock distribution information can include bare rock rate, bare rock distribution position, bare rock distribution area and the like.

[0079] It should be noted that the present application can control the UAV to fly over the target bare rock distribution area by manual control or program control, take a photo of the target bare rock distribution area, obtain the target region image, and then process the target region image by image processing to extract the corresponding bare rock distribution information.

[0080] Specifically, the present application can control the UAV to hover at the first flight height over the target bare rock distribution area, and control the UAV to take a photo of the target bare rock distribution area based on a vertical shooting angle to obtain the target region image.

[0081] The first flight height can be determined by a technician according to experience, test, shooting condition, field environment and / or image parameter requirement, which is not limited in the present application.

[0082] Specifically, if the target bare rock distribution area is large, the present application can control the UAV to take a photo of different partial regions of the target bare rock distribution area to obtain a plurality of partial regions, and then obtain the target region image by splicing the plurality of partial regions.

[0083] It should be noted that the unmanned aerial vehicle can be selected by the skilled person according to the shooting conditions, the field environment and the image parameter requirements. For example, the unmanned aerial vehicle with a hovering accuracy of ±0.5 m in the vertical direction and ±1.5 m in the horizontal direction can be selected. In addition, the image shooting device and the shooting parameters of the unmanned aerial vehicle can also be determined by the skilled person according to the shooting conditions, the field environment and the image parameter requirements, and the present application does not limit this. For example, the unmanned aerial vehicle can be configured with a 2400 million pixel complementary metal oxide semiconductor (CMOS, Complementary Metal-Oxide-Semiconductor) image sensor, 2400 million pixels per second 20 frames of RAW continuous shooting, a maximum aperture F2.8 and a minimum shooting distance of 0.40 meters and the like.

[0084] S102, based on the chroma channel image corresponding to the target region image, obtaining first bare rock distribution information;

[0085] It should be noted that under natural conditions, in the area where the vegetation is sparsely distributed, the color of the bare rock in the image generally has a high contrast with the surrounding soil and other ground objects, and presents a color hue mainly in white, and the boundary between the bare rock and the soil is relatively clear. In the area where the vegetation coverage is good or the vegetation and the bare rock are in mosaic distribution, the vegetation around the bare rock is easy to shield the bare rock or the bare rock is affected by the epiphyte in a relatively dark environment, and often presents a color hue mainly in gray. The present application can extract the bare rock distribution information for the bare rock with two different color hues of white and gray respectively, and then determine the final bare rock information based on the extracted bare rock distribution information of the two color hues.

[0086] It can be understood that the hue, saturation and value (Hue Saturation Value, HSV) color mode is relatively close to the color perception experience of people, can very intuitively express the color hue, brightness and darkness, facilitate color contrast, and is easier to track objects of a certain color, and can be used for segmenting objects of a specified color. Therefore, the present application can segment the bare rock distribution area by using the HSV image. It has been found by the inventors of the present application that the bare rock area with a gray color hue in the chroma channel image has a significant difference in chroma value from other non-rock areas. The present application can determine the division boundary between the bare rock and the non-bare rock elements in the image by threshold segmentation on the chroma channel image, segment the bare rock distribution area, and extract the bare rock distribution information of the bare rock with a gray color hue, that is, the first bare rock distribution information.

[0087] Specifically, the present application can convert the target region image into an HSV image after obtaining the target region image, then obtain the corresponding chroma channel image based on the HSV image, and then obtain the first bare rock distribution information based on the chroma channel image.

[0088] Specifically, the present application can convert the target region image into an HSV image according to the image format of the target region image. For example, when the target region image is an image in Red Green Blue (RGB) color mode, the present application can convert the target region image into a corresponding HSV image by using an RGB-to-HSV conversion formula. If the target region image is already in HSV color mode, the present application can directly obtain a corresponding hue channel image based on the target region image without further image conversion.

[0089] The RGB-to-HSV conversion formula can include:

[0090]

[0091]

[0092]

[0093]

[0094] V = C max ;

[0095] In the formula, R, G, and B can be the R value, G value, and B value of a pixel in RGB color mode, respectively; and H, S, and V can be the H value, S value, and V value of a pixel in HSV color mode, respectively.

[0096] Specifically, the present application can separate the HSV image to obtain a hue channel image, i.e., a hue channel image, after obtaining the HSV image.

[0097] Optionally, in other bare rock information processing methods proposed in embodiments of the present application, the above step S102 can include:

[0098] determining a hue segmentation threshold for distinguishing bare rock elements from non-bare rock elements in the hue channel image;

[0099] performing image segmentation in the hue channel image based on the hue segmentation threshold to obtain an image segmentation result;

[0100] obtaining first bare rock distribution information based on the image segmentation result.

[0101] Specifically, the present application can maximize the difference between bare rock elements and non-bare rock elements in the hue channel image by threshold segmentation of the hue channel image, so as to determine a bare rock distribution area and extract bare rock distribution information.

[0102] Optionally, the present application can extract a chroma component from the HSV image, establish a histogram of the chroma component, and then analyze the histogram to determine a chroma segmentation threshold.

[0103] Optionally, the present application can pre-select a chroma channel sample image containing bare rock, segment the chroma channel sample image by trying different segmentation thresholds, determine a segmentation threshold closest to the actual distribution of bare rock, and determine the threshold that can maximize the display difference between bare rock and non-bare rock elements as the chroma segmentation threshold.

[0104] Optionally, the present application can also combine histogram analysis and sample analysis to determine the chroma segmentation threshold.

[0105] Specifically, after determining the chroma segmentation threshold, the present application can use the Easy Color image processing method and / or the Open CV image processing method to perform threshold segmentation of the image based on the chroma segmentation threshold, to obtain the image segmentation result.

[0106] The image segmentation result can be a segmentation result that divides the boundary between the bare rock distribution area and other non-bare rock areas in the H channel image.

[0107] Specifically, the present application can determine the first bare rock distribution information such as the bare rock position coordinates, the bare rock area, and the bare rock rate based on the bare rock distribution area in the H channel image.

[0108] S103, obtaining second bare rock distribution information based on the luminance channel image corresponding to the target area image;

[0109] It should be noted that the present application can extract the bare rock distribution information of white hue based on the luminance channel image.

[0110] Specifically, after obtaining the target area image, the present application can convert the target area image into a corresponding luminance layer, i.e., a luminance channel image, based on the image mode of the target area image. For example, when the target area image is an RGB image, the present application can convert the target area image into a corresponding luminance channel image using a first conversion formula. The first conversion formula can be:

[0111] A = (299R + 587G + 114B);

[0112] In the formula, A can be the luminance value of a pixel; R, G, and B can be the R value, G value, and B value of a pixel in the RGB color mode, respectively.

[0113] It should be noted that the present application can maximize the difference between the bare rock and the non-bare rock element in the luminance channel image by threshold segmentation on the luminance channel image, so as to determine the bare rock distribution area and extract the bare rock distribution information of the white hue of the bare rock, that is, the second bare rock distribution information.

[0114] Specifically, the present application can obtain the corresponding luminance component based on the target region image, establish a histogram of the luminance component, and then analyze the histogram to determine the luminance segmentation threshold.

[0115] Optionally, the present application can pre-select a luminance channel sample image containing bare rock, segment the luminance channel sample image by trying to select different segmentation thresholds, determine the segmentation threshold closest to the actual distribution of bare rock, and determine the threshold that can maximize the display difference between bare rock and non-bare rock element as the luminance segmentation threshold.

[0116] Specifically, the present application can perform threshold segmentation on the image based on the luminance segmentation threshold by using the easy image processing method and / or the Open CV image processing method after determining the luminance segmentation threshold.

[0117] The image segmentation result can be a segmentation result that divides the boundary between the bare rock distribution area and other non-bare rock area in the luminance channel image, and the image segmentation result is obtained.

[0118] The image segmentation result can be a segmentation result that divides the boundary between the bare rock distribution area and other non-bare rock area in the luminance channel image.

[0119] Specifically, the present application can determine the second bare rock distribution information such as the bare rock position coordinates, the bare rock area, and the bare rock rate based on the bare rock distribution area in the luminance channel image.

[0120] S104, based on the first bare rock distribution information and the second bare rock distribution information, obtaining target bare rock distribution information.

[0121] Specifically, the present application can couple the first bare rock distribution information and the second bare rock distribution information after obtaining the first bare rock distribution information and the second bare rock distribution information to obtain the target bare rock distribution information, that is, the bare rock distribution information of the overall bare rock in the target region image.

[0122] Optionally, the first bare rock distribution information includes a first bare rock distribution coordinate interval, and the second bare rock distribution information includes a second bare rock distribution coordinate interval; based on the first bare rock distribution information and the second bare rock distribution information, the target bare rock distribution information is obtained, including:

[0123] The union of the first bare rock distribution coordinate interval and the second bare rock distribution coordinate interval is determined as the target bare rock distribution coordinate interval.

[0124] Based on the target bare rock distribution coordinate interval, the target bare rock distribution information is determined.

[0125] The first bare rock distribution coordinate interval can be a coordinate interval corresponding to a position range of the bare rock in the gray hue part in the chroma channel image.

[0126] The second bare rock distribution coordinate interval can be a coordinate interval corresponding to a position range of the bare rock in the white hue part in the chroma channel image.

[0127] It should be noted that the chroma channel image and the brightness channel image are obtained by converting the target region image, and the position coordinates of each pixel point in the chroma channel image and the brightness channel image in the image coordinate system can be the same as the position coordinates of the pixel point in the target region image. For example, the position coordinates of the first pixel point in the target region image can be the same as the position coordinates of the pixel point in the chroma channel image, and the position coordinates of the pixel point in the chroma channel image can also be the same.

[0128] Specifically, the first bare rock distribution coordinate interval can be a coordinate interval corresponding to a position range of the bare rock in the target region image, and the second bare rock distribution coordinate interval can be a coordinate interval corresponding to a position range of the bare rock in the white hue part in the target region image.

[0129] The target bare rock distribution coordinate interval can be a coordinate interval corresponding to a position range of the overall bare rock in the target region image.

[0130] It should be noted that after the distribution range of the bare rock in the gray hue part in the chroma channel image and the distribution range of the bare rock in the white hue part in the brightness channel image are determined, the distribution ranges of the two parts can be coupled to determine the bare rock distribution information of the overall bare rock in the target region image.

[0131] Specifically, the present application can determine the union of the first bare rock distribution coordinate interval and the second bare rock distribution coordinate interval as the target bare rock distribution coordinate interval, and then determine the distribution range of the bare rock in the target region image based on the target bare rock distribution coordinate interval, and further determine the bare rock area and the bare rock rate and other bare rock distribution information in the target region image.

[0132] It should be noted that the present application can determine the bare rock distribution information of the target region image based on the target bare rock distribution coordinate interval. Figure 1The method shown, using a UAV to take aerial photography of a target bare rock distribution area, obtains a target area image, uses image processing to obtain corresponding chroma channel images and luminance channel images, extracts first bare rock distribution information and second bare rock distribution information, and obtains target bare rock distribution information based on the first bare rock distribution information and the second bare rock distribution information. The present application can effectively reduce the human resources consumed in the determination process of the bare rock distribution information, and effectively improve the processing efficiency.

[0133] The bare rock information processing method provided by the present application can obtain a target area image, which is an image taken by a UAV facing a target bare rock distribution area when the UAV is at a first flight height; obtain first bare rock distribution information based on a chroma channel image corresponding to the target area image; obtain second bare rock distribution information based on a luminance channel image corresponding to the target area image; and obtain target bare rock distribution information based on the first bare rock distribution information and the second bare rock distribution information. The present application can obtain a target area image generated by taking aerial photography of a target bare rock distribution area by a UAV, use image processing to obtain corresponding chroma channel images and luminance channel images, extract first bare rock distribution information and second bare rock distribution information, and obtain target bare rock distribution information based on the first bare rock distribution information and the second bare rock distribution information. The present application can effectively reduce the human resources consumed in the determination process of the bare rock distribution information, and effectively improve the processing efficiency.

[0134] Based on Figure 1 The second bare rock information processing method is provided by the embodiment of the present application. Before step S101, the method can further include the following steps:

[0135] S201, obtaining a first area image, which is an image taken by a UAV facing a first bare rock distribution area when the UAV is at a manual visual height;

[0136] It should be noted that when using a UAV to take aerial photography of a bare rock distribution area to obtain an image, the influence of the flight height of the UAV on the quality of the image resolution needs to be considered. In this regard, the present application can determine the optimal flight height of the UAV through experiments and comparisons, and apply the optimal flight height as the first flight height described above.

[0137] The first bare rock distribution area can be a certain bare rock distribution area.

[0138] Specifically, the present application can set a manual visual height, so that the area image taken by the UAV at the manual visual height of the bare rock distribution area can determine more accurate bare rock distribution information after manual interpretation. It should be noted that the manual visual height can be determined by a technician according to the actual situation, and the present application does not limit it, such as 40 meters.

[0139] S202, obtaining third bare rock distribution information determined by manual interpretation of the first area image;

[0140] Specifically, the application can manually interpret the first area image by a technician after obtaining the first area image, and determine the third bare rock distribution information corresponding to the first area image.

[0141] S203, obtaining an area image group, the area image group including images taken by the unmanned aerial vehicle facing the first bare rock distribution area at a plurality of test heights respectively;

[0142] Specifically, the application can set different flight heights of the unmanned aerial vehicle, i.e. test heights, and control the unmanned aerial vehicle to take pictures of the first bare rock distribution area at each test height to obtain an area image group.

[0143] It can be understood that the application can set the test height according to the flight and shooting capabilities of the unmanned aerial vehicle, and the application does not limit this.

[0144] S204, determining a first bare rock distribution information group corresponding to the area image group based on an image processing method, the first bare rock distribution information group including bare rock distribution information corresponding to each image in the area image group;

[0145] Specifically, the application can determine the bare rock distribution information corresponding to each area image in the area image group by using an image processing method after obtaining the area image group, and determine each bare rock distribution information as the first bare rock distribution information group.

[0146] Optionally, the application can use an existing image processing method to determine the bare rock distribution information corresponding to each area image in the area image group.

[0147] Optionally, the application can also use Figure 1 the image processing method in the method shown in the figure to determine the bare rock distribution information corresponding to each area image in the area image group. Specifically, for any area image in the area image group, the application can take the area image as a target area image, and sequentially execute steps S102, S103 and S104 in the method shown in the figure to obtain target bare rock distribution information corresponding to the area image. Figure 1

[0148] Specifically, the application can take the third bare rock distribution information obtained by manual interpretation as a reference bare rock distribution information, compare the bare rock distribution information corresponding to each area image in the area image group with the reference bare rock distribution information respectively, and determine the optimal flight height according to the comparison result.

[0149] ​S205, determining the first flight height from the multiple test heights based on a comparison result of each bare rock distribution information in the first bare rock distribution information set and the third bare rock distribution information;

[0150] Specifically, the first bare rock distribution information set can be compared with the third bare rock distribution information, and the optimal flight height can be determined according to the comparison result.

[0151] It can be understood that the higher the flight height of the unmanned aerial vehicle is, the larger the area that can be photographed is. However, when the flight height of the unmanned aerial vehicle exceeds a certain height, the resolution of the image photographed by the unmanned aerial vehicle may be poor, and thus the accuracy of the bare rock distribution information may be reduced. Therefore, the highest test height can be determined as the optimal flight height of the unmanned aerial vehicle under the condition that the accuracy of the bare rock distribution information meets the requirement.

[0152] Optionally, the step S205 can include:

[0153] From the first bare rock distribution information set, each bare rock distribution information that meets a preset difference condition with the third bare rock distribution information is determined as a second bare rock distribution information set.

[0154] From the test heights corresponding to each bare rock distribution information in the second bare rock distribution information set, the highest test height is determined as the first flight height.

[0155] The preset difference condition can be set by a technician according to the actual situation and the information accuracy requirement, and the present application does not limit this.

[0156] Optionally, when the bare rock distribution information includes a bare rock rate, the above-mentioned step of determining, from the first bare rock distribution information set, each bare rock distribution information that meets a preset difference condition with the third bare rock distribution information as a second bare rock distribution information set includes:

[0157] From the first bare rock distribution information set, each bare rock distribution information that has a bare rock rate error not greater than a preset bare rock rate error threshold value with the third bare rock distribution information is determined as a second bare rock distribution information set.

[0158] It can be understood that the preset difference condition can be that the bare rock rate error with the third bare rock distribution information is not greater than a preset bare rock rate error threshold value.

[0159] Optionally, the bare rock rate error includes a bare rock rate absolute error and / or a bare rock rate relative error.

[0160] The bare rock rate absolute error can be the absolute value of the difference between the bare rock rate in the third bare rock distribution information and the bare rock rate in the bare rock distribution information corresponding to a certain test height.

[0161] The relative error of the bare rock rate can be a ratio of the absolute error of the bare rock rate and the bare rock rate in the third bare rock distribution information.

[0162] Optionally, when the bare rock rate error includes the absolute error of the bare rock rate and the relative error of the bare rock rate, the preset bare rock rate error threshold can include a preset absolute error threshold of the bare rock rate and a preset relative error threshold of the bare rock rate.

[0163] It should be noted that the preset bare rock rate error threshold can be formulated by the technician according to the actual needs, and the present application does not limit this. For example, the preset absolute error threshold of the bare rock rate and the preset relative error threshold of the bare rock rate can both be 4%.

[0164] It can be understood that the preset difference condition can also include the bare rock area error and the bare rock distribution coordinate interval error.

[0165] Specifically, after the second bare rock distribution information group is determined, each bare rock distribution information in the second bare rock distribution information group can be determined to correspond to each test height, and the highest test height is determined as the optimal flight height from the test height.

[0166] It should be noted that the optimal flight height determined by the present application can effectively guarantee the image quality of the target area image captured by the unmanned aerial vehicle, and can increase the unmanned aerial vehicle shooting area, effectively guarantee the subsequent image processing efficiency and the information accuracy of the target bare rock distribution information.

[0167] In order to better illustrate the process of determining the optimal flight height of the present application, the present application proposes the following example 1, which is described in combination with a specific application scenario.

[0168] Example 1, in the target karst area, the present application can use a first type of unmanned aerial vehicle to carry out aerial photography work, according to the data collection area and the accuracy requirement, set the artificial visual height and different test heights. The shooting angle of the unmanned aerial vehicle is perpendicular to the ground, the hovering accuracy is ±0.5m in the vertical direction and ±1.5m in the horizontal direction, it is equipped with a 2400 million pixel CMSO sensor, 2400 million pixels per second 20 frames of RAW continuous shooting, the maximum aperture is F2.8, and the minimum shooting distance is 0.40m. The shooting height is set to 13, including the artificial visual height and 12 test heights, wherein the artificial visual height is 40 meters, and the 12 test heights are selected in the range of 100 meters to 350 meters, which are 100 meters, 120 meters, 140 meters, 160 meters, 180 meters, 200 meters, 220 meters, 240 meters, 260 meters, 280 meters, 300 meters and 350 meters.

[0169] Specifically, this invention can control a drone to take aerial photographs of a target karst region at both visual altitude and various experimental altitudes, obtaining regional images corresponding to each altitude. Through histogram analysis and sample image analysis, the lower limit of the chromaticity segmentation threshold for the target karst region is determined to be 120, the upper limit to be 360, and the chromaticity segmentation threshold range is 120-360. Similarly, the lower limit of the luminance segmentation threshold for the target karst region is determined to be 186, the upper limit to be 255, and the luminance segmentation threshold range is 186-255. Based on the determined chromaticity and luminance segmentation thresholds, this invention can utilize... Figure 1 The method shown determines the corresponding bare rock distribution information for each region's image. The bare rock distribution information corresponding to the visual height is used as the baseline bare rock distribution information. Then, the bare rock distribution information corresponding to each experimental height can be compared with the baseline bare rock distribution information. The bare rock distribution information corresponding to each height is shown in Table 1 below.

[0170] Table 1. Information on the distribution of bare rock

[0171]

[0172]

[0173] Among them, the H channel area can be the area of ​​the bare rock distribution region determined in the H channel image; the B channel area can be the area of ​​the bare rock distribution region determined in the brightness channel image; and the (H+B) coupled bare rock area can be the area of ​​the bare rock distribution region coupled from the H channel area and the B channel area.

[0174] Specifically, the curve showing the change in bare rock ratio with the flight altitude of the UAV can be as follows: Figure 2 As shown. By Figure 2 It can be seen that when the flight altitude exceeds 200 meters, the bare rock ratio determined by image processing decreases significantly, and the difference between the bare rock ratio determined by human interpretation at a visual altitude of 40 meters increases significantly.

[0175] Specifically, when both the absolute error and the relative error of the bare rock ratio are set to 4%, the present invention can determine the highest test height of 200 meters that meets this error threshold as the optimal flight height.

[0176] Specifically, such as Figure 3 The curve showing the change in the area of ​​bare rock distribution with the flight altitude of the UAV is shown. Figure 3The first curve is a curve of the distribution area of bare rock determined based on the chroma channel image (i.e., the area extracted based on the hue) and the change of the flight height of the unmanned aerial vehicle, the second curve is a curve of the distribution area of bare rock determined based on the luminance channel image (i.e., the area extracted based on the luminance) and the change of the flight height of the unmanned aerial vehicle, and the third curve is a curve of the distribution area of bare rock determined based on the coupling of the chroma channel image and the luminance channel image (i.e., the area extracted based on the coupling of the hue and the luminance) and the change of the flight height of the unmanned aerial vehicle. Figure 3 As shown in FIG. 8, the distribution area of bare rock determined based on the chroma channel image and the distribution area of bare rock determined based on the luminance channel image cannot contain the complete distribution area of bare rock. Therefore, the distribution information of bare rock determined based on the chroma channel image and the luminance channel image has higher information accuracy and completeness than the distribution information of bare rock determined based on only one of the channel images.

[0177] The bare rock information processing method provided by the present application can determine the optimal flight height and apply the optimal flight height as the first flight height to the extraction of the target bare rock distribution information, which can effectively guarantee the image quality of the target region image captured by the unmanned aerial vehicle, increase the area of the captured region of the unmanned aerial vehicle, and thus effectively guarantee the subsequent image processing efficiency and the information accuracy of the target bare rock distribution information.

[0178] The bare rock information processing device provided by the present application will be described below. The bare rock information processing device described below can be correspondingly referred to the bare rock information processing method described above.

[0179] As shown in FIG. 9, the bare rock information processing device provided by the present application can correspond to the method shown in FIG. 8. Figure 1 As shown in FIG. 10, the bare rock information processing device provided by the present application can correspond to the method shown in FIG. 8. Figure 4 As shown in FIG. 10, the bare rock information processing device provided by the present application can correspond to the method shown in FIG. 8.

[0180] The first obtaining unit 101 is configured to obtain a target region image, the target region image being an image captured by the unmanned aerial vehicle facing a target bare rock distribution area when the unmanned aerial vehicle is at a first flight height;

[0181] The second obtaining unit 102 is configured to obtain first bare rock distribution information based on a chroma channel image corresponding to the target region image;

[0182] The third obtaining unit 103 is configured to obtain second bare rock distribution information based on a luminance channel image corresponding to the target region image;

[0183] The fourth obtaining unit 104 is configured to obtain target bare rock distribution information based on the first bare rock distribution information and the second bare rock distribution information.

[0184] It should be noted that the specific processing procedures of the first obtaining unit 101, the second obtaining unit 102, the third obtaining unit 103, and the fourth obtaining unit 104 and the technical effects brought by the same can be referred to the related descriptions of the present application about the steps S101, S102, S103, and S104 in the first embodiment, which will not be repeated here. Figure 1

[0185] Optionally, the first outcrop distribution information comprises a first outcrop distribution coordinate interval, and the second outcrop distribution information comprises a second outcrop distribution coordinate interval; the fourth obtaining unit 104 comprises a first determining unit and a second determining unit; wherein:

[0186] The first determining unit is configured to determine a union of the first outcrop distribution coordinate interval and the second outcrop distribution coordinate interval as a target outcrop distribution coordinate interval.

[0187] The second determining unit is configured to determine target outcrop distribution information based on the target outcrop distribution coordinate interval.

[0188] Optionally, the second obtaining unit 102 comprises a third determining unit, a first segmentation unit, a fifth obtaining unit, and a sixth obtaining unit; wherein:

[0189] The third determining unit is configured to determine a chroma segmentation threshold for distinguishing outcrop elements from non-outcrop elements in the chroma channel image.

[0190] The first segmentation unit is configured to perform image segmentation in the chroma channel image based on the chroma segmentation threshold.

[0191] The fifth obtaining unit is configured to obtain an image segmentation result.

[0192] The sixth obtaining unit is configured to obtain the first outcrop distribution information based on the image segmentation result.

[0193] Optionally, the third obtaining unit 103 comprises a fourth determining unit, a second segmentation unit, a sixth obtaining unit, and a seventh obtaining unit; wherein:

[0194] The fourth determining unit is configured to determine a luminance segmentation threshold for distinguishing outcrop elements from non-outcrop elements in the luminance channel image.

[0195] The second segmentation unit is configured to perform image segmentation in the luminance channel image based on the luminance segmentation threshold.

[0196] The sixth obtaining unit is configured to obtain an image segmentation result.

[0197] The seventh obtaining unit is configured to obtain the second outcrop distribution information based on the image segmentation result.

[0198] ​Optionally, the bare rock information processing apparatus further comprises an eighth obtaining unit, an information obtaining unit, an image group obtaining unit, a fifth determining unit and a sixth determining unit, wherein:

[0199] The eighth obtaining unit is configured to obtain a first region image before obtaining the target region image, the first region image being an image captured by the UAV when facing the first bare rock distribution area at the artificial visual height;

[0200] The information obtaining unit is configured to obtain third bare rock distribution information determined by artificial interpretation of the first region image;

[0201] The image group obtaining unit is configured to obtain a region image group, the region image group comprising images captured by the UAV when facing the first bare rock distribution area at a plurality of test heights respectively;

[0202] The fifth determining unit is configured to determine a first bare rock distribution information group corresponding to the region image group based on the image processing mode, the first bare rock distribution information group comprising bare rock distribution information corresponding to each image in the region image group;

[0203] The sixth determining unit is configured to determine the first flight height from the plurality of test heights based on a comparison result of each bare rock distribution information in the first bare rock distribution information group and the third bare rock distribution information.

[0204] Optionally, the sixth determining unit comprises a seventh determining unit and an eighth determining unit; wherein:

[0205] The seventh determining unit is configured to determine, from the first bare rock distribution information group, each bare rock distribution information satisfying a preset difference condition with the third bare rock distribution information as a second bare rock distribution information group;

[0206] The eighth determining unit is configured to determine, from test heights corresponding to each bare rock distribution information in the second bare rock distribution information group, a highest test height as the first flight height.

[0207] Optionally, when the bare rock distribution information comprises a bare rock rate, the seventh determining unit is configured to determine, from the first bare rock distribution information group, each bare rock distribution information with a bare rock rate error not greater than a preset bare rock rate error threshold value as the second bare rock distribution information group.

[0208] Optionally, the bare rock rate error comprises a bare rock rate absolute error and / or a bare rock rate relative error.

[0209] The bare rock information processing device provided by the present application can obtain a target area image, the target area image being an image captured by a UAV when facing a target bare rock distribution area at a first flight height; first bare rock distribution information is obtained based on a chroma channel image corresponding to the target area image; second bare rock distribution information is obtained based on a luminance channel image corresponding to the target area image; and target bare rock distribution information is obtained based on the first bare rock distribution information and the second bare rock distribution information. The present application can obtain a target area image generated by aerial photography of a target bare rock distribution area by a UAV, obtain corresponding chroma channel images and luminance channel images by image processing, extract first bare rock distribution information and second bare rock distribution information, and obtain target bare rock distribution information based on the first bare rock distribution information and the second bare rock distribution information. The present application can effectively reduce the consumption of human resources in the process of determining bare rock distribution information and effectively improve the processing efficiency.

[0210] The electronic device provided by the embodiment of the present application can include a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements any of the bare rock information processing methods described above when executing the program. The method can include:

[0211] obtaining a target area image, the target area image being an image captured by a UAV when facing a target bare rock distribution area at a first flight height;

[0212] obtaining first bare rock distribution information based on a chroma channel image corresponding to the target area image;

[0213] obtaining second bare rock distribution information based on a luminance channel image corresponding to the target area image;

[0214] obtaining target bare rock distribution information based on the first bare rock distribution information and the second bare rock distribution information.

[0215] Figure 5 An example of a schematic diagram of the physical structure of an electronic device is shown in Figure 5 The electronic device can include a processor 510, a communications interface 520, a memory 530 and a communications bus 540, wherein the processor 510, the communications interface 520 and the memory 530 can communicate with each other through the communications bus 540. The processor 510 can call the logical instructions in the memory 530 to execute the bare rock information processing method described above.

[0216] Further, the logic instructions in the memory 530 described above can be implemented in the form of software functional units and sold or used as independent products, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the method of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0217] In another aspect, the present application also provides a computer program product, the computer program product comprising a computer program, the computer program being stored in a non-transitory computer readable storage medium, and the computer program being executable by a processor to cause a computer to perform any of the bare rock information processing methods described above, which can include:

[0218] obtaining a target region image, the target region image being an image taken by a UAV facing a target bare rock distribution area when the UAV is at a first flight height;

[0219] obtaining first bare rock distribution information based on a chroma channel image corresponding to the target region image;

[0220] obtaining second bare rock distribution information based on a luminance channel image corresponding to the target region image;

[0221] obtaining target bare rock distribution information based on the first bare rock distribution information and the second bare rock distribution information.

[0222] In another aspect, the present application also provides a non-transitory computer readable storage medium having a computer program stored thereon, the computer program being executable by a processor to implement any of the bare rock information processing methods described above, which can include:

[0223] obtaining a target region image, the target region image being an image taken by a UAV facing a target bare rock distribution area when the UAV is at a first flight height;

[0224] obtaining first bare rock distribution information based on a chroma channel image corresponding to the target region image;

[0225] obtaining second bare rock distribution information based on a luminance channel image corresponding to the target region image;

[0226] Based on the first bare rock distribution information and the second bare rock distribution information, target bare rock distribution information is obtained.

[0227] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0228] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and the necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0229] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A bare rock information processing method characterized by, The method comprises the following steps: obtaining a target region image, the target region image being an image taken by a UAV when at a first flight height and facing a target bare rock distribution area; obtaining first bare rock distribution information based on a chroma channel image corresponding to the target region image; obtaining second bare rock distribution information based on a luminance channel image corresponding to the target region image; obtaining target bare rock distribution information based on the first bare rock distribution information and the second bare rock distribution information; wherein the first bare rock distribution information comprises a first bare rock distribution coordinate interval, and the second bare rock distribution information comprises a second bare rock distribution coordinate interval; and the target bare rock distribution information is determined based on the first bare rock distribution information and the second bare rock distribution information, comprising: determining a union of the first bare rock distribution coordinate interval and the second bare rock distribution coordinate interval as a target bare rock distribution coordinate interval; determining the target bare rock distribution information based on the target bare rock distribution coordinate interval; wherein, before the target region image is obtained, the bare rock information processing method further comprises: obtaining a first region image, the first region image being an image taken by a UAV when at an artificial visual height and facing a first bare rock distribution area; obtaining third bare rock distribution information determined by artificial interpretation of the first region image; obtaining a group of region images, the group of region images comprising images taken by the UAV when at a plurality of test heights and facing the first bare rock distribution area; determining a group of first bare rock distribution information corresponding to the group of region images based on an image processing method, the group of first bare rock distribution information comprising bare rock distribution information corresponding to each image in the group of region images; determining the first flight height from the plurality of test heights based on a result of information comparison between each bare rock distribution information in the group of first bare rock distribution information and the third bare rock distribution information; wherein the first flight height is determined from the plurality of test heights based on a result of information comparison between each bare rock distribution information in the group of first bare rock distribution information and the third bare rock distribution information, comprising: determining, from the group of first bare rock distribution information, a group of second bare rock distribution information that satisfies a preset difference condition in terms of information difference with the third bare rock distribution information; determining the highest test height as the first flight height from the test heights corresponding to each bare rock distribution information in the group of second bare rock distribution information; wherein, when the bare rock distribution information comprises a bare rock rate, the group of second bare rock distribution information is determined from the group of first bare rock distribution information based on a bare rock rate error not greater than a preset bare rock rate error threshold value with respect to the third bare rock distribution information; wherein the bare rock rate error comprises a bare rock rate absolute error and / or a bare rock rate relative error. the first bare rock distribution information is obtained based on a chroma channel image corresponding to the target region image, comprising:

2. The bare rock information processing method according to claim 1, characterized by, ​ determine a chroma segmentation threshold for distinguishing bare rock from non-bare rock elements in the chroma channel image; perform image segmentation in the chroma channel image based on the chroma segmentation threshold to obtain an image segmentation result; obtain the first bare rock distribution information based on the image segmentation result.

3. The bare rock information processing method according to claim 1, characterized by, The second bare rock distribution information based on the luminance channel image corresponding to the target area image includes: determine a luminance segmentation threshold for distinguishing bare rock from non-bare rock elements in the luminance channel image; perform image segmentation in the luminance channel image based on the luminance segmentation threshold to obtain an image segmentation result; obtain the second bare rock distribution information based on the image segmentation result.

4. A bare rock information processing apparatus characterized by comprising: It includes: a first obtaining unit, a second obtaining unit, a third obtaining unit, and a fourth obtaining unit; wherein: The first obtaining unit is configured to obtain a target area image, which is an image taken by a UAV facing a target bare rock distribution area when the UAV is at a first flight height; The second obtaining unit is configured to obtain first bare rock distribution information based on a chroma channel image corresponding to the target area image; The third obtaining unit is configured to obtain second bare rock distribution information based on a luminance channel image corresponding to the target area image; The fourth obtaining unit is configured to obtain target bare rock distribution information based on the first bare rock distribution information and the second bare rock distribution information; The first bare rock distribution information includes a first bare rock distribution coordinate interval, and the second bare rock distribution information includes a second bare rock distribution coordinate interval; and the fourth obtaining unit includes: A first determining unit configured to determine a union of the first bare rock distribution coordinate interval and the second bare rock distribution coordinate interval as a target bare rock distribution coordinate interval; A second determining unit configured to determine the target bare rock distribution information based on the target bare rock distribution coordinate interval; Before the target area image is obtained, the bare rock information processing apparatus further includes: An eighth obtaining unit configured to obtain a first area image, which is an image taken by a UAV facing a first bare rock distribution area when the UAV is at a manual visual height; An information obtaining unit configured to obtain third bare rock distribution information determined by manually interpreting the first area image; An image group obtaining unit configured to obtain an area image group, which includes images taken by the UAV facing the first bare rock distribution area when the UAV is at multiple test heights respectively; A fifth determining unit configured to determine a first bare rock distribution information group corresponding to the area image group based on an image processing manner, the first bare rock distribution information group including bare rock distribution information corresponding to each image in the area image group; A sixth determining unit configured to determine the first flight height from the multiple test heights based on a comparison result of each bare rock distribution information in the first bare rock distribution information group and the third bare rock distribution information; The sixth determining unit includes: A seventh determining unit is configured to determine, from the first set of bare rock distribution information, each bare rock distribution information that meets a preset difference condition with the information difference of the third bare rock distribution information as the second set of bare rock distribution information; An eighth determining unit is configured to determine, from the test heights corresponding to each bare rock distribution information in the second set of bare rock distribution information, the highest test height as the first flight height. When the bare rock distribution information includes a bare rock rate, the seventh determining unit is configured to determine, from the first set of bare rock distribution information, each bare rock distribution information that has a bare rock rate error not greater than a preset bare rock rate error threshold value as the second set of bare rock distribution information. The bare rock rate error includes a bare rock rate absolute error and / or a bare rock rate relative error.

5. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the steps of the bare rock information processing method according to any one of claims 1 to 3 when executing the program.

Images