Gully trend confirmation method, device and equipment based on unmanned aerial vehicle and medium

Abstract

The invention discloses a gully trend confirmation method, device and equipment based on an unmanned aerial vehicle and a medium, and relates to the technical field of unmanned aerial vehicle surveying. A direction indicating mechanism is installed on a supporting leg, the unmanned aerial vehicle is controlled to carry the direction indicating mechanism to fly to a to-be-measured area, and a camera is made to face the to-be-measured area to conduct positive photographing operation; the method comprises the following steps: acquiring vertical aerial photography data by using an unmanned aerial vehicle to obtain vertical aerial photography data, and sequentially judging the directions of all gullies according to due north directions indicated by all due north indication positions in the vertical aerial photography data, so that the directions of all the gullies can be judged when the unmanned aerial vehicle is used for carrying out positive photography on the gullies and completing image acquisition; according to the method and the device, the northern part or the southern part of the area where the image is located can be displayed in the collected image, so that an operator can visually obtain the trend relation of the gully in the image, orthographic processing does not need to be carried out on the collected image, the indoor work workload and the processing time are effectively reduced, and rapid judgment and real-time decision making can be realized.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) surveying technology, and in particular to a method, apparatus, equipment, and medium for confirming the direction of gullies based on UAVs. Background Technology

[0002] With the continuous development of geological exploration technology, the methods for geological surveying gullies in mountainous areas are also gradually evolving. Traditional gully direction confirmation relies heavily on field measurements and manual recording. However, with the rise of drone aerial photography technology, photogrammetry using drones has become an emerging auxiliary exploration method. Drones can quickly acquire large-scale topographic images, providing abundant visual data and technical support for gully direction analysis, thus promoting the digitalization and intelligentization of geological surveys.

[0003] Currently, determining the direction of gullies primarily involves acquiring aerial images using drones, followed by personnel identifying and analyzing the gullies within the images. Typically, this requires processing the drone images through orthorectification and other office work to generate orthophotos to aid in the determination. While this method improves data acquisition efficiency, it still necessitates significant manual interpretation and on-site measurements, making the workflow quite cumbersome.

[0004] However, when using compasses for field surveys, existing technologies often operate in complex and harsh environments, resulting in a large workload and a high risk of omissions. At the same time, while drone imagery can provide rich data, the amount of paperwork required to process the images into orthophotos is large and time-consuming, making it difficult to achieve rapid judgment and real-time decision-making. Summary of the Invention

[0005] The main objective of this invention is to propose a method, apparatus, equipment, and medium for confirming the direction of gullies based on unmanned aerial vehicles (UAVs). This invention aims to address the technical problems that, when using a compass for on-site surveys, the working environment is often complex and the conditions are harsh, resulting in a large workload and the possibility of omissions. At the same time, although UAV imagery can provide rich data, the amount of paperwork required to process the imagery into orthophotos is large and time-consuming, making it difficult to achieve rapid judgment and real-time decision-making.

[0006] To achieve the above objectives, in a first aspect, the present invention proposes a method for confirming the direction of gullies based on unmanned aerial vehicles (UAVs), wherein the UAV includes a body, a camera, and legs, the camera and the legs are installed at intervals on the bottom of the body, and the bottom of the legs extends downward out of the camera. The method for confirming the direction of gullies includes the following steps: A direction indicator mechanism is installed on the outrigger; wherein the direction indicator mechanism is located directly below the camera; the direction indicator mechanism has at least two true north indication positions; The drone is controlled to fly to the area to be measured, carrying the direction indicator mechanism, and the camera is oriented towards the area to be measured to perform orthogonal photography to obtain vertical aerial photography data; wherein, the vertical aerial photography data includes all the true north indicator positions; The orientation of all the gullies is determined sequentially based on the north direction indicated by all the north indicators in the vertical aerial photography data.

[0007] In one embodiment, the step of controlling the UAV to fly to the area to be measured, carrying the direction indicator mechanism, and directing the camera toward the area to be measured to perform orthographic photography to obtain vertical aerial photography data includes: Control the drone to fly to the area to be measured, carrying the direction indicator mechanism, and set the camera's head to project orthogonally toward the area to be measured; The camera is controlled to perform orthographic photography of the area to be measured, thereby obtaining the vertical aerial photography data.

[0008] In one embodiment, before the step of controlling the camera to perform orthographic photography on the area to be measured to obtain the vertical aerial photography data, the method further includes: The area to be tested is divided into multiple areas to be photographed; The step of controlling the camera to perform orthographic photography on the area to be measured to obtain the vertical aerial photography data includes: The camera is controlled to sequentially perform orthogonal photography on all the areas to be photographed, thereby obtaining the vertical aerial photography data.

[0009] In one embodiment, the step of dividing the area to be tested into multiple areas to be photographed includes: Based on the camera's frontal imaging area, the area to be measured is divided into multiple areas to be photographed; wherein the area of ​​each area to be photographed is the same as the frontal imaging area.

[0010] In one embodiment, before the step of dividing the area to be measured into a plurality of areas to be photographed based on the orthogonal imaging area of ​​the camera, the method further includes: The orthogonal image area is collected when the camera performs a single orthogonal photograph.

[0011] In one embodiment, after the step of dividing the area to be tested into multiple areas to be photographed, the method further includes: A photography path is planned for all the areas to be photographed; The step of controlling the camera to sequentially perform orthographic photography on all the areas to be photographed to obtain the vertical aerial photography data includes: The camera is controlled to perform orthogonal photography on all the areas to be photographed in sequence according to the photography path to obtain the vertical aerial photography data.

[0012] Based on the same technical concept, in a second aspect, the present invention also proposes a drone-based gully direction confirmation device, wherein the drone includes a body, a camera, and legs, the camera and the legs are spaced apart and mounted on the bottom of the body, and the camera extends downward from the bottom of the legs; the drone-based gully direction confirmation device includes: The device is configured to mount a direction indicator mechanism on the outrigger; wherein the direction indicator mechanism is located directly below the camera; the direction indicator mechanism has at least two true north indication positions; The data acquisition module is used to control the UAV to fly to the area to be measured, carrying the direction indicator mechanism, and to make the camera face the area to be measured to perform orthographic photography to obtain vertical aerial photography data; wherein, the vertical aerial photography data includes all the true north indicator positions; The orientation confirmation module is used to determine the orientation of all the gullies sequentially based on the true north direction indicated by all the true north positions in the vertical aerial photography data.

[0013] Based on the same technical concept, in a third aspect, the present invention also proposes a gully direction confirmation device based on a drone. The gully direction confirmation device includes a processor and a memory. The memory stores a gully direction confirmation program. When the gully direction confirmation program is executed by the processor, it implements the gully direction confirmation method described in the first aspect.

[0014] Based on the same technical concept, in a fourth aspect, the present invention also proposes a gully alignment confirmation system based on unmanned aerial vehicles (UAVs), comprising: A drone, comprising a body, a camera, and legs, wherein the camera and the legs are mounted at a distance from each other on the bottom of the body, and the camera extends downward from the bottom of the legs. The gully orientation confirmation device described in the third aspect; and... A direction indicator mechanism is installed on the outrigger, and the gully direction confirmation device is communicatively connected to the UAV and the direction indicator mechanism.

[0015] Based on the same technical concept, in a fifth aspect, the present invention also proposes a computer-readable storage medium storing a computer program, which, when executed by one or more processors, implements the gully orientation confirmation method described in the first aspect.

[0016] The technical solution of this invention involves installing a direction indicator mechanism on the outriggers, controlling the UAV to fly to the area to be measured with the direction indicator mechanism, and making the camera face the area to be measured to perform orthophoto photography to obtain vertical aerial photography data. Based on the true north direction indicated by all the true north indicators in the vertical aerial photography data, the direction of all gullies is determined sequentially. This invention enables the UAV to display the true north or true south of the area in the image when performing orthophoto photography of gullies and completing image acquisition. This allows the operators to intuitively obtain the direction relationship of gullies in the image without having to perform orthophoto processing on the acquired image, effectively reducing the workload and processing time, and enabling rapid judgment and real-time decision-making. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 A flowchart of the method for confirming the direction of gullies based on unmanned aerial vehicles provided by the present invention; Figure 2 This is a schematic diagram of the direction indicating mechanism of the present invention in its working state; Figure 3 for Figure 2 A schematic diagram of the direction indicator device in the example; Figure 4 for Figure 3 A schematic diagram of the connecting mechanism in the example; Figure 5 for Figure 4 The example installation mechanism is shown in the schematic diagram. Figure 6 This is a schematic diagram of the gully orientation confirmation device as an example of the present invention. Attached image description: 100. Connecting mechanism; 200. Mounting mechanism; 300. Direction indicator; 110. Connecting assembly; 120. Connecting rod; 111. First snap-fit ​​half-ring; 112. First half-ring groove; 113. First connecting position; 114. Snap-fit ​​groove; 115. Second snap-fit ​​half-ring; 116. Second half-ring groove; 117. Second connecting position; 118. Snap-fit ​​protrusion; 11. Locking screw; 12. Locking element; 121. First connecting section; 122. Second connecting section; 123. Third connecting section; 210. Mounting assembly; 220. Adjusting assembly; 211. Arc-shaped frame section; 212. Mounting plate; 213. Protective cover; 221. First threaded connecting section; 222. Threaded adjusting sleeve; 223. Second threaded connecting section; 10. Body; 20. Camera; 30. Support leg; 40. Direction indicator device.

[0020] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0022] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0023] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0024] In traditional geological surveys, gully orientation confirmation relies on orthorectification of UAV aerial imagery and manual interpretation. This data processing involves image correction and orientation calibration, extending processing time. Furthermore, field measurements using tools like compasses are prone to omissions due to terrain conditions. These issues limit the timeliness and accuracy of geological surveys, hindering real-time decision-making capabilities to meet practical needs.

[0025] For example, in a geological survey project of gullies in a mountainous area, images acquired by drones were orthorectified to generate orthophoto products. During the data processing stage, image correction was implemented, but terrain undulations caused correction deviations. During field measurements, the direction of some gullies was not recorded, affecting the completeness of the survey results. In this scenario, the workload of data processing was significantly increased, the decision-making cycle was prolonged, and the deficiencies in field measurements further exacerbated the data gap problem.

[0026] This invention proposes a method, apparatus, equipment, and medium for confirming the direction of gullies based on unmanned aerial vehicles (UAVs).

[0027] Please see Figures 1 to 6 For ease of understanding, this method for confirming the direction of gullies based on unmanned aerial vehicles (UAVs) includes a body, a camera, and legs. The camera and the legs are installed at intervals on the bottom of the body, and the camera extends downward from the bottom of the legs. The method for confirming the direction of gullies includes the following steps: S100. A direction indicator mechanism is installed on the outrigger; wherein the direction indicator mechanism is located directly below the camera; the direction indicator mechanism has at least two true north indicating positions; S200: Control the UAV carrying the direction indicator to fly to the area to be measured, and make the camera face the area to be measured to perform orthogonal photography to obtain vertical aerial photography data; wherein, the vertical aerial photography data includes all the due north indicator positions; S300. Based on the true north direction indicated by all the true north positions in the vertical aerial photography data, determine the direction of all the gullies in sequence.

[0028] In this embodiment, the direction indicating mechanism is a direction indicating device. The example direction indicating mechanism refers to a device used to provide a true north reference in vertical aerial photography. It can be implemented using physical markers or electronic devices, such as installing arrow markers with fluorescent paint on the bottom of the outriggers, or using a small magnetometer in conjunction with an indicator light. Its main purpose is to directly embed direction reference information during the image acquisition stage. Specifically, having at least two true north indicating positions means that the mechanism sets multiple indicating points to indicate the true north direction. This can be achieved using two symmetrically arranged indicating points or multiple indicating points arranged in a ring. For example, installing two arrow markers 180 degrees apart on the bottom of the outriggers is mainly to improve the reliability of direction recognition and avoid misjudgments caused by single-point obstruction. Furthermore, the direction indicating mechanism is located directly below the camera, allowing the direction reference information to be clearly presented in the vertical aerial photography data without relying on post-processing software correction. The design of the outriggers extending downwards from the bottom to extend out from the camera ensures that the camera's field of view is not obstructed, while also providing dedicated installation space for the direction indicating mechanism. Therefore, this application integrates a direction indicator mechanism onto the UAV's legs, enabling vertical aerial photography data to directly include a true north reference. This eliminates the need for orthorectification and other post-processing steps in traditional methods, thus solving the problems of heavy workload, time-consuming processing, and difficulty in rapid judgment and real-time decision-making during gully alignment confirmation. It also avoids the drawbacks of tedious manual interpretation and the ease with which on-site measurements can miss information. As a preferred embodiment, the direction indicator mechanism can be implemented using reflective materials or active light-emitting elements depending on ambient lighting conditions to ensure the usability of image data under different lighting conditions.

[0029] The drone comprises a fuselage, a camera, and legs. The camera and legs are mounted alternately at the bottom of the fuselage, with the camera extending downwards from the bottom of the legs. This structural design ensures that the camera's field of view is not obstructed during shooting, while the downward extension of the legs provides dedicated mounting space for a direction indicator mechanism, stably positioning it directly below the camera. The direction indicator mechanism is mounted on the legs and located directly below the camera, allowing the direction indication to be directly mapped into the image data during orthogonal photography. The direction indicator mechanism has at least two true north indication positions, using a multi-point reference design to avoid misjudgment of direction due to single-point obstruction or errors, making it particularly suitable for complex field environments. The drone, carrying the direction indicator mechanism, flies to the area to be measured, and the camera is oriented towards the area for orthogonal photography, obtaining vertical aerial photography data. This image data includes all true north indication positions. Furthermore, based on the true north directions obtained from all the true north indication positions in the vertical aerial photography data, the direction of all gullies is determined sequentially, thus directly analyzing based on the direction reference embedded in the image, eliminating the need for post-processing software correction required in traditional methods.

[0030] Specifically, as a preferred embodiment, the direction indicator mechanism can be a compass dial with two magnetic needles. The tips of the magnetic needles are coated with a high-contrast fluorescent material for clear identification in vertical aerial photography. For example, in actual operation, a drone is controlled to fly to the area to be measured in a mountain gully. The camera takes a vertically downward orthogonal photograph of the ground. The acquired image clearly shows the true north direction indicated by two fluorescent dots. The operator can directly determine the direction of the gully based on this direction reference without the need for additional tools or on-site measurements.

[0031] It can be further clarified that the device includes a connecting mechanism 100, a mounting mechanism 200, and multiple direction indicators 300. The top of the connecting mechanism 100 has a connecting position, and the mounting mechanism 200 is mounted on the bottom of the connecting mechanism 100. Multiple direction indicator positions are formed on the mounting mechanism 200 and are distributed circumferentially. The number of direction indicators 300 is the same as the number of direction indicator positions and they are installed in a one-to-one correspondence. All direction indicators 300 are configured to point to the north or the south.

[0032] In practical applications, the connection position refers to the interface structure on the top of the connection mechanism 100 for docking with external devices. This can be achieved using internal threaded holes, snap-fit ​​grooves, or magnetic components. For example, an internal threaded hole can be provided on the top of the connection mechanism 100 to engage with the external thread of the drone's legs 30, primarily to ensure a stable installation of the device and the drone. Further, the direction indicator position refers to the fixing structure on the mounting mechanism 200 used to position the direction indicator 300. This can be achieved using recessed grooves, through holes, or engraved markings. For example, recessed grooves evenly distributed along the circumference can be machined on the surface of the mounting mechanism 200, primarily to ensure the circumferential spacing of the direction indicators 300. The direction indicator 300 pointing north or south means that all direction indicators 300 are calibrated to geographic north or south. This can be achieved using permanent magnet orientation fixation or a preset direction using an electronic compass module, for example, fixing a magnetic needle so that its north pole points north, primarily to provide a consistent direction reference in drone imagery. Therefore, this application, through an integrated structural design, combines the fixed-pointing direction indicator 300 with the mounting mechanism 200, enabling the direction information to be directly displayed in the images captured by the UAV. This avoids the need for additional external direction indicator devices in traditional methods, solving the problem of low efficiency in gully direction determination. Specifically, the connection position at the top of the connecting mechanism 100 ensures the stability of the device's attitude during flight, the direction indicator position layout at the bottom of the mounting mechanism 200 ensures that the indicator is always visible in the image regardless of the UAV's rotation, and the uniform pointing design of the direction indicator 300 enhances the reliability of direction recognition, thereby improving the efficiency of gully direction confirmation.

[0033] The connection point design allows the device to directly dock with the UAV's legs 30, avoiding swaying issues during flight. Furthermore, the directional indicator positions of the mounting mechanism 200 are distributed circumferentially, ensuring that at least one directional indicator 300 is always visible in the image regardless of the UAV's rotation angle, thus eliminating directional blind spots. The directional indicators 300 uniformly point north or south, enhancing the clarity and reliability of directional identification in the image and avoiding misjudgments caused by misalignment or confusion of indicator directions. As a preferred embodiment, the directional indicator 300 can be a small magnetic needle, fixedly installed at the directional indicator position and pre-calibrated to point north; alternatively, the directional indicator 300 can be a fixed-direction arrow mark, directly formed on the surface of the directional indicator position through an etching process.

[0034] Therefore, when the device is installed on a drone and acquires images, the direction indicator 300 directly presents directional reference information in the captured images. When analyzing gully images, operators can quickly determine the gully direction based on the direction indicator 300 without needing to use external direction indicator equipment. This application, through an integrated structural design, directly embeds the direction indicator function into the drone system, effectively avoiding the cumbersome steps of relying on external equipment in traditional methods, and significantly improving the efficiency and accuracy of gully direction determination.

[0035] In this embodiment, by setting up a connecting mechanism 100, an installation mechanism 200, and multiple direction indicators 300, in use, a connection position is formed at the top of the connecting mechanism 100, allowing the connection position to be connected to an external device. The installation mechanism 200 is installed at the bottom of the connecting mechanism 100, and multiple circumferentially spaced direction indicator positions are formed on the installation mechanism 200. A direction indicator 300 is installed at each direction indicator position. Thus, in use, the direction indicator device 40 of this invention can be installed below the UAV, so that when the UAV performs photogrammetry on the gully, the image data collected will record north or south. This makes it easy for operators to directly confirm the direction of the gully from the collected image data without the need for operators to convert the image data, ensuring both the accuracy and efficiency of the gully direction determination.

[0036] In one embodiment, the connecting mechanism 100 includes a plurality of connecting components 110 and a plurality of connecting rods 120. The connecting components 110 form a connection position and can be detachably connected to an external device. The number of connecting rods 120 is the same as that of the connecting components 110 and they are arranged in a one-to-one correspondence. The bottom of all connecting rods 120 is hinged to the mounting mechanism 200, and all connecting rods 120 are distributed circumferentially at intervals in the mounting mechanism 200.

[0037] Specifically, the solution of this application provides detachable connection points through multiple connecting components 110, enabling the direction indicator 40 to quickly adapt to different external devices; multiple connecting rods 120 are arranged one-to-one with the connecting components 110 to ensure precise distribution of force points and avoid stress concentration; the hinge structure between the bottom of the connecting rod 120 and the mounting mechanism 200 allows for automatic fine-tuning of the angle to compensate for tilting or vibration of the mounting surface; all connecting rods 120 are distributed circumferentially to form a ring support network, so that external loads are symmetrically distributed to each connection point. These features work together to significantly improve the adaptability and stability of the connecting mechanism 100 in dynamic environments, effectively suppressing device loosening or displacement caused by vibration or airflow disturbance.

[0038] Through the above solution, the direction indicator device 40 of this application can reliably fix the external equipment during installation, avoiding loosening caused by vibration, thereby improving the accuracy of direction indication and the reliability of gully direction judgment.

[0039] In one embodiment, the connecting assembly 110 includes a first engaging half-ring 111 and a second engaging half-ring 115. The first engaging half-ring 111 is connected to the connecting rod 120. The top of the first engaging half-ring 111 has a first half-ring groove 112 that can engage with an external device. The first engaging half-ring 111 has a first connecting position 113 and an engaging groove 114 that are relatively distributed at both ends of the first half-ring groove 112. The bottom of the second engaging half-ring 115 has a second half-ring groove 116 that can engage with an external device. The first half-ring groove 112 and the second half-ring groove 116 are concentrically arranged. The second engaging half-ring 115 has a second connecting position 117 and an engaging protrusion 118 that are relatively distributed at both ends of the second half-ring groove 116. The second connecting position 117 is hinged to the first connecting position 113, and the engaging protrusion 118 can engage with the engaging groove 114.

[0040] Specifically, the solution of this application uses the hinged engagement of the first connecting position 113 and the second connecting position 117 to enable the first snap-fit ​​half ring 111 and the second snap-fit ​​half ring 115 to rotate and open around a fixed axis, facilitating quick adaptation to external devices; the concentric arrangement of the first half ring groove 112 and the second half ring groove 116 ensures that the two half rings are automatically aligned during the closing process, eliminating the connection gap caused by misalignment; after the snap-fit ​​protrusion 118 is embedded in the snap-fit ​​groove 114, it forms a mechanical interlocking structure, generating radial locking force in the vibration environment of UAV flight, effectively suppressing the relative displacement between the half rings; at the same time, the fixed connection between the first snap-fit ​​half ring 111 and the connecting rod 120 transmits the vibration load to the mounting mechanism 200, avoiding local offset of the connection point from affecting the pointing reference of the direction indicator 300, thereby maintaining the pointing stability of the direction indicator 300 in a dynamic environment.

[0041] Through the above solution, this application effectively improves the structural stability of the connecting component 110 in a vibration environment, prevents loosening or misalignment between the direction indicator 40 and the external device, and ensures that the direction indicator 300 can continuously and accurately point to the north or south, thereby ensuring the reliability of gully direction judgment based on UAV imagery.

[0042] In one embodiment, a bolt hole is formed in the engaging groove 114, which extends vertically through the bolt. The connecting assembly 110 also includes a locking screw 11 and a locking member 12. The locking screw 11 is rotatably mounted on the engaging protrusion 118 and can pass through a bolt hole. The locking member 12 is threadedly engaged with the locking screw 11 and can lock the first engaging half ring 111 and the second engaging half ring 115.

[0043] Specifically, after the first engaging half-ring 111 and the second engaging half-ring 115 are initially engaged with the engaging groove 114 through the engaging protrusion 118, the locking screw 11 is configured to pass through the bolt hole. Since the locking screw 11 is rotatably mounted on the engaging protrusion 118, when the locking member 12 is rotated, the locking screw 11 remains fixed while the locking member 12 moves along the thread axis, applying a continuous tension to the first engaging half-ring 111, so that the two half-rings fit tightly together to eliminate minute gaps. This process forms a rigid connection through the helical propulsion principle of the thread, thereby effectively resisting external vibration and operational impact, and ensuring the stability of the connection assembly 110 in a dynamic environment.

[0044] Through the above technical solution, this application effectively prevents the connection component 110 from loosening under vibration or impact, ensures the reliable connection between the direction indicator device 40 and the external device, and significantly improves the accuracy of direction indication and the long-term operational stability of the device.

[0045] In one embodiment, the connecting rod 120 includes a first connecting segment 121, a second connecting segment 122, and a third connecting segment 123 connected in sequence. The first connecting segment 121 is threadedly engaged with the mounting mechanism 200 and is rotatably engaged with the second connecting segment 122. The third connecting segment 123 is threadedly engaged with the first snap-fit ​​half ring 111 and is rotatably engaged with the second connecting segment 122.

[0046] Specifically, the height displacement is achieved through the threaded engagement between the first connecting section 121 and the mounting mechanism 200. The horizontal rotational degree of freedom is formed by the rotational engagement between the first connecting section 121 and the second connecting section 122. The threaded engagement between the third connecting section 123 and the first snap-fit ​​half ring 111 ensures the connection stability and supports direction calibration. At the same time, the rotational engagement between the third connecting section 123 and the second connecting section 122 introduces an additional rotational degree of freedom, so that the connecting rod 120 forms a multi-dimensional adjustment mechanism in height, horizontal angle and pointing direction. This allows it to dynamically adapt to different terrain conditions during installation and ensures that the direction indicator 300 accurately points to the north or south.

[0047] The first connecting section 121 is made of stainless steel with a trapezoidal threaded rod, which is fitted with the threaded hole of the mounting mechanism 200. The first connecting section 121 and the second connecting section 122 are rotated together by a deep groove ball bearing. The outer ring of the bearing is fixed to the end of the first connecting section 121, and the inner ring is connected to the second connecting section 122. The third connecting section 123 is made of brass with an external threaded rod, which is threaded together with the internal threaded hole of the first engaging half ring 111. The third connecting section 123 and the second connecting section 122 are rotated together by a ball joint. The ball end is fixed to the second connecting section 122, and the ball seat end is connected to the third connecting section 123. The entire structure is treated with an anti-corrosion coating.

[0048] Through the above solution, this application achieves flexible adjustment of the connecting rod with more than 120 degrees of freedom during the installation of the direction indicator device 40, effectively overcoming the installation difficulties caused by rigid connection, ensuring that the direction indicator 300 can accurately point to the specified direction, thereby significantly improving the accuracy of gully direction judgment and work efficiency.

[0049] In one embodiment, the mounting mechanism 200 includes a plurality of mounting components 210 and a plurality of adjusting components 220. The plurality of mounting components 210 are distributed circumferentially and enclosed to form a circular mounting ring. All mounting components 210 can be connected to the connecting mechanism 100, and each mounting component 210 has a connection position. An adjusting component 220 is connected between any two adjacent mounting components 210. The adjusting component 220 can adjust the spacing between any two adjacent mounting components 210 so that the directional indicator 300 moves closer to or further away from the center of the mounting ring.

[0050] Specifically, multiple mounting components 210 are distributed circumferentially and form a circular mounting ring. Each mounting component 210 fixes the direction indicator 300 through a connection position to ensure the accuracy of the indicator's pointing. All mounting components 210 are connected to the connecting mechanism 100. Utilizing the hinge characteristics of the connecting mechanism 100, the overall rigidity of the mounting ring is maintained during UAV flight vibrations, preventing the direction indicator 300 from deviating from its preset position due to shaking. The adjustment component 220 is connected between any two adjacent mounting components 210. By changing its effective length or relative position, the spacing between adjacent mounting components 210 can be precisely adjusted. Since the mounting ring has a circular layout, uniform changes in spacing cause all mounting components 210 to move synchronously radially, while non-uniform changes enable independent radial adjustments of local direction indicators 300. This allows the direction indicator 300 to actively move closer to or further away from the center of the mounting ring according to the camera 20's perspective and the terrain, effectively avoiding obstruction from the outriggers 30 or ground obstacles.

[0051] Through the above technical solution, the direction indicator 300 can dynamically adjust its radial position according to the actual terrain and camera 20 perspective when the drone is shooting, effectively avoiding visual obstruction by the outrigger 30 structure or ground obstacles, and significantly improving the image clarity and geological judgment efficiency for confirming the direction of the gully.

[0052] In one embodiment, the mounting assembly 210 includes an arc-shaped frame segment 211, a mounting plate 212, and a protective cover 213. An installation channel extending along an arc and penetrating through the arc is formed on the arc-shaped frame segment 211. The arc-shaped frame segment 211 is connected to the connecting mechanism 100. The mounting plate 212 is mounted on the top of the arc-shaped frame segment 211. An installation groove is formed on the mounting plate 212. The direction indicator 300 can be snapped into the installation groove. The protective cover 213 is fastened to the mounting plate 212. The protective cover 213 is a transparent cover.

[0053] Specifically, the arc-shaped frame segment 211 achieves circumferential positioning and connection with the connecting mechanism 100 through its arc-extended mounting channel, enabling multiple mounting components 210 to precisely form a circular structure and evenly distribute the load. The mounting plate 212 is fixed to the top of the arc-shaped frame segment 211, and its mounting groove forms a radial constraint on the direction indicator 300. The snap-fit ​​mechanism automatically enhances the fixing effect during UAV vibration. The protective cover 213, after being fastened to the mounting plate 212, forms a closed protective cavity. The transparent material allows for visual recognition of the direction indicator information while preventing the intrusion of external contaminants. The three components form a hierarchical protection system: the arc-shaped frame segment 211 provides basic support and geometric matching, the mounting plate 212 achieves precise positioning and rapid installation, and the protective cover 213 completes environmental isolation, jointly ensuring the positional stability and information readability of the direction indicator 300 under dynamic operating conditions.

[0054] Through the above solution, the direction indicator 300 is effectively fixed during the flight of the UAV, avoiding loosening or displacement caused by vibration; at the same time, the protective cover 213 isolates dust and rainwater from the external environment, ensuring that the direction indicator information is clearly visible, thereby improving the accuracy of gully direction judgment and operational efficiency.

[0055] In one embodiment, the adjusting component 220 includes a first threaded connecting section 221, a threaded adjusting sleeve 222, and a second threaded connecting section 223. The first threaded connecting section 221 is connected to one of the arc-shaped frame segments 211, and the first threaded connecting section 221 extends out of the corresponding arc-shaped frame segment 211. The threaded adjusting sleeve 222 is threadedly engaged with the threaded connecting section. The second threaded connecting section 223 is installed on the other arc-shaped frame segment 211, and the second threaded connecting section 223 extends out of the corresponding arc-shaped frame segment 211. The second threaded connecting section 223 is threadedly engaged with the threaded adjusting sleeve 222. The threaded connecting sleeve can adjust the first threaded connecting section 221 and the second threaded connecting section 223 to move closer or further apart, thereby adjusting the distance between the first threaded connecting section 221 and the second threaded connecting section 223.

[0056] Specifically, the solution of this application utilizes the threaded engagement relationship between the threaded adjusting sleeve 222 and the first threaded connecting section 221 and the second threaded connecting section 223. When the threaded adjusting sleeve 222 is rotated, due to the helical motion characteristics of the thread, the first threaded connecting section 221 and the second threaded connecting section 223 generate synchronous relative displacement in the axial direction, thereby changing the distance between the two adjacent arc-shaped frame sections 211. This structural design utilizes the small pitch characteristics of the thread to achieve micro-step adjustment, avoiding the jumping or slippage phenomenon in traditional adjustment methods. At the same time, the self-locking characteristics of the thread ensure the stability of the position after adjustment, allowing the direction indicator 300 to continuously and controllably approach or move away from the center of the mounting ring.

[0057] The first threaded connection section 221 is specifically a stainless steel external threaded rod, one end of which is fixed to the side wall of an arc-shaped frame section 211 by threads and extends outwards; the threaded adjusting sleeve 222 is specifically a brass internal threaded sleeve, the internal thread of which matches the external thread of the first threaded connection section 221; the second threaded connection section 223 is specifically another stainless steel external threaded rod, one end of which is fixed to the side wall of an adjacent arc-shaped frame section 211 and extends outwards, and is threadedly engaged with the other end of the threaded adjusting sleeve 222; when the threaded adjusting sleeve 222 is rotated clockwise, the first threaded connection section 221 and the second threaded connection section 223 move closer to each other, reducing the distance between adjacent arc-shaped frame sections 211; when rotated counterclockwise, they move further apart, increasing the distance between them.

[0058] Through the above scheme, this application realizes the continuous and controllable adjustment of the distance between the direction indicator 300 and the center of the mounting ring, which improves the accuracy and reliability of the direction indicator and ensures the accuracy of the direction indicator when judging the direction of gullies in geological surveys.

[0059] The present invention also proposes a drone, including a body 10, a camera 20, legs 30 and a direction indicator device 40 in the first aspect. The camera 20 and the legs 30 are installed at intervals on the bottom of the body 10. The bottom of the legs 30 extends downward beyond the camera 20. The direction indicator device 40 is installed on the legs 30 and is located below the camera 20.

[0060] In this embodiment, by integrating the direction indicator device 40 into the outrigger 30 and placing it below the camera 20, direction reference information is acquired synchronously during image acquisition. This avoids the cumbersome steps of relying on external direction indicator devices for direction confirmation in traditional methods, significantly improving the efficiency of gully direction determination. Specifically, this design ensures that the direction indicator device 40 works in conjunction with the camera 20 during UAV flight, allowing the captured images to directly embed direction markers. Operators can analyze gully topographic features without interrupting the process to call external devices or perform post-calibration, effectively solving the problems of inconsistent direction references and low operational efficiency caused by reliance on external devices.

[0061] By integrating the direction indicator 40 into the UAV's legs 30 and optimizing its spatial layout, the direction indicator 40 is positioned below the camera 20, with the bottom of the legs 30 extending downwards beyond the camera 20. This ensures that the direction indicator 40 is precisely positioned within the field of view of the camera 20 and fully displayed in the image during image acquisition. Specifically, this design avoids the need for external direction indicator devices in traditional methods. Operators can directly determine the gully direction based on the direction indicator information in the UAV's captured images without additional equipment switching or coordinate system calibration. Due to the integrated design of the direction indicator 40 with the UAV structure, the image data includes a built-in direction reference during the acquisition phase, effectively overcoming the operational interruptions and spatial deviations caused by external devices. This significantly improves the efficiency and accuracy of gully direction confirmation, providing reliable technical support for geological hazard assessment and ecological environmental protection.

[0062] Therefore, this technical solution avoids the cumbersome orthorectification steps in traditional office processing, significantly shortening the cycle from data acquisition to decision-making. Simultaneously, by directly embedding geographic orientation information into vertical aerial photography, it avoids the tediousness of manual interpretation and the potential for omissions in on-site measurements, improving the efficiency and reliability of gully alignment confirmation. This effectively solves the problems of large workload, long processing times, and difficulty in achieving rapid judgment and real-time decision-making.

[0063] In one embodiment, step S200 includes: S210. Control the drone to fly to the area to be measured, carrying the direction indicator mechanism, and set the camera head to project orthogonally toward the area to be measured; S220. Control the camera to perform orthographic photography of the area to be measured to obtain the vertical aerial photography data.

[0064] Specifically, the camera head facing the area to be measured in orthographic projection means that the camera's optical axis is perpendicular to the ground to ensure that the image is not tilted or distorted during shooting. This can be achieved by using the drone attitude control system to automatically adjust to a vertical attitude. Orthophotography can be understood as a camera taking pictures of the area to be measured in the vertical direction. Its purpose is to directly obtain image data with geometric accuracy that meets the orthophoto requirements, thus avoiding subsequent correction processing.

[0065] The proposed solution ensures that the geometric accuracy of the image meets the orthophoto requirements by precisely setting the camera's nose to face vertically downwards during the flight control phase. Subsequently, orthophoto photography is performed to directly acquire orthophoto data that can be used for analysis, thereby avoiding the need for office correction and simplifying the data processing flow.

[0066] In one preferred embodiment, the UAV flies over the area to be tested and adjusts the camera to a vertically downward attitude through the attitude control system; then, the camera starts shooting to acquire vertical aerial photography data.

[0067] By employing the above-mentioned method, this application avoids the need for indoor correction processing of vertical aerial photography data, significantly shortens the cycle from data acquisition to gully direction determination, and achieves rapid and real-time confirmation of gully direction.

[0068] In one embodiment, prior to step S220, the method further includes: S230. Divide the area to be tested into multiple areas to be photographed; Step S220 includes: The camera is controlled to sequentially perform orthogonal photography on all the areas to be photographed, thereby obtaining the vertical aerial photography data.

[0069] Specifically, the division of the test area refers to dividing a large test area into several sub-region units. This can be achieved based on the geometric topological features of the area, the degree of terrain undulation, or the ambient lighting conditions. The purpose is to adapt each sub-region to the single-operation capability of the camera and avoid edge distortion or data loss caused by full coverage. Sequential photography refers to performing photography operations on each sub-region according to a preset logical order. This can be achieved by using grid scanning, ring coverage, or adaptive path planning. The purpose is to establish an image sequence with spatiotemporal continuity and reduce positioning deviations caused by frequent adjustments in the drone's attitude.

[0070] The proposed solution pre-divides the area to be tested into multiple areas to be photographed, ensuring that the scale of each sub-area matches the single orthographic photography capability of the camera. This avoids the coverage blind spot problem caused by the large area when directly processing the entire area. Based on this, a systematic photographic sequence is constructed by sequentially performing orthographic photography on all areas to be photographed, ensuring the continuity of images of adjacent sub-areas in spatial location and time dimension. This provides a stable data foundation for subsequent image stitching, thereby reducing the complexity of the internal processing.

[0071] The area to be measured is divided into several approximately rectangular areas to be photographed. The boundaries of these areas are finely adjusted according to the terrain features to accommodate local slope changes. The camera takes orthographic images of each area in sequence from the northwest corner to the southeast corner in a serpentine path. The flight altitude is dynamically adjusted according to the altitude of the area to ensure consistent image clarity.

[0072] Through the above technical solution, this application effectively avoids the phenomenon of incomplete coverage in large-area photography, reduces repeated calibration operations of flight parameters, significantly reduces the risk of geometric distortion in the image stitching process, and thus improves the real-time response capability and reliability of gully direction judgment.

[0073] In one embodiment, step S230 includes: S231. Based on the camera's frontal imaging area, the area to be measured is divided into multiple areas to be photographed; wherein the area of ​​each area to be photographed is the same as the frontal imaging area.

[0074] To further clarify, the orthographic imaging area refers to the ground area that the camera can cover in a single orthographic imaging operation. It can be achieved using a pre-calibrated nominal value or an actual measurement obtained through historical flight data statistics. The purpose is to establish a direct correlation between area division and the physical characteristics of the equipment, avoiding deviations caused by subjective experience. The division of the area to be photographed refers to the process of dividing the area to be measured into multiple sub-areas. It can be achieved using regular grid division based on geographic information systems or adaptive division that is dynamically adjusted according to terrain undulations. The purpose is to ensure that the size of each sub-area accurately matches the camera's coverage capability, thereby eliminating coverage defects caused by mismatched area sizes.

[0075] Specifically, the proposed solution directly locks the region division benchmark to the camera's orthogonal imaging area, ensuring that the segmentation process of the test area strictly adheres to the actual shooting capabilities of the device. In the operational process, the orthogonal imaging area is first determined based on the camera's optical characteristics and flight parameters. Then, using this as the sole standard, the test area is deconstructed into multiple sub-regions of equal area. When the drone performs a shooting task, each region to be photographed is designed to perfectly fit the coverage of a single orthogonal photograph, thus achieving seamless connection between regions naturally during the flight path execution. This adaptive segmentation mechanism based on device characteristics not only avoids duplicate shooting due to excessively large regions or data redundancy caused by excessively small regions, but also eliminates the need for additional processing of overlapping or missing parts during subsequent image stitching and orthorectification, significantly optimizing the overall process efficiency from data acquisition to image output.

[0076] The camera can use a wide-angle fixed-focus lens. When dividing the area to be measured, the system calculates the positive imaging area based on the lens field of view and the preset flight altitude, and then divides the area to be measured into multiple rectangular grids. For areas with obvious terrain undulations, the grid shape can be dynamically adjusted in combination with the digital elevation model to ensure that the actual ground coverage area of ​​each area to be photographed is consistent with the positive imaging area, so that complete coverage can be achieved without adjusting the flight parameters in real time during the shooting process.

[0077] Through the above solution, this application effectively avoids the coverage defects caused by the mismatch between area division and camera shooting capabilities, simplifies the logical complexity of flight path planning, and reduces redundant calculation steps in orthophoto processing, so that the image data required for gully direction confirmation can be generated and applied more quickly.

[0078] In one embodiment, prior to step S230, the method further includes: S232. Collect the orthogonal imaging area when the camera performs a single orthogonal photograph.

[0079] Specifically, the solution of this application performs a pre-collection step before area division. First, it obtains the actual coverage area of ​​a single orthographic photograph by the camera under the current operating conditions. This area value directly reflects the combined influence of the UAV's flight altitude, camera parameters, and terrain features. Then, based on this real-time measurement data, the area to be measured is divided into multiple areas to be photographed, ensuring that the area of ​​each area to be photographed strictly matches the actual orthographic photograph area. This eliminates the difference between the preset theoretical value and the real scene, effectively preventing area overlap or omission, and forming a complete logical chain for area division.

[0080] Before the drone performs a formal photography mission, it is first controlled to conduct a test flight over the area to be tested, so that the camera can perform a single orthogonal photography operation on a local ground and acquire image data. Then, the geographic boundary information of the image is analyzed by image processing algorithms to calculate the actual coverage area. Finally, based on the area value, the area to be tested is divided into multiple areas to be photographed, and the corresponding photography paths are planned.

[0081] The above technical solutions ensured the accuracy of area division, reduced image overlap or omissions caused by area deviations in subsequent photography operations, and improved the efficiency and accuracy of the gully orientation confirmation process.

[0082] In one embodiment, after step S230, the method further includes: S233. Plan and form a photography path for all the areas to be photographed; The step of controlling the camera to sequentially perform orthographic photography on all the areas to be photographed to obtain the vertical aerial photography data includes: The camera is controlled to perform orthogonal photography on all the areas to be photographed in sequence according to the photography path to obtain the vertical aerial photography data.

[0083] To further clarify, planning the photography path refers to the process of determining the optimal access order based on the spatial distribution characteristics of the area to be photographed. This can be achieved using shortest path algorithms or traveling salesman problem algorithms, with the aim of reducing unnecessary displacement and time loss during flight. Controlling the camera to perform forward photography operations sequentially according to the photography path can be understood as the UAV executing photography tasks according to a preset path sequence. This can be achieved using an automatic navigation system combined with GPS positioning, with the aim of ensuring the continuity of data acquisition and avoiding delays caused by flight interruptions.

[0084] Specifically, the solution proposed in this application first systematically plans the path for all areas to be photographed, and calculates the optimal access sequence between each area based on the spatial distribution characteristics, enabling the UAV to cover all areas with minimal turns and repeated flights; then, it strictly follows the planned path to perform orthogonal photography, ensuring a seamless connection from area division to data acquisition, avoiding interruptions or delays caused by temporary adjustments to the direction during flight, thereby improving the overall smoothness and reliability of field operations.

[0085] As a specific implementation method, the area to be tested is divided into rectangular grid-like areas to be photographed; the photography path planning uses the A* algorithm to generate the shortest path sequence; the UAV flies along the path through the onboard navigation system, and the camera is automatically triggered by the flight control system to take orthographic photographs of each area to be photographed in sequence; the direction indicator mechanism at the bottom of the outrigger moves synchronously with the UAV to maintain the continuity of the due north direction indication.

[0086] Through the above scheme, this application effectively optimizes the flight logic of the UAV between multiple areas to be photographed, reduces the detour and redundancy of the flight path, reduces time consumption and energy waste, improves the systematicness and acquisition efficiency of image data, and is conducive to achieving rapid and real-time confirmation of gully direction.

[0087] Based on the same technical concept, in a second aspect, the present invention also proposes a drone-based gully direction confirmation device, wherein the drone includes a body, a camera, and legs, the camera and the legs are spaced apart and mounted on the bottom of the body, and the camera extends downward from the bottom of the legs; the drone-based gully direction confirmation device includes: The device is configured to mount a direction indicator mechanism on the outrigger; wherein the direction indicator mechanism is located directly below the camera; the direction indicator mechanism has at least two true north indication positions; The data acquisition module is used to control the UAV to fly to the area to be measured, carrying the direction indicator mechanism, and to make the camera face the area to be measured to perform orthographic photography to obtain vertical aerial photography data; wherein, the vertical aerial photography data includes all the true north indicator positions; The orientation confirmation module is used to determine the orientation of all the gullies sequentially based on the true north direction indicated by all the true north positions in the vertical aerial photography data.

[0088] The UAV-based gully direction confirmation device provided in this application, employing the UAV-based gully direction confirmation method described in the above embodiments, can solve the technical problems of complex and harsh working environments when using compasses for on-site surveys, leading to a large workload and the potential for omissions. Furthermore, while UAV imagery provides rich data, the large amount of paperwork required to process the images into orthophotos is time-consuming and hinders rapid judgment and real-time decision-making. Compared with the prior art, the beneficial effects of the UAV-based gully direction confirmation device provided in this application are the same as those of the UAV-based gully direction confirmation method described in the above embodiments, and other technical features of the UAV-based gully direction confirmation device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0089] Based on the same technical concept, in a third aspect, the present invention also proposes a gully direction confirmation device based on a drone. The gully direction confirmation device includes a processor and a memory. The memory stores a gully direction confirmation program. When the gully direction confirmation program is executed by the processor, it implements the gully direction confirmation method described in the first aspect.

[0090] The gully direction confirmation device based on UAV in this application embodiment may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), vehicle terminals (such as vehicle control terminals), and fixed terminals such as digital TVs and desktop computers.

[0091] The UAV-based trench alignment confirmation device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the UAV-based trench alignment confirmation device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the UAV-based trench alignment confirmation device to exchange data wirelessly or via wired communication with other devices. Although a UAV-based trench alignment confirmation device with various systems is shown in the figure, it should be understood that it is not required to implement or possess all of the systems shown. More or fewer systems may be implemented alternatively.

[0092] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0093] The gully orientation confirmation device based on UAVs provided in this application, employing the gully orientation confirmation method based on UAVs in the above embodiments, can solve the technical problems of complex and harsh working environments when using compasses for on-site surveys, leading to a large workload and easy omissions. Furthermore, while UAV imagery can provide rich data, the large amount of paperwork required to process the images into orthophotos is time-consuming, making rapid judgment and real-time decision-making difficult. Compared with the prior art, the beneficial effects of the gully orientation confirmation device based on UAVs provided in this application are the same as those of the gully orientation confirmation method based on UAVs in the above embodiments, and other technical features of this gully orientation confirmation device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0094] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0095] Based on the same technical concept, in a fourth aspect, the present invention also proposes a gully alignment confirmation system based on unmanned aerial vehicles (UAVs), comprising: A drone, comprising a body, a camera, and legs, wherein the camera and the legs are mounted at a distance from each other on the bottom of the body, and the camera extends downward from the bottom of the legs. The gully orientation confirmation device described in the third aspect; and... A direction indicator mechanism is installed on the outrigger, and the gully direction confirmation device is communicatively connected to the UAV and the direction indicator mechanism.

[0096] Furthermore, the UAV-based gully orientation confirmation system provided in this application can solve the technical problems of complex and harsh working environments when using a compass for on-site surveys, leading to a large workload and the potential for omissions. While UAV imagery provides rich data, the large amount of paperwork required to process the images into orthophotos is time-consuming and hinders rapid judgment and real-time decision-making. Compared with the prior art, the beneficial effects of the UAV-based gully orientation confirmation system provided in this application are the same as those of the UAV-based gully orientation confirmation method provided in the above embodiments, and other technical features of the UAV-based gully orientation confirmation system are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0097] Based on the same technical concept, in a fifth aspect, the present invention also proposes a computer-readable storage medium storing a computer program, which, when executed by one or more processors, implements the gully orientation confirmation method described in the first aspect.

[0098] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0099] The aforementioned computer-readable storage medium may be included in the UAV-based gully orientation confirmation device; or it may exist independently and not be assembled into the UAV-based gully orientation confirmation device.

[0100] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the UAV-based gully orientation confirmation device, enable the UAV-based gully orientation confirmation device to implement the UAV-based gully orientation confirmation method described above.

[0101] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0102] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0103] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0104] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., computer programs) for executing the above-described UAV-based gully direction confirmation method. This addresses the technical problems encountered when using a compass for on-site surveys, where the working environment is often complex and harsh, leading to a large workload and a high risk of omissions. Furthermore, while UAV imagery provides abundant data, processing the images into orthophotos requires significant and time-consuming office work, hindering rapid judgment and real-time decision-making. Compared to existing technologies, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the UAV-based gully direction confirmation method provided in the above embodiments, and will not be elaborated upon here.

[0105] The above description is merely an exemplary embodiment of the present invention and does not limit the scope of the present invention. Any equivalent structural transformations made based on the technical concept of the present invention and the contents of the specification and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the protection scope of the present invention.

Claims

1. A method for confirming the direction of gullies based on unmanned aerial vehicles (UAVs), characterized in that, The drone includes a body, a camera, and legs. The camera and the legs are mounted at a distance from each other on the bottom of the body, and the camera extends downward from the bottom of the legs. The method for confirming the direction of gullies includes the following steps: A direction indicator mechanism is installed on the outrigger; wherein the direction indicator mechanism is located directly below the camera; the direction indicator mechanism has at least two true north indication positions; The drone is controlled to fly to the area to be measured, carrying the direction indicator mechanism, and the camera is oriented towards the area to be measured to perform orthogonal photography to obtain vertical aerial photography data; wherein, the vertical aerial photography data includes all the true north indicator positions; The orientation of all the gullies is determined sequentially based on the north direction indicated by all the north indicators in the vertical aerial photography data.

2. The method for confirming gully direction based on unmanned aerial vehicles as described in claim 1, characterized in that, The step of controlling the UAV carrying the direction indicator mechanism to fly to the area to be measured and aligning the camera with the area to be measured to perform orthographic photography to obtain vertical aerial photography data includes: Control the drone to fly to the area to be measured, carrying the direction indicator mechanism, and set the camera's head to project orthogonally toward the area to be measured; The camera is controlled to perform orthographic photography of the area to be measured, thereby obtaining the vertical aerial photography data.

3. The method for confirming gully direction based on unmanned aerial vehicles as described in claim 2, characterized in that, Before the step of controlling the camera to perform orthographic photography on the area to be measured to obtain the vertical aerial photography data, the method further includes: The area to be tested is divided into multiple areas to be photographed; The step of controlling the camera to perform orthographic photography on the area to be measured to obtain the vertical aerial photography data includes: The camera is controlled to sequentially perform orthogonal photography on all the areas to be photographed, thereby obtaining the vertical aerial photography data.

4. The method for confirming gully direction based on unmanned aerial vehicles as described in claim 3, characterized in that, The step of dividing the area to be tested into multiple areas to be photographed includes: Based on the camera's frontal imaging area, the area to be measured is divided into multiple areas to be photographed; wherein the area of ​​each area to be photographed is the same as the frontal imaging area.

5. The method for confirming gully direction based on unmanned aerial vehicles as described in claim 4, characterized in that, Before the step of dividing the area to be measured into multiple areas to be photographed based on the orthogonal imaging area of ​​the camera, the method further includes: The orthogonal image area is collected when the camera performs a single orthogonal photograph.

6. The method for confirming gully direction based on unmanned aerial vehicles as described in claim 3, characterized in that, After the step of dividing the area to be tested into multiple areas to be photographed, the method further includes: A photography path is planned for all the areas to be photographed; The step of controlling the camera to sequentially perform orthographic photography on all the areas to be photographed to obtain the vertical aerial photography data includes: The camera is controlled to perform orthogonal photography on all the areas to be photographed in sequence according to the photography path to obtain the vertical aerial photography data.

7. A device for confirming the direction of a gully based on an unmanned aerial vehicle (UAV), characterized in that, The drone includes a body, a camera, and legs. The camera and the legs are mounted at a distance from each other on the bottom of the body, and the camera extends downward from the bottom of the legs. The drone-based gully direction confirmation device includes: The device is configured to mount a direction indicator mechanism on the outrigger; wherein the direction indicator mechanism is located directly below the camera; the direction indicator mechanism has at least two true north indication positions; The data acquisition module is used to control the UAV to fly to the area to be measured, carrying the direction indicator mechanism, and to make the camera face the area to be measured to perform orthographic photography to obtain vertical aerial photography data; wherein, the vertical aerial photography data includes all the true north indicator positions; The orientation confirmation module is used to determine the orientation of all the gullies sequentially based on the true north direction indicated by all the true north positions in the vertical aerial photography data.

8. A device for confirming the direction of gullies based on unmanned aerial vehicles (UAVs), characterized in that, The gully direction confirmation device includes a processor and a memory. The memory stores a gully direction confirmation program. When the processor executes the gully direction confirmation program, it implements the gully direction confirmation method as described in any one of claims 1 to 6.

9. A gully alignment confirmation system based on unmanned aerial vehicles (UAVs), characterized in that, include: A drone, comprising a body, a camera, and legs, wherein the camera and the legs are mounted at a distance from each other on the bottom of the body, and the camera extends downward from the bottom of the legs. The gully orientation confirmation device as described in claim 8; and, A direction indicator mechanism is installed on the outrigger, and the gully direction confirmation device is communicatively connected to the UAV and the direction indicator mechanism.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by one or more processors, implements the gully orientation confirmation method as described in any one of claims 1 to 6.

Images