CN114627252B - Unmanned plane for acquiring surface temperature distribution and surface temperature distribution map acquisition method - Google Patents
Unmanned plane for acquiring surface temperature distribution and surface temperature distribution map acquisition method Download PDFInfo
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Abstract
According to the unmanned aerial vehicle for acquiring the surface temperature distribution and the method for acquiring the surface temperature distribution, the unmanned aerial vehicle with the thermal infrared camera is used for shooting a thermal infrared image of a target area, acquiring large-range surface temperature distribution data, and the surface temperature data are subjected to rapid splicing processing based on the shot thermal infrared image, so that the surface temperature distribution is acquired, and the surface temperature distribution at the target moment can be acquired in the day. And (3) quickly splicing the surface temperature data, so that the efficiency of obtaining a surface temperature distribution map is improved. Therefore, the method is used for accurately researching the intensity of the urban ground temperature heat island in the day, and further provides scientific decision support for a city manager to cope with the problem of the urban ground temperature heat island.
Description
Technical Field
The application relates to the technical field of environmental monitoring, in particular to an unmanned aerial vehicle for acquiring surface temperature distribution and an acquisition method of a surface temperature distribution map.
Background
Global climate warming and urbanization cause the phenomenon that urban center temperature is higher than suburban areas, namely urban heat island effect. Urban heat island research is divided into two research directions of an air temperature heat island and a ground temperature heat island. Among them, for the study of the thermal conductivity of the earth, because of the convenience of satellite remote sensing earth temperature data acquisition, there are a great deal of urban earth temperature heat island studies based on satellite remote sensing earth temperature data at present.
For the acquisition of satellite remote sensing ground temperature data, due to factors such as a satellite re-simulation period, ground resolution, cloud layer interference and the like, the simultaneous acquisition of the ground temperature data with high time resolution and high spatial resolution cannot be ensured. Therefore, most urban ground temperature heat island researches concentrate on urban daily heat island strength researches, and daily urban heat island strength researches cannot be carried out.
The heterogeneity of the urban under-pad surface is high, and the artificial facilities cause serious fragmentation of landscapes. Thus, accurate urban surface heat island studies require centimeter-scale wide-range high spatial resolution surface temperature data. The rise of unmanned aerial vehicle technology provides possibility for flexibly acquiring large-range surface temperature data. However, shan Zhangre infrared data pictures shot by the existing unmanned aerial vehicle thermal infrared camera are difficult to splice, which is not beneficial to analyzing the surface temperature distribution of different ground object types.
Disclosure of Invention
The application mainly solves the technical problems that Shan Zhangre infrared data pictures shot by the existing unmanned aerial vehicle thermal infrared camera are difficult to splice and are not beneficial to analyzing the surface temperature distribution of different ground object types.
According to a first aspect, in one embodiment, there is provided a drone for acquiring a surface temperature distribution, including:
the position acquisition module is used for acquiring position information;
the thermal infrared camera is used for shooting thermal infrared images;
The unmanned aerial vehicle flight platform is used for providing flight power;
The cradle head is used for connecting the thermal infrared camera and the unmanned aerial vehicle flight platform;
The processor is arranged in the unmanned aerial vehicle flight platform and is used for executing the following steps:
respectively controlling a thermal infrared camera to shoot at a plurality of preset positions above a target area to obtain a plurality of thermal infrared images, wherein the thermal infrared images shot at adjacent positions in the plurality of preset positions have overlapping areas;
when shooting is carried out each time, current position information is acquired through the position acquisition module, and the current position information is stored in the thermal infrared image;
Arranging the plurality of thermal infrared images according to position information contained in the plurality of thermal infrared images to obtain an initial arrangement result;
according to the maximum value of the number of preset key points and the maximum value of the number of preset connection points, aligning the initial arrangement result to obtain a rough distribution result of the surface temperature of the target area;
Determining the surface point cloud of the target area according to the rough distribution result of the surface temperature of the target area;
establishing a surface grid model of the target area according to the surface point cloud of the target area;
obtaining a ground surface temperature distribution map of the target area according to a preset texture type, a preset mapping mode and a ground surface grid model of the target area.
According to a second aspect, in one embodiment there is provided a drone comprising:
the position acquisition module is used for acquiring position information;
the thermal infrared camera is used for shooting thermal infrared images;
The unmanned aerial vehicle flight platform is used for providing flight power;
The cradle head is used for connecting the thermal infrared camera and the unmanned aerial vehicle flight platform;
The processor is arranged in the unmanned aerial vehicle flight platform and is used for executing the following steps:
respectively controlling a thermal infrared camera to shoot at a plurality of preset positions above a target area to obtain a plurality of thermal infrared images, wherein the thermal infrared images shot at adjacent positions in the plurality of preset positions have overlapping areas;
when shooting is carried out each time, current position information is acquired through the position acquisition module, and the current position information is stored in the thermal infrared image;
transmitting the plurality of thermal infrared images to an electronic device to cause the electronic device to perform the steps of:
Arranging the plurality of thermal infrared images according to position information contained in the plurality of thermal infrared images to obtain an initial arrangement result;
according to the maximum value of the number of preset key points and the maximum value of the number of preset connection points, aligning the initial arrangement result to obtain a rough distribution result of the surface temperature of the target area;
Determining the surface point cloud of the target area according to the rough distribution result of the surface temperature of the target area;
establishing a surface grid model of the target area according to the surface point cloud of the target area;
obtaining a ground surface temperature distribution map of the target area according to a preset texture type, a preset mapping mode and a ground surface grid model of the target area.
According to a third aspect, in one embodiment, a method for acquiring a surface temperature profile is provided, including:
Acquiring a plurality of thermal infrared images corresponding to a target time point, wherein the plurality of thermal infrared images are respectively shot at a plurality of preset positions in a target area, and the thermal infrared images shot at adjacent positions in the plurality of preset positions have overlapping areas;
according to the maximum number of key points and the maximum number of connecting points, carrying out alignment treatment on the plurality of thermal infrared images to obtain a rough distribution result of the surface temperature of the target area;
Determining the surface point cloud of the target area according to the rough distribution result of the surface temperature of the target area;
establishing a surface grid model of the target area according to the surface point cloud of the target area;
obtaining a ground surface temperature distribution map of the target area according to a preset texture type, a preset mapping mode and a ground surface grid model of the target area.
Optionally, each of the plurality of thermal infrared images includes position information, and the aligning process is performed on the plurality of thermal infrared images according to the maximum number of key points and the maximum number of connection points to obtain a rough distribution result of the surface temperature of the target area, including:
Arranging the plurality of thermal infrared images according to position information contained in the plurality of thermal infrared images to obtain an initial arrangement result;
And carrying out alignment treatment on the initial arrangement result according to the maximum number of key points and the maximum number of connecting points to obtain a rough distribution result of the surface temperature of the target area.
Optionally, the plurality of thermal infrared images are shot by an unmanned aerial vehicle, the unmanned aerial vehicle comprises a thermal infrared camera and a position acquisition module, and the thermal infrared images shot by the thermal infrared camera store the position information obtained by the position acquisition module.
Optionally, each of the plurality of thermal infrared images includes a direction parameter, and the aligning process is performed on the plurality of thermal infrared images according to the maximum number of key points and the maximum number of connection points to obtain a rough distribution result of the surface temperature of the target area, including:
arranging the plurality of thermal infrared images according to direction parameters contained in the plurality of thermal infrared images to obtain an initial arrangement result;
and carrying out alignment treatment on the initial arrangement result according to the preset maximum value of the number of key points and the preset maximum value of the number of connecting points to obtain a rough distribution result of the surface temperature of the target area.
Optionally, in the case that the target time point is noon, the maximum value of the number of key points is 40000, and the maximum value of the number of connection points is 4000;
And under the condition that the target time point is early morning or late evening, the maximum value of the number of key points is more than or equal to 10000 and less than or equal to 40000, and the maximum value of the number of connection points is more than or equal to 1000 and less than or equal to 4000.
Optionally, the texture type includes an ambient light scattering map; the mapping mode includes: an orthographic shooting mode.
According to a fourth aspect, an embodiment provides a computer readable storage medium having stored thereon a program executable by a processor to implement a method as described in the third aspect above.
According to the unmanned aerial vehicle for acquiring the ground surface temperature distribution and the ground surface temperature distribution map acquiring method, through ground surface temperature change shot by the unmanned aerial vehicle with the thermal infrared camera, a plurality of thermal infrared images corresponding to target time points are acquired, the thermal infrared images are shot at a plurality of preset positions in a target area respectively, the thermal infrared images shot at adjacent positions in the preset positions have overlapping areas, the thermal infrared images are aligned according to the maximum value of the number of key points and the maximum value of the number of connecting points, a rough distribution result of the ground surface temperature of the target area is obtained, ground surface point clouds of the target area are determined according to the rough distribution result of the ground surface temperature of the target area, a ground surface grid model of the target area is established according to the ground surface point clouds of the target area, and the ground surface temperature distribution map of the target area is obtained according to the preset texture type, the preset mapping mode and the ground surface grid model of the target area. Therefore, the ground surface temperature data are quickly spliced, a ground surface temperature distribution map is obtained, so that the intensity study of the urban ground temperature heat island in the day is accurately carried out, and further scientific decision support is provided for a city manager to cope with the problem of the urban ground temperature heat island.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a method for obtaining a surface temperature distribution map according to an embodiment of the present application;
FIG. 3A is a graph showing the surface temperature distribution of 10 points in the area A according to the present application;
FIG. 3B is a graph showing the surface temperature distribution of 11 points in the A area according to the present application;
FIG. 3C is a plot of the surface temperature at 12 points in the A area provided by the application;
FIG. 3D is a graph showing the surface temperature distribution of 13 points in the A area;
FIG. 3E is a plot of the surface temperature at 14 points in the A area provided by the application;
Fig. 3F is a graph showing a 15 point surface temperature distribution of the a region according to the present application.
Detailed Description
The application will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, related operations of the present application have not been shown or described in the specification in order to avoid obscuring the core portions of the present application, and may be unnecessary to persons skilled in the art from a detailed description of the related operations, which may be presented in the description and general knowledge of one skilled in the art.
Furthermore, the described features, operations, or characteristics of the description may be combined in any suitable manner in various embodiments. Also, various steps or acts in the method descriptions may be interchanged or modified in a manner apparent to those of ordinary skill in the art. Thus, the various orders in the description and drawings are for clarity of description of only certain embodiments, and are not meant to be required orders unless otherwise indicated.
The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning. The term "coupled" as used herein includes both direct and indirect coupling (coupling), unless otherwise indicated.
According to the unmanned aerial vehicle for acquiring the ground surface temperature distribution and the method for acquiring the ground surface temperature distribution, provided by the application, the unmanned aerial vehicle with the thermal infrared camera is used for shooting the thermal infrared image of the target area to acquire the ground surface temperature distribution data in a large range, and the ground surface temperature data is quickly spliced based on the shot thermal infrared image, so that the ground surface temperature distribution is acquired, so that the intensity study of the urban ground temperature island in the day is accurately carried out, and further, a scientific decision support is provided for a city manager to cope with the problem of the urban ground temperature island.
The following describes an unmanned aerial vehicle provided by an embodiment of the present application with reference to fig. 1.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application, where the unmanned aerial vehicle provided in the embodiment may include, but is not limited to:
a position acquisition module 1 for acquiring position information;
A thermal infrared camera 4 for taking a thermal infrared image;
The unmanned aerial vehicle flying platform 2 is used for providing flying power;
the cradle head 3 is used for connecting the thermal infrared camera 4 and the unmanned aerial vehicle flight platform 2;
The processor is arranged in the unmanned aerial vehicle flight platform 2 and is used for executing the following steps:
Respectively controlling the thermal infrared camera 4 to shoot at a plurality of preset positions above the target area to obtain a plurality of thermal infrared images;
each time shooting is performed, current position information is acquired by the position acquisition module 1, and the current position information is stored Yu Regong in an external image.
Wherein the thermal infrared images photographed at adjacent ones of the plurality of preset positions have overlapping areas.
Optionally, the proportion of the overlapping area to the thermal infrared image is greater than or equal to 40%, that is, when the unmanned aerial vehicle cruises, shooting can be performed with a heading overlapping rate of not less than 40% and a side overlapping rate of not less than 40%.
Further, the position acquisition module 1 is arranged on the unmanned aerial vehicle flight platform 2; the thermal infrared camera 4 is arranged under the cradle head 3, and the lens of the thermal infrared camera 4 faces downwards.
Further, the location acquisition module 1 may include, but is not limited to, a GPS antenna.
Further, the image Format of the thermal infrared image may be a tag image file Format (TAG IMAGE FILE Format, TIFF).
In practical application, after receiving a shooting instruction, the processor acquires a preset shooting area range, controls the unmanned aerial vehicle flight platform 2 to fly within the preset shooting area range, controls the thermal infrared camera 4 to shoot every other preset distance to obtain a thermal infrared image, and simultaneously acquires current position information through the position acquisition module 1, and stores the current position information in the thermal infrared image, which can be called cruising.
The shooting instruction may be a triggering operation of the user received by a touch screen control or a button or the like.
In practical application, when a surface temperature distribution map of a target time point of a target area needs to be acquired, one or more unmanned aerial vehicles are selected to shoot according to the size of the target area or the limitation on the precision of the target time point.
After a plurality of thermal infrared images are acquired by the unmanned aerial vehicle, the thermal infrared images can be spliced, so that a ground surface temperature distribution map of a target time point is obtained.
Further, after the unmanned aerial vehicle acquires the thermal infrared images of the plurality of storage position information, a processor in the unmanned aerial vehicle can be used for carrying out splicing processing on the thermal infrared images of the plurality of storage position information, so that a ground surface temperature distribution map of a target time point is obtained; the thermal infrared images of the plurality of storage position information can be sent to the electronic equipment, and the electronic equipment performs splicing processing on the thermal infrared images of the plurality of storage position information, so that a ground surface temperature distribution map of a target time point is obtained. The electronic device may be a computer, a tablet device, a server, or other devices with an operation processing capability.
The method for performing the stitching process on the thermal infrared images of the plurality of storage location information to obtain the surface temperature distribution map of the target time point is described in the following with specific embodiments.
Referring to fig. 2, fig. 2 is a flowchart of a method for obtaining a surface temperature distribution map according to an embodiment of the present application, where the method provided in the embodiment is performed by an unmanned aerial vehicle or an electronic device, and the electronic device may be a computer, a tablet device, or a server, which has an arithmetic processing capability. The method provided by the embodiment comprises the following steps:
step 201: and acquiring a plurality of thermal infrared images corresponding to the target time point.
The plurality of thermal infrared images are respectively shot at a plurality of preset positions in the target area. Each of the plurality of thermal infrared images stores position information of a preset position, namely, each thermal infrared image stores position information when the thermal infrared image is shot.
Wherein the thermal infrared images photographed at adjacent ones of the plurality of preset positions have overlapping areas.
Alternatively, the plurality of thermal infrared images may be captured by one or more of the above unmanned aerial vehicles shown in fig. 1.
Step 202: and carrying out alignment treatment on the plurality of thermal infrared images according to the maximum number of the key points and the maximum number of the connecting points to obtain a rough distribution result of the surface temperature of the target area.
The plurality of thermal infrared images can be initially arranged according to time sequence, position information or azimuth angle of the unmanned aerial vehicle when the plurality of thermal infrared images are shot, and the like. And carrying out alignment treatment on the thermal infrared images which are subjected to preliminary arrangement according to the maximum number of the key points and the maximum number of the connecting points, thereby obtaining a rough distribution result of the landmark temperature of the target area.
The Key point (keypoint) is a pixel point selected from a part with high contrast and characteristic texture in the thermal infrared image.
The maximum value of the number of Key points (Key point limit) can be determined according to the total number of pixels of the whole Zhang Regong external image and the shooting content of the thermal infrared image.
Optionally, the thermal infrared image is 30 ten thousand pixels, and the maximum value of the number of key points can be set to any value greater than or equal to 10000 and less than or equal to 40000 according to whether the difference of the surface temperature is significant.
For example, in the case where the target time point is noon, since the thermal infrared image at noon is generally large in temperature difference from one feature to another, the maximum value of the number of key points may be set large, for example, the maximum value of the number of key points is set to 40000.
For example, in the case where the target time point is early morning or late afternoon, the maximum value of the number of key points is 10000 or more and 40000 or less.
The thermal infrared image of early morning, evening, pure lawn, or the like, since the surface temperature is uniform, the difference is not significant, and the maximum value of the number of key points may be set smaller, for example, the maximum value of the number of key points is set to 10000.
Optionally, the setting of the maximum value of the number of key points can be adjusted according to the quality of the spliced surface temperature distribution map.
The connection point (Tie point) is a point with higher quality, which is further selected from the determined key points.
Alternatively, during the thermal infrared image stitching process, the maximum number of connection points (Tie point limit) may be set to any value greater than or equal to 1000 and less than or equal to 4000.
Illustratively, in the case where the target time point is noon, the number of connection points is 4000 at maximum. Since the temperature difference of different features is large in the normal afternoon, the maximum number of connection points can be set large, for example, the maximum number of connection points is set to 4000.
Illustratively, in the case where the target time point is early morning or late afternoon, the maximum number of connection points is 1000 or more and 4000 or less.
In the thermal infrared image of early morning, evening, pure lawn, or the like, since the surface temperature is uniform, the difference is not significant, and the maximum number of connection points can be set smaller, for example, the maximum number of connection points is set to 1000.
Optionally, the setting of the maximum number of connection points can be adjusted according to the quality of the spliced surface temperature distribution map.
Step 203: and determining the surface point cloud of the target area according to the rough distribution result of the surface temperature of the target area.
According to the rough distribution result of the surface temperature of the target area, the point cloud of the three-dimensional surface of the target area can be constructed, and the surface point cloud can be called as a surface point cloud model.
Alternatively, step 203 may be implemented by:
step 2031: the selected connection points in each thermal infrared photo are marked in three-dimensional space.
Step 2032: the connection points of the overlapping areas of every two adjacent thermal infrared images are connected with each other, so that a three-dimensional point cloud of the target area is constructed.
Illustratively, 1000 connection points are acquired for each thermal infrared image, and the positions of the connection points in three-dimensional space are calculated. Thermal infrared photographs of each plane can generate a three-dimensional point cloud formed by 1000 connection points. Assuming that each thermal infrared photo has overlapping with the adjacent thermal infrared photo by not less than 40%, the connection points in the overlapping areas can be mutually fused to form a three-dimensional point cloud in the overlapping areas, so that the three-dimensional point cloud of the target area can be obtained.
Step 204: and establishing a surface grid model of the target area according to the surface point cloud of the target area.
And establishing a three-dimensional surface grid model of the target area according to the surface point cloud of the target area.
Step 205: and obtaining a ground surface temperature distribution map of the target area according to the preset texture type, the preset mapping mode and the ground surface grid model of the target area.
And filling the rough distribution result of the surface temperature of the target area into a surface grid model of the target area according to the preset texture type and the preset mapping mode, namely filling temperature information into the surface grid model, so as to obtain a surface temperature distribution diagram of the target area.
The preset texture type is a texture map style of a surface temperature distribution map, for example, an ambient light scattering map can be set.
The preset mapping mode is a mapping angle of a surface temperature distribution map, for example, may be an orthographic shooting mode.
According to the embodiment, through the earth surface temperature change shot by the unmanned aerial vehicle with the thermal infrared camera, a plurality of thermal infrared images corresponding to a target time point are acquired, the thermal infrared images are shot at a plurality of preset positions in a target area respectively, the thermal infrared images shot at adjacent positions in the preset positions are provided with overlapping areas, the thermal infrared images are aligned according to the maximum value of the number of key points and the maximum value of the number of connecting points, a rough distribution result of the earth surface temperature of the target area is obtained, the earth surface point cloud of the target area is determined according to the rough distribution result of the earth surface temperature of the target area, an earth surface grid model of the target area is established according to the earth surface point cloud of the target area, and the earth surface temperature distribution map of the target area is obtained according to the preset texture type, the preset mapping mode and the earth surface grid model of the target area. It is possible to obtain a surface temperature distribution map at a target time in the day. And (3) quickly splicing the surface temperature data, so that the efficiency of obtaining a surface temperature distribution map is improved. Therefore, the method is used for accurately researching the intensity of the urban ground temperature heat island in the day, and further provides scientific decision support for a city manager to cope with the problem of the urban ground temperature heat island.
For example, referring to fig. 3A-3F, fig. 3A-3F are surface temperature profiles obtained by the method described above at various time points of the day, with a spatial resolution of 15.53 cm, and a coverage area of 10 hectares. Wherein, fig. 3A is a surface temperature distribution diagram of a 10 point in an a region provided by the present application, fig. 3B is a surface temperature distribution diagram of a 11 point in an a region provided by the present application, fig. 3C is a surface temperature distribution diagram of a 12 point in an a region provided by the present application, fig. 3D is a surface temperature distribution diagram of a 13 point in an a region provided by the present application, fig. 3E is a surface temperature distribution diagram of a 14 point in an a region provided by the present application, and fig. 3F is a surface temperature distribution diagram of a 15 point in an a region provided by the present application. Fig. 3A to 3F are color images (colors are not shown in the drawings) in practice, different colors are set according to different temperatures, the correspondence between the temperatures and the colors can be set by a user, and a legend of the correspondence between the temperatures and the colors is shown in the upper left of each of fig. 3A to 3F, where T represents the temperature. It can be known that the method for acquiring the surface temperature distribution map provided by the embodiment of the application can acquire the surface temperature distribution map with high time and high spatial resolution.
In some scenes where the target area is a lawn or the like, the similarity between the photographed thermal infrared images at a plurality of preset positions of the target area is high, so that it is difficult to perform image stitching operation only by means of image information in the thermal infrared images.
In other embodiments, the acquired thermal infrared image may carry information about a shooting position of the thermal infrared image, so that alignment processing may be performed on the thermal infrared image according to the information about the shooting position. Specific examples are described in detail below.
In a possible implementation manner, each of the plurality of thermal infrared images includes position information, and step 202 may be implemented by:
step 2021: and arranging the plurality of thermal infrared images according to the position information contained in the plurality of thermal infrared images to obtain an initial arrangement result.
The initial arrangement result is a result of arranging a plurality of thermal infrared images. In the arrangement process, the thermal infrared images adjacent to each other in position are arranged adjacently according to the position information.
Step 2022: and (3) carrying out alignment treatment on the initial arrangement result according to the maximum number of key points and the maximum number of connection points to obtain a rough distribution result of the surface temperature of the target area.
Optionally, the plurality of thermal infrared images are photographed by an unmanned aerial vehicle, the unmanned aerial vehicle comprises a thermal infrared camera and a position acquisition module, and the thermal infrared images photographed by the thermal infrared camera are stored with the position information obtained by the position acquisition module. I.e. the plurality of thermal infrared images may be taken by the drone shown in figure 1.
According to the embodiment, the thermal infrared images carrying the position information can be arranged according to the position information, so that rapid alignment operation is performed, a rough distribution result is obtained, and the thermal infrared images can be aligned under a scene with relatively single surface features, so that a surface temperature distribution map is obtained. In addition, the thermal infrared images are arranged according to the position information, and then the alignment operation is carried out, so that the speed of obtaining rough distribution results is high, and the splicing efficiency is high.
In another possible implementation, the direction parameter is included in each of the plurality of thermal infrared images, and step 202 may be implemented by:
Step 202a: and arranging the plurality of thermal infrared images according to the direction parameters contained in the plurality of thermal infrared images to obtain an initial arrangement result.
The direction parameter may be a relevant parameter of a flight direction when the unmanned aerial vehicle capturing the thermal infrared image cruises. According to the direction parameters, the movement track of the unmanned aerial vehicle can be determined, namely, the position relation of a plurality of thermal infrared images can be determined.
Step 202b: and carrying out alignment treatment on the initial arrangement result according to the preset maximum value of the number of key points and the preset maximum value of the number of connecting points to obtain a rough distribution result of the surface temperature of the target area.
According to the embodiment, the thermal infrared images with the direction parameters can be arranged according to the direction parameters, so that rapid alignment operation is performed, a rough distribution result is obtained, and the thermal infrared images can be aligned under a scene with relatively single surface features, so that a surface temperature distribution map is obtained. In addition, the thermal infrared images are arranged according to the direction parameters, and then the alignment operation is carried out, so that the speed of obtaining rough distribution results is high, and the splicing efficiency is high.
An embodiment of the present application provides a computer-readable storage medium having stored thereon a program executable by a processor to implement the method of acquiring a surface temperature profile as provided in the above embodiment.
Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments may be implemented by hardware, or may be implemented by a computer program. When all or part of the functions in the above embodiments are implemented by means of a computer program, the program may be stored in a computer readable storage medium, and the storage medium may include: read-only memory, random access memory, magnetic disk, optical disk, hard disk, etc., and the program is executed by a computer to realize the above-mentioned functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the functions described above can be realized. In addition, when all or part of the functions in the above embodiments are implemented by means of a computer program, the program may be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a removable hard disk, and the program in the above embodiments may be implemented by downloading or copying the program into a memory of a local device or updating a version of a system of the local device, and when the program in the memory is executed by a processor.
The foregoing description of the application has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the application pertains, based on the idea of the application.
Claims (10)
1. An unmanned aerial vehicle for acquiring surface temperature distribution, comprising:
the position acquisition module is used for acquiring position information;
the thermal infrared camera is used for shooting thermal infrared images;
The unmanned aerial vehicle flight platform is used for providing flight power;
The cradle head is used for connecting the thermal infrared camera and the unmanned aerial vehicle flight platform;
The processor is arranged in the unmanned aerial vehicle flight platform and is used for executing the following steps:
respectively controlling a thermal infrared camera to shoot at a plurality of preset positions above a target area to obtain a plurality of thermal infrared images, wherein the thermal infrared images shot at adjacent positions in the plurality of preset positions have overlapping areas;
when shooting is carried out each time, current position information is acquired through the position acquisition module, and the current position information is stored in the thermal infrared image;
Arranging the plurality of thermal infrared images according to position information contained in the plurality of thermal infrared images to obtain an initial arrangement result;
according to the maximum value of the number of preset key points and the maximum value of the number of preset connection points, aligning the initial arrangement result to obtain a rough distribution result of the surface temperature of the target area;
Determining the surface point cloud of the target area according to the rough distribution result of the surface temperature of the target area;
establishing a surface grid model of the target area according to the surface point cloud of the target area;
obtaining a ground surface temperature distribution map of the target area according to a preset texture type, a preset mapping mode and a ground surface grid model of the target area.
2. The unmanned aerial vehicle of claim 1, wherein the position acquisition module is disposed on the unmanned aerial vehicle flight platform; the thermal infrared camera is arranged below the cradle head, and the lens of the thermal infrared camera faces downwards;
the location acquisition module includes a GPS antenna.
3. An unmanned aerial vehicle, comprising:
the position acquisition module is used for acquiring position information;
the thermal infrared camera is used for shooting thermal infrared images;
The unmanned aerial vehicle flight platform is used for providing flight power;
The cradle head is used for connecting the thermal infrared camera and the unmanned aerial vehicle flight platform;
The processor is arranged in the unmanned aerial vehicle flight platform and is used for executing the following steps:
respectively controlling a thermal infrared camera to shoot at a plurality of preset positions above a target area to obtain a plurality of thermal infrared images, wherein the thermal infrared images shot at adjacent positions in the plurality of preset positions have overlapping areas;
when shooting is carried out each time, current position information is acquired through the position acquisition module, and the current position information is stored in the thermal infrared image;
transmitting the plurality of thermal infrared images to an electronic device to cause the electronic device to perform the steps of:
Arranging the plurality of thermal infrared images according to position information contained in the plurality of thermal infrared images to obtain an initial arrangement result;
according to the maximum value of the number of preset key points and the maximum value of the number of preset connection points, aligning the initial arrangement result to obtain a rough distribution result of the surface temperature of the target area;
Determining the surface point cloud of the target area according to the rough distribution result of the surface temperature of the target area;
establishing a surface grid model of the target area according to the surface point cloud of the target area;
obtaining a ground surface temperature distribution map of the target area according to a preset texture type, a preset mapping mode and a ground surface grid model of the target area.
4. The method for acquiring the surface temperature distribution map is characterized by comprising the following steps of:
Acquiring a plurality of thermal infrared images corresponding to a target time point, wherein the plurality of thermal infrared images are respectively shot at a plurality of preset positions in a target area, and the thermal infrared images shot at adjacent positions in the plurality of preset positions have overlapping areas;
according to the maximum number of key points and the maximum number of connecting points, carrying out alignment treatment on the plurality of thermal infrared images to obtain a rough distribution result of the surface temperature of the target area;
Determining the surface point cloud of the target area according to the rough distribution result of the surface temperature of the target area;
establishing a surface grid model of the target area according to the surface point cloud of the target area;
obtaining a ground surface temperature distribution map of the target area according to a preset texture type, a preset mapping mode and a ground surface grid model of the target area.
5. The method of claim 4, wherein each of the plurality of thermal infrared images includes location information, and the aligning the plurality of thermal infrared images according to the maximum number of key points and the maximum number of connection points to obtain a rough distribution result of the surface temperature of the target area includes:
Arranging the plurality of thermal infrared images according to position information contained in the plurality of thermal infrared images to obtain an initial arrangement result;
And carrying out alignment treatment on the initial arrangement result according to the maximum number of key points and the maximum number of connecting points to obtain a rough distribution result of the surface temperature of the target area.
6. The method of claim 5, wherein the plurality of thermal infrared images are captured by an unmanned aerial vehicle, the unmanned aerial vehicle comprising a thermal infrared camera and a location acquisition module, the thermal infrared images captured by the thermal infrared camera having location information stored therein by the location acquisition module.
7. The method of claim 4, wherein each of the plurality of thermal infrared images includes a direction parameter, and the aligning the plurality of thermal infrared images according to the maximum number of key points and the maximum number of connection points to obtain a rough distribution result of the surface temperature of the target area includes:
arranging the plurality of thermal infrared images according to direction parameters contained in the plurality of thermal infrared images to obtain an initial arrangement result;
and carrying out alignment treatment on the initial arrangement result according to the preset maximum value of the number of key points and the preset maximum value of the number of connecting points to obtain a rough distribution result of the surface temperature of the target area.
8. The method of any one of claims 4-7, wherein, in the case where the target time point is noon, the maximum number of key points is 40000 and the maximum number of connection points is 4000;
And under the condition that the target time point is early morning or late evening, the maximum value of the number of key points is more than or equal to 10000 and less than or equal to 40000, and the maximum value of the number of connection points is more than or equal to 1000 and less than or equal to 4000.
9. The method of any of claims 4-7, wherein the texture type comprises an ambient light scattering map; the mapping mode includes: an orthographic shooting mode.
10. A computer readable storage medium, characterized in that the medium has stored thereon a program executable by a processor to implement the method of any of claims 4-9.
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