Unmanned geological data acquisition control method and system

Abstract

The present application is suitable for the technical field of geological data collection, and provides an unmanned geological data collection control method and system. The present application determines a geological collection target by acquiring geological collection requirements, plans an unmanned collection path, controls flight, shooting and transmission of unmanned geological collection, identifies geological collection data, calculates an expanded collection radius when there is no geological collection target, plans an expanded collection path, and controls corresponding expanded collection until a geological collection target is identified. The present application can determine a geological collection target, plan an unmanned collection path, control flight, shooting and transmission of unmanned geological collection, identify and judge a target, calculate an expanded collection radius when there is no geological collection target, control expanded collection, and identify a geological collection target until a geological collection target is identified. The present application can explore geological data collection with a clear target, and realize intelligent and unmanned geological data collection control.

Description

Technical Field

[0001] This invention belongs to the field of geological data acquisition technology, and in particular relates to unmanned geological data acquisition control methods and systems. Background Technology

[0002] Geological data acquisition is the process of systematically acquiring and recording geological information using various technical means during geological exploration, resource development, and environmental monitoring.

[0003] Geological data collection typically includes information on rocks, minerals, strata, structures, soils, hydrology, geomorphology, and geophysical and geochemical parameters. Collection methods can rely on traditional manual field surveys, sampling, and mapping, or utilize modern technologies such as UAV aerial surveys, remote sensing imagery, geophysical exploration, geographic information systems (GIS), lidar (LiDAR), drilling, and sensor monitoring to improve data accuracy and timeliness.

[0004] In existing technologies, unmanned geological data acquisition and control mainly involves the overall, non-target-oriented acquisition of geological data in a pre-defined area. However, for geological data acquisition and exploration with a clear target, there is a lack of effective technical means and intelligent control mechanisms, which makes it impossible to achieve corresponding unmanned geological data acquisition and control, thus restricting its application in mineral exploration, land space development, and other fields. Summary of the Invention

[0005] The purpose of this invention is to provide an unmanned geological data acquisition and control method and system, which aims to solve the technical problems existing in the prior art mentioned in the background.

[0006] The embodiments of the present invention are implemented as follows:

[0007] A method for unmanned geological data acquisition and control, the method specifically includes the following steps:

[0008] Obtain geological collection requirements, identify the geological collection requirements, determine the geological collection target, the initial collection midpoint and the initial collection radius, and plan the unmanned collection path;

[0009] Following the described unmanned data collection path, unmanned geological data collection is carried out through flight, photography, and transmission control to acquire geological data.

[0010] The geological data is identified to determine whether there is a geological collection target, and if there is no geological collection target, the collection radius is calculated to expand.

[0011] Based on the initial acquisition midpoint, the initial acquisition radius, and the expanded acquisition radius, an expanded acquisition path is planned, and corresponding expanded acquisition control is performed until a geological acquisition target is identified.

[0012] As a further limitation of the technical solution of this embodiment of the invention, the step of obtaining geological collection requirements, identifying the geological collection requirements, determining the geological collection target, the initial collection midpoint and the initial collection radius, and planning the unmanned collection path specifically includes the following steps:

[0013] Obtain geological data collection requirements;

[0014] The geological acquisition needs are identified, and the geological acquisition targets, initial acquisition midpoint, and initial acquisition radius are determined.

[0015] The initial acquisition area is determined based on the initial acquisition midpoint and the initial acquisition radius;

[0016] In the initial acquisition area, select multiple initial acquisition points;

[0017] Based on the multiple initial sampling points, plan an unmanned sampling path.

[0018] As a further limitation of the technical solution of this invention embodiment, the step of controlling the unmanned geological data collection flight, shooting and transmission according to the unmanned collection path to obtain geological data specifically includes the following steps:

[0019] Select a data collection drone;

[0020] Flight control of the data collection drone for geological data collection is performed according to the described unmanned data collection path;

[0021] At multiple initial sampling points, the data acquisition drone is used for geological data acquisition and shooting control.

[0022] The data acquisition drone is used for transmission control to acquire geological data.

[0023] As a further limitation of the technical solution of this embodiment of the invention, the transmission control of the geological data acquisition drone to obtain geological data specifically includes the following steps:

[0024] Based on the initial acquisition area, select multiple online transmission terminals;

[0025] Receive connection feedback data between multiple online transmission terminals and the data acquisition drone;

[0026] The connection feedback data from multiple sources are compared, and the current transmission endpoint is selected in real time from among the multiple online transmission endpoints.

[0027] According to the current transmission midpoint, the geological data collection drone is controlled for transmission.

[0028] Data transmission and processing are performed to obtain geological data.

[0029] As a further limitation of the technical solution of this embodiment of the invention, the step of identifying the geological data, determining whether there is a geological collection target, and calculating the expanded collection radius when there is no geological collection target specifically includes the following steps:

[0030] The geological data collected is then identified to determine multiple geological targets.

[0031] Based on multiple geological identification targets, determine whether there is a geological collection target;

[0032] In the absence of a geological acquisition target, a geological symbiosis analysis is performed on multiple geological identification targets and the geological acquisition target to select a geological symbiosis target;

[0033] From the multiple initial sampling points, select multiple symbiotic sampling points that have the geological symbiotic target;

[0034] The multiple co-existing sampling points are analyzed to calculate the expanded sampling radius.

[0035] As a further limitation of the technical solution of this embodiment of the invention, the analysis of multiple co-occurring sampling points and the calculation of the expanded sampling radius specifically includes the following steps:

[0036] Proximity analysis was performed on multiple co-occurring sampling points to calculate the average proximity distance;

[0037] Count the number of co-occurring sampling points of the aforementioned co-occurring sampling points;

[0038] The expanded sampling radius is calculated based on the average proximity distance and the number of co-occurring sample points.

[0039] As a further limitation of the technical solution of this embodiment of the invention, the calculation formula for expanding the acquisition radius is as follows:

[0040] ;

[0041] in, To expand the collection radius, The preset expansion adjustment factor, The number of co-occurring samples. The average neighbor distance, and These are the preset first and second influence coefficients.

[0042] As a further limitation of the technical solution of this embodiment of the invention, the step of planning an expanded acquisition path according to the initial acquisition midpoint, the initial acquisition radius, and the expanded acquisition radius, and performing corresponding expanded acquisition control until a geological acquisition target is identified, specifically includes the following steps:

[0043] The expanded acquisition area is determined based on the initial acquisition midpoint, the initial acquisition radius, and the expanded acquisition radius;

[0044] In the expanded acquisition area, select multiple expanded acquisition points;

[0045] Based on the multiple expanded sampling points, plan the expanded sampling path;

[0046] Perform appropriate expanded acquisition control to obtain expanded acquisition data;

[0047] The expanded data collection is identified to determine whether there is a geological collection target. If there is no geological collection target, the collection is expanded until a geological collection target is identified.

[0048] An unmanned geological data acquisition and control system, comprising an acquisition demand processing module, a geological acquisition control module, an acquisition target identification module, and an extended acquisition control module, wherein:

[0049] The data acquisition requirement processing module is used to acquire geological data acquisition requirements, identify the geological data acquisition requirements, determine the geological data acquisition target, the initial data acquisition midpoint and the initial data acquisition radius, and plan the unmanned data acquisition path;

[0050] The geological acquisition control module is used to control the flight, shooting and transmission of unmanned geological acquisition according to the unmanned acquisition path, and to acquire geological acquisition data.

[0051] The target identification module is used to identify the geological data, determine whether there is a geological target, and calculate the expansion radius when there is no geological target.

[0052] The expanded acquisition control module is used to plan the expanded acquisition path according to the initial acquisition midpoint, the initial acquisition radius, and the expanded acquisition radius, and to perform corresponding expanded acquisition control until a geological acquisition target is identified.

[0053] As a further limitation of the technical solution of this embodiment of the invention, the expanded acquisition control module specifically includes:

[0054] An expanded area determination unit is used to determine an expanded acquisition area based on the initial acquisition midpoint, the initial acquisition radius, and the expanded acquisition radius;

[0055] The sample point selection unit is used to select multiple expanded sampling points in the expanded sampling area;

[0056] The path planning unit is used to plan the expanded collection path based on the multiple expanded collection points;

[0057] The expanded acquisition control unit is used to perform corresponding expanded acquisition control and acquire expanded acquisition data;

[0058] The target identification and processing unit is used to identify the expanded collection data, determine whether there is a geological collection target, and continue to expand the collection until a geological collection target is identified if there is no geological collection target.

[0059] Compared with the prior art, the beneficial effects of the present invention are:

[0060] (1) This invention can determine the geological collection target, plan the unmanned collection path, carry out unmanned geological collection flight, shooting and transmission control, and perform target identification and judgment. When there is no geological collection target, it calculates to expand the collection radius and carries out expanded collection control until a geological collection target is identified. It can collect and explore geological data with clear targets, thereby realizing intelligent and unmanned geological data collection control, and improving the application space in mineral exploration, land space development and other fields.

[0061] (2) The present invention can select multiple online transmission terminals in the initial acquisition area, and receive connection feedback data between multiple online transmission terminals and the acquisition drone during the geological data acquisition process of the acquisition drone. By comparing multiple connection feedback data, the current transmission terminal is selected in real time from multiple online transmission terminals, and then the transmission control of the acquisition drone for geological acquisition is performed according to the current transmission terminal, so as to ensure that the acquisition drone can carry out stable data transmission in different locations.

[0062] (3) The present invention can perform geological symbiosis analysis when there is no geological collection target, select a geological symbiosis target, and then select multiple symbiosis collection points with geological symbiosis target from multiple initial collection points. By performing proximity analysis on multiple symbiosis collection points, the average proximity distance is calculated, and the collection radius is expanded according to the average proximity distance and the number of symbiosis collection points, thereby realizing automatic expansion planning of geological collection. Attached Figure Description

[0063] Figure 1 A flowchart of the unmanned geological data acquisition and control method provided in an embodiment of the present invention is shown;

[0064] Figure 2The application architecture diagram of the unmanned geological data acquisition and control system provided in the embodiment of the present invention is shown. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0066] Understandably, current unmanned geological data acquisition and control mainly involves the overall, non-targeted acquisition of geological data from pre-defined areas. However, for geological data acquisition and exploration with clear objectives, there is a lack of effective technical means and intelligent control mechanisms, making it impossible to achieve corresponding unmanned geological data acquisition and control, which restricts its application in mineral exploration, land space development, and other fields.

[0067] To address the aforementioned issues, the unmanned geological data acquisition and control method and system disclosed in this invention, through obtaining geological acquisition requirements, identifying these requirements, determining the geological acquisition target, initial acquisition midpoint, and initial acquisition radius, and planning an unmanned acquisition path; controlling the flight, photography, and transmission of unmanned geological data according to the unmanned acquisition path to acquire geological acquisition data; identifying the geological acquisition data to determine if a geological acquisition target exists, and calculating an expanded acquisition radius if no geological acquisition target exists; planning an expanded acquisition path according to the initial acquisition midpoint, initial acquisition radius, and expanded acquisition radius, and performing corresponding expanded acquisition control until a geological acquisition target is identified. This method enables the identification of geological acquisition targets, planning of unmanned acquisition paths, control of the flight, photography, and transmission of unmanned geological data, target identification and judgment, and calculation of expanded acquisition radius when no geological acquisition target exists, followed by expanded acquisition control until a geological acquisition target is identified. It allows for the exploration and acquisition of geological data with clearly defined targets, achieving intelligent and unmanned geological data acquisition control.

[0068] Specifically, Figure 1 A flowchart of the unmanned geological data acquisition and control method provided in an embodiment of the present invention is shown.

[0069] In a preferred embodiment of the present invention, the unmanned geological data acquisition and control method specifically includes the following steps:

[0070] Step S101: Obtain geological collection requirements, identify the geological collection requirements, determine the geological collection target, the initial collection midpoint and the initial collection radius, and plan the unmanned collection path.

[0071] In this embodiment of the invention, before geological data collection and exploration with a clear objective, geological collection requirements are obtained. By identifying the geological collection requirements, the geological collection target, initial collection midpoint, and initial collection radius are determined. Based on the initial collection midpoint and initial collection radius, the initial collection area is determined. Then, according to the required collection density in the geological collection requirements, multiple initial collection sample points are selected in the initial collection area. Based on the multiple initial collection sample points, unmanned collection flight planning is carried out to generate an unmanned collection path.

[0072] Specifically, in another preferred embodiment provided by the present invention, the steps of obtaining geological collection requirements, identifying the geological collection requirements, determining the geological collection target, the initial collection midpoint and the initial collection radius, and planning the unmanned collection path specifically include the following steps:

[0073] Obtain geological data collection requirements;

[0074] The geological acquisition needs are identified, and the geological acquisition targets, initial acquisition midpoint, and initial acquisition radius are determined.

[0075] The initial acquisition area is determined based on the initial acquisition midpoint and the initial acquisition radius;

[0076] In the initial acquisition area, select multiple initial acquisition points;

[0077] Based on the multiple initial sampling points, plan an unmanned sampling path.

[0078] Furthermore, the unmanned geological data acquisition and control method also includes the following steps:

[0079] Step S102: Following the unmanned collection path, perform unmanned geological collection flight, shooting and transmission control to acquire geological collection data.

[0080] In this embodiment of the invention, a data acquisition drone is selected to participate in unmanned geological data acquisition. Following an unmanned acquisition path, the drone is controlled for geological data acquisition during flight. At multiple initial acquisition points, the drone is controlled to capture images of the geological data. Simultaneously, within the initial acquisition area, multiple online transmission terminals are selected to receive real-time connection feedback data between the drone and these terminals. By comparing the signal strength of the multiple connection feedback data, the online transmission terminal with the highest signal strength is selected and marked as the current transmission terminal. The drone is then controlled to transmit geological data according to this current transmission terminal. The drone transmits data to the current transmission terminal, which then relays the data to the server for data processing and processing to obtain the geological data.

[0081] Specifically, in another preferred embodiment provided by the present invention, the unmanned geological data acquisition process, including flight, photography, and transmission control according to the unmanned acquisition path, comprises the following steps:

[0082] Select a data collection drone;

[0083] Flight control of the data collection drone for geological data collection is performed according to the described unmanned data collection path;

[0084] At multiple initial sampling points, the data acquisition drone is used for geological data acquisition and shooting control.

[0085] The data acquisition drone is used for transmission control to acquire geological data.

[0086] Specifically, in another preferred embodiment provided by the present invention, the transmission control of the geological data acquisition drone to obtain geological data specifically includes the following steps:

[0087] Based on the initial acquisition area, select multiple online transmission terminals;

[0088] Receive connection feedback data between multiple online transmission terminals and the data acquisition drone;

[0089] The connection feedback data from multiple sources are compared, and the current transmission endpoint is selected in real time from among the multiple online transmission endpoints.

[0090] According to the current transmission midpoint, the geological data collection drone is controlled for transmission.

[0091] Data transmission and processing are performed to obtain geological data.

[0092] Furthermore, the unmanned geological data acquisition and control method also includes the following steps:

[0093] Step S103: Identify the geological data, determine whether there is a geological collection target, and calculate the expanded collection radius if there is no geological collection target.

[0094] In this embodiment of the invention, geological acquisition data is identified to determine multiple geological identification targets. It is then determined whether a geological acquisition target is present among these multiple geological identification targets. If no geological acquisition target is present among the multiple geological identification targets, a geological symbiosis analysis is performed between the multiple geological identification targets and the geological acquisition target. From the multiple geological identification targets, geological symbiotic targets with a geological symbiotic relationship with the geological acquisition target are selected. Then, from multiple initial acquisition points, multiple symbiotic acquisition points with symbiotic targets are selected. By performing proximity analysis on the multiple symbiotic acquisition points, the average proximity distance is calculated, and the number of symbiotic acquisition points is counted. Finally, based on the average proximity distance and the number of symbiotic acquisition points, the expanded acquisition radius is calculated. Specifically, the formula for calculating the expanded acquisition radius is as follows:

[0095] ;

[0096] in, To expand the collection radius, The preset expansion adjustment factor, The number of co-occurring samples. The average neighbor distance, and These are the preset first and second influence coefficients.

[0097] It is understandable that geological symbiosis refers to the coexistence of different geological types due to changes in sedimentary environment, magmatic intrusion, and metamorphism. For example, limestone and marble, granite bodies and anorthosite dikes, and granite bodies and gneiss can coexist. Geological symbiosis does not mean that two geological types will definitely coexist, but rather that they have the possibility of coexisting.

[0098] Understandably, after obtaining the neighbor distances of multiple co-occurring sampling points, the average neighbor distance is obtained by dividing by the number of neighbor distances.

[0099] Specifically, in another preferred embodiment provided by the present invention, the step of identifying the geological data, determining whether there is a geological collection target, and calculating the expanded collection radius when there is no geological collection target specifically includes the following steps:

[0100] The geological data collected is then identified to determine multiple geological targets.

[0101] Based on multiple geological identification targets, determine whether there is a geological collection target;

[0102] In the absence of a geological acquisition target, a geological symbiosis analysis is performed on multiple geological identification targets and the geological acquisition target to select a geological symbiosis target;

[0103] From the multiple initial sampling points, select multiple symbiotic sampling points that have the geological symbiotic target;

[0104] The multiple co-existing sampling points are analyzed to calculate the expanded sampling radius.

[0105] Specifically, in another preferred embodiment provided by the present invention, the analysis of the plurality of co-occurring sampling points and the calculation of the expanded sampling radius specifically includes the following steps:

[0106] Proximity analysis was performed on multiple co-occurring sampling points to calculate the average proximity distance;

[0107] Count the number of co-occurring sampling points of the aforementioned co-occurring sampling points;

[0108] The expanded sampling radius is calculated based on the average proximity distance and the number of co-occurring sample points.

[0109] Furthermore, the unmanned geological data acquisition and control method also includes the following steps:

[0110] Step S104: Based on the initial acquisition midpoint, the initial acquisition radius, and the expanded acquisition radius, plan the expanded acquisition path and perform corresponding expanded acquisition control until a geological acquisition target is identified.

[0111] In this embodiment of the invention, the overall change area after expansion is determined according to the initial acquisition midpoint, the initial acquisition radius, and the expanded acquisition radius. Then, the initial acquisition area is removed from the overall change area to obtain the expanded acquisition area. Then, according to the required acquisition density in the geological acquisition needs, multiple expanded acquisition points are selected in the expanded acquisition area. Then, based on the multiple expanded acquisition points, unmanned acquisition flight planning is performed to generate an expanded acquisition path. After that, the acquisition drone is controlled to expand acquisition according to the expanded acquisition path to obtain expanded acquisition data. By identifying the expanded acquisition data, it is determined whether there is a geological acquisition target. If there is no geological acquisition target, the acquisition continues to expand until a geological acquisition target is identified.

[0112] Specifically, in another preferred embodiment provided by the present invention, the step of planning an expanded acquisition path according to the initial acquisition midpoint, the initial acquisition radius, and the expanded acquisition radius, and performing corresponding expanded acquisition control until a geological acquisition target is identified, specifically includes the following steps:

[0113] The expanded acquisition area is determined based on the initial acquisition midpoint, the initial acquisition radius, and the expanded acquisition radius;

[0114] In the expanded acquisition area, select multiple expanded acquisition points;

[0115] Based on the multiple expanded sampling points, plan the expanded sampling path;

[0116] Perform appropriate expanded acquisition control to obtain expanded acquisition data;

[0117] The expanded data collection is identified to determine whether there is a geological collection target. If there is no geological collection target, the collection is expanded until a geological collection target is identified.

[0118] Furthermore, Figure 2 The application architecture diagram of the unmanned geological data acquisition and control system provided in the embodiment of the present invention is shown.

[0119] Specifically, in another preferred embodiment provided by the present invention, the unmanned geological data acquisition and control system includes:

[0120] The data acquisition requirement processing module 101 is used to acquire geological data acquisition requirements, identify the geological data acquisition requirements, determine the geological data acquisition target, the initial data acquisition midpoint and the initial data acquisition radius, and plan the unmanned data acquisition path.

[0121] In this embodiment of the invention, before geological data collection and exploration with a clear objective, the collection requirement processing module 101 obtains the geological collection requirements. By identifying the geological collection requirements, the geological collection target, the initial collection midpoint, and the initial collection radius are determined. Based on the initial collection midpoint and the initial collection radius, the initial collection area is determined. Then, according to the required collection density in the geological collection requirements, multiple initial collection sample points are selected in the initial collection area. Based on the multiple initial collection sample points, unmanned collection flight planning is performed to generate an unmanned collection path.

[0122] The geological acquisition control module 102 is used to control the flight, shooting and transmission of unmanned geological acquisition according to the unmanned acquisition path, and to acquire geological acquisition data.

[0123] In this embodiment of the invention, the geological acquisition control module 102 selects a data acquisition drone to participate in unmanned geological data acquisition. Following the unmanned acquisition path, the module controls the drone's flight for geological acquisition. During flight, at multiple initial acquisition points, the module controls the drone to capture images of the data. Simultaneously, within the initial acquisition area, multiple online transmission terminals are selected to receive real-time connection feedback data between the online transmission terminals and the acquisition drone. By comparing the signal strength of the multiple connection feedback data, the online transmission terminal with the highest signal strength is selected and marked as the current transmission terminal. The module then controls the transmission of the data acquisition drone according to the current transmission terminal. At this time, the acquisition drone transmits data to the current transmission terminal, and through the current transmission terminal, relays the data to the server for data processing and acquisition of geological acquisition data.

[0124] The target identification module 103 is used to identify the geological data, determine whether there is a geological target, and calculate the expanded collection radius when there is no geological target.

[0125] In this embodiment of the invention, the target identification module 103 identifies geological data, determines multiple geological identification targets, and judges whether a geological acquisition target is present among the multiple geological identification targets. If no geological acquisition target is present among the multiple geological identification targets, a geological symbiosis analysis is performed between the multiple geological identification targets and the geological acquisition target. From the multiple geological identification targets, geological symbiotic targets with a geological symbiotic relationship with the geological acquisition target are selected. Then, from the multiple initial acquisition sample points, multiple symbiotic acquisition sample points with symbiotic targets are selected. By performing proximity analysis on the multiple symbiotic acquisition sample points, the average proximity distance is calculated, and the number of symbiotic sample points is counted. Then, based on the average proximity distance and the number of symbiotic sample points, the expanded acquisition radius is calculated. Specifically, the formula for calculating the expanded acquisition radius is:

[0126] ;

[0127] in, To expand the collection radius, The preset expansion adjustment factor, The number of co-occurring samples. The average neighbor distance, and These are the preset first and second influence coefficients.

[0128] The expanded acquisition control module 104 is used to plan the expanded acquisition path according to the initial acquisition midpoint, the initial acquisition radius and the expanded acquisition radius, and to perform corresponding expanded acquisition control until a geological acquisition target is identified.

[0129] In this embodiment of the invention, the expanded acquisition control module 104 determines the overall change area after expansion based on the initial acquisition midpoint, the initial acquisition radius, and the expanded acquisition radius. Then, the initial acquisition area is removed from the overall change area to obtain the expanded acquisition area. Subsequently, according to the required acquisition density in the geological acquisition needs, multiple expanded acquisition sample points are selected in the expanded acquisition area. Based on the multiple expanded acquisition sample points, unmanned acquisition flight planning is performed to generate an expanded acquisition path. Then, according to the expanded acquisition path, the acquisition drone is controlled to expand acquisition accordingly to obtain expanded acquisition data. By identifying the expanded acquisition data, it is determined whether there is a geological acquisition target. If there is no geological acquisition target, the acquisition continues to expand until a geological acquisition target is identified.

[0130] Specifically, in another preferred embodiment provided by the present invention, the expanded acquisition control module 104 specifically includes:

[0131] An expanded area determination unit is used to determine an expanded acquisition area based on the initial acquisition midpoint, the initial acquisition radius, and the expanded acquisition radius;

[0132] The sample point selection unit is used to select multiple expanded sampling points in the expanded sampling area;

[0133] The path planning unit is used to plan the expanded collection path based on the multiple expanded collection points;

[0134] The expanded acquisition control unit is used to perform corresponding expanded acquisition control and acquire expanded acquisition data;

[0135] The target identification and processing unit is used to identify the expanded collection data, determine whether there is a geological collection target, and continue to expand the collection until a geological collection target is identified if there is no geological collection target.

[0136] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. An unmanned geological data acquisition and control method, characterized in that, The method specifically includes the following steps: Obtain geological collection requirements, identify the geological collection requirements, determine the geological collection target, the initial collection midpoint and the initial collection radius, and plan the unmanned collection path; Following the described unmanned data collection path, unmanned geological data collection is carried out through flight, photography, and transmission control to acquire geological data. The geological data is identified to determine whether there is a geological collection target, and if there is no geological collection target, the collection radius is calculated to expand. Based on the initial acquisition midpoint, the initial acquisition radius, and the expanded acquisition radius, plan the expanded acquisition path and perform corresponding expanded acquisition control until a geological acquisition target is identified; The process of obtaining geological data collection requirements, identifying these requirements, determining the geological data collection target, the initial data collection midpoint and the initial data collection radius, and planning an unmanned data collection path specifically includes the following steps: Obtain geological data collection requirements; The geological acquisition needs are identified, and the geological acquisition targets, initial acquisition midpoint, and initial acquisition radius are determined. The initial acquisition area is determined based on the initial acquisition midpoint and the initial acquisition radius; In the initial acquisition area, select multiple initial acquisition points; Based on the multiple initial sampling points, plan an unmanned sampling path; The process of identifying the geological data, determining whether there is a geological collection target, and calculating the expanded collection radius when there is no geological collection target specifically involves: The geological acquisition data is identified, multiple geological identification targets are determined, and it is determined whether a geological acquisition target exists among these multiple geological identification targets. If no geological acquisition target exists among the multiple geological identification targets, a geological symbiosis analysis is performed between the multiple geological identification targets and the geological acquisition target. From the multiple geological identification targets, geological symbiotic targets with geological symbiotic relationships with the geological acquisition target are selected. Then, from multiple initial acquisition points, multiple symbiotic acquisition points with symbiotic targets are selected. Proximity analysis is performed on these symbiotic acquisition points to calculate the average proximity distance, and the number of symbiotic acquisition points is counted. Finally, based on the average proximity distance and the number of symbiotic acquisition points, the expanded acquisition radius is calculated. Specifically, the formula for calculating the expanded acquisition radius is as follows: ； in, To expand the collection radius, The preset expansion adjustment factor, The number of co-occurring samples. The average neighbor distance, and These are the preset first and second influence coefficients.

2. The unmanned geological data acquisition and control method according to claim 1, characterized in that, The process of controlling the flight, photography, and transmission of unmanned geological data collection according to the aforementioned unmanned collection path, and acquiring geological data specifically includes the following steps: Select a data collection drone; Flight control of the data collection drone for geological data collection is performed according to the described unmanned data collection path; At multiple initial sampling points, the data acquisition drone is used for geological data acquisition and shooting control. The data acquisition drone is used for transmission control to acquire geological data.

3. The unmanned geological data acquisition and control method according to claim 2, characterized in that, The transmission control of the data acquisition drone for geological data collection and the acquisition of geological data specifically include the following steps: Based on the initial acquisition area, select multiple online transmission terminals; Receive connection feedback data between multiple online transmission terminals and the data acquisition drone; The connection feedback data from multiple sources are compared, and the current transmission endpoint is selected in real time from among the multiple online transmission endpoints. According to the current transmission midpoint, the geological data collection drone is controlled for transmission. Data transmission and processing are performed to obtain geological data.

4. The unmanned geological data acquisition and control method according to claim 1, characterized in that, The process of planning an expanded acquisition path based on the initial acquisition midpoint, the initial acquisition radius, and the expanded acquisition radius, and performing corresponding expanded acquisition control until a geological acquisition target is identified, specifically includes the following steps: The expanded acquisition area is determined based on the initial acquisition midpoint, the initial acquisition radius, and the expanded acquisition radius; In the expanded acquisition area, select multiple expanded acquisition points; Based on the multiple expanded sampling points, plan the expanded sampling path; Perform appropriate expanded acquisition control to obtain expanded acquisition data; The expanded data collection is identified to determine whether there is a geological collection target. If there is no geological collection target, the collection is expanded until a geological collection target is identified.

5. An unmanned geological data acquisition and control system for executing the unmanned geological data acquisition and control method as described in any one of claims 1-4, characterized in that, The system includes a data acquisition demand processing module, a geological data acquisition control module, a data acquisition target identification module, and an expanded data acquisition control module, wherein: The data acquisition requirement processing module is used to acquire geological data acquisition requirements, identify the geological data acquisition requirements, determine the geological data acquisition target, the initial data acquisition midpoint and the initial data acquisition radius, and plan the unmanned data acquisition path; The geological acquisition control module is used to control the flight, shooting and transmission of unmanned geological acquisition according to the unmanned acquisition path, and to acquire geological acquisition data. The target identification module is used to identify the geological data, determine whether there is a geological target, and calculate the expansion radius when there is no geological target. The expanded acquisition control module is used to plan the expanded acquisition path according to the initial acquisition midpoint, the initial acquisition radius, and the expanded acquisition radius, and to perform corresponding expanded acquisition control until a geological acquisition target is identified.

6. The unmanned geological data acquisition and control system according to claim 5, characterized in that, The expanded acquisition control module specifically includes: An expanded area determination unit is used to determine an expanded acquisition area based on the initial acquisition midpoint, the initial acquisition radius, and the expanded acquisition radius; The sample point selection unit is used to select multiple expanded sampling points in the expanded sampling area; The path planning unit is used to plan the expanded collection path based on the multiple expanded collection points; The expanded acquisition control unit is used to perform corresponding expanded acquisition control and acquire expanded acquisition data; The target identification and processing unit is used to identify the expanded collection data, determine whether there is a geological collection target, and continue to expand the collection until a geological collection target is identified if there is no geological collection target.

Images