Buried cable management method and management device based on electronic map

Abstract

The invention provides a buried cable management method and management device based on an electronic map, and belongs to the technical field of buried cable management. The buried cable management device comprises a signal generation mechanism, a mobile detection mechanism and an unmanned aerial vehicle. The mobile detection mechanism comprises two signal detectors, a burial depth detector, a positioning assembly and a scale. The signal generation mechanism is used for injecting a feature detection signal into the buried cable; the signal detector is used for detecting the signal intensity of an electromagnetic field radiated by a detection signal in the buried cable; the burial depth detector is used for acquiring the burial depth of the cable; the positioning assembly is used for collecting latitude and longitude coordinate data and elevation data of a detection point; the unmanned aerial vehicle is used for flying to the position over the current detection point according to the coordinate data of the positioning assembly and shooting an aerial image; and the scale is arranged on the top surface of the mobile detection mechanism and is used for providing reference for processing aerial images. According to the invention, effective detection and management of the buried cable can be realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of buried cable management, and particularly relates to a method and device for buried cable management based on an electronic map. Background Art

[0002] At present, in addition to being laid in cable trenches or tunnels, most power cables are still laid directly buried. When carrying out excavation construction operations in the area where buried cables are laid, it is necessary to accurately determine information such as the burial depth and location of underground cables to prevent construction from damaging the cables and avoid accidental power outages or dangerous situations.

[0003] Although the number of current buried cable lines is increasing, there is still a lack of effective management means for buried cables, resulting in damage to buried cables occurring from time to time under the influence of projects such as municipal construction, pipeline construction, and earthwork construction. Summary of the Invention

[0004] In view of the deficiencies of the prior art, the present invention provides a method and device for buried cable management based on an electronic map.

[0005] To solve one or part or all of the above technical problems, the technical solutions adopted by the present invention are as follows: A buried cable management device based on an electronic map, comprising a signal generating mechanism, a mobile detection mechanism, and a drone. The mobile detection mechanism includes two signal detectors, a burial depth detector, a positioning component, and a scale; The signal generating mechanism is used to inject a characteristic detection signal into the buried cable; The signal detector is used to detect the signal intensity of the electromagnetic field radiated by the detection signal in the buried cable; The burial depth detector is used to obtain the cable burial depth; The positioning component is used to collect the longitude and latitude coordinate data and elevation data of the detection point; The drone is used to fly directly above the current detection point according to the coordinate data of the positioning component and take an aerial image; The scale is arranged on the top surface of the mobile detection mechanism and is used to provide a reference for the processing of the aerial image.

[0006] Further, it further includes a host computer; the host computer is used to construct a display layer of buried cables in the electronic map according to the collected cable burial depth data and the corresponding coordinate data and elevation data; it is also used to geometrically correct the aerial image according to the scale in the aerial image; it is also used to construct an aerial image layer of buried cables in the electronic map according to the corrected aerial image.

[0007] Further, the mobile detection mechanism further includes a long plate-shaped bracket; the signal detectors are respectively arranged below both ends of the bracket, and the burial depth detector and the positioning component are both located in the vertical direction of the midpoint of the connection line of the two signal detectors; the scale is arranged on the top surface of the bracket; a handle is vertically arranged at the top of the center of the bracket, and a trigger button is arranged at the holding end of the handle; an indicator light for indicating the intensity or intensity consistency of the signals detected by the signal detectors is arranged on the bracket.

[0008] Further, the mobile detection mechanism further includes a trolley and a long plate-shaped bracket arranged on the trolley; the signal detectors are respectively arranged below both ends of the bracket, and the burial depth detector and the positioning component are both located in the vertical direction of the midpoint of the connection line of the two signal detectors; the scale is arranged on the top surface of the bracket; a trigger button is arranged at the handle of the trolley, and an indicator light for indicating the intensity or intensity consistency of the signals detected by the signal detectors is arranged on the trolley.

[0009] Further, the mobile detection mechanism further includes an automatic driving mechanism; the signal detectors are respectively arranged below both sides of the automatic driving mechanism, the burial depth detector is arranged below the middle of the automatic driving mechanism, the positioning component is arranged above the middle of the automatic driving mechanism, and the burial depth detector and the positioning component are both located in the vertical direction of the midpoint of the connection line of the two signal detectors; the scale is arranged on the top surface of the automatic driving mechanism.

[0010] A buried cable management method based on an electronic map, implemented by using the management device, includes: Travel along the buried cable while maintaining the same signal intensity detected by the two signal detectors; Whenever a preset sampling distance is traveled, collect the cable burial depth data, coordinate data, and elevation data at the current position; Whenever a preset aerial photography distance is traveled, fly to the target position according to the coordinate data at the current position and collect an aerial photography image; According to the collected cable burial depth data and the corresponding coordinate data and elevation data, construct a buried cable display layer in the electronic map; Perform geometric correction on the aerial photography image according to the scale in the aerial photography image; According to the corrected aerial photography image, construct a buried cable aerial photography layer in the electronic map.

[0011] Further, the method for constructing a buried cable display layer in the electronic map includes: Construct a coordinate point sequence, and add an elevation attribute, a burial depth value attribute, and a sampling time attribute to each coordinate point; Define the color scale rule for burial depth data; According to the burial depth value of each coordinate point, determine the color value corresponding to the burial depth value according to the color scale rule and by using linear interpolation, and add the color value attribute to each coordinate point; Create a two-dimensional layer in the electronic map, and sequentially connect adjacent coordinate points with line segments in the two-dimensional layer; set the line segment color to the average value of the colors of the two endpoints; add mouse-over interaction attributes and mouse-click interaction attributes to the line segments.

[0012] Furthermore, the method for constructing an underground cable display layer in the electronic map further includes: creating a three-dimensional layer in the electronic map, mapping the burial depth value combined with the collected elevation data into a Z-axis offset in the three-dimensional layer to generate an underground cable path; displaying a virtual outline of the cable on the ground surface according to the coordinate points.

[0013] Furthermore, the method for constructing an aerial photo layer of underground cable in the electronic map includes: Sequentially splice the corrected aerial photos; when the splicing of a preset number of aerial photos is completed, split the image to be segmented and the image to be spliced from the spliced image; use the quadtree segmentation algorithm to cut the image to be segmented into standard tiles of a specified size, and the image to be spliced continues to be spliced with the remaining aerial photos and waits for tile segmentation again; Whenever tile segmentation is performed, establish a mapping relationship table between tile numbers and geographical ranges; When the splicing and tile segmentation of all aerial photos are completed, construct an aerial photo layer in the electronic map according to the segmented tiles and the mapping relationship table.

[0014] Furthermore, the method for splicing aerial photos includes: rotating the aerial photos according to the heading data in the image EXIF attribute so that all aerial photos have the same azimuth angle; obtaining feature points from the images to be spliced by using a feature point detection algorithm and performing similar feature point matching; overlapping the images to be spliced with the goal of overlapping the most similar feature points; performing image fusion processing on the overlapping area.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The mobile detection mechanism in the buried cable management device of the present invention can be equipped with a hand-held bracket, a trolley or an automatic driving mechanism, and can move manually or automatically along the buried cable while maintaining the same signal intensity detected by the two signal detectors. During the movement process, it can collect the buried depth, longitude and latitude coordinates, elevation data and aerial images of the buried cable. The host computer can use the collected data to superimpose and display the path information of the buried cable and the aerial images on the electronic map. The path of the buried cable is displayed as a colored line segment according to the change of the buried depth data, and the buried depth of the cable can be intuitively viewed, and the specific buried depth data and coordinate data can be displayed when the mouse is clicked, so as to realize the visual management of the buried cable.

[0016] The present invention is based on the scale-based geometric correction and scale normalization technology to eliminate lens distortion and image scale differences, ensuring the spatial consistency of aerial data; the present invention efficiently stitches large-scale aerial images and uses the quadtree segmentation algorithm to segment the stitched images into tiles, so as to be able to adapt to the map display requirements of different zoom levels. Brief Description of the Drawings

[0017] The following further describes the present invention in detail with reference to the drawings.

[0018] Figure 1 : Schematic diagram of Embodiment 1 of the present invention; Figure 2 : Schematic diagram of Embodiment 2 of the present invention; Figure 3 : Schematic diagram of Embodiment 3 of the present invention; Figure 4 : Schematic diagram of Embodiment 4 of the present invention; Wherein: 100 - signal generating mechanism, 200 - mobile detection mechanism, 201 - signal detector, 202 - buried depth detector, 203 - positioning component, 204 - scale, 211 - bracket, 212 - handle, 213 - trigger button, 221 - trolley, 231 - automatic driving mechanism, 300 - unmanned aerial vehicle, 400 - host computer. Detailed Description of the Invention

[0019] In order to better understand the present invention, the content of the present invention will be further clearly described below in conjunction with the embodiments and the drawings. However, the protection scope of the present invention is not limited to the following embodiments. In the following description, a large number of specific details are given to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details.

[0020] The purposes of Embodiment 1, Embodiment 2 and Embodiment 3 are all to provide a buried cable management device based on an electronic map, which all include a signal generating mechanism 100, a mobile detection mechanism 200, a drone 300 and a host computer 400.

[0021] The signal generating mechanism 100 is used to inject a characteristic detection signal into the buried cable by means of electromagnetic coupling.

[0022] The mobile detection mechanism 200 includes two signal detectors 201, a burial depth detector 202, a positioning component 203 and a scale 204. The signal detector 201 is used to detect the signal intensity of the electromagnetic field radiated by the detection signal in the buried cable. The signal intensity can reflect the position of the buried cable. When the signal intensities detected by the two signal detectors 201 are the same (both signal intensities are greater than 0), it means that the buried cable is directly below the midpoint of the connection line of the two signal detectors 201; the burial depth detector 202 realizes the measurement of the cable burial depth based on the electromagnetic field attenuation model; the positioning component 203 is used to collect the longitude and latitude coordinate data of the detection point; the scale 204 is arranged on the top surface of the mobile detection mechanism 200 and provides a reference for the processing of the drone image. When needed, the positioning component 203 also synchronously collects elevation data.

[0023] The drone 300 is used to fly directly above the current detection point according to the coordinate data of the positioning component 203 and take an aerial image of the current detection point, and the corresponding coordinate data and heading data are added to the EXIF attributes of the image.

[0024] The burial depth detector 202, the positioning component 203 and the drone 300 are all communicatively connected to the host computer 400. The host computer 400 is used to superimpose and display the buried cable in the electronic map according to the burial depth data collected by the burial depth detector 202, the coordinate data and elevation data collected by the positioning component 203, and is used to superimpose and display the aerial images along the buried cable in the electronic map according to the images collected by the drone 300. For details, reference can be made to S4 - S6 in Embodiment 4.

[0025] The scale 204 is strip-shaped, with equilateral triangle marks at both ends, a circular mark at the center, and color-interleaved square marks at other parts. Preferably, the scale 204 is black and white, the equilateral triangle marks and the circular mark are black, and the square marks are black and white interleaved.

[0026] The differences between Embodiment 1, Embodiment 2 and Embodiment 3 are as follows: As Figure 1As shown in the figure, the mobile detection mechanism 200 in Embodiment 1 further includes a long plate-shaped bracket 211. The signal detectors 201 are respectively arranged below both ends of the bracket 211, and the burial depth detector 202 and the positioning component 203 are both arranged below the middle of the bracket 211, and are both located in the vertical direction of the midpoint of the connection line of the two signal detectors 201; the scale 204 is arranged on the top surface of the bracket 211. The mobile detection mechanism 200 adopts a portable bracket structure. A handle 212 is vertically arranged at the top of the center of the bracket 211. The staff can conveniently move the mobile detection mechanism 200 by holding the handle 212. At the same time, a trigger button 213 is also arranged at the holding end of the handle 212, and an indicator light for indicating the intensity or intensity consistency of the signal detected by the signal detector 201 is also arranged on the bracket 211.

[0027] When Embodiment 1 works, the staff holds the mobile detection mechanism 200 and walks along the buried cable. During the walking process, the staff maintains the consistency of the signal intensities detected by the two signal detectors 201 at both ends according to the indicator light. According to the sampling needs, every time the staff walks a short distance (such as 1m - 10m), the burial depth detector 202 is made to contact the ground, and the trigger button 213 is pressed to make the burial depth detector 202 detect the burial depth of the buried cable. The burial depth data and the coordinate data and elevation data currently obtained by the positioning component 203 are synchronously sent to the host computer 400. According to the performance of the unmanned aerial vehicle 300, every time the staff walks a long distance (such as 50m - 100m), the unmanned aerial vehicle 300 is released. The unmanned aerial vehicle 300 flies directly above the current detection point according to the coordinate data currently obtained by the positioning component 203, and the camera is aimed at directly below for shooting. The captured image is sent to the host computer 400.

[0028] As Figure 2 As shown in the figure, the mobile detection mechanism 200 in Embodiment 2 further includes a trolley 221 and a long plate-shaped bracket 211 arranged on the trolley 221. The signal detectors 201 are respectively arranged below both ends of the bracket 211, the burial depth detector 202 is arranged below the middle of the bracket 211, and the positioning component 203 is arranged above the middle of the bracket 211. The burial depth detector 202 and the positioning component 203 are both located in the vertical direction of the midpoint of the connection line of the two signal detectors 201; the scale 204 is arranged on the top surface of the bracket 211. At the same time, a trigger button 213 is also arranged at the handle of the trolley 221, and an indicator light for indicating the intensity or intensity consistency of the signal detected by the signal detector 201 is also arranged on the trolley 221. The working mode of Embodiment 2 is basically the same as that of Embodiment 1, and will not be elaborated here.

[0029] As Figure 3 As shown in the figure, the mobile detection mechanism 200 in Embodiment 3 further includes an automatic driving mechanism 231. The signal detectors 201 are respectively arranged below both sides of the automatic driving mechanism 231, and the burial depth detector 202 ( Figure 3is disposed below the middle of the automatic driving mechanism 231 (not shown in the figure), the positioning component 203 is disposed above the middle of the automatic driving mechanism 231, both the burial depth detector 202 and the positioning component 203 are located in the vertical direction at the midpoint of the line connecting the two signal detectors 201, and the scale 204 is disposed on the top surface of the automatic driving mechanism 231.

[0030] During the operation of Embodiment 3, the control mechanism of the automatic driving mechanism 231 itself travels along the buried cable while maintaining the same signal intensity detected by the two signal detectors 201. During this period, the burial depth detector 202 is continuously used to collect burial depth data. The burial depth data is associated with the corresponding coordinate data and elevation data, and the burial depth data, coordinate data, and elevation data are transmitted to the host computer 400 in real time or at regular intervals. The drone 300 can usually land on the roof of the automatic driving mechanism 231. When traveling a long distance, the automatic driving mechanism 231 stops moving forward and releases the drone 300. The drone 300 flies to directly above the current detection point according to the coordinates of the current detection point, and the camera is aligned downward for shooting. The captured image is sent to the host computer 400. After the drone 300 finishes shooting, it lands on the roof of the automatic driving mechanism 231, and the automatic driving mechanism 231 continues to move forward to collect burial depth data.

[0031] The purpose of Embodiment 4 is to provide a method for managing buried cables based on an electronic map, which is implemented by using the management device provided in Embodiment 1, Embodiment 2, or Embodiment 3. The management method includes: S1. Travel along the buried cable.

[0032] The mobile detection mechanism 200 travels while maintaining the same signal intensity detected by the two signal detectors 201.

[0033] S2. Whenever a preset sampling distance is traveled, collect the cable burial depth data, coordinate data, and elevation data at the current position.

[0034] According to the preset sampling distance, whenever a corresponding distance is traveled, use the positioning component 203 to obtain the longitude and latitude coordinate data and elevation data at the current position, and use the burial depth detector 202 to obtain the burial depth data of the buried cable at the current position. The obtained burial depth data, coordinate data, and elevation data are mutually associated and jointly form a set of sampling data.

[0035] S3. Whenever a preset aerial photography distance is traveled, fly to the target position according to the coordinate data at the current position and collect an aerial photography image.

[0036] According to the preset aerial photography distance, whenever a corresponding distance is traveled, the movement detection mechanism 200 pauses moving and executes step S2 to collect the coordinate data, elevation data, and burial depth data of the current position; release the unmanned aerial vehicle 300, and the unmanned aerial vehicle 300 takes the coordinate data of the current position as the target point and flies to directly above the current detection point to capture the aerial image directly below, and write the coordinate data of the current position and the orientation data of the unmanned aerial vehicle 300 into the EXIF attributes of the aerial image; the unmanned aerial vehicle 300 lands, and at the same time the movement detection mechanism 200 continues to move to perform the data collection and image collection of steps S2 - S3.

[0037] S4. According to the collected cable burial depth data and the corresponding coordinate data and elevation data, construct a buried cable display layer in the electronic map.

[0038] The electronic map can use existing map systems, such as OvitalMap, Baidu Map, or Gaode Map, or other GIS systems can also be used.

[0039] In this step, first, according to the cable burial depth data and the corresponding coordinate data collected in step S2, construct a coordinate point sequence, and at the same time add elevation attributes, burial depth value attributes, and sampling time attributes to each coordinate point.

[0040] Define the color scale rule for the burial depth data, e.g., red (RGB: 255, 0, 0) at 0m, yellow (RGB: 255, 255, 0) at 1m, cyan (RGB: 0, 255, 255) at 2m, and green (RGB: 0, 255, 0) at 3.5m and above.

[0041] Traverse the coordinate point sequence, obtain the burial depth value of each coordinate point, determine the color value corresponding to the burial depth value according to the color scale rule and by using the method of linear interpolation, and add a color value attribute to each coordinate point.

[0042] Create a two - dimensional layer in the electronic map, and sequentially connect adjacent coordinate points with line segments in the two - dimensional layer. The color of the endpoints of the line segment is determined according to the color value attribute of the corresponding coordinate points. Set the color of the line segment to the average value of the colors of the two endpoints, or set the color change of the line segment to be a linear gradient of the colors of the two endpoints; add a mouse - over interaction attribute to the line segment, and when the mouse hovers over the line segment, automatically display the average burial depth at the two endpoints beside the mouse; add a mouse - click interaction attribute to the line segment, and when the mouse clicks on the line segment, a window pops up. The content displayed in the window includes: the starting coordinates, ending coordinates, average burial depth value, collection time, and a navigation button of the current line segment. When the navigation button is clicked, call the navigation function of the electronic map to automatically plan a path from the current location or other location to the target point.

[0043] For an electronic map that supports the three-dimensional terrain mode, in this step, a three-dimensional layer is also created in the electronic map. The burial depth value is combined with the collected elevation data and mapped to the Z-axis offset. The underground path of the cable is generated in the three-dimensional layer, and at the same time, the virtual shadow contour of the cable is displayed on the ground surface according to the coordinate points.

[0044] S5. Geometrically correct the aerial images according to the scale ruler in the aerial images.

[0045] First, process the aerial images to eliminate lens distortion. For example, it can be achieved by using the undistort function of OpenCV, or by using the checkerboard calibration method for correction.

[0046] Subsequently, use the scale ruler as a reference to perform scale normalization on all aerial images. Specifically, use the feature recognition method to identify the scale ruler from the aerial images, and take the first aerial image as a benchmark to adjust the sizes of other aerial images to ensure that the sizes of the scale rulers in all aerial images are the same.

[0047] In the present invention, the scale ruler adopts a special shape with significant external features, so it can be conveniently identified from the images.

[0048] S6. Construct an aerial layer of buried cables in the electronic map according to the corrected aerial images.

[0049] In this step, the aerial images are spliced in sequence. When the splicing of the preset number of aerial images is completed, first split the image to be segmented and the image to be spliced from the spliced image, and then use the quadtree segmentation algorithm to cut the image to be segmented into standard tiles of the specified size. The image to be spliced continues to be spliced with the remaining aerial images and waits for tile segmentation again. The longitude and latitude coordinates corresponding to the central pixel point of the aerial image are the coordinate data in the EXIF attributes of the image. After the aerial images are spliced, according to the longitude and latitude coordinate data of multiple known pixel points (the central coordinate points of the original aerial images), the longitude and latitude coordinate data corresponding to each pixel point in the image can be obtained. Therefore, the four corners of the segmented tiles can obtain the corresponding longitude and latitude coordinates. Whenever tile segmentation is performed, a mapping relationship table between the tile numbers and the geographical ranges is established.

[0050] When the splicing and tile segmentation of all aerial images are completed, construct an aerial layer in the electronic map according to the segmented tiles and the mapping relationship table, and initialize the attributes of the aerial layer. The attributes include the zoom level range, transparency, and layer overlay priority. When the aerial layer is opened in the electronic map, if the map zoom level meets the requirements of the zoom level attribute of the aerial layer, the corresponding tiles are automatically displayed according to the current view range and zoom level.

[0051] Among them, the splicing method of the aerial images includes: Rotate the aerial images according to the heading data in the EXIF attributes of the images so that all aerial images have the same azimuth angle. Use feature point detection algorithms (such as SIFT, Surf, ORB, etc.) to obtain feature points from the images to be stitched and perform similar feature point matching; aim to overlap the images to be stitched with the most overlapping similar feature points; finally, perform image fusion processing on the overlapping area to make the overall stitched image smoothly transition.

[0052] The image fusion processing is implemented using a multi-resolution fusion algorithm, including: establishing a Laplacian pyramid based on the images to be fused in the overlapping area; at different levels, merge the Laplacian pyramids of different regions to obtain a merged pyramid; perform an inverse Laplacian transform on the merged pyramid to obtain a fusion pyramid, and then perform a bottom-up stacking operation on the fusion pyramid to obtain the fusion result.

[0053] In Embodiment 4, steps S4 - S6 can be executed by the host computer 400.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Any other modifications or equivalent replacements made by those of ordinary skill in the art to the technical solutions of the present invention, as long as they do not depart from the spirit and scope of the technical solutions of the present invention, shall be covered by the scope of the claims of the present invention.

Claims

1. An underground cable management device based on an electronic map, characterized in that, It includes a signal generating mechanism, a movement detecting mechanism and a drone. The movement detecting mechanism includes two signal detectors, a burial depth detector, a positioning component and a scale; The signal generating mechanism is used to inject a characteristic detection signal into the buried cable; The signal detector is used to detect the signal intensity of the electromagnetic field radiated by the detection signal in the buried cable; The burial depth detector is used to obtain the burial depth of the cable; The positioning component is used to collect the longitude and latitude coordinate data and elevation data of the detection point; The drone is used to fly directly above the current detection point according to the coordinate data of the positioning component and take an aerial image; The scale is arranged on the top surface of the movement detecting mechanism and is used to provide a reference for the processing of the aerial image.

2. The buried cable management device based on an electronic map according to claim 1, wherein, It further includes a host computer; the host computer is used to construct a buried cable display layer in the electronic map according to the collected cable burial depth data and the corresponding coordinate data and elevation data; it is also used to geometrically correct the aerial image according to the scale in the aerial image; It is also used to construct a buried cable aerial layer in the electronic map according to the corrected aerial image.

3. The buried cable management device based on an electronic map according to claim 1, wherein The movement detecting mechanism further includes a long plate-shaped bracket; the signal detectors are respectively arranged below both ends of the bracket, the burial depth detector and the positioning component are both located in the vertical direction at the midpoint of the connection line of the two signal detectors; the scale is arranged on the top surface of the bracket; a handle is vertically arranged at the top of the center of the bracket, and a trigger button is arranged at the holding end of the handle; an indicator light for indicating the signal intensity or intensity consistency detected by the signal detector is arranged on the bracket.

4. The buried cable management device based on an electronic map according to claim 1, wherein The movement detecting mechanism further includes a trolley and a long plate-shaped bracket arranged on the trolley; the signal detectors are respectively arranged below both ends of the bracket, the burial depth detector and the positioning component are both located in the vertical direction at the midpoint of the connection line of the two signal detectors; the scale is arranged on the top surface of the bracket; a trigger button is arranged at the handle of the trolley, and an indicator light for indicating the signal intensity or intensity consistency detected by the signal detector is arranged on the trolley.

5. The underground cable management device based on an electronic map according to claim 1, characterized in that The movement detecting mechanism further includes an automatic driving mechanism; the signal detectors are respectively arranged below both sides of the automatic driving mechanism, the burial depth detector is arranged below the middle of the automatic driving mechanism, the positioning component is arranged above the middle of the automatic driving mechanism, and the burial depth detector and the positioning component are both located in the vertical direction at the midpoint of the connection line of the two signal detectors; the scale is arranged on the top surface of the automatic driving mechanism.

6. A buried cable management method based on an electronic map, which is implemented by using the management device described in any one of Embodiments 1-5, characterized in that, It includes: Travel along the buried cable while maintaining the same signal intensity detected by the two signal detectors; Whenever a preset sampling distance is traveled, collect the cable burial depth data, coordinate data and elevation data of the current position; Whenever a preset aerial photography distance is traveled, fly to the target position according to the coordinate data of the current position and collect an aerial image; Construct a buried cable display layer in the electronic map according to the collected cable burial depth data and the corresponding coordinate data and elevation data; Geometrically correct the aerial image according to the scale in the aerial image; Based on the corrected aerial images, construct an aerial mapping layer of underground cables in the electronic map.

7. The method for managing buried cables based on an electronic map according to claim 6, characterized in that, The method for constructing a display layer of underground cables in the electronic map includes: Construct a sequence of coordinate points, and add elevation attribute, burial depth value attribute, and sampling time attribute to each coordinate point; Define the color scale rule for the burial depth data; According to the burial depth value of each coordinate point, determine the color value corresponding to the burial depth value according to the color scale rule and by using linear interpolation, and add the color value attribute to each coordinate point; Create a two-dimensional layer in the electronic map, and sequentially connect adjacent coordinate points with line segments in the two-dimensional layer; set the line segment color to the average value of the colors of the two endpoints; add mouse-over interaction attribute and mouse-click interaction attribute to the line segments.

8. The method for managing buried cables based on an electronic map according to claim 7, wherein The method for constructing a display layer of underground cables in the electronic map further includes: create a three-dimensional layer in the electronic map, map the burial depth value combined with the collected elevation data to the Z-axis offset, and generate the underground path of the cable in the three-dimensional layer; display the virtual shadow contour of the cable on the ground surface according to the coordinate points.

9. The method for managing buried cables based on an electronic map according to claim 6, characterized in that, The method for constructing an aerial mapping layer of underground cables in the electronic map includes: Sequentially splice the corrected aerial images; when the splicing of a preset number of aerial images is completed, split the image to be segmented and the image to be spliced from the spliced image; use the quadtree segmentation algorithm to cut the image to be segmented into standard tiles of a specified size, and the image to be spliced continues to be spliced with the remaining aerial images and waits for tile segmentation again; Whenever tile segmentation is performed, establish a mapping relationship table between tile numbers and geographical ranges; When the splicing and tile segmentation of all aerial images are completed, construct an aerial mapping layer in the electronic map according to the segmented tiles and the mapping relationship table.

10. The method for managing buried cables based on an electronic map according to claim 9, wherein, The method for splicing aerial images includes: rotate the aerial images according to the heading data in the image EXIF attributes so that all aerial images have the same azimuth angle; use the feature point detection algorithm to obtain feature points from the images to be spliced and perform similar feature point matching; overlap the images to be spliced with the goal of having the most overlapping similar feature points; perform image fusion processing on the overlapping area.

Images