Forestry geographic survey method and system based on unmanned aerial vehicle remote sensing technology

Abstract

The invention provides a forestry geographical survey method and system based on an unmanned aerial vehicle remote sensing technology. The method comprises the following steps: acquiring topographic information and climate condition information of a forest region to be surveyed; planning flight routes of the unmanned aerial vehicle in the first area and the second area according to the terrain information and the climate condition information; the first area is over vegetation in the forest area to be surveyed; the second area is the interior of vegetation in the forest area to be surveyed; controlling the unmanned aerial vehicle to fly along the flight path; the unmanned aerial vehicle is used for collecting forest geographical environment information; controlling the pose of the unmanned aerial vehicle according to the forest geographical environment information, and adjusting the relative position of the unmanned aerial vehicle and the vegetation in the forest region to be surveyed; when the unmanned aerial vehicle reaches a preset position, obtaining current position imaging information by using the unmanned aerial vehicle; and performing geographic survey according to the current position imaging information. Forestry geographical survey is carried out based on the computer vision technology, and the method has the advantages of being non-contact, rapid and efficient.

Description

Technical Field

[0001] The present invention relates to the field of forestry geography survey, and in particular to a forestry geography survey method and system based on unmanned aerial vehicle remote sensing technology. Background Art

[0002] Forestry geography is an important part of agricultural geography. It is one of the important branches of agricultural geography. The main object of forestry production is forest (including natural forest and artificial forest). In the past, forest was often one-sidedly understood as the sum of trees, and forestry activities were simply understood as the production of wood. Now it is recognized that forest is understood as an ecosystem composed of plant communities dominated by woody plants and the surrounding non-biological environment that are interconnected and mutually restricted.

[0003] The purpose of forest management is not only to obtain timber and other forest products continuously, but also to pay attention to the role of forests in conserving water resources, maintaining water and soil, preventing wind and sand, regulating climate, purifying air, reducing noise, preventing pollution, protecting and beautifying the environment, and protecting biological germplasm resources. Therefore, the characteristics of forestry production depend on both natural factors and socio-economic factors. These factors vary from place to place and have certain rules. Forestry geography is a research field developed to establish forestry production on a scientific basis.

[0004] Geographic survey is a very important data collection project in modern society. Through manual, vehicle, drone and other equipment, the surface height and attachments can be counted to determine the number and status of various objects in an area. In the current existing technology, by comparing survey data at different times, it is convenient for staff to analyze the data of the required area and contribute to the subsequent protection and monitoring of animals and plants.

[0005] Most of the existing technologies use drone remote sensing for surveying and mapping, but the drones conduct surveys above the forest area to be surveyed, making it impossible to know the specific conditions inside the forest area, resulting in inaccurate survey results. Summary of the invention

[0006] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a forestry geographical survey method and system based on unmanned aerial vehicle remote sensing technology, which can accurately obtain geographical information of the forestry scope.

[0007] To achieve the above object, the present invention provides the following solutions:

[0008] A forestry geographical survey method based on UAV remote sensing technology, comprising:

[0009] Obtain topographic information and climatic conditions of the forest area to be surveyed;

[0010] Plan the flight routes of the drone in the first area and the second area according to the terrain information and climate condition information; the first area is above the vegetation in the forest area to be surveyed; the second area is inside the vegetation in the forest area to be surveyed.

[0011] Control the drone to fly along the flight route; the drone is used to collect the geographical environment information in the forest.

[0012] Control the pose of the drone according to the geographical environment information in the forest, and adjust the relative position between the drone and the vegetation in the forest area to be surveyed.

[0013] When the drone reaches the preset position, use the drone to obtain the imaging information of the current position.

[0014] Conduct geographical survey according to the imaging information of the current position.

[0015] Preferably, obtaining the terrain information and climate condition information of the forest area to be surveyed includes:

[0016] Statistically analyze the historical geographical data of the forest area to be surveyed according to the geological survey report.

[0017] Have the staff conduct a field survey of the forest area to be surveyed to obtain on-site geographical information.

[0018] Determine the terrain information according to the historical geographical data and the on-site geographical information.

[0019] Determine the climate condition information according to the meteorological database.

[0020] Preferably, planning the flight routes of the drone in the first area and the second area according to the terrain information and climate condition information includes:

[0021] Construct an initial model according to the forest area to be surveyed.

[0022] Construct a three-dimensional digital model according to the initial model.

[0023] Divide the three-dimensional digital model into an air area and a forest area.

[0024] Respectively determine the feasible space of the drone in the air area and the forest area according to the terrain information and the climate condition information.

[0025] Based on the path planning algorithm, conduct path planning of the drone in the feasible space respectively to obtain the flight route.

[0026] Preferably, conducting geographical survey according to the imaging information of the current position includes:

[0027] Based on the back-projection method, determine the three-dimensional data of the vegetation in the to-be-surveyed forest area in the camera coordinate system according to the current position imaging information;

[0028] Adopt the perspective N-point projection method to determine the position of the UAV according to the current position imaging information;

[0029] Convert the three-dimensional data of the vegetation in the to-be-surveyed forest area in the UAV camera coordinate system into the three-dimensional data of the vegetation in the to-be-surveyed forest area in the world coordinate system according to the position of the UAV;

[0030] Determine the vegetation size information and geographical information in the to-be-surveyed forest area according to the three-dimensional data of the vegetation in the to-be-surveyed forest area in the world coordinate system.

[0031] Preferably, the current position imaging information includes the picture information and spatial geographical information of the vegetation in the to-be-surveyed forest area.

[0032] Preferably, the vegetation size information in the to-be-surveyed forest area includes vegetation size, plant spacing, and number of plants.

[0033] A forestry geographical survey system based on UAV remote sensing technology, comprising:

[0034] An information acquisition module, configured to acquire the topographic information and climate condition information of the to-be-surveyed forest area;

[0035] A path planning module, configured to plan the flight route of the UAV in the first area and the second area according to the topographic information and climate condition information; the first area is above the vegetation in the to-be-surveyed forest area; the second area is inside the vegetation in the to-be-surveyed forest area;

[0036] A flight module, configured to control the UAV to fly along the flight route; the UAV is used to collect the forest geographical environment information;

[0037] An attitude control module, configured to control the attitude of the UAV according to the forest geographical environment information and adjust the relative position between the UAV and the vegetation in the to-be-surveyed forest area;

[0038] An imaging module, configured to use the UAV to acquire the current position imaging information when the UAV reaches the preset position;

[0039] A survey module, configured to perform geographical survey according to the current position imaging information.

[0040] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0041] The present invention provides a forestry geographical survey method and system based on unmanned aerial vehicle (UAV) remote sensing technology. The method includes: obtaining topographic information and climate condition information of a forest area to be surveyed; planning flight routes of the UAV in a first area and a second area according to the topographic information and climate condition information; the first area being above the vegetation in the forest area to be surveyed; the second area being inside the vegetation in the forest area to be surveyed; controlling the UAV to fly along the flight routes; the UAV being used to collect forest geographical environment information; controlling the pose of the UAV according to the forest geographical environment information and adjusting the relative position between the UAV and the vegetation in the forest area to be surveyed; when the UAV reaches a preset position, using the UAV to obtain imaging information of the current position; and performing geographical survey according to the current position imaging information. The present invention performs forestry geographical survey based on computer vision technology and has the advantages of non-contact, fast and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0043] Figure 1 It is a flowchart of the method provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

[0045] Referring to "embodiments" herein means that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0046] In the description, claims and drawings of this application, terms such as "first", "second", "third" and "fourth" are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, including a series of steps, processes, methods, etc. is not limited to the listed steps, but may optionally further include steps not listed, or may optionally further include other step elements inherent to these processes, methods, products or devices.

[0047] The object of the present invention is to provide a forestry geographical survey method and system based on unmanned aerial vehicle remote sensing technology, which conducts forestry geographical survey based on computer vision technology and has the advantages of non-contact, fast and efficient.

[0048] To make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0049] Figure 1 The method flowchart provided for the embodiments of the present invention is as Figure 1 As shown, the present invention provides a forestry geographical survey method based on unmanned aerial vehicle remote sensing technology, including:

[0050] Step 100: Obtain the topographic information and climate condition information of the forest area to be surveyed;

[0051] Step 200: Plan the flight routes of the unmanned aerial vehicle in the first area and the second area according to the topographic information and climate condition information; the first area is above the vegetation in the forest area to be surveyed; the second area is inside the vegetation in the forest area to be surveyed;

[0052] Step 300: Control the unmanned aerial vehicle to fly along the flight route; the unmanned aerial vehicle is used to collect the geographical environment information in the forest;

[0053] Step 400: Control the pose of the unmanned aerial vehicle according to the geographical environment information in the forest, and adjust the relative position between the unmanned aerial vehicle and the vegetation in the forest area to be surveyed;

[0054] Step 500: When the unmanned aerial vehicle reaches the preset position, use the unmanned aerial vehicle to obtain the imaging information of the current position;

[0055] Step 600: Conduct geographical survey according to the imaging information of the current position.

[0056] Preferably, the step 100 includes:

[0057] Statistical the historical geographical data of the forest area to be surveyed according to the geological survey report;

[0058] The staff conduct a reconnaissance of the forest area to be surveyed to obtain on-site geographical information;

[0059] Determine the terrain information according to the historical geographical data and the on-site geographical information;

[0060] Determine the climate condition information according to the meteorological database.

[0061] Specifically, in this embodiment, the staff conduct a reconnaissance of the forest area to be surveyed to determine the basic terrain information and climate conditions, providing necessary support for subsequent UAV collection.

[0062] Preferably, plan the flight routes of the UAVs in the first area and the second area according to the terrain information and the climate condition information, including:

[0063] Construct an initial model according to the forest area to be surveyed;

[0064] Construct a three-dimensional digital model according to the initial model;

[0065] Divide the three-dimensional digital model into an air area and a forest area;

[0066] Determine the feasible space of the UAVs in the air area and the forest area respectively according to the terrain information and the climate condition information;

[0067] Based on the path planning algorithm, conduct path planning of the UAVs in the feasible space respectively to obtain the flight routes.

[0068] Specifically, the path planning algorithms adopted in this embodiment include Dijkstra algorithm, A* search algorithm, simulated annealing algorithm, ant colony algorithm, genetic algorithm, particle swarm algorithm, Floyd algorithm or Fallback algorithm. Preferably, in this embodiment, the Dijkstra algorithm is used to conduct path planning for the two areas respectively.

[0069] Preferably, conduct geographical survey according to the current position imaging information, including:

[0070] Based on the back-projection method, determine the three-dimensional data of the vegetation in the forest area to be surveyed in the camera coordinate system according to the current position imaging information;

[0071] Adopt the perspective-n-point projection method to determine the position of the UAV according to the current position imaging information;

[0072] Convert the three-dimensional data of the vegetation in the forest area to be surveyed in the UAV camera coordinate system into the three-dimensional data of the vegetation in the world coordinate system according to the position of the UAV;

[0073] Determine the vegetation size information and geographical information in the forest area to be surveyed based on the three-dimensional data of the vegetation in the world coordinate system of the forest area to be surveyed.

[0074] Optionally, in this embodiment, the camera position and pose of different frames of images are solved by the perspective-n-point (PnP) method.

[0075] Preferably, the current position imaging information includes the picture information and spatial geographical information of the vegetation in the forest area to be surveyed.

[0076] Preferably, the vegetation size information in the forest area to be surveyed includes vegetation size, plant spacing, and number of plants.

[0077] Corresponding to the above method, this embodiment also discloses a forestry geographical survey system based on unmanned aerial vehicle (UAV) remote sensing technology, including:

[0078] An information acquisition module, configured to acquire the terrain information and climate condition information of the forest area to be surveyed;

[0079] A path planning module, configured to plan the flight routes of the UAV in the first area and the second area according to the terrain information and climate condition information; the first area is above the vegetation in the forest area to be surveyed; the second area is inside the vegetation in the forest area to be surveyed;

[0080] A flight module, configured to control the UAV to fly along the flight route; the UAV is used to collect the geographical environment information in the forest;

[0081] A pose control module, configured to control the pose of the UAV according to the geographical environment information in the forest and adjust the relative position between the UAV and the vegetation in the forest area to be surveyed;

[0082] An imaging module, configured to use the UAV to obtain the current position imaging information when the UAV reaches a preset position;

[0083] A survey module, configured to perform geographical survey according to the current position imaging information.

[0084] The beneficial effects of the present invention are as follows:

[0085] (1) Through the path planning carried out in two areas, the UAV of the present invention can not only conduct macroscopic surveys on the forest area to be surveyed in the air, but also enter the forest area to conduct microscopic surveys on the forest area to be surveyed, thereby further improving the survey accuracy.

[0086] (2) The present invention conducts forestry geographical surveys based on computer vision technology, and has the advantages of non-contact, fast and efficient.

[0087] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For the relevant parts, reference can be made to the description in the method section.

[0088] Specific examples are used in this article to elaborate on the principles and implementation manners of the present invention. The descriptions of the above embodiments are only used to help understand the method of the present invention and its core idea. At the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation on the present invention.

Claims

1. A forestry geographical survey method based on drone remote sensing technology, characterized in that Including: Obtain the topographic information and climate condition information of the forest area to be surveyed; Plan the flight routes of the unmanned aerial vehicle (UAV) in the first area and the second area according to the topographic information and climate condition information; the first area is above the vegetation in the forest area to be surveyed; the second area is inside the vegetation in the forest area to be surveyed; Control the UAV to fly along the flight route; the UAV is used to collect the geographical environment information in the forest; Control the pose of the UAV according to the geographical environment information in the forest, and adjust the relative position between the UAV and the vegetation in the forest area to be surveyed; When the UAV reaches the preset position, use the UAV to obtain the imaging information of the current position; Conduct geographical survey according to the imaging information of the current position.

2. The forestry geographical survey method based on UAV remote sensing technology according to claim 1, wherein, The obtaining of the topographic information and climate condition information of the forest area to be surveyed includes: Statistical analysis of the historical geographical data of the forest area to be surveyed according to the geological survey report; Field inspection of the forest area to be surveyed by staff to obtain on-site geographical information; Determine the topographic information according to the historical geographical data and the on-site geographical information; Determine the climate condition information according to the meteorological database.

3. The forestry geographical survey method based on UAV remote sensing technology according to claim 1, characterized in that, The planning of the flight routes of the UAV in the first area and the second area according to the topographic information and climate condition information includes: Construct an initial model according to the forest area to be surveyed; Construct a three-dimensional digital model according to the initial model; Divide the three-dimensional digital model into an aerial area and a forest area; Respectively determine the feasible space of the UAV in the aerial area and the forest area according to the topographic information and the climate condition information; Based on the path planning algorithm, respectively conduct path planning of the UAV in the feasible space to obtain the flight route.

4. The forestry geographical survey method based on UAV remote sensing technology according to claim 1, wherein, The conducting of geographical survey according to the imaging information of the current position includes: Based on the back-projection method, determine the three-dimensional data of the vegetation in the forest area to be surveyed in the camera coordinate system according to the imaging information of the current position; Adopt the perspective-n-point projection method to determine the position of the UAV according to the imaging information of the current position; Convert the three-dimensional data of the vegetation in the forest area to be surveyed in the UAV camera coordinate system into the three-dimensional data of the vegetation in the forest area to be surveyed in the world coordinate system according to the position of the UAV; Determine the vegetation size information and geographical information in the forest area to be surveyed according to the three-dimensional data of the vegetation in the forest area to be surveyed in the world coordinate system.

5. The forestry geographical survey method based on UAV remote sensing technology according to claim 4, characterized in that The imaging information of the current position includes the picture information and spatial geographical information of the vegetation in the forest area to be surveyed.

6. The forestry geographical survey method based on UAV remote sensing technology according to claim 4, characterized in that The vegetation size information in the forest area to be surveyed includes vegetation size, plant spacing and number of plants.

7. A forestry geographical survey system based on drone remote sensing technology, characterized in that, Including: An information acquisition module, used to obtain the topographic information and climate condition information of the forest area to be surveyed; A path planning module, used to plan the flight routes of the UAV in the first area and the second area according to the topographic information and climate condition information; the first area is above the vegetation in the forest area to be surveyed; The second area is inside the vegetation in the forest area to be surveyed; A flight module, used to control the UAV to fly along the flight route; the UAV is used to collect the geographical environment information in the forest; A pose control module, configured to control the pose of the UAV according to the forest geographical environment information and adjust the relative position between the UAV and the vegetation in the forest area to be surveyed; An imaging module, configured to use the UAV to obtain imaging information of the current position when the UAV reaches a preset position; A survey module, configured to perform geographical surveys according to the imaging information of the current position.

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