Multi-dimensional surveying and mapping method and system for mountain bodies

Abstract

The present invention discloses a multi-dimensional surveying and mapping method and system for a mountain, which relates to the technical field of mountain surveying and mapping. The surveying and mapping system of the mountain is determined according to the area, corresponding shape and relative position of each sub-mountain area, thereby realizing multi-dimensional control of the surveying and mapping system of the mountain, and further realizing multi-dimensional surveying and mapping of the mountain. In the surveying and mapping system of the mountain, multiple corner positions are determined according to the traversal of each sub-mountain area, and the surveying and mapping route of the mountain is determined based on the multiple corner positions, the material of the sub-mountain area and the surrounding environment of the sub-mountain area. The surveying and mapping process table of the mountain is determined according to the surveying and mapping route of the mountain, the spatial area of two adjacent sub-mountain areas and the surveying and mapping tools equipped with the drone, and the supplementary surveying and mapping area is determined based on each surveying and mapping item in the surveying and mapping process table of the mountain, the corresponding surveying and mapping data and the three-dimensional model of the mountain, thereby realizing multiple surveying and mapping of the mountain.

Description

Technical Field

[0001] The present invention relates to the technical field of mountain surveying and mapping, and in particular to a multi-dimensional mountain surveying and mapping method and system. Background Art

[0002] With the development of science and technology, mountains are gradually applied to people's lives. Mountains serve as the basis for people's mountaineering. In the management and control of mountains, mountains are mapped. In the existing technology, drones are used to map mountains. However, drones fly along preset routes and perform dynamic mapping of mountains. They do not take into account the influence of the morphology of each sub-mountain area in the mountain, resulting in the inability to achieve multi-dimensional mapping of existing mountains. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art, and the present invention provides a multi-dimensional mapping method and system for a mountain.

[0004] An embodiment of the present invention provides a multi-dimensional surveying and mapping method for a mountain, comprising: collecting multiple images based on dynamic shooting of the location of the mountain by an unmanned aerial vehicle (UAV); determining a three-dimensional model of the mountain based on the multiple images, corresponding shooting parameters, and a bird's-eye view of the mountain; determining multiple sub-mountain areas based on the detection of the three-dimensional model of the mountain, and the multiple sub-mountain areas are arranged adjacent to each other; determining a surveying and mapping system for the mountain based on the area, corresponding shape, and relative position of each sub-mountain area; in the surveying and mapping system for the mountain, determining multiple corner positions based on traversal of each sub-mountain area, and determining a surveying and mapping route for the mountain based on the multiple corner positions, the material of the sub-mountain area, and the surrounding environment of the sub-mountain area; determining a surveying and mapping process table for the mountain based on the surveying and mapping route of the mountain, the spatial area of two adjacent sub-mountain areas, and the surveying and mapping tools equipped by the UAV, and determining a supplementary surveying and mapping area based on each surveying and mapping item in the surveying and mapping process table for the mountain, the corresponding surveying and mapping data, and the three-dimensional model of the mountain.

[0005] An embodiment of the present invention provides a multi-dimensional mountain mapping system, which is applied to the multi-dimensional mountain mapping method described above. The multi-dimensional mountain mapping system includes:

[0006] An acquisition module, configured to acquire multiple images based on the dynamic shooting of the location of the mountain by the drone;

[0007] A mountain module, configured to determine a three-dimensional model of the mountain based on multiple images, corresponding shooting parameters, and a top view of the mountain;

[0008] A sub-mountain region module is used to determine multiple sub-mountain regions based on the detection of the three-dimensional model of the mountain, and the multiple sub-mountain regions are arranged adjacent to each other;

[0009] The surveying and mapping system module is used to determine the surveying and mapping system of the mountain based on the area, corresponding shape and relative position of each sub-mountain area;

[0010] A mapping route module is used to determine multiple corner positions based on the traversal of each sub-mountain area in the mountain mapping system, and to determine the mountain mapping route based on the multiple corner positions, the material of the sub-mountain area, and the surrounding environment of the sub-mountain area;

[0011] The supplementary surveying and mapping area module is used to determine the surveying and mapping process table of the mountain based on the surveying and mapping route of the mountain, the spatial area of the two adjacent sub-mountain areas, and the surveying and mapping tools equipped with the drone, and to determine the supplementary surveying and mapping area based on the various surveying and mapping items in the surveying and mapping process table of the mountain, the corresponding surveying and mapping data, and the three-dimensional model of the mountain.

[0012] The present invention has the following beneficial effects:

[0013] (1) The present invention collects the location of the mountain, determines the mountain to be mapped based on the location of the mountain and a preset mountain database, and determines the flight path of the UAV based on the mountain to be mapped and the location of the UAV. This takes into account the overall consideration of the mountain to be mapped and the location of the UAV, ensures that the UAV is mapped relative to the mountain, and improves the accuracy of the UAV's flight path.

[0014] (2) The present invention realizes the multiple interactions of the regional area, corresponding morphology and relative position of each sub-mountain area, thus ensuring the applicability and accuracy of the mountain surveying and mapping system. Specifically, according to the overall structure of the mountain and the characteristics of each sub-region, the hierarchical structure and classification standards of the surveying and mapping system are determined, and surveying and mapping standards and specifications are formulated, including surveying and mapping accuracy requirements, scale selection, etc., and appropriate surveying and mapping methods and technical means are selected. Finally, the surveying and mapping results of the mountain are generated, including two-dimensional maps, three-dimensional models, topographic maps, etc. These results are applied to the fields of mountain resource assessment, environmental protection and disaster warning, providing a scientific basis for the sustainable development of the mountain.

[0015] (3) In the mountain mapping system of the present invention, multiple corner positions are determined based on the traversal of each sub-mountain area, and the mountain mapping route is determined based on the multiple corner positions, the material of the sub-mountain area, and the surrounding environment of the sub-mountain area, thereby ensuring the accuracy of the mountain mapping route and ensuring the flight of the drone relative to each sub-mountain area;

[0016] (4) The present invention determines the surveying process table of the mountain based on the surveying route of the mountain, the spatial area of the two adjacent sub-mountain areas, and the surveying tools equipped with the drone, and determines the supplementary surveying area based on the various surveying items in the surveying process table of the mountain, the corresponding surveying data, and the three-dimensional model of the mountain. The surveying process table of the mountain and the supplementary surveying area are introduced to realize multiple surveying of the mountain, thereby ensuring the accuracy and comprehensiveness of the surveying of the mountain. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the application environment of the multi-dimensional mountain mapping method in an embodiment of the present invention;

[0018] Figure 2 1 is a flow chart of a multi-dimensional mountain mapping method according to an embodiment of the present invention;

[0019] Figure 3 Schematic diagram of the structure of the multi-dimensional mountain mapping system in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention. Example 1

[0021] The multi-dimensional mapping method of mountains provided in this application is applied to Figure 1 In the application environment shown, the computer 102 communicates with the server 104 via a network. The computer 102 is, but not limited to, various personal computers, servers, and mountain surveying and mapping. The server 104 is implemented as an independent server or a server cluster composed of servers. Example 2

[0022] See also Figures 1 to 3 A multi-dimensional mapping method for a mountain is applied to a multi-dimensional mapping scene of a mountain. The multi-dimensional mapping method for a mountain includes:

[0023] Step S11: collecting multiple images based on the dynamic shooting of the location of the mountain by the drone;

[0024] Step S12: determining a three-dimensional model of the mountain based on the multiple images, corresponding shooting parameters, and a top view of the mountain;

[0025] Step S13: determining a plurality of sub-mountain regions based on the detection of the three-dimensional model of the mountain, wherein the plurality of sub-mountain regions are arranged adjacent to each other;

[0026] Step S14: determining a mountain surveying and mapping system based on the area, corresponding shape, and relative position of each sub-mountain region;

[0027] Step S15: In the mountain mapping system, multiple corner positions are determined based on the traversal of each sub-mountain area, and a mapping route of the mountain is determined based on the multiple corner positions, the material of the sub-mountain area, and the surrounding environment of the sub-mountain area;

[0028] Step S16: Determine the surveying process table of the mountain based on the surveying route of the mountain, the spatial areas of the two adjacent sub-mountain areas, and the surveying tools equipped by the drone, and determine the supplementary surveying area based on the various surveying items in the surveying process table of the mountain, the corresponding surveying data, and the three-dimensional model of the mountain.

[0029] In step S11, a plurality of images are collected based on the dynamic shooting of the location of the mountain by the drone;

[0030] In the specific implementation process of the present invention, the specific steps are:

[0031] S111: The location of the collected mountain;

[0032] S112: Determine the mountain to be mapped based on the location of the mountain and a preset mountain database;

[0033] S113: Determine a flight path of the UAV based on the mountain to be surveyed and the location of the UAV;

[0034] S114: triggering the drone to take dynamic photos of the mountain to be mapped based on the flight path of the drone and the camera equipped with the drone;

[0035] S115: A plurality of images are obtained based on the dynamic shooting of the mountain to be surveyed. At this time, the plurality of images respectively match different parts of the mountain to be surveyed.

[0036] In an embodiment of the present application, the location of the mountain is collected; the mountain to be surveyed is determined based on the location of the mountain and a preset mountain database; and the flight route of the drone is determined based on the mountain to be surveyed and the location of the drone. This takes into account the overall consideration of the mountain to be surveyed and the location of the drone, ensures the mapping of the drone relative to the mountain, and improves the accuracy of the drone's flight route.

[0037] At this time, to collect the location of the mountain, first, through GPS positioning, remote sensing technology or other geographic positioning methods, the geographical location information of the target mountain is accurately obtained, including longitude, latitude, altitude, etc. At the same time, a mountain database containing basic information of the mountain (such as name, geographical location, morphological characteristics, historical surveying and mapping data, etc.) is preset. This mountain database can be based on a geographic information system (GIS) or other forms of database management systems.

[0038] The collected mountain location information is matched with the records in the mountain database to find the most suitable record, thereby determining the mountain to be surveyed. If there is no completely matching record in the mountain database, manual judgment or further investigation can be made based on factors such as the proximity of the location information and morphological characteristics.

[0039] At the same time, a detailed analysis is conducted on the determined mountain to be surveyed, including its morphological characteristics, terrain undulations, vegetation coverage, etc. This information will affect the parameters of the drone such as flight altitude, speed, shooting angle, etc., and the take-off point and landing point of the drone are determined. The take-off point should be selected in a safe, open and easy-to-operate location, while considering meteorological factors such as wind direction and wind speed. The landing point should be kept at a certain distance from the take-off point so that the drone can land safely after completing the surveying and mapping mission. According to the characteristics of the mountain to be surveyed and the performance parameters of the drone, the flight route of the drone is planned. The route should cover all parts of the mountain as much as possible, especially areas with complex terrain and obvious features. At the same time, the flight safety of the drone is also considered to avoid collisions with mountains or other obstacles. After planning the flight route, necessary optimization and adjustments are made according to the actual situation. For example, if the terrain in a certain area is particularly complex, increase the shooting points or adjust the shooting angle to obtain better surveying and mapping effects.

[0040] Therefore, according to the flight route of the drone and the camera equipped with the drone, the drone is triggered to dynamically shoot the mountain to be surveyed; according to the dynamic shooting of the mountain to be surveyed, multiple images are obtained. At this time, the multiple images respectively match different parts of the mountain to be surveyed, and multiple images are introduced to present the shape of the mountain through multiple images.

[0041] At this time, before the UAV takes off, the camera shooting parameters, such as exposure time, focal length, frame rate, etc., are pre-set according to the flight route and the characteristics of the mountain to be surveyed. At the same time, it is also necessary to ensure that the camera's viewing angle and resolution can meet the surveying and mapping requirements. During the flight of the UAV, its flight control system will automatically adjust the flight attitude and speed according to the preset flight route and altitude information. At the same time, the flight control system will be linked with the camera system to automatically trigger shooting according to the set shooting interval or trigger conditions (such as reaching a specific position, a specific height or a specific angle). During the flight and shooting of the UAV, the operator can monitor the UAV's flight status, camera image and shooting quality in real time through the ground control station. If necessary, the flight route, shooting parameters or trigger conditions can be adjusted in real time to ensure that the shooting effect meets the surveying and mapping requirements.

[0042] After the drone completes the shooting mission, it will transmit the multiple image data it has captured back to the ground control station or data center. The operator will organize, classify and name these images for subsequent processing and analysis, and perform feature extraction, matching and splicing on the multiple images collected. This process aims to splice multiple images into a complete, continuous mountain image to reflect the overall shape and characteristics of the mountain. During the splicing process, the accuracy and precision of the image are ensured to avoid problems such as dislocation, overlap or omission. Based on the complete spliced mountain image, the operator can divide the mountain into different areas or sub-areas and match each area with the corresponding image. In this way, the part of the mountain covered by each image can be known, providing basic data for subsequent three-dimensional reconstruction, terrain analysis and other work.

[0043] Specifically, suppose a mountain called "Huangshan" is being surveyed. After planning the flight route, the drone's camera parameters are set to a wide-angle lens, high resolution, and automatic exposure mode, and the camera's field of view is ensured to cover the main features of the mountain. After the drone takes off, it automatically flies according to the preset flight route and altitude information. When the drone flies to a specific location on Huangshan (such as a mountain top, valley or ridge), the flight control system automatically triggers the camera to shoot. The operator monitors the shooting screen in real time through the ground control station and finds that the shooting quality is good. There is no need to adjust the shooting parameters or trigger conditions. The drone continues to fly according to the flight route and automatically triggers shooting at other key locations until the surveying and mapping task of the entire mountain is completed.

[0044] During the surveying and mapping mission in Huangshan, the drone captured a large amount of image data. After the operators transmitted these images back to the ground control station, they sorted, classified and named them. Then, they used image processing software to extract features, match and stitch the images, and finally obtained a complete image of Huangshan. During the stitching process, the operators carefully checked the stitching quality and accuracy of each image to ensure that there were no problems such as misalignment or omissions. Finally, the operators divided Huangshan into different areas (such as mountain top area, valley area, ridge area, etc.) and matched each area with the corresponding image. In this way, the part of Huangshan covered by each image can be known, providing accurate basic data for subsequent three-dimensional reconstruction and terrain analysis.

[0045] In step S12, a three-dimensional model of the mountain is determined based on the multiple images, the corresponding shooting parameters, and the top view of the mountain;

[0046] In the specific implementation process of the present invention, the specific steps are:

[0047] S121: Acquire multiple images, and construct a panoramic image of the mountain based on the multiple images;

[0048] S122: Matching corresponding shooting parameters according to the multiple images and the corresponding shooting nodes of the cameras;

[0049] S123: When the UAV is flying over the top of the mountain, a top view of the mountain is collected based on the UAV flying over the top of the mountain;

[0050] S124: Associating multiple images, corresponding shooting parameters, and a top view of the mountain;

[0051] S125: Determine first model parameters based on the multiple images and corresponding shooting parameters, and determine second model parameters based on the multiple images and a bird's-eye view of the mountain;

[0052] S126: Determine a three-dimensional model of the mountain according to the panoramic image of the mountain, the first model parameters, and the second model parameters.

[0053] In an embodiment of the present application, multiple images are acquired and a panoramic image of a mountain is constructed based on the multiple images; corresponding shooting parameters are matched according to the multiple images and the shooting nodes of the corresponding cameras, various shooting parameters are introduced, and the shooting parameters and multiple images are compatible.

[0054] At this time, multiple images are acquired and preprocessed, including denoising, color and brightness correction, contrast enhancement, etc., to improve image quality and facilitate subsequent image stitching and feature extraction. The preprocessed images are subjected to feature point detection, matching, and image transformation using an image stitching algorithm, and are finally stitched into a seamless panoramic image. In this process, the overlapping areas between the images are processed to ensure that the stitched image is continuous and natural. The stitched panoramic image is optimized, such as by smoothing the transition and eliminating stitching seams, to obtain a higher quality panoramic image.

[0055] When the drone takes each image, the corresponding camera parameters, such as focal length and exposure time, are recorded. These parameters are crucial for subsequent 3D reconstruction and image processing. Each image is matched with its corresponding shooting parameters and stored in a database. In this way, when processing the images later, the shooting parameters of each image can be easily obtained and the recorded shooting parameters can be verified to ensure the accuracy and consistency of the parameters. If any abnormal or missing parameters are found, reshoot or re-record.

[0056] Specifically, suppose a mountain called "Huangshan" is being surveyed. A drone captures Huangshan from multiple preset shooting points, obtaining dozens of high-definition images covering the entire mountain. These images are then pre-processed and stitched together using image processing software, ultimately resulting in a seamless panoramic image covering the entire mountain. This image clearly shows the overall shape and detailed features of Huangshan, providing an important foundation for subsequent 3D modeling and terrain analysis.

[0057] During the surveying and mapping mission at Huangshan, detailed camera parameters were recorded for each captured image. For example, for an image taken at the top of a mountain, parameters such as a focal length of 24mm, an exposure time of 1 / 200 second, and an ISO of 100 were recorded. These parameters were then matched with the corresponding images and stored in a dedicated database. This allows for easy access to the shooting parameters of each image during subsequent 3D reconstruction or image processing, ensuring the accuracy and reliability of the processing results.

[0058] At the same time, when the UAV flies over the top of the mountain, a bird's-eye view of the mountain is collected based on the UAV's top flight, and the bird's-eye view of the mountain is introduced for subsequent control.

[0059] At this time, before the drone takes off, a suitable top flight route should be planned according to the shape and size of the mountain. This route should ensure that the drone can evenly and comprehensively cover the entire mountain. According to factors such as flight altitude and light conditions, the drone's shooting parameters, such as shutter speed, aperture size, ISO, etc., should be set. The settings of these parameters should ensure that the top view captured is clear and rich in details. The drone will fly over the top according to the planned route, and automatically or manually trigger the shooting function during the flight to collect a top view of the mountain. The quality control of the collected top view will be carried out to ensure that indicators such as image clarity, contrast and color saturation meet the requirements.

[0060] Therefore, multiple images, corresponding shooting parameters and a bird's-eye view of the mountain are associated; first model parameters are determined based on the multiple images and the corresponding shooting parameters, and second model parameters are determined based on the multiple images and the bird's-eye view of the mountain. The first model parameters and the second model parameters are introduced and controlled.

[0061] At this point, all the images collected in the previous steps (including panoramic images and bird's-eye views), the corresponding shooting parameters (such as focal length, exposure time, ISO, etc.), and geographic location information (such as GPS coordinates) are integrated to establish a database or data management system to store and manage these integrated data, ensuring that each image, parameter, and bird's-eye view has a unique identifier and that the relationship between them is clear. In the database, establish an association between each image and its corresponding shooting parameter and bird's-eye view.

[0062] Based on the first model parameters, a 3D reconstruction algorithm (such as SFM, Structure from Motion) is used to process multiple images, combined with the corresponding shooting parameters to generate a preliminary 3D model and extract the first model parameters (such as the internal and external parameters of the camera, the 3D coordinates of the points, etc.).

[0063] For the second model parameters, the bird's-eye view is processed and feature extracted to obtain the overall layout and terrain features of the mountain. Then, combining the information from multiple images, the preliminary three-dimensional model is adjusted and optimized to match the terrain features in the bird's-eye view, thereby extracting the second model parameters.

[0064] Specifically, suppose that a mountain called "Huangshan" is being three-dimensionally modeled. Multiple images covering the entire mountain, the corresponding shooting parameters, and the overhead view captured from the top of a drone have been collected. Next, this data is integrated and stored in a database system called "Huangshan Database". In the database, a record is created for each image file, which contains parameter information such as the image shooting time, location, focal length, exposure time, and the overhead view information related to the image. Through these records, any image can be easily queried and associated with its corresponding parameters and overhead view.

[0065] For the 3D modeling task at Huangshan, the SFM algorithm was used to process the multiple images collected and, combined with the shooting parameters, to generate a preliminary 3D model. Next, the overhead view captured from the top of the drone was processed to extract the mountain's outline and terrain features. This information was then compared and adjusted with the preliminary 3D model to ensure that the terrain features in the model were consistent with the information in the overhead view. During this process, two sets of model parameters were extracted: the first from the SFM algorithm processing results, and the second from the comparison and adjustment process between the overhead view and the preliminary model.

[0066] Furthermore, the three-dimensional model of the mountain is determined based on the panoramic image of the mountain, the first model parameters and the second model parameters, which is compatible with the overall consideration of the panoramic image of the mountain, the first model parameters and the second model parameters, and realizes multi-dimensional control of the panoramic image of the mountain, the first model parameters and the second model parameters, thereby ensuring the accuracy of the three-dimensional model of the mountain.

[0067] At this point, the panoramic image, the first model parameters, and the second model parameters are fused, which usually involves mapping the panoramic image as texture information onto the three-dimensional model, and using the first and second sets of model parameters to further adjust and optimize the model. After the fusion process, the final three-dimensional model of the mountain is generated. This three-dimensional model of the mountain not only has an accurate three-dimensional shape and size, but also contains rich texture and detail information. The generated three-dimensional model is quality checked to ensure that it meets the expected accuracy and completeness requirements. If any problems or defects are found, further corrections and optimizations are made.

[0068] Specifically, in the 3D modeling task of Huangshan, the panoramic image was mapped as texture information onto the preliminary 3D model, and the model was further adjusted and optimized using the first and second sets of model parameters. After these processing steps, a complete and accurate 3D model of Huangshan was generated. This model not only accurately reflects the 3D shape and size information of the mountain, but also contains rich texture and detail features. The model was quality checked and found to meet the expected accuracy and completeness requirements. Finally, this 3D model was used in subsequent terrain analysis, planning and other application tasks.

[0069] In step S13, a plurality of sub-mountain regions are determined based on the detection of the three-dimensional model of the mountain, and the plurality of sub-mountain regions are arranged adjacent to each other;

[0070] In the specific implementation process of the present invention, the specific steps are:

[0071] S131: Obtaining a three-dimensional model of the mountain;

[0072] S132: Matching a corresponding detection pattern based on the outer contour of the three-dimensional model of the mountain and the location of the mountain;

[0073] S133: triggering detection of the three-dimensional model of the mountain according to the three-dimensional model of the mountain and the corresponding detection mode;

[0074] S134: Determine a plurality of sub-mountain regions based on the detection of the three-dimensional model of the mountain; each of the plurality of sub-mountain regions is a sub-portion of the mountain in a closed-loop state; and the plurality of sub-mountain regions are arranged adjacent to each other.

[0075] In an embodiment of the present application, a three-dimensional model of a mountain is obtained; a corresponding detection pattern is matched based on the outer contour of the three-dimensional model of the mountain and the location of the mountain, the outer contour of the three-dimensional model of the mountain and the location of the mountain are introduced, and the outer contour of the three-dimensional model of the mountain and the location of the mountain are matched to ensure the matching accuracy of the detection pattern.

[0076] At this time, a three-dimensional model of the mountain is obtained; clear and accurate outer contour information is extracted from the three-dimensional model of the mountain, which usually involves identifying and extracting the three-dimensional boundaries of the model to obtain the three-dimensional shape and boundary features of the mountain. The outer contour information should include key feature points such as the highest point, lowest point, slope change point, and curves or surfaces connecting these feature points. The location of the mountain usually includes its geographic coordinates (such as longitude and latitude), altitude and other key information. This information can be obtained through geographic information systems (GIS), remote sensing technology and other means. Determining the location of the mountain helps to understand its natural environment, climatic conditions, geological structure and other background information, providing an important basis for subsequent detection pattern matching.

[0077] Based on the extracted mountain contour and location information, matching is performed in a preset detection pattern library. The detection pattern library contains a variety of detection rules, algorithms or models for different types and locations of mountains. The matching process involves feature extraction, classification and comparison of the mountain contour and location information. By comparing the characteristics of the mountain with the features in the detection pattern library, the detection pattern that best suits the current mountain is selected.

[0078] Specifically, suppose there is a mountain and its stability is tested. The following are the specific steps and matching process: Through remote sensing images and GIS data, the three-dimensional shape and boundary features of the mountain are extracted. It is found that the mountain has a complex shape, with multiple peaks and valleys, and large slope variations.

[0079] Through the GIS system, the geographical coordinates of the mountain were obtained as XX degrees east longitude and YY degrees north latitude, with an altitude of ZZ meters. At the same time, it was also learned that the mountain is located on the northern edge of the Yunnan-Guizhou Plateau, with a complex geological structure and prone to natural disasters such as landslides.

[0080] In the preset detection pattern library, a detection pattern for mountains with complex terrain, high altitude and complex geological structure was found. This pattern includes detection rules, algorithms and models for natural disasters such as landslides and mudslides. Based on this detection pattern, a detailed detection plan was formulated, including detection area, detection frequency, detection method, etc. At the same time, corresponding monitoring equipment and personnel were also prepared to ensure the smooth progress of the detection work.

[0081] Therefore, the detection of the three-dimensional model of the mountain is triggered according to the three-dimensional model of the mountain and the corresponding detection mode; multiple sub-mountain areas are determined based on the detection of the three-dimensional model of the mountain; the multiple sub-mountain areas are all sub-parts of the mountain in a closed-loop state; the multiple sub-mountain areas are arranged adjacent to each other, and at the same time, the detection of the three-dimensional model of the mountain is realized, ensuring the accuracy of the multiple sub-mountain areas.

[0082] At this point, the acquired three-dimensional model of the mountain is loaded into a professional geographic information system (GIS) or three-dimensional modeling software. This model should contain the three-dimensional coordinates, shape, texture and other information of the mountain. According to the characteristics of the mountain (such as geological structure, vegetation cover, climatic conditions, etc.) and the purpose of detection (such as stability assessment, disaster warning, etc.), the most appropriate detection mode is selected from the preset detection mode library. This mode includes a series of algorithms, rules or models for analyzing the three-dimensional model of the mountain. The selected detection mode is applied to the loaded three-dimensional model of the mountain to trigger the detection process, which usually involves processing, analyzing and comparing the data in the model to identify potential problems or risk areas.

[0083] During the detection process, the software automatically identifies different parts or characteristic areas of the mountain. These areas are divided based on terrain, geology, vegetation and other characteristics. For each identified sub-area, it is determined whether it is in a closed-loop state. This usually involves checking and analyzing the boundaries of the area to ensure that the boundaries are continuous and there are no breaks or gaps. Finally, it is ensured that the multiple identified sub-mountain areas are arranged adjacent to each other, that is, there is no obvious isolation or separation between them. This helps maintain the integrity and continuity of the mountain and facilitates subsequent analysis and processing.

[0084] In step S14, a mountain surveying and mapping system is determined based on the area, corresponding shape, and relative position of each sub-mountain region.

[0085] In the specific implementation process of the present invention, the specific steps are:

[0086] S141: Obtain each sub-mountain area;

[0087] S142: Determine the area of each sub-mountain region based on the area detection of each sub-mountain region;

[0088] S143: Determine the corresponding shape based on the shape detection of each sub-mountain area;

[0089] S144: Constructing a corresponding coordinate system for the mountain, and determining the relative positions of the sub-mountain regions based on the coordinates, the locations of the sub-mountain regions, and the shapes of the sub-mountain regions;

[0090] S145: performing multiple interactions on the area, corresponding shape, and relative position of each sub-mountain region;

[0091] S146: Determine a surveying and mapping system for the mountain based on multiple interactions of the area, corresponding shape, and relative position of each sub-mountain region.

[0092] In the embodiments of the present application, each sub-mountain region is obtained; the area of each sub-mountain region is determined based on area detection of each sub-mountain region; and the corresponding morphology of each sub-mountain region is determined based on morphology detection. The area of each sub-mountain region and the corresponding morphology are introduced.

[0093] At this time, obtain each sub-mountain area, and obtain a three-dimensional stereo model or high-precision remote sensing image data of each sub-mountain area. These data usually come from satellites, drones or ground surveying and mapping equipment. Import the acquired data into a professional geographic information system (GIS) or remote sensing software and use the area calculation tool in the software for processing. During the processing, set a suitable projection coordinate system to ensure the accuracy of the area calculation. In the software, determine the boundaries of each sub-mountain area by manual outlining or automatic identification. The boundary identification is based on a comprehensive analysis of factors such as terrain characteristics, vegetation cover, and rock exposure. After the boundary identification is completed, use the area calculation function in the GIS software or remote sensing software to automatically calculate the area of each sub-mountain area. The calculation results are usually expressed in units such as square meters and square kilometers.

[0094] Specifically, suppose a mountain is divided into detailed sub-regions and high-precision remote sensing image data is obtained. In the GIS software, the boundaries of each sub-mountain area are manually outlined, and a suitable projection coordinate system is set. After processing, the following area data is obtained: Sub-mountain area A: area is 2.5 square kilometers; Sub-mountain area B: area is 1.8 square kilometers; Sub-mountain area C: area is 3.2 square kilometers.

[0095] At the same time, remote sensing image data or three-dimensional models are used to identify the morphology of each sub-mountain area in combination with terrain features, vegetation cover, rock exposure and other factors. Morphological recognition comprehensively considers multiple aspects such as the height, slope, shape, and direction of the sub-area. According to the results of morphological recognition, each sub-mountain area is classified and given a corresponding morphological name. Common morphological classifications include peaks, ridges, valleys, foothills, etc. When naming, comprehensive consideration can be given to factors such as terrain features and geographical location. After the classification and naming are completed, the morphology of each sub-mountain area is described in detail. The description should include the main characteristics of the morphology, the morphological differences with other sub-areas, and the causes of the formation.

[0096] Specifically, when conducting morphological detection on the sub-mountain areas of the above-mentioned large mountain, the following results were obtained: Sub-mountain area A: The shape is a steep peak, with a high altitude, a large slope, sparse vegetation, and exposed rocks; Sub-mountain area B: The shape is a gentle ridge, with a moderate altitude, a small slope, and good vegetation coverage, mainly grass and shrubs; Sub-mountain area C: The shape is a deep valley, with steep peaks on both sides, a narrow valley bottom, and vegetation mainly forests, with streams flowing through.

[0097] Furthermore, a corresponding coordinate system is constructed for the mountain, and the relative positions of each sub-mountain area are determined based on the coordinates, the location of each sub-mountain area, and the shape of each sub-mountain area. This realizes the interaction of the coordinates, the location of each sub-mountain area, and the shape of each sub-mountain area, and ensures the accuracy of the relative positions of each sub-mountain area.

[0098] At this time, in order to accurately describe and locate the mountain and its sub-areas, a suitable coordinate system is constructed. Usually, a geographic coordinate system (such as WGS84, UTM, etc.) or a custom three-dimensional coordinate system is selected. The geographic coordinate system is based on the longitude and latitude of the earth's surface for positioning, while the custom coordinate system is set according to the specific shape, size and location of the mountain. The parameters of the coordinate system, including the origin, coordinate axis direction, etc., are set in GIS software or professional surveying and mapping software.

[0099] Obtain the specific location of each sub-mountain area in the coordinate system, and determine the coordinates of key locations such as the center point and boundary point of each sub-area through measurement or calculation. In GIS software, you can use the "point tool", "line tool" or "surface tool" to mark and measure the coordinates of the sub-area.

[0100] Understand the morphological characteristics of each sub-mountain area to better determine its relative position. Based on remote sensing images, three-dimensional models or field survey data, analyze the height, slope, shape and other characteristics of the sub-area. In GIS software, tools such as "terrain analysis" and "slope analysis" can be used to extract the morphological information of the sub-area.

[0101] Based on the coordinates and morphological information of the sub-areas, their relative positions in the mountain are determined. By comparing the coordinates and morphological features of different sub-areas, the spatial relationships between them, such as adjacency, inclusion, and overlap, are determined. In GIS software, tools such as "spatial relationship analysis" and "buffer analysis" can be used to assist in determining the relative positions of sub-areas.

[0102] Specifically, suppose there is a mountain that has been divided into five sub-mountain areas (A, B, C, D, E) through the previous steps. Now, follow the above steps to determine the relative positions of these sub-areas, select the UTM coordinate system as the working coordinate system, and set the corresponding parameters in the GIS software. Use the "surface tool" in the GIS software to mark and measure the boundaries and center point coordinates of each sub-area. For example, the center point coordinates of area A are (X1, Y1), the center point coordinates of area B are (X2, Y2), and so on.

[0103] Through remote sensing images and three-dimensional models, we know that area A is a steep peak, area B is a gentle ridge, area C is a deep valley, area D is a wide foothill, and area E is a small and sharp peak. Based on the coordinates and morphological characteristics of the sub-areas, their relative positions can be determined. For example, area A is located at the highest point of the mountain, area B is immediately below area A and extends along the mountain, area C is located below areas A and B and forms a clear valley, area D is located below area C and extends to the bottom of the mountain, and area E is located on one side of area D and forms a sharp peak.

[0104] Therefore, multiple interactions are carried out on the area, corresponding shape and relative position of each sub-mountain area; the surveying and mapping system of the mountain is determined based on the multiple interactions of the area, corresponding shape and relative position of each sub-mountain area, thus realizing the multiple interactions of the area, corresponding shape and relative position of each sub-mountain area, and ensuring the applicability and accuracy of the surveying and mapping system of the mountain.

[0105] At this time, multiple interactions are performed on the regional area, corresponding morphology and relative position of each sub-mountain area, and the regional area, morphology and relative position data of each sub-mountain area are integrated into a unified platform or database. The integrated data are visualized using a geographic information system (GIS) or similar tools. Through an interactive interface, users are allowed to explore and analyze these data. Users can filter, sort, compare and perform other operations on the data based on multiple dimensions such as area, morphology and relative position. The system supports user-defined analysis rules, such as sorting sub-areas according to area size, or filtering specific types of sub-areas according to morphological characteristics.

[0106] Based on the results of multiple interactive analyses, users can gain a deeper understanding of the mountain structure and characteristics. If data anomalies are found or the analysis results do not meet expectations, they can return to the data integration stage for inspection and adjustment, allowing users to correct and optimize the division or attributes of sub-areas based on the analysis results.

[0107] Furthermore, based on the results of multiple interactive analyses, the overall structure of the mountain and the characteristics of each sub-region are determined. Based on these characteristics, a surveying and mapping system suitable for the mountain is constructed. The surveying and mapping system can be regarded as a data system that provides a holistic description of the surveying and mapping object (mountain), which accurately describes the spatial distribution, morphological characteristics and relative position relationships of the mountain. At the same time, surveying and mapping standards and specifications are formulated to ensure the accuracy and consistency of the surveying and mapping results, and to determine surveying and mapping methods and technical means, such as the use of remote sensing technology, drone surveying, ground measurement, etc., and select appropriate surveying and mapping accuracy and scale according to the specific characteristics and needs of the mountain.

[0108] Specifically, assuming there is a mountain containing multiple sub-mountain areas, and the area, morphology and relative position data of each sub-area have been obtained, GIS tools can be used for multiple interactive analyses: first, import all data on the GIS platform and create a layer containing sub-area information to view the area, morphology and relative position information of each sub-area. Using the GIS filtering function, you can filter out the sub-area with the largest area based on area size, or filter out sub-areas of all peak types based on morphological characteristics. Using the GIS visualization function, you can create a three-dimensional model to display the overall structure of the mountain and the relative positions of each sub-area. In the interactive interface, you can drag, zoom and rotate the three-dimensional model to observe the mountain from multiple angles. If the area data of a sub-area is found to be abnormal, you can return to the data integration stage for inspection and correction. You have gained a deeper understanding of the mountain through multiple interactive analyses. Now, you can build a mountain surveying and mapping system based on these analysis results.

[0109] Based on the overall structure of the mountain and the characteristics of each sub-area, the hierarchical structure and classification standards of the surveying and mapping system were determined, and surveying and mapping standards and specifications were formulated, including surveying and mapping accuracy requirements, scale selection, etc. Appropriate surveying and mapping methods and technical means were selected, such as using drones for high-resolution remote sensing mapping, combined with ground measurements for verification and correction. Ultimately, surveying and mapping results of the mountain were generated, including two-dimensional maps, three-dimensional models, topographic maps, etc. These results were applied to fields such as mountain resource assessment, environmental protection and disaster warning, providing a scientific basis for the sustainable development of the mountain.

[0110] In another embodiment of the present application, a system matching table (as shown in Table 1) can be used to explain in detail how to determine the mountain mapping system based on the multiple interactions of the area, corresponding morphology, and relative position of each sub-mountain area. At the same time, in order to more accurately quantify the characteristics of each sub-mountain area, weights and scores can also be introduced for calculation. The following is a specific example:

[0111] Table 1 System matching table

[0112]

[0113] In step S15, in the mountain mapping system, multiple corner positions are determined based on the traversal of each sub-mountain area, and a mountain mapping route is determined based on the multiple corner positions, the material of the sub-mountain area, and the surrounding environment of the sub-mountain area.

[0114] In the specific implementation process of the present invention, the specific steps are:

[0115] S151: Surveying and mapping system for collecting mountain bodies;

[0116] S152: In the mountain surveying and mapping system, each sub-mountain area is traversed;

[0117] S153: Determine multiple corner positions based on the traversal of each sub-mountain region, where the multiple corner positions are located at the corners of each sub-mountain region, and determine the boundary contour of the mountain based on the multiple corner positions and the contour lines of each sub-mountain region;

[0118] S154: Determine the material of the sub-mountain area based on the material detection of the sub-mountain area by the drone;

[0119] S155: collecting multiple environmental parameters based on the environmental detection of the sub-mountain area, and determining the surrounding environment of the sub-mountain area according to the multiple environmental parameters;

[0120] S156: Associate the boundary outline of the mountain, the material of the sub-mountain area, and the surrounding environment of the sub-mountain area;

[0121] S157: Determine a surveying route for the mountain based on the boundary contour of the mountain, the material of the sub-mountain area, and the surrounding environment of the sub-mountain area.

[0122] In an embodiment of the present application, a surveying and mapping system for a mountain is collected; in the surveying and mapping system for the mountain, each sub-mountain area is traversed; based on the traversal of each sub-mountain area, multiple corner positions are determined, and the multiple corner positions are respectively located at the corners of each sub-mountain area, and the boundary contour of the mountain is determined based on the multiple corner positions and the contour lines of each sub-mountain area, which is compatible with the overall consideration of the multiple corner positions and the contour lines of each sub-mountain area, thereby ensuring the accuracy of the boundary contour of the mountain.

[0123] At this time, the surveying and mapping system of the mountain is collected and further controlled. At the same time, each sub-mountain area in the surveying and mapping system of the mountain is traversed, that is, each sub-area is visited and processed one by one, in order to prepare for subsequent analysis and processing. First, the data of the surveying and mapping system of the mountain is obtained, which usually includes the geographical location, area, shape, boundary and other information of each sub-mountain area. According to the characteristics and actual needs of the surveying and mapping system, the order of traversal is determined. It can be from north to south or from west to east according to the geographical location, or it can be sorted according to other rules such as area size, morphological complexity, etc., and each sub-mountain area is visited one by one, and its relevant information, such as geographical location coordinates, area size, boundary contour, etc., can be achieved through tools such as GIS software and database management systems.

[0124] For each sub-mountain area, GIS software or image processing algorithms are used to identify key corner positions on its boundary. These positions usually have significant terrain features, such as peaks, valleys, ridges, etc. Based on the identified corner positions, the contour line of each sub-area is extracted. The contour line is composed of a series of coordinate points. These points are connected together to form the boundary of the sub-area. The contour lines of each sub-area are merged to form the boundary outline of the entire mountain. This is usually performed in GIS software and achieved through functions such as spatial analysis and overlay analysis.

[0125] Specifically, suppose there is a mountain containing 5 sub-mountain areas. To traverse these sub-areas, first, the geographical location and boundary information of these sub-areas are obtained through GIS software. Then, the traversal order is determined from north to south. Next, each sub-area is visited one by one, and their geographical location coordinates and boundary contour information are recorded. For example, the first sub-area is located at the northernmost end of the mountain, and its geographical location coordinates are (X1, Y1). The boundary contour is composed of a series of coordinate points, such as (X11, Y11), (X12, Y12)... and so on.

[0126] After traversing these sub-areas, the corner positions of each sub-area were identified using GIS software. For example, in the first sub-area, two corner positions located at its northern and western boundaries were identified, recorded as corner A and corner B respectively. Then, the contour line of the first sub-area was extracted. It consists of a series of coordinate points, such as (X11, Y11), (X12, Y12)... etc. These points are connected together to form the boundary of the sub-area. Next, the same operation is performed on other sub-areas. Finally, the contour lines of each sub-area are merged to form the boundary outline of the entire mountain. This contour line clearly shows the shape and boundary characteristics of the mountain, providing an important basis for subsequent analysis and processing.

[0127] Furthermore, the material of the sub-mountain area is determined based on the material detection of the sub-mountain area by the drone; multiple environmental parameters are collected based on the environmental detection of the sub-mountain area, and the surrounding environment of the sub-mountain area is determined according to the multiple environmental parameters, and the material of the sub-mountain area and the surrounding environment of the sub-mountain area are introduced.

[0128] At this time, for environmental testing of the sub-mountain area, the spectrometer or other material testing equipment carried by the drone is used to conduct aerial operations on the sub-mountain area. By collecting and analyzing data such as the reflection spectrum, the material type of the sub-area, such as soil, rock, vegetation, etc., is determined. According to the geographical location, size, shape and other factors of the sub-mountain area, the flight route and mission plan of the drone are formulated to ensure that the flight process can fully cover the sub-area and obtain sufficient data. The drone is started for aerial operations, and the reflection spectrum and other data of the sub-area are collected according to the flight plan to ensure good data quality without missing or abnormalities. The collected data is imported into the data analysis software for preprocessing and correction. The material type of the sub-area is determined by comparing the spectral characteristics of known materials.

[0129] Specifically, assuming that material testing is conducted on a sub-area of a certain mountain, first, a suitable drone is selected and equipped with a spectrometer. Then, based on the geographical location and size of the sub-area, a flight route and mission plan are formulated. The drone performs aerial operations according to the plan and collects data such as the reflectance spectrum of the sub-area. Finally, the data is imported into data analysis software. After preprocessing and correction, it is compared with the spectral characteristics of known soil and rock to determine that the material of the sub-area is mainly soil and a small amount of rock.

[0130] For environmental monitoring of sub-mountain areas, by setting up environmental monitoring stations on the ground or in the air, using mobile devices or fixed equipment to collect data, multiple environmental parameters such as temperature, humidity, precipitation, wind direction and speed, vegetation coverage, etc. of the sub-mountain area are obtained. Then, based on these parameters, the surrounding environmental characteristics of the sub-area, such as climate type, ecosystem type, etc., are analyzed. According to the geographical location and size of the sub-mountain area, environmental monitoring stations are set up at appropriate locations. They can be ground stations or detection equipment carried by aerial drones. Suitable data collection equipment is selected, such as temperature and humidity sensors, precipitation meters, wind direction and speed meters, vegetation coverage meters, etc., to ensure that the equipment is working properly and the data is accurate and reliable. According to predetermined time intervals or trigger conditions, the environmental parameter data of the sub-area is collected to ensure that the data is comprehensive, continuous and accurate. The collected data is imported into the data analysis software for preprocessing and statistics. The surrounding environmental characteristics of the sub-area are analyzed by comparing the characteristics of known environmental parameters.

[0131] Specifically, assuming that an environmental test is conducted on another sub-area of a certain mountain, first, a ground environmental testing station is set up at a suitable location in the sub-area, and suitable temperature and humidity sensors, precipitation meters and other equipment are selected. Then, the temperature, humidity, precipitation and other data of the sub-area are collected at predetermined time intervals. At the same time, a drone equipped with a vegetation coverage meter and other equipment is used to measure the vegetation coverage of the sub-area. Finally, the data is imported into the data analysis software. After preprocessing and statistics, the surrounding environmental characteristics of the sub-area are analyzed. The results show that the sub-area belongs to the temperate monsoon climate zone, with a high vegetation coverage, and the ecosystem type is mainly a forest ecosystem.

[0132] Therefore, the boundary contour of the mountain, the material of the sub-mountain area and the surrounding environment of the sub-mountain area are associated; the surveying route of the mountain is determined according to the boundary contour of the mountain, the material of the sub-mountain area and the surrounding environment of the sub-mountain area, which is compatible with the overall consideration of the boundary contour of the mountain, the material of the sub-mountain area and the surrounding environment of the sub-mountain area, and realizes the precise control of the surveying route of the mountain.

[0133] At this time, the previously collected information about the boundary outline of the mountain, the material of the sub-mountain area, and the surrounding environment of the sub-mountain area is integrated and associated. This involves the comprehensive analysis and processing of multiple data to ensure the accuracy and effectiveness of subsequent surveying and mapping work. In specific operations, GIS (geographic information system) or other similar data management software is used to spatially overlay and attribute-associate data from different sources. For example, the boundary outline layer of the mountain can be overlaid with the material layer of the sub-mountain area, and then the material layer can be further refined and adjusted according to the surrounding environment information of the sub-mountain area. In this process, the data is preprocessed, such as format conversion, coordinate unification, data cleaning, etc., to ensure the compatibility and accuracy of the data. At the same time, the spatial resolution and time scale of the data are also considered to ensure the accuracy and timeliness of the analysis results.

[0134] At the same time, after completing the integration and association of mountain information, the next step is to determine the surveying and mapping route of the mountain based on this information. The selection of the surveying and mapping route comprehensively considers multiple factors, including the complexity of the mountain's terrain, the material characteristics of the sub-mountain area, the sensitivity of the surrounding environment, etc.

[0135] During specific operations, GIS software or other analysis tools can be used to perform spatial analysis and visualization of the integrated data. By analyzing the terrain undulations, slope and aspect, vegetation coverage and other information of the mountain, it can be determined which areas are the focus and difficulty of surveying and mapping. At the same time, the impact of the material properties of the sub-mountain area on the surveying and mapping work is also considered, such as the hardness of the rock, the moisture and stability of the soil, etc. In addition, the sensitivity of the surrounding environment is also an important factor to consider when determining the surveying and mapping route, such as the scope of the protected area, the location of the ecologically fragile area, etc. After determining the focus and difficulty of surveying and mapping, appropriate surveying and mapping methods and tools can be selected according to the actual situation, such as drone aerial photography, ground measurement, remote sensing monitoring, etc. Then, according to the characteristics of the surveying and mapping methods and tools and the actual situation of the mountain, a detailed surveying and mapping route and plan can be formulated.

[0136] Specifically, suppose there is a mountain containing multiple sub-mountain areas. The boundary contours, materials and surrounding environment of each sub-area have been detected. Now, this information is integrated to provide guidance for subsequent surveying and mapping work.

[0137] In the specific operation, GIS software is first used to overlay the boundary contour layer of the mountain with the material layer of the sub-mountain area. Then, the material layer is further refined and adjusted based on the surrounding environmental information of each sub-area (such as climate, vegetation, soil type, etc.). For example, if it is found that a sub-area has a high vegetation coverage and the soil type is fertile loam, then it can be inferred that the material of this area contains more organic matter and nutrients.

[0138] In this way, the boundary contours of the mountain, the material of the sub-mountain area, and the surrounding environment can be effectively linked to provide comprehensive and accurate data support for subsequent surveying and mapping work.

[0139] After completing the integration and correlation of mountain information, we began to determine the surveying route.

[0140] First, GIS software was used to analyze the complexity of the mountain's terrain, determining which areas were steep slopes and which were flat valleys. Then, the impact of the material properties of the sub-mountain areas on the surveying and mapping work was considered, such as the use of special measurement tools or methods in certain rocky areas. In addition, the sensitivity of the surrounding environment was considered, such as whether a certain area was an ecological protection area, to avoid damage to vegetation and soil.

[0141] Taking all the above factors into consideration, a detailed surveying route and plan was developed. For example, in steep hillside areas, drones were used for aerial photography to obtain high-precision terrain data; in flat valley areas, a combination of ground measurement and remote sensing monitoring was chosen for surveying. At the same time, to ensure the accuracy and safety of the surveying and mapping work, corresponding safety measures and emergency plans were also formulated.

[0142] In another embodiment of the present application, when determining a surveying route for a mountain, a comprehensive consideration may be given to the mountain's boundary contours, the material of the sub-mountain region, and the surrounding environment of the sub-mountain region. The following is an example of a surveying route matching table to illustrate how to determine a surveying route based on different mountain characteristics. The surveying route matching table is shown in Table 2:

[0143] Table 2 Surveying and mapping route matching table

[0144]

[0145] In step S16, a surveying process table for the mountain is determined based on the surveying route of the mountain, the spatial areas of the two adjacent sub-mountain areas, and the surveying tools equipped by the drone. A supplementary surveying area is determined based on each surveying item in the surveying process table, the corresponding surveying data, and the three-dimensional model of the mountain.

[0146] In the specific implementation process of the present invention, the specific steps are:

[0147] S161: Obtain the surveying route of the mountain;

[0148] S162: Determine the spatial regions of the two adjacent sub-mountain regions based on the spatial detection of the two adjacent sub-mountain regions;

[0149] S163: Correlating the surveying route of the mountain, the spatial areas of the two adjacent sub-mountain areas, and the surveying tool equipped with the drone, and determining a surveying process table for the mountain based on the surveying route of the mountain, the spatial areas of the two adjacent sub-mountain areas, and the surveying tool equipped with the drone;

[0150] S164: determining each surveying and mapping item in the surveying and mapping process table of the mountain based on traversing the surveying and mapping process table of the mountain;

[0151] S165: Determine corresponding surveying and mapping data according to the surveying and mapping process table of the mountain and the surveying and mapping tools provided by the UAV;

[0152] S166: Determine a supplementary mapping area based on each mapping item in the mapping process table of the mountain, the corresponding mapping data, and the three-dimensional model of the mountain. The UAV performs positioning mapping on the supplementary mapping area to further improve the mapping of the mountain.

[0153] In an embodiment of the present application, a surveying route of a mountain is obtained; and based on the spatial detection of two adjacent sub-mountain areas, the spatial areas of the two adjacent sub-mountain areas are determined, thereby realizing the spatial detection of the two adjacent sub-mountain areas and ensuring the accuracy of the spatial areas of the two adjacent sub-mountain areas.

[0154] At this time, obtain the surveying route of the mountain. At the same time, use drones, satellite remote sensing or ground measurement equipment to collect spatial data of the two adjacent sub-mountain areas. These data include terrain elevation, vegetation cover, geological structure and other information. Preprocess the collected data, such as denoising, correction and registration, to ensure the accuracy and consistency of the data. Use geographic information system (GIS) or related software to perform spatial analysis and processing on the data.

[0155] Analyze the boundaries of two adjacent sub-mountain areas, determine their bordering parts and overlapping areas, detect terrain changes between the two sub-mountain areas, such as slope, aspect and height differences, and identify natural features between the two sub-mountain areas, such as ridges, valleys, rivers, etc. These features help to determine their spatial relationship. Based on the above analysis, determine the spatial areas of the two adjacent sub-mountain areas, including their boundaries, bordering parts, overlapping areas and their respective unique terrain features, and present this information in the form of maps, charts or three-dimensional models for subsequent surveying and planning work.

[0156] Specifically, assuming there are two adjacent sub-mountain areas A and B, determine the spatial area between them, use drones to take aerial photos of sub-mountain areas A and B, collect information such as terrain elevation and vegetation cover, collect geological survey reports, understand the geological structure of the two sub-mountain areas, pre-process the drone aerial photography data, including denoising, correction and registration, use GIS software to perform spatial analysis on the processed data, and generate terrain elevation maps and vegetation cover maps.

[0157] Analyzing the topographic elevation map, we found that there was a clear valley as the boundary between sub-mountain areas A and B. The vegetation cover map identified the difference in vegetation types between the two sub-mountain areas, which helped to further determine their boundary. Combined with the geological survey report, we understood the geological structure of the two sub-mountain areas and found that there was a fault line between them, which also played an important role in determining the boundary.

[0158] Based on the above analysis, the boundary between sub-mountain areas A and B was determined to be the junction of the valley and the fault line. The bordering parts and overlapping areas (if any) of the two sub-mountain areas were determined, as well as their respective unique terrain features. For example, sub-mountain area A has a distinct peak, while sub-mountain area B has a vast plain. This information was presented in the form of a three-dimensional model for subsequent surveying, mapping and planning work.

[0159] Furthermore, the surveying route of the associated mountain, the spatial areas of the two adjacent sub-mountain areas, and the surveying tools equipped with the drone are used to determine the surveying process table of the mountain. This is compatible with the overall consideration of the surveying route of the mountain, the spatial areas of the two adjacent sub-mountain areas, and the surveying tools equipped with the drone, thereby achieving the accuracy of the surveying process table of the mountain.

[0160] At this point, key information such as the mountain's mapping route, the spatial area of the two adjacent sub-mountain areas, and the mapping tools equipped with the drone are integrated together. This information is the basis for subsequent steps. The mapping tools equipped with the drone are analyzed to understand their performance, accuracy, and scope of application. Common mapping tools include high-resolution cameras, lidar, multispectral cameras, etc. According to the characteristics of the mapping tools, their mapping effects and application limitations under different terrains and lighting conditions are determined. According to the mountain's mapping route and the spatial relationship between the two adjacent sub-mountain areas, the drone's flight path and mapping points are planned to ensure that the mapping route can fully cover the target area while avoiding duplicate mapping and omissions. Based on the above analysis, a mapping process table for the mountain is formulated. The process table should clearly define the specific content of each mapping project, the mapping tools used, the mapping sequence, the expected results, etc., and consider factors such as terrain complexity, weather conditions, and the limitations of mapping tools to reasonably arrange the mapping time and drone configuration.

[0161] Specifically, suppose two adjacent sub-areas (sub-area A and sub-area B) of a mountain are to be surveyed. The drone is equipped with two mapping tools: a high-resolution camera and a lidar. The mapping route of the mountain, the spatial relationship between sub-areas A and B, and the high-resolution camera and lidar equipped by the drone are integrated. The high-resolution camera is suitable for obtaining surface texture and detailed information, but the effect is not good in shadowed areas or insufficient light. The high-resolution camera is suitable for obtaining surface texture and detailed information, but the effect is not good in shadowed areas or insufficient light.

[0162] Based on the surveying route of the mountain range, the drone's flight path was planned to ensure full coverage of sub-areas A and B. Surveying points were added to the steep ridges and valleys of sub-area A to obtain more detailed terrain information. The density of surveying points was reduced in the flat areas of sub-area B to improve surveying efficiency. A surveying process table was developed to clarify the specific content of each surveying project, the surveying tools to be used, and the surveying sequence. For example, on the steep ridges of sub-area A, lidar was first used to obtain elevation information, and then a high-resolution camera was used to obtain surface texture information. In the flat areas of sub-area B, high-resolution cameras were used directly for surveying.

[0163] In another embodiment of the present application, detailed planning is performed by combining the surveying route of the mountain, the spatial area of the two adjacent sub-mountain areas, and the surveying tools equipped by the drone. In addition, in order to more accurately formulate a surveying process table; the surveying process table is shown in Table 3:

[0164] Table 3 Surveying and mapping process table

[0165]

[0166] Surveying and mapping projects: lists the types of surveying and mapping work being conducted. Surveying and mapping route description: describes the flight strategy that the drone should adopt when executing the project based on the surveying and mapping route of the mountain. Spatial relationship of sub-mountain areas: considers the spatial characteristics of two adjacent sub-mountain areas to determine the key areas for surveying and mapping. Surveying and mapping tool matching: selects the most suitable drone surveying and mapping tool based on the needs of the surveying and mapping project.

[0167] Furthermore, based on the traversal of the mountain's surveying and mapping process table, each surveying and mapping item in the mountain's surveying and mapping process table is determined, the traversal of the mountain's surveying and mapping process table is realized, and each surveying and mapping item in the mountain's surveying and mapping process table is introduced. At the same time, the corresponding surveying and mapping data is determined according to the mountain's surveying and mapping process table and the surveying and mapping tools equipped with the drone, and the surveying and mapping data is introduced.

[0168] At this time, the surveying and mapping process table of the mountain is traversed, and each surveying and mapping project in the surveying and mapping process table is confirmed and executed one by one according to the order and logic of the surveying and mapping process table of the mountain. This step requires the surveying and mapping team to have an in-depth understanding of the surveying and mapping process table and have the technology and ability to execute each surveying and mapping project. First, the surveying and mapping team carefully reads and understands the surveying and mapping process table, and clarifies the purpose, requirements and methods of each surveying and mapping project. First, the surveying and mapping team carefully reads and understands the surveying and mapping process table, and clarifies the purpose, requirements and methods of each surveying and mapping project. According to the execution plan, the surveying and mapping team executes each surveying and mapping project in the surveying and mapping process table one by one. During the execution process, the surveying and mapping specifications and operating procedures are strictly observed to ensure the accuracy and reliability of the data, and the execution process and results of each surveying and mapping project are recorded and checked to ensure that there are no omissions and errors.

[0169] Specifically, assume that the surveying and mapping process table includes the following surveying and mapping items:

[0170] Elevation data collection; surface texture collection; vegetation coverage analysis; geological structure identification;

[0171] As the surveying team works through the process sheet, they execute each item in the following order:

[0172] Elevation data collection: Use the laser radar carried by the drone to measure the elevation and obtain the elevation data of the mountain;

[0173] Surface texture collection: Use the high-resolution camera of the drone to take photos of the mountain's surface texture to provide material for subsequent analysis;

[0174] Vegetation coverage analysis: Analyze the vegetation coverage of the mountain through multispectral images taken by drones and combined with vegetation index calculations;

[0175] Geological structure identification: combining elevation data and surface texture photos, using geological knowledge to identify and interpret geological structures;

[0176] During the execution process, the surveying and mapping team will record the execution process and results of each project in detail, and conduct necessary inspections and verifications to ensure the accuracy and reliability of the data.

[0177] In addition, after completing the surveying and mapping project, the data obtained by the surveying and mapping process table and the surveying and mapping tools equipped with the drone are sorted and analyzed. This step requires the surveying and mapping team to have the ability to process and analyze data and to be able to accurately extract and interpret useful information in the surveying and mapping data.

[0178] The raw data acquired by the drone is organized, including data format conversion and data cleaning, for subsequent analysis. According to the surveying and mapping process table, the organized data is matched with the corresponding surveying and mapping projects to ensure the accuracy and consistency of the data. The matched data is deeply analyzed to extract useful information, and the analysis results are interpreted and converted into practical surveying and mapping results, such as topographic maps, vegetation coverage maps, etc.

[0179] Specifically, taking the elevation data collection project as an example, after obtaining the elevation data, the surveying and mapping team will perform the following processing and analysis: convert the format of the elevation data obtained by the lidar and perform data cleaning to remove noise and outliers, match the sorted elevation data with the elevation data collection project to ensure the accuracy and consistency of the data, use GIS software to interpolate the elevation data to generate a continuous terrain surface model, and at the same time, calculate the slope, aspect and other parameters of the mountain based on the elevation data, interpret the analysis results, and generate surveying and mapping results such as the elevation map and slope map of the mountain. These results can provide important references for subsequent geological research, resource development, etc.

[0180] Therefore, the supplementary mapping area is determined according to the various mapping items in the mapping process table of the mountain, the corresponding mapping data and the three-dimensional model of the mountain. The UAV conducts positioning mapping of the supplementary mapping area to further improve the mapping of the mountain. It is compatible with the overall consideration of the various mapping items in the mapping process table of the mountain, the corresponding mapping data and the three-dimensional model of the mountain, and ensures the accuracy of the supplementary mapping area, so as to facilitate positioning mapping of the supplementary mapping area, thereby ensuring comprehensive mapping of the mountain.

[0181] At this time, compare and analyze the existing surveying and mapping data with the three-dimensional model of the mountain to find out the areas where data is missing or the accuracy is insufficient. The specific process is as follows: compare the surveying and mapping data obtained from each item in the surveying and mapping process table with the three-dimensional model of the mountain, analyze the differences in the spatial distribution and accuracy of the data, and based on the comparison results, identify areas where data is missing, the accuracy is insufficient, or the model does not match the actual terrain. These areas are the areas for supplementary surveying and mapping. According to factors such as the importance, urgency and surveying difficulty of the supplementary surveying and mapping areas, the identified areas are prioritized to determine the order of surveying and mapping.

[0182] After the supplementary mapping areas are determined, the drones will conduct positioning and mapping of these areas. The specific process is as follows: According to the spatial distribution and terrain characteristics of the supplementary mapping areas, the drone's flight route is planned to ensure that the drone can efficiently and accurately cover all mapped areas. According to the mapping requirements and drone performance, the drone's flight altitude, speed, sampling rate and other parameters are set to ensure the accuracy and integrity of the mapping data. The drone conducts flight mapping according to the planned route and set parameters to obtain information such as elevation, texture, vegetation coverage and other information of the supplementary mapping areas. The mapping data obtained by the drone is processed and analyzed to generate mapping results for the supplementary mapping areas, such as elevation maps and texture maps.

[0183] Specifically, suppose that during the surveying and mapping of a mountain, the surveying and mapping process includes items such as elevation data collection, surface texture collection, and vegetation coverage analysis. After preliminary surveying and mapping, the following areas are found to require additional surveying and mapping:

[0184] Areas with missing elevation data: In a steep valley on the mountain, due to the complex terrain, the drone was unable to obtain complete elevation data during the initial survey.

[0185] Areas with insufficient texture data: In a flat area on the mountain, due to dense vegetation cover, the texture data obtained during the initial mapping was not clear enough.

[0186] For these supplementary mapping areas, the drone conducted the following positioning surveys:

[0187] Supplementary mapping of elevation data: The drone adjusted its flight altitude and speed in the valley to obtain elevation data more safely and accurately. At the same time, higher-precision lidar equipment was used to improve the accuracy of the elevation data.

[0188] Texture data supplementary mapping: In flat areas, the drone lowered its flight altitude and used a higher-resolution camera to capture clearer texture data. At the same time, the shooting angle and lighting conditions were adjusted to reduce the impact of vegetation on the texture data.

[0189] After supplementary surveying and mapping, the surveying and mapping team obtained complete and accurate mountain mapping data, further improving the mountain mapping results. These results provide important references for subsequent geological research, resource development, etc. Example 3

[0190] See also Figure 3 , Figure 3 Schematic diagram of the structure of the multi-dimensional mountain mapping system in an embodiment of the present invention.

[0191] like Figure 3 As shown, a multi-dimensional mapping system for a mountain, the multi-dimensional mapping system for a mountain includes:

[0192] The acquisition module 21 is used to acquire multiple images based on the dynamic shooting of the location of the mountain by the drone;

[0193] A mountain module 22 is configured to determine a three-dimensional model of the mountain based on a plurality of images, corresponding shooting parameters, and a top view of the mountain;

[0194] A sub-mountain region module 23 is configured to determine a plurality of sub-mountain regions based on detection of a three-dimensional model of the mountain, wherein the plurality of sub-mountain regions are arranged adjacent to each other;

[0195] A surveying and mapping system module 24 is used to determine the surveying and mapping system of the mountain based on the area, corresponding shape and relative position of each sub-mountain area;

[0196] A mapping route module 25 is used to determine multiple corner positions based on traversal of each sub-mountain area in a mountain mapping system, and to determine a mapping route for the mountain based on the multiple corner positions, the material of the sub-mountain area, and the surrounding environment of the sub-mountain area;

[0197] The supplementary surveying area module 26 is used to determine the surveying process table of the mountain based on the surveying route of the mountain, the spatial area of the two adjacent sub-mountain areas, and the surveying tools equipped by the drone, and to determine the supplementary surveying area based on the various surveying items in the surveying process table of the mountain, the corresponding surveying data, and the three-dimensional model of the mountain.

[0198] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A multi-dimensional mapping method for a mountain, characterized in that: include: Collect multiple images based on the dynamic shooting of the location of the mountain by the drone; determining a three-dimensional model of the mountain based on the multiple images, corresponding shooting parameters, and a bird's-eye view of the mountain; Determining a plurality of sub-mountain regions based on detection of a three-dimensional model of the mountain, wherein the plurality of sub-mountain regions are arranged adjacent to each other; Determine the mountain surveying and mapping system based on the area, corresponding shape and relative position of each sub-mountain area; In the mountain mapping system, multiple corner positions are determined by traversing each sub-mountain area, and the mountain mapping route is determined based on the multiple corner positions, the material of the sub-mountain area, and the surrounding environment of the sub-mountain area; The mountain's surveying and mapping process table is determined based on the mountain's surveying and mapping route, the spatial areas of the two adjacent sub-mountain areas, and the surveying and mapping tools equipped by the drone. The supplementary surveying and mapping area is determined based on the various surveying and mapping items in the mountain's surveying and mapping process table, the corresponding surveying and mapping data, and the three-dimensional model of the mountain.

2. The multi-dimensional mapping method of a mountain according to claim 1, characterized in that: The method of collecting multiple images based on the dynamic shooting of the location of the mountain by the drone includes: The location of the collected mountain; Determine the mountain to be mapped based on its location and the preset mountain database; Determine the flight path of the drone based on the mountain to be mapped and the location of the drone; According to the flight path of the drone and the camera equipped with it, the drone is triggered to take dynamic photos of the mountain to be mapped; A plurality of images are obtained based on dynamic shooting of the mountain to be surveyed. At this time, the plurality of images respectively match different parts of the mountain to be surveyed.

3. The multi-dimensional mapping method of a mountain according to claim 2, characterized in that: The determining of the three-dimensional model of the mountain according to the plurality of images, the corresponding shooting parameters and the top view of the mountain includes: Acquire multiple images and construct a panoramic image of the mountain based on the multiple images; Matching corresponding shooting parameters according to multiple images and corresponding shooting nodes of cameras; When the UAV flies over the top of the mountain, a bird's-eye view of the mountain is collected based on the UAV's flight over the top. Associating multiple images, corresponding shooting parameters, and a bird's-eye view of the mountain; determining first model parameters based on the multiple images and corresponding shooting parameters, and determining second model parameters based on the multiple images and a bird's-eye view of the mountain; A three-dimensional model of the mountain is determined according to the panoramic image of the mountain, the first model parameters, and the second model parameters.

4. The multi-dimensional mapping method of a mountain according to claim 3, characterized in that: The determining of a plurality of sub-mountain regions based on detection of a three-dimensional model of the mountain, wherein the plurality of sub-mountain regions are arranged adjacent to each other, includes: Obtain a three-dimensional model of the mountain; Match the corresponding detection mode based on the outer contour of the mountain's three-dimensional model and the location of the mountain; Triggering detection of the three-dimensional model of the mountain according to the three-dimensional model of the mountain and the corresponding detection mode; Based on the detection of the three-dimensional model of the mountain, a plurality of sub-mountain regions are determined; the plurality of sub-mountain regions are all sub-parts of the mountain in a closed-loop state; and the plurality of sub-mountain regions are arranged adjacent to each other.

5. The multi-dimensional mapping method of a mountain according to any one of claims 1 to 4, characterized in that: The surveying and mapping system for determining a mountain based on the area, corresponding shape, and relative position of each sub-mountain region includes: Get each sub-mountain area; Determine the area of each sub-mountain region based on the area detection of each sub-mountain region; Determine the corresponding shape based on the shape detection of each sub-mountain area; Construct a corresponding coordinate system for the mountain, and determine the relative position of each sub-mountain area based on the coordinates, the location of each sub-mountain area, and the shape of each sub-mountain area; Multiple interactions are performed on the area, corresponding shape and relative position of each sub-mountain area; The mountain surveying and mapping system is determined based on the multiple interactions of the area, corresponding shape and relative position of each sub-mountain area.

6. The multi-dimensional mapping method of a mountain according to claim 5, characterized in that: In the mountain mapping system, multiple corner positions are determined based on traversal of each sub-mountain area, and a mountain mapping route is determined based on the multiple corner positions, the material of the sub-mountain area, and the surrounding environment of the sub-mountain area, including: Collect mountain surveying and mapping systems; In the mountain surveying and mapping system, each sub-mountain area is traversed; Based on the traversal of each sub-mountain area, multiple corner positions are determined, and the multiple corner positions are respectively located at the corners of each sub-mountain area. The boundary contour of the mountain is determined according to the multiple corner positions and the contour lines of each sub-mountain area.

7. The multi-dimensional mapping method of a mountain according to claim 6, characterized in that: In the mountain mapping system, multiple corner positions are determined based on traversal of each sub-mountain area, and a mapping route of the mountain is determined based on the multiple corner positions, the material of the sub-mountain area, and the surrounding environment of the sub-mountain area, further comprising: Determine the material of the sub-mountain area based on the material detection of the sub-mountain area by drone; collecting a plurality of environmental parameters based on environmental detection of the sub-mountain area, and determining the surrounding environment of the sub-mountain area according to the plurality of environmental parameters; Associate the boundary outline of the mountain, the material of the sub-mountain area, and the surrounding environment of the sub-mountain area; The surveying route of the mountain is determined according to the boundary contour of the mountain, the material of the sub-mountain area and the surrounding environment of the sub-mountain area.

8. The multi-dimensional mapping method of a mountain according to claim 7, characterized in that: The method includes determining a surveying process table for the mountain based on the surveying route of the mountain, the spatial areas of two adjacent sub-mountain areas, and the surveying tools provided by the drone, and determining a supplementary surveying area based on each surveying item in the surveying process table, the corresponding surveying data, and the three-dimensional model of the mountain, including: Get the survey route of the mountain; Determining the spatial regions of the two adjacent sub-mountain regions based on the spatial detection of the two adjacent sub-mountain regions; The surveying and mapping route of the associated mountain, the spatial areas of the two adjacent sub-mountain areas, and the surveying and mapping tools equipped with the UAV are used to determine the surveying and mapping process table of the mountain.

9. The multi-dimensional mapping method of a mountain according to claim 8, characterized in that: The method further includes determining a surveying process table for the mountain based on the surveying route of the mountain, the spatial areas of two adjacent sub-mountain areas, and the surveying tools provided by the drone, and determining a supplementary surveying area based on each surveying item in the surveying process table, the corresponding surveying data, and the three-dimensional model of the mountain. Determining each surveying and mapping item in the surveying and mapping process table of the mountain based on traversing the surveying and mapping process table of the mountain; Determine the corresponding surveying and mapping data based on the mountain surveying and mapping process table and the surveying and mapping tools equipped with the drone; The supplementary mapping area is determined based on the various mapping items in the mountain's mapping process table, the corresponding mapping data, and the three-dimensional model of the mountain. The drone conducts positioning mapping of the supplementary mapping area to further improve the mountain's mapping.

10. A multi-dimensional mapping system for a mountain, characterized in that: The multi-dimensional mapping system of a mountain is applied to the multi-dimensional mapping method of a mountain as claimed in any one of claims 1 to 9, and the multi-dimensional mapping system of a mountain comprises: An acquisition module, configured to acquire multiple images based on the dynamic shooting of the location of the mountain by the drone; A mountain module, configured to determine a three-dimensional model of the mountain based on multiple images, corresponding shooting parameters, and a top view of the mountain; A sub-mountain region module is used to determine multiple sub-mountain regions based on the detection of the three-dimensional model of the mountain, and the multiple sub-mountain regions are arranged adjacent to each other; The surveying and mapping system module is used to determine the surveying and mapping system of the mountain based on the area, corresponding shape and relative position of each sub-mountain area; A mapping route module is used to determine multiple corner positions based on the traversal of each sub-mountain area in the mountain mapping system, and to determine the mountain mapping route based on the multiple corner positions, the material of the sub-mountain area, and the surrounding environment of the sub-mountain area; The supplementary surveying and mapping area module is used to determine the surveying and mapping process table of the mountain based on the surveying and mapping route of the mountain, the spatial area of the two adjacent sub-mountain areas, and the surveying and mapping tools equipped with the drone, and to determine the supplementary surveying and mapping area based on the various surveying and mapping items in the surveying and mapping process table of the mountain, the corresponding surveying and mapping data, and the three-dimensional model of the mountain.

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