Lake detection method based on unmanned aerial vehicle and related equipment

Abstract

The invention relates to a lake detection method based on an unmanned aerial vehicle, and the method comprises the following steps: planning and controlling the flight path of the unmanned aerial vehicle through a preset path, so as to reach a to-be-detected region of a lake; performing graph shooting on the to-be-detected area of the lake through the camera to obtain an image of the to-be-detected area of the lake, and performing remote sensing spectrum analysis on the image of the to-be-detected area of the lake to obtain a first analysis result; emitting first polarized light to the to-be-detected area of the lake and receiving second polarized light through the laser, and performing spectral analysis on the to-be-detected area of the lake based on the second polarized light to obtain a second analysis result; based on the first analysis result and the second analysis result, performing water quality evaluation on the to-be-detected area of the lake to obtain a water quality evaluation report; and obtaining an ecological management scheme of the to-be-detected area of the lake based on the water quality evaluation report. The method solves the technical problems that a traditional method is time-consuming and labor-consuming, and large-range and high-frequency monitoring is difficult to realize.

Description

Technical Field

[0001] The present invention relates to the technical field of lake detection, and in particular to a lake detection method based on an unmanned aerial vehicle and related equipment. Background Art

[0002] With the rapid development of industrialization and urbanization, lakes and other water bodies are facing increasingly serious pollution problems, which pose a threat to the ecological environment and human health. Traditional lake water quality monitoring methods mainly rely on manual sampling and laboratory analysis, which is not only time-consuming and labor-intensive, but also difficult to achieve large-scale, high-frequency monitoring. In addition, due to the vast area and diverse morphology of lakes, monitoring of certain specific areas such as key pollution areas, water source protection areas, and ecologically sensitive areas is particularly difficult. Therefore, it is urgent to develop an efficient and accurate lake water quality monitoring method. Summary of the invention

[0003] The main purpose of the present invention is to provide a lake detection method and related equipment based on drones, which solves the technical problems that traditional methods are not only time-consuming and labor-intensive, but also difficult to achieve large-scale and high-frequency monitoring.

[0004] To achieve the above object, the present invention provides a lake detection method based on an unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with a camera and a laser, and the method comprises the following steps: When the drone arrives at the designated lake, the flight trajectory of the drone is controlled by a preset path planning to reach the lake area to be inspected; wherein the lake area to be inspected includes key pollution areas, water source protection areas and ecologically sensitive areas; The camera is used to take a graphic picture of the lake area to be detected to obtain an image of the lake area to be detected, and remote sensing spectrum analysis is performed on the image of the lake area to be detected to obtain a first analysis result; The laser emits a first polarized light to the lake area to be detected and receives a second polarized light, and performs a spectral analysis on the lake area to be detected based on the second polarized light to obtain a second analysis result; wherein the second polarized light is formed by the first polarized light being reflected or scattered in the water body of the lake area to be detected; Based on the first analysis result and the second analysis result, a water quality assessment is performed on the lake area to be tested to obtain a water quality assessment report; An ecological management plan for the lake area to be tested is obtained based on the water quality assessment report.

[0005] Furthermore, when the drone reaches the designated lake, the flight trajectory of the drone is controlled by a preset path planning to reach the lake area to be inspected, including: When the drone arrives at the designated lake, the drone is positioned by a preset multi-modal positioning system to obtain the current position of the drone; Acquire a lake area to be detected, locate the lake area to be detected by using a preset multi-modal positioning system, and obtain the position of the lake area to be detected; Performing preliminary path planning for the drone based on the current drone position and the position of the lake area to be detected; wherein the preliminary path planning has multiple paths; Performing environmental analysis and task planning on the lake area to be inspected to obtain a detection task plan; wherein the detection task plan includes the detection range and detection tasks of the lake area to be inspected; Performing path screening on the preliminary path planning based on the detection task planning to obtain a preset path planning; The UAV is controlled based on the preset path planning to reach the lake waiting for mooring detection area.

[0006] Furthermore, the camera is used to take a graphic picture of the lake area to be detected to obtain an image of the lake area to be detected, including: Performing parameter calibration on the camera to obtain a camera after parameter calibration; A detection flight route of the UAV is planned based on the detection task, the UAV flies according to the detection flight route, and during the flight, a camera with calibrated parameters is used to take a graphic picture of the lake area to be detected to obtain a single detection image; Performing image stitching on the single detection image to obtain an image covering the area to be detected in the lake; The image of the area to be detected covering the lake is enhanced by a preset histogram equalization algorithm to obtain an enhanced image, and the enhanced image is used as the image of the area to be detected covering the lake.

[0007] Further, remote sensing spectral analysis is performed on the image of the lake area to be detected to obtain a first analysis result, including: Performing atmospheric correction on the image of the lake area to be detected based on a preset atmospheric correction algorithm to obtain a corrected multispectral image; Selecting the bands of the corrected multispectral image to obtain key bands; wherein the key bands include a blue light band, a green light band, a red light band, a near infrared band, a short-wave infrared band, and a thermal infrared band; Performing spectral matching and analysis on the standard spectrum in the preset spectral library and the key band to obtain a spectral matching result; Classifying and identifying the lake area to be detected based on the spectral matching result to obtain the distribution of vegetation in the lake area to be detected; The vegetation index is calculated based on the distribution of vegetation to obtain the vegetation coverage rate; Based on the thermal infrared radiation model, the water body temperature analysis is performed based on the thermal infrared band to obtain the thermal state of the water body; wherein the thermal state of the water body includes the spatial distribution of the water body surface temperature in the lake to be detected area and the temperature difference change of the surface temperature in the lake to be detected area; Based on the thermal state of the water body and the vegetation coverage rate, a water quality analysis is performed on the lake area to be detected to obtain a first analysis result; wherein the first analysis result includes water quality parameters, vegetation distribution and water temperature changes.

[0008] Furthermore, a spectral analysis is performed on the lake area to be detected based on the second polarized light to obtain a second analysis result, including: Measuring the light intensity of the second polarized light in different wavelength ranges by a preset spectrometer to obtain preliminary polarization spectrum data; Performing frequency domain conversion on preliminary polarization spectrum data based on Fourier transform to obtain spectrum characteristics in the frequency domain; wherein the spectrum characteristics include frequency distribution, spectrum peak, frequency resolution and spectrum bandwidth; Performing dimension reduction processing on the spectral features to obtain reduced dimension features; Based on the dimensionality reduction features, a spectral analysis is performed on the lake area to be detected to obtain a second analysis result; wherein the second analysis result includes water quality components, suspended matter concentration and organic matter content.

[0009] Furthermore, based on the first analysis result and the second analysis result, a water quality assessment is performed on the lake area to be tested to obtain a water quality assessment report, including: Performing vector transformation on the first analysis result to obtain a first transformation vector; Performing vector transformation on the second analysis result to obtain a second transformation vector; Constructing a lake area matrix to be detected based on the first transformation vector and the second transformation vector; Using a preset time series evaluation model, the water quality change trend of the lake to be detected area is evaluated based on the lake to be detected area matrix to obtain an evaluation result of the water quality of the lake to be detected area; A water quality assessment report is generated based on the assessment results.

[0010] Furthermore, it is characterized in that the drone is provided with a dispenser and a loudspeaker, the loudspeaker provided on the drone is connected to the remote terminal control platform via a 4G network, and an ecological management plan for the lake area to be tested is obtained based on the water quality assessment report, including: Using the preset pollution source identification model and the preset GIS technology, the pollutants around the lake to be detected are identified and located to obtain the spatial distribution information of the pollution sources; Based on the spatial distribution information, the pollution level of the lake to be detected is divided to obtain the pollution level; Formulate an ecological management plan for the lake area to be tested based on the pollution level; The ecological management plan for the lake area to be inspected includes using the dispenser to spread ecological restoration agents in the lake area to be inspected, and using the loudspeaker to speak to people who are damaging the lake area to be inspected.

[0011] The present invention also provides a lake detection device based on a drone, wherein the drone is provided with a camera and a laser, including: A control module is used to control the flight trajectory of the drone through a preset path planning when the drone arrives at the designated lake, so as to reach the lake area to be inspected; wherein the lake area to be inspected includes a key pollution area, a water source protection area, and an ecologically sensitive area; A shooting module, used for shooting a graphic of the lake area to be detected by the camera to obtain an image of the lake area to be detected, and performing remote sensing spectrum analysis on the image of the lake area to be detected to obtain a first analysis result; An analysis module, used for emitting a first polarized light to the lake area to be detected and receiving a second polarized light through the laser, and performing a spectral analysis on the lake area to be detected based on the second polarized light to obtain a second analysis result; wherein the second polarized light is formed by the first polarized light being reflected or scattered in the water body of the lake area to be detected; An evaluation module, used to evaluate the water quality of the lake area to be tested based on the first analysis result and the second analysis result to obtain a water quality evaluation report; The module is used to obtain an ecological management plan for the lake area to be tested based on the water quality assessment report.

[0012] The present invention also provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the above methods when executing the computer program.

[0013] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned methods are implemented.

[0014] The lake detection method based on an unmanned aerial vehicle provided by the present invention comprises the following steps: controlling the flight trajectory of the unmanned aerial vehicle through a preset path planning to reach the lake area to be detected; taking a graphic picture of the lake area to be detected by the camera to obtain an image of the lake area to be detected, and performing remote sensing spectral analysis on the image of the lake area to be detected to obtain a first analysis result; emitting a first polarized light to the lake area to be detected and receiving a second polarized light by the laser, and performing spectral analysis on the lake area to be detected based on the second polarized light to obtain a second analysis result; conducting a water quality assessment on the lake area to be detected based on the first analysis result and the second analysis result to obtain a water quality assessment report; and obtaining an ecological management plan for the lake area to be detected based on the water quality assessment report. The above-mentioned technical means solve the technical problems that the traditional method is not only time-consuming and labor-intensive, but also difficult to achieve large-scale and high-frequency monitoring; it improves that the combination of image analysis and laser spectral analysis can more comprehensively assess the water quality status, can obtain water quality information in real time, and provide timely data support for lake ecological protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 1 is a schematic diagram of the steps of a lake detection method based on a drone in one embodiment of the present invention; Figure 2 is a structural block diagram of a lake detection device based on a drone in one embodiment of the present invention; Figure 3 It is a schematic block diagram of the structure of a computer device according to an embodiment of the present invention.

[0016] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] like Figure 1 As shown, Figure 1 1 is a schematic diagram of the steps of a lake detection method based on a drone in one embodiment of the present invention; In one embodiment of the present invention, a lake detection method based on a drone is provided, wherein the drone is provided with a camera and a laser, and the method comprises the following steps: Step S1, when the UAV arrives at the designated lake, the flight trajectory of the UAV is controlled by a preset path planning to reach the lake area to be inspected; wherein the lake area to be inspected includes key pollution areas, water source protection areas and ecologically sensitive areas.

[0019] Specifically, when the drone is dispatched to a designated lake to perform a mission, its flight process will be controlled according to a pre-set path planning to ensure that the drone can accurately reach specific areas in the lake for detection. These specific areas include three main parts: Key pollution areas: These are areas in the lake where the concentration of pollutants is high or there is a potential risk of pollution. Drones need to conduct detailed monitoring in such areas to assess the degree of pollution and provide data support for subsequent governance measures. Water source protection areas: These areas are usually parts of the lake with good water quality and need special protection, such as drinking water sources. The task of the drone is to collect water quality samples or monitor water quality in these areas to ensure that they are free from pollution threats. Ecologically sensitive areas: These areas refer to areas where the lake ecosystem is relatively fragile or rich in biodiversity. The drone's task here may be to monitor changes in the ecological environment, such as observing whether there are invasions of alien species or other factors that threaten the local ecosystem. In this way, drones can efficiently and targetedly complete monitoring tasks in different areas of the lake, providing important scientific basis for environmental protection and management.

[0020] Step S2, using the camera to take a graphic picture of the lake area to be detected to obtain an image of the lake area to be detected, and performing remote sensing spectral analysis on the image of the lake area to be detected to obtain a first analysis result.

[0021] Specifically, in this step, the camera on the drone will take a graphic photo of the area to be tested in the lake to obtain image data of the area. These areas to be tested specifically include key pollution areas, water source protection areas and ecologically sensitive areas. The images obtained by shooting are called images of the lake area to be tested. Subsequently, remote sensing spectral analysis will be performed on these images of the lake area to be tested. Remote sensing spectral analysis is a technology that identifies the composition of a substance by analyzing the electromagnetic spectrum reflected or emitted by an object. For lakes, this technology can help us identify information such as the type, concentration and water quality of pollutants in the water body. After remote sensing spectral analysis, we will get the first analysis result, which usually includes data on water quality conditions, such as information on the type and concentration of pollutants, as well as data on ecological conditions, such as vegetation coverage and biodiversity. These analysis results are crucial for assessing the environmental quality of lakes, monitoring pollution conditions and taking corresponding protective measures.

[0022] Step S3, emitting the first polarized light and receiving the second polarized light to the lake area to be detected and receiving the second polarized light by the laser, and performing spectral analysis on the lake area to be detected based on the second polarized light to obtain a second analysis result; wherein the second polarized light is formed by the first polarized light being reflected or scattered in the water body of the lake area to be detected.

[0023] Specifically, in this step, the laser carried by the drone will emit the first polarized light to the area to be detected in the lake. The area to be detected here refers to the key pollution area, water source protection area and ecologically sensitive area. The emitted first polarized light will be reflected or scattered in the water body to form the second polarized light. The second polarized light is formed by the first polarized light reflected or scattered in the water body of the lake to be detected. When these rays return from the water, they carry information about the characteristics of the water body, such as water quality, the presence or absence of pollutants and their concentration. Next, the system will perform spectral analysis on the lake to be detected based on the received second polarized light. This analysis method can provide more detailed water quality parameters, such as the specific type and content of pollutants. By performing spectral analysis on the second polarized light, we can obtain the second analysis results, which are of great significance for assessing the water quality and ecological health of the lake. This method is particularly suitable for accurately measuring suspended matter in water bodies, algae growth and other factors that may affect water quality.

[0024] Step S4: Based on the first analysis result and the second analysis result, a water quality assessment is performed on the lake area to be inspected to obtain a water quality assessment report.

[0025] Specifically, in this step, we will evaluate the water quality of the lake's test area based on the first analysis result and the second analysis result, and finally form a water quality assessment report. The test area here includes key pollution areas, water source protection areas and ecologically sensitive areas. The first analysis result comes from the remote sensing spectral analysis of the lake's test area image, which provides basic information about water quality, such as the type and concentration of pollutants. The second analysis result is the result obtained by emitting the first polarized light to the lake's test area and receiving the second polarized light after spectral analysis. The second polarized light is formed by the reflection or scattering of the first polarized light in the water body. This analysis can provide more detailed water quality parameters, such as suspended matter concentration, algae growth, etc. Next, we will combine these two analysis results to conduct water quality assessment. This process may include the following steps: Data integration: All relevant data from the first analysis result and the second analysis result are summarized to ensure data consistency and integrity. Data analysis: In-depth analysis of the summarized data to determine the specific conditions of water quality, including the type of pollutants, concentration levels, whether water quality indicators meet the standards, etc. Assessment of impact: Assess the impact of these water quality conditions on ecological health, water resource security and the surrounding environment. Make recommendations: Based on the analysis results, make specific recommendations and measures to improve water quality, such as pollutant treatment methods, ecological restoration plans, etc. Write a report: All the above information is compiled into a complete water quality assessment report. This report will include an overview of the water quality status, specific analysis results, assessment conclusions, and recommended measures. In this way, we can fully understand the water quality status of the lake area to be tested and formulate reasonable management and protection strategies accordingly.

[0026] Step S5, obtaining an ecological management plan for the lake area to be tested based on the water quality assessment report.

[0027] Specifically, in this step, we will develop an ecological governance plan for the lake area to be tested based on the previously formed water quality assessment report. The water quality assessment report contains detailed analysis results of the water quality conditions in key pollution areas, water source protection areas and ecologically sensitive areas. Based on these analysis results, we will develop ecological governance plans tailored to the characteristics of different regions. This plan may include the following aspects: Key pollution areas: According to the pollution type and concentration information in the water quality assessment report, formulate corresponding pollution control and purification measures, such as using physical, chemical or biological methods to remove pollutants, or taking measures to reduce the source of pollutants. Water source protection areas: In order to protect these areas from pollution, a series of protection measures may be taken, such as setting up isolation zones, limiting the scope of influence of industrial and agricultural activities, and strengthening environmental supervision of surrounding areas. Ecologically sensitive areas: In order to maintain ecological balance and biodiversity, measures to restore the ecosystem may be taken, such as planting native plants and establishing ecological corridors to promote species migration. The ecological governance plan may also include a monitoring plan to regularly check the effectiveness of governance measures and adjust the plan according to actual conditions. In addition, the plan may also involve public education and participation to enhance social awareness and support for lake ecological protection. Through the implementation of this series of measures, it is aimed to improve the overall environmental quality of the lake, protect its ecological functions and ensure its sustainable development.

[0028] In a specific embodiment, when the drone arrives at a designated lake, the flight trajectory of the drone is controlled by a preset path planning to reach the lake to be inspected area, including: When the drone arrives at the designated lake, the drone is positioned by a preset multi-modal positioning system to obtain the current position of the drone; Acquire a lake area to be detected, locate the lake area to be detected by using a preset multi-modal positioning system, and obtain the position of the lake area to be detected; Performing preliminary path planning for the drone based on the current drone position and the position of the lake area to be detected; wherein the preliminary path planning has multiple paths; Performing environmental analysis and task planning on the lake area to be inspected to obtain a detection task plan; wherein the detection task plan includes the detection range and detection tasks of the lake area to be inspected; Performing path screening on the preliminary path planning based on the detection task planning to obtain a preset path planning; The UAV is controlled based on the preset path planning to reach the lake waiting for mooring detection area.

[0029] Specifically, when the drone arrives at the designated lake, the drone is positioned through a preset multimodal positioning system to obtain the current drone position; in this step, when the drone arrives at the target lake, it activates the preset multimodal positioning system. The system can accurately locate the specific location of the drone. The target lake here refers to waters containing key pollution areas, water source protection areas and ecologically sensitive areas.

[0030] The lake area to be detected is obtained, and the lake area to be detected is located by a preset multimodal positioning system to obtain the location of the lake area to be detected; next, the system will use the same multimodal positioning system to determine the specific location of the lake area to be detected. These areas to be detected include key pollution areas, water source protection areas and ecologically sensitive areas. The drone is preliminarily planned based on the current drone position and the location of the lake area to be detected; wherein the preliminary path planning has multiple; then, the system will generate multiple preliminary flight path planning options based on the current location of the drone and the location information of the area to be detected. These preliminary path planning ensures that the drone can effectively cover all important areas to be detected. The lake area to be detected is environmentally analyzed and task planned to obtain a detection task plan; wherein, the detection task plan includes the detection range and detection tasks of the lake area to be detected; the system will perform environmental analysis on the lake area to be detected, clarify which areas need special attention, and formulate specific detection task plans accordingly. These task plans clarify the detection range that the drone needs to cover and the specific detection tasks that need to be performed, such as water quality sampling and pollutant monitoring. Based on the detection task plan, the preliminary path plan is screened to obtain a preset path plan; the system will screen the preliminary path plan according to the detection task plan and select the most suitable flight path, that is, the preset path plan. This path ensures that the drone can efficiently and accurately reach the various areas to be detected in the lake. Based on the preset path plan, the drone is controlled to reach the area to be detected in the lake. Finally, the system will control the flight of the drone according to the preset path plan, guide it to reach the area to be detected in the lake along the selected flight path, and start to perform the predetermined environmental monitoring task. This method ensures that the drone can fully cover the key areas of the lake and conduct effective water quality monitoring and ecological health assessment.

[0031] In a specific embodiment, the camera is used to take a graphic picture of the lake area to be detected to obtain an image of the lake area to be detected, including: Performing parameter calibration on the camera to obtain a camera after parameter calibration; A detection flight route of the UAV is planned based on the detection task, the UAV flies according to the detection flight route, and during the flight, a camera with calibrated parameters is used to take a graphic picture of the lake area to be detected to obtain a single detection image; Performing image stitching on the single detection image to obtain an image covering the area to be detected in the lake; The image of the area to be detected covering the lake is enhanced by a preset histogram equalization algorithm to obtain an enhanced image, and the enhanced image is used as the image of the area to be detected covering the lake.

[0032] Specifically, the camera is used to take a graphic picture of the lake area to be inspected, and an image of the lake area to be inspected is obtained, including: this process involves using a camera carried by a drone to take a graphic picture of the lake area to be inspected, and finally obtaining an image of the lake area to be inspected.

[0033] Performing parameter calibration on the camera to obtain a camera after parameter calibration; Before shooting, the camera needs to be calibrated to ensure the best quality of the captured image. This includes adjusting parameters such as focal length, exposure time, gain, etc., so that the camera can capture clear images under different lighting conditions. Based on the detection task planning, the detection flight route of the drone is formulated. The drone flies according to the detection flight route, and during the flight, the camera with calibrated parameters takes a graphic shot of the lake area to be detected to obtain a single detection image; according to the detection task planning formulated above, the system will plan a detection flight route for the drone. The drone will fly along this route, and during the flight, the calibrated camera will be used to shoot the lake area to be detected, and each shot will obtain a single detection image. The single detection images are spliced ​​to obtain an image covering the lake area to be detected; since the lake area to be detected may be large, a single detection image cannot completely cover the entire area. Therefore, it is necessary to splice multiple single detection images to form a complete image covering the lake area to be detected. The image covering the lake area to be detected is enhanced by a preset histogram equalization algorithm to obtain an enhanced image, and the enhanced image is used as the lake area to be detected. Finally, in order to improve the quality of the image and make it more suitable for subsequent analysis, the system will use a preset histogram equalization algorithm to enhance the stitched image. The image processed in this way is called an enhanced image, which is also the final image of the lake area to be detected. This enhancement process can improve the contrast of the image, make the details clearer, and help better identify the features and changes in the lake.

[0034] In a specific embodiment, remote sensing spectral analysis is performed on the image of the lake area to be detected to obtain a first analysis result, including: Performing atmospheric correction on the image of the lake area to be detected based on a preset atmospheric correction algorithm to obtain a corrected multispectral image; Selecting the bands of the corrected multispectral image to obtain key bands; wherein the key bands include a blue light band, a green light band, a red light band, a near infrared band, a short-wave infrared band, and a thermal infrared band; Performing spectral matching and analysis on the standard spectrum in the preset spectral library and the key band to obtain a spectral matching result; Classifying and identifying the lake area to be detected based on the spectral matching result to obtain the distribution of vegetation in the lake area to be detected; The vegetation index is calculated based on the distribution of vegetation to obtain the vegetation coverage rate; Based on the thermal infrared radiation model, the water body temperature analysis is performed based on the thermal infrared band to obtain the thermal state of the water body; wherein the thermal state of the water body includes the spatial distribution of the water body surface temperature in the lake to be detected area and the temperature difference change of the surface temperature in the lake to be detected area; Based on the thermal state of the water body and the vegetation coverage rate, a water quality analysis is performed on the lake area to be detected to obtain a first analysis result; wherein the first analysis result includes water quality parameters, vegetation distribution and water temperature changes.

[0035] Specifically, remote sensing spectral analysis is performed on the image of the lake area to be detected to obtain a first analysis result, including: this process involves using remote sensing spectral analysis technology to process the image of the lake area to be detected to extract information about water quality, vegetation distribution and water temperature changes.

[0036] Based on the preset atmospheric correction algorithm, the image of the lake area to be detected is atmospherically corrected to obtain a corrected multispectral image; first, the image of the lake area to be detected is atmospherically corrected using the preset atmospheric correction algorithm. Atmospheric correction is to eliminate the influence of atmospheric effects (such as atmospheric scattering and absorption) on the image, so as to obtain more accurate ground reflectance information. After atmospheric correction, a corrected multispectral image is obtained. Band selection is performed on the corrected multispectral image to obtain key bands; wherein the key bands include blue light bands, green light bands, red light bands, near infrared bands, short-wave infrared bands and thermal infrared bands; next, key bands are selected from the corrected multispectral image, and these key bands include blue light bands, green light bands, red light bands, near infrared bands, short-wave infrared bands and thermal infrared bands. These bands are selected to better analyze characteristics such as water quality, vegetation coverage and water body temperature. The standard spectrum in the preset spectral library is spectrally matched and analyzed with the key band to obtain the spectral matching result; the standard spectrum in the preset spectral library is spectrally matched and analyzed with the key band to identify different substances in the lake to be detected area. The spectral matching result can help determine the types of various substances in the image. Based on the spectral matching result, the lake to be detected area is classified and identified to obtain the distribution of vegetation in the lake to be detected area; according to the spectral matching result, the lake to be detected area is classified and identified to determine different types of vegetation and their distribution. This step is very important for understanding the ecological environment of the lake. The vegetation index is calculated based on the distribution of vegetation to obtain the vegetation coverage rate; the vegetation index is calculated using the vegetation distribution, and then the vegetation coverage rate of the lake to be detected area is obtained. The vegetation index is a quantitative indicator used to evaluate the growth status and coverage of vegetation. Based on the thermal infrared radiation model, the water body temperature analysis is performed based on the thermal infrared band to obtain the thermal state of the water body; wherein the thermal state of the water body includes the spatial distribution of the surface temperature of the water body in the lake to be detected area and the temperature difference change of the surface temperature of the lake to be detected area; the thermal infrared radiation model is used to analyze the water body temperature of the thermal infrared band to obtain the spatial distribution and temperature difference change of the surface temperature of the water body in the lake to be detected area. This helps to understand the thermal characteristics of the lake, including the spatial distribution and temperature difference change of the surface temperature of the water body. Based on the thermal state of the water body and the vegetation coverage rate, the water quality analysis of the lake to be detected area is performed to obtain the first analysis result; wherein the first analysis result includes water quality parameters, vegetation distribution and water temperature change. Finally, combined with the water body thermal state information and vegetation coverage rate, the water quality analysis of the lake to be detected area is performed to obtain the first analysis result. The first analysis result includes information such as water quality parameters (such as pollutant concentration), vegetation distribution and water temperature change, which is very critical for evaluating the ecological environment of the lake.

[0037] In a specific embodiment, a spectral analysis is performed on the lake to-be-detected area based on the second polarized light to obtain a second analysis result, including: Measuring the light intensity of the second polarized light in different wavelength ranges by a preset spectrometer to obtain preliminary polarization spectrum data; Performing frequency domain conversion on preliminary polarization spectrum data based on Fourier transform to obtain spectrum characteristics in the frequency domain; wherein the spectrum characteristics include frequency distribution, spectrum peak, frequency resolution and spectrum bandwidth; Performing dimension reduction processing on the spectral features to obtain reduced dimension features; Based on the dimensionality reduction features, a spectral analysis is performed on the lake area to be detected to obtain a second analysis result; wherein the second analysis result includes water quality components, suspended matter concentration and organic matter content.

[0038] Specifically, based on the second polarized light, spectral analysis is performed on the lake area to be detected to obtain a second analysis result, including: this process involves using the second polarized light to perform spectral analysis on the lake area to be detected to extract information about water quality components, suspended matter concentration and organic matter content. The light intensity of the second polarized light is measured in different wavelength ranges by a preset spectrometer to obtain preliminary polarization spectrum data; first, the light intensity of the second polarized light is measured in different wavelength ranges using a preset spectrometer. The second polarized light is formed by the first polarized light after reflection or scattering in the water body. By measuring the light intensity at different wavelengths, preliminary polarization spectrum data can be obtained. The preliminary polarization spectrum data is converted into frequency domain based on Fourier transform to obtain spectral features in the frequency domain; wherein the spectral features include frequency distribution, spectral peak, frequency resolution and spectral bandwidth; next, the preliminary polarization spectrum data is converted from the time domain to the frequency domain using Fourier transform to extract spectral features. These features include frequency distribution, spectral peak, frequency resolution and spectral bandwidth. These features are crucial for subsequent analysis. The spectral features are subjected to dimensionality reduction processing to obtain dimensionality reduction features; in order to simplify the data and reduce redundancy, the extracted spectral features need to be subjected to dimensionality reduction processing. The dimensionality reduction features retain the main information of the above data, but reduce the data dimension, which is convenient for subsequent analysis and processing. Based on the dimensionality reduction features, a spectral analysis is performed on the area to be detected in the lake to obtain a second analysis result; wherein, the second analysis result includes water quality composition, suspended matter concentration and organic matter content. Finally, based on the dimensionality reduction features, a spectral analysis is performed on the area to be detected in the lake to obtain a second analysis result. The second analysis result includes information such as water quality composition, suspended matter concentration and organic matter content. This information is crucial for evaluating the water quality of the lake.

[0039] In a specific embodiment, a water quality assessment is performed on the lake area to be detected based on the first analysis result and the second analysis result to obtain a water quality assessment report, including: Performing vector transformation on the first analysis result to obtain a first transformation vector; Performing vector transformation on the second analysis result to obtain a second transformation vector; Constructing a lake area matrix to be detected based on the first transformation vector and the second transformation vector; Using a preset time series evaluation model, the water quality change trend of the lake to be detected area is evaluated based on the lake to be detected area matrix to obtain an evaluation result of the water quality of the lake to be detected area; A water quality assessment report is generated based on the assessment results.

[0040] Specifically, based on the first analysis result and the second analysis result, a water quality assessment is performed on the lake area to be tested to obtain a water quality assessment report, including: This process involves using the first analysis results and the second analysis results to comprehensively evaluate the water quality status of the area to be tested in the lake, and ultimately generate a water quality assessment report.

[0041] Performing vector transformation on the first analysis result to obtain a first transformation vector; First, the first analysis result is converted into a numerical vector, namely the first conversion vector, which contains the key water quality parameter values ​​in the first analysis result, such as water temperature, pH value, dissolved oxygen, etc.

[0042] The second analysis result is vector-converted to obtain a second conversion vector; similarly, the second analysis result is also converted into a numerical vector, namely, a second conversion vector. This vector includes the key water quality parameter values ​​in the second analysis result, such as water quality composition, suspended matter concentration, organic matter content, etc.

[0043] A lake area matrix to be tested is constructed based on the first transformation vector and the second transformation vector; next, a comprehensive lake area matrix to be tested is constructed using the first transformation vector and the second transformation vector. This matrix can be regarded as a summary of all water quality parameters, which is convenient for further data analysis and processing. Through a preset time series evaluation model, the water quality change trend of the lake area to be tested is evaluated based on the lake area matrix to obtain an evaluation result of the water quality of the lake area to be tested; using the preset time series evaluation model, the data in the lake area matrix to be tested is analyzed to evaluate the trend of water quality changes over time. This step can help understand how water quality parameters change over time, and predict possible future trends accordingly.

[0044] A water quality assessment report is generated based on the assessment results. Finally, a detailed water quality assessment report is generated based on the assessment results. This report will summarize the changing trends of water quality and the current status of water quality, and may propose recommended measures to improve water quality.

[0045] In a specific embodiment, the drone is provided with a dispenser and a loudspeaker, and the loudspeaker provided on the drone is connected to a remote terminal control platform via a 4G network, and an ecological management plan for the lake area to be tested is obtained based on the water quality assessment report, including: Using the preset pollution source identification model and the preset GIS technology, the pollutants around the lake to be detected are identified and located to obtain the spatial distribution information of the pollution sources; Based on the spatial distribution information, the pollution level of the lake to be detected is divided to obtain the pollution level; Formulate an ecological management plan for the lake area to be tested based on the pollution level; The ecological management plan for the lake area to be inspected includes using the dispenser to spread ecological restoration agents in the lake area to be inspected, and using the loudspeaker to speak to people who are damaging the lake area to be inspected.

[0046] Specifically, the drone is provided with a dispenser and a loudspeaker, and the loudspeaker provided on the drone is connected to the remote terminal control platform via a 4G network, and an ecological governance plan for the lake area to be tested is obtained based on the water quality assessment report, including: this plan involves using a drone equipped with a dispenser and a loudspeaker, and the loudspeaker can be connected to the remote terminal control platform via a 4G network. The platform can receive the water quality assessment report and formulate an ecological governance plan for the lake area to be tested based on the report.

[0047] Using the preset pollution source identification model and the preset GIS technology, the pollutants around the lake to be tested are identified and located to obtain the spatial distribution information of the pollution sources; using the preset pollution source identification model, combined with the geographic information system (GIS) technology, the pollutants in the lake to be tested area and its surroundings are identified and located. This process will generate spatial distribution information about the pollution source, helping to determine the specific location and scope of the pollution.

[0048] Based on the spatial distribution information, the pollution level of the lake area to be detected is divided to obtain the pollution level; according to the obtained spatial distribution information, the pollution level of the lake area to be detected is divided. This step will divide the area to be detected into different pollution levels according to different pollution levels.

[0049] Formulate an ecological management plan for the lake area to be tested based on the pollution level; According to the pollution level determined above, a specific ecological governance plan is formulated for the lake area to be tested. This will involve taking appropriate measures to improve or restore water quality and ecosystem health. The ecological governance plan for the lake area to be tested includes using the dispenser to spread ecological restoration agents in the lake area to be tested, and shouting at people who are damaging the lake area to be tested through the loudspeaker. Specific measures of the ecological governance plan include: Ecological restoration agents are applied to the lake's test area using the dispenser on the drone. These agents can help purify water quality or promote the natural recovery of the ecosystem.

[0050] The loudspeaker on the drone can be used to warn or persuade people who are destroying the ecological environment of the lake's inspection area to reduce human interference and pollution.

[0051] The above describes the lake detection method based on drone in the embodiment of the present invention. The following describes the lake detection device based on drone in the embodiment of the present invention. Figure 2 In one embodiment of the present invention, a lake detection device based on a drone includes: The control module 21 is used to control the flight trajectory of the drone through a preset path planning when the drone arrives at the designated lake, so as to reach the lake area to be inspected; wherein the lake area to be inspected includes a key pollution area, a water source protection area and an ecologically sensitive area; The shooting module 22 is used to shoot the image of the lake area to be detected by the camera to obtain an image of the lake area to be detected, and perform remote sensing spectrum analysis on the image of the lake area to be detected to obtain a first analysis result; The analysis module 23 is used to transmit the first polarized light to the lake to be detected area and receive the second polarized light through the laser, and perform spectral analysis on the lake to be detected area based on the second polarized light to obtain a second analysis result; wherein the second polarized light is formed by the first polarized light being reflected or scattered in the water body of the lake to be detected area; An evaluation module 24, configured to evaluate the water quality of the lake area to be detected based on the first analysis result and the second analysis result to obtain a water quality evaluation report; Obtaining module 25, for obtaining an ecological management plan for the lake area to be inspected based on the water quality assessment report.

[0052] In this embodiment, for the specific implementation of each unit in the above system embodiment, please refer to the above method embodiment, which will not be repeated here.

[0053] Reference Figure 3 The present invention also provides a computer device in an embodiment, wherein the internal structure of the computer device can be as follows: Figure 3 As shown. The computer device includes a processor, a memory, a display screen, an input device, a network interface and a database connected through a system bus. Among them, the processor designed by the computer is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the corresponding data in this embodiment. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the above method is implemented.

[0054] Those skilled in the art will understand that Figure 3 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present invention, and does not constitute a limitation on the computer device to which the solution of the present invention is applied.

[0055] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the above method is implemented. It can be understood that the computer-readable storage medium in this embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

[0056] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided by the present invention and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double-speed data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM.

[0057] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0058] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A lake detection method based on drone, characterized in that: The drone is provided with a camera and a laser, and the method comprises the following steps: When the drone arrives at the designated lake, the flight trajectory of the drone is controlled by a preset path planning to reach the lake area to be inspected; wherein the lake area to be inspected includes key pollution areas, water source protection areas and ecologically sensitive areas; The camera is used to take a graphic picture of the lake area to be detected to obtain an image of the lake area to be detected, and remote sensing spectrum analysis is performed on the image of the lake area to be detected to obtain a first analysis result; The laser emits a first polarized light to the lake area to be detected and receives a second polarized light, and performs a spectral analysis on the lake area to be detected based on the second polarized light to obtain a second analysis result; wherein the second polarized light is formed by the first polarized light being reflected or scattered in the water body of the lake area to be detected; Based on the first analysis result and the second analysis result, a water quality assessment is performed on the lake area to be tested to obtain a water quality assessment report; An ecological management plan for the lake area to be tested is obtained based on the water quality assessment report.

2. The lake detection method based on drone according to claim 1 is characterized in that: When the UAV reaches the designated lake, the flight trajectory of the UAV is controlled by a preset path planning to reach the lake to be inspected area, including: When the drone arrives at the designated lake, the drone is positioned by a preset multi-modal positioning system to obtain the current position of the drone; Acquire a lake area to be detected, locate the lake area to be detected by using a preset multi-modal positioning system, and obtain the position of the lake area to be detected; Performing preliminary path planning for the drone based on the current drone position and the position of the lake area to be detected; wherein the preliminary path planning has multiple paths; Performing environmental analysis and task planning on the lake area to be inspected to obtain a detection task plan; wherein the detection task plan includes the detection range and detection tasks of the lake area to be inspected; Performing path screening on the preliminary path planning based on the detection task planning to obtain a preset path planning; The UAV is controlled based on the preset path planning to reach the lake waiting for mooring detection area.

3. The lake detection method based on drone according to claim 2 is characterized in that: The camera is used to take a graphic picture of the lake area to be detected, so as to obtain an image of the lake area to be detected, including: Performing parameter calibration on the camera to obtain a camera after parameter calibration; A detection flight route of the UAV is formulated based on the detection task planning, the UAV flies according to the detection flight route, and during the flight, a camera with calibrated parameters is used to take a graphic picture of the lake area to be detected to obtain a single detection image; Performing image stitching on the single detection image to obtain an image covering the area to be detected in the lake; The image of the area to be detected covering the lake is enhanced by a preset histogram equalization algorithm to obtain an enhanced image, and the enhanced image is used as the image of the area to be detected covering the lake.

4. The lake detection method based on drone according to claim 1 is characterized in that: Performing remote sensing spectral analysis on the image of the lake area to be detected to obtain a first analysis result, including: Performing atmospheric correction on the image of the lake area to be detected based on a preset atmospheric correction algorithm to obtain a corrected multispectral image; Selecting the bands of the corrected multispectral image to obtain key bands; wherein the key bands include a blue light band, a green light band, a red light band, a near infrared band, a short-wave infrared band, and a thermal infrared band; Performing spectral matching and analysis on the standard spectrum in the preset spectral library and the key band to obtain a spectral matching result; Classifying and identifying the lake area to be detected based on the spectral matching result to obtain the distribution of vegetation in the lake area to be detected; The vegetation index is calculated based on the distribution of vegetation to obtain the vegetation coverage rate; Based on the thermal infrared radiation model, the water body temperature analysis is performed based on the thermal infrared band to obtain the thermal state of the water body; wherein the thermal state of the water body includes the spatial distribution of the water body surface temperature in the lake to be detected area and the temperature difference change of the surface temperature in the lake to be detected area; Based on the thermal state of the water body and the vegetation coverage rate, a water quality analysis is performed on the lake area to be detected to obtain a first analysis result; wherein the first analysis result includes water quality parameters, vegetation distribution and water temperature changes.

5. The lake detection method based on drone according to claim 1 is characterized in that: Performing spectral analysis on the lake to-be-detected area based on the second polarized light to obtain a second analysis result includes: Measuring the light intensity of the second polarized light in different wavelength ranges by a preset spectrometer to obtain preliminary polarization spectrum data; Performing frequency domain conversion on preliminary polarization spectrum data based on Fourier transform to obtain spectrum characteristics in the frequency domain; wherein the spectrum characteristics include frequency distribution, spectrum peak, frequency resolution and spectrum bandwidth; Performing dimension reduction processing on the spectral features to obtain reduced dimension features; Based on the dimensionality reduction features, a spectral analysis is performed on the lake area to be detected to obtain a second analysis result; wherein the second analysis result includes water quality components, suspended matter concentration and organic matter content.

6. The lake detection method based on drone according to claim 1 is characterized in that: Based on the first analysis result and the second analysis result, a water quality assessment is performed on the lake area to be tested to obtain a water quality assessment report, including: Performing vector transformation on the first analysis result to obtain a first transformation vector; Performing vector transformation on the second analysis result to obtain a second transformation vector; Constructing a lake area matrix to be detected based on the first transformation vector and the second transformation vector; Using a preset time series evaluation model, the water quality change trend of the lake to be detected area is evaluated based on the lake to be detected area matrix to obtain an evaluation result of the water quality of the lake to be detected area; A water quality assessment report is generated based on the assessment results.

7. The lake detection method based on drone according to claim 1 is characterized in that: The drone is provided with a dispenser and a loudspeaker, and the loudspeaker provided on the drone is connected to the remote terminal control platform via a 4G network. Based on the water quality assessment report, an ecological management plan for the lake area to be tested is obtained, including: Using the preset pollution source identification model and the preset GIS technology, the pollutants around the lake to be detected are identified and located to obtain the spatial distribution information of the pollution sources; Based on the spatial distribution information, the pollution level of the lake to be detected is divided to obtain the pollution level; Formulate an ecological management plan for the lake area to be tested based on the pollution level; The ecological management plan for the lake area to be inspected includes using the dispenser to spread ecological restoration agents in the lake area to be inspected, and using the loudspeaker to speak to people who are damaging the lake area to be inspected.

8. A lake detection device based on drone, characterized in that: The drone is provided with a camera and a laser, including: A control module is used to control the flight trajectory of the drone through a preset path planning when the drone arrives at the designated lake, so as to reach the lake area to be inspected; wherein the lake area to be inspected includes a key pollution area, a water source protection area, and an ecologically sensitive area; A shooting module, used for shooting a graphic of the lake area to be detected by the camera to obtain an image of the lake area to be detected, and performing remote sensing spectrum analysis on the image of the lake area to be detected to obtain a first analysis result; An analysis module, used for emitting a first polarized light to the lake area to be detected and receiving a second polarized light through the laser, and performing a spectral analysis on the lake area to be detected based on the second polarized light to obtain a second analysis result; wherein the second polarized light is formed by the first polarized light being reflected or scattered in the water body of the lake area to be detected; An evaluation module, used to evaluate the water quality of the lake area to be tested based on the first analysis result and the second analysis result to obtain a water quality evaluation report; The module is used to obtain an ecological management plan for the lake area to be tested based on the water quality assessment report.

9. A computer device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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