Slope temporary sliding monitoring method and device based on supplementary data of unmanned aerial vehicle
Through the unmanned aerial vehicle carrying cameras and slope monitoring equipment for open-pit mine slope monitoring, the problems of insufficient instrument layout density and limited data types in the existing technology are solved, and accurate judgment and timely warning of slope slippage are achieved.
Patent Information
- Application Number
- CN202411273485.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-11
- Publication Date
- 2024-12-27
AI Technical Summary
The existing open-pit mine slope monitoring technology has insufficient instrument layout density, making it difficult to fully capture the slope slip situation. Non-contact equipment is limited to displacement data, and other types of data such as seepage, vibration, etc. cannot be captured, resulting in the inability to timely under extreme circumstances. Early warning.
Use drones to carry cameras and slope monitoring equipment, patrol according to sensor data and weather conditions, deploy GNSS monitors, rain gauges, inclinometers, crack meters, vibrators and other equipment to conduct encrypted monitoring, establish a three-dimensional mine model, and use it to Compare with historical models for security monitoring.
It realizes that supplementary monitoring data can be collected quickly and safely in the case of abnormal data or severe weather in the slope target area, provides accurate judgment of temporary slip events, and promptly early warning to ensure construction safety.
Smart Images
Figure CN119207009A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of open-pit mine slope monitoring, and in particular to a slope imminent sliding monitoring method and device based on supplementary data from unmanned aerial vehicles. Background Art
[0002] In order to prevent geological disasters such as landslides, it is necessary to monitor the safety of open-pit mine slopes. Current monitoring methods include deploying various sensors on the target slope, or using non-contact equipment such as laser scanning and slope radar to monitor the displacement of the target slope. However, the method of deploying sensors has the problem of insufficient instrument deployment density and inability to fully capture the impending slope sliding. The collected data is difficult to support the detection of the true state of the impending sliding surface. In extreme cases, the slopes in a certain area that are considered relatively safe cannot be warned in time due to the lack of monitoring equipment. The monitoring of the target slope by non-contact equipment is currently limited to the single variable of displacement, and cannot capture other types of data such as seepage and vibration. Summary of the invention
[0003] The present disclosure aims to solve one of the technical problems in the related art at least to some extent.
[0004] To this end, the first embodiment of the present disclosure proposes a slope landslide monitoring method based on drone supplementary data, wherein the drone includes a camera and carries a slope monitoring device; the method includes the following steps:
[0005] In response to sensor data of a slope target area exceeding a normal sensor threshold and / or severe weather occurring in the slope target area, controlling the drone to fly to the slope target area and patrolling the slope target area based on the camera;
[0006] In response to excluding the occurrence of a non-slope sliding abnormality in the slope target area based on the patrol result of the camera, controlling the UAV to drop the slope monitoring device to the slope target area; the non-slope sliding abnormality includes at least one of the following: sensor failure, vehicle movement and construction;
[0007] Performing intensified monitoring of the target slope area based on the deployed slope monitoring equipment to obtain supplementary monitoring data of the target slope area;
[0008] Determine whether the slope target area is about to slide based on the supplementary monitoring data.
[0009] In some embodiments of the present disclosure, controlling the UAV to deliver the slope monitoring equipment to the slope target area includes: determining the area and shape of the slope target area based on the patrol results; determining a delivery route for the slope monitoring equipment according to the area and shape of the slope target area; and controlling the UAV to deliver the slope monitoring equipment to the slope target area according to the delivery route.
[0010] In some embodiments of the present disclosure, controlling the UAV to deploy the slope monitoring equipment to the slope target area includes: determining the area and shape of the slope target area based on the patrol results; determining the number of slope monitoring equipment to be deployed according to the area and shape of the slope target area; and controlling the UAV to deploy the slope monitoring equipment to the slope target area according to the number of deployments.
[0011] In some embodiments of the present disclosure, the drone includes an aerial photogrammetry camera; the method further includes: performing oblique aerial photogrammetry on the mine where the slope target area is located based on the aerial photogrammetry camera to establish a three-dimensional mine model of the mine; comparing the three-dimensional mine model with a historical mine model, and performing safety monitoring of the mine based on the comparison results.
[0012] In some embodiments of the present disclosure, the slope monitoring equipment includes at least one of the following: a GNSS monitor, a rain gauge, an inclinometer, a crack meter, a seepage meter, and a vibrometer.
[0013] The second aspect of the present disclosure provides a slope slip monitoring device based on supplementary data from a drone, wherein the drone includes a camera and carries a slope monitoring device; the device includes:
[0014] A control module, configured to control the UAV to fly to the slope target area and patrol the slope target area based on the camera in response to sensor data of the slope target area exceeding a normal sensor threshold and / or severe weather occurring in the slope target area;
[0015] A delivery module, configured to control the UAV to deliver the slope monitoring device to the slope target area in response to excluding the occurrence of a non-slope sliding abnormality in the slope target area based on the patrol result of the camera; the non-slope sliding abnormality includes at least one of the following: sensor failure, vehicle movement and construction;
[0016] An acquisition module, used for performing encrypted monitoring of the slope target area based on the deployed slope monitoring equipment to obtain supplementary monitoring data of the slope target area;
[0017] A determination module is used to determine whether the slope target area is about to slide according to the supplementary monitoring data.
[0018] In some embodiments of the present disclosure, the delivery module is specifically used to: determine the area and shape of the slope target area based on the patrol results; determine the delivery route of the slope monitoring equipment according to the area and shape of the slope target area; and control the UAV to deliver the slope monitoring equipment to the slope target area according to the delivery route.
[0019] In some embodiments of the present disclosure, the drone includes an aerial photography measurement camera; the device also includes a mine safety monitoring module; wherein the mine safety monitoring module is used to: perform oblique aerial photography measurement of the mine where the slope target area is located based on the aerial photography measurement camera, and establish a three-dimensional mine model of the mine; compare the three-dimensional mine model with the historical mine model, and perform safety monitoring of the mine based on the comparison results.
[0020] A third aspect of the present disclosure provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;
[0021] The memory stores computer-executable instructions;
[0022] The processor executes the computer-executable instructions stored in the memory to implement the method described in the first aspect.
[0023] The fourth aspect of the present disclosure provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer execution instructions, and when the computer execution instructions are executed by a processor, they are used to implement the method described in the first aspect.
[0024] The slope imminent sliding monitoring method based on UAV supplementary data provided by the present disclosure uses UAVs to deploy slope monitoring equipment for encrypted monitoring when data anomalies or bad weather occur in the target slope area, and no non-slope sliding anomalies occur in the target slope area, and collects supplementary monitoring data safely and quickly, providing strong data support for accurate judgment of imminent sliding events, thereby providing timely warnings to ensure construction safety.
[0025] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] The above and / or additional aspects and advantages of the present disclosure will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:
[0027] Figure 1A schematic diagram of a flow chart of a slope landslide monitoring method based on supplementary data from drones provided in an embodiment of the present disclosure;
[0028] Figure 2 A schematic diagram of a drone provided by an embodiment of the present disclosure;
[0029] Figure 3 A flowchart of a drone performing a supplementary data collection task provided by an embodiment of the present disclosure;
[0030] Figure 4 A schematic diagram of a slope landslide monitoring device based on drone supplementary data provided by an embodiment of the present disclosure. DETAILED DESCRIPTION
[0031] Embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.
[0032] When there is a tendency for the slope of an open-pit mine to slide, manual on-site surveys are often not allowed from a safety perspective, or the area that needs to be surveyed is huge, the slope is rugged, and it is difficult for personnel to enter. Therefore, when the amount of data is small and it is difficult to fully capture the situation of slope slide, the number of sensors collecting slope data cannot be increased manually. In order to effectively and safely collect supplementary data and provide strong data support for the accurate judgment of slide events, the present disclosure proposes a slope slide monitoring method and device based on supplementary data from drones. Specifically, the slope slide monitoring method and device based on supplementary data from drones of embodiments of the present disclosure are described below with reference to the accompanying drawings.
[0033] Figure 1 A schematic flow chart of a slope landslide monitoring method based on supplementary data from unmanned aerial vehicles provided in an embodiment of the present disclosure. Figure 2 Schematic diagram of a drone provided by an embodiment of the present disclosure. Figure 2 As shown, the drone includes a camera (i.e., a visible light camera, Figure 2 ), and carries a slope monitoring device, which is placed in the drone pod. Optionally, the slope monitoring device may include at least one of the following: a GNSS monitor, a rain gauge, an inclinometer, a crack meter, a seepage meter, and a vibrometer.
[0034] like Figure 1 As shown, the slope imminent landslide monitoring method based on UAV supplementary data includes the following steps:
[0035] Step 101 , in response to sensor data of a slope target area exceeding a normal sensor threshold and / or severe weather occurring in the slope target area, controlling a drone to fly to the slope target area and patrolling the slope target area based on a camera.
[0036] It should be noted that in some embodiments of the present disclosure, if the staff determines based on experience that there is a tendency for landslide in the target slope area, they can also control the drone to fly to the target slope area through the control terminal and patrol the target slope area based on the camera.
[0037] Step 102, in response to excluding the non-slope sliding abnormality in the slope target area based on the patrol result of the camera, controlling the drone to drop the slope monitoring equipment to the slope target area. The non-slope sliding abnormality includes at least one of the following: sensor failure, vehicle movement and construction.
[0038] The camera on the drone collects image information or video information of the target slope area through patrol and obtains patrol results. Based on the patrol results, it is determined that the data in the target slope area is abnormal or missing, or there is no non-slope sliding abnormality in bad weather, indicating that the target slope area may have a tendency to slide, and it is necessary to collect additional data to further judge the situation of sliding.
[0039] If it is determined based on the inspection results that non-slope sliding abnormalities such as sensor failure, vehicle movement, construction conditions, etc. occur in the target slope area, the staff will report the situation in the target area and send the drone back, completing the drone's task of collecting supplementary data.
[0040] Step 103: Perform intensive monitoring of the target slope area based on the deployed slope monitoring equipment to obtain supplementary monitoring data of the target slope area.
[0041] Intensified monitoring means monitoring the impending landslide situation in the target area of the slope by increasing the data collection density in the target area of the slope.
[0042] Optionally, in some embodiments of the present disclosure, the area and shape of the target slope area can be determined based on the patrol results, and then the delivery route of the slope monitoring device can be determined according to the area and shape of the target slope area. The UAV is controlled to deliver the slope monitoring device to the target slope area according to the delivery route. Alternatively, the delivery route can also be determined according to the terrain conditions of the target slope area.
[0043] Optionally, in some embodiments of the present disclosure, the area and shape of the target slope area can be determined based on the patrol results, and then the number of slope monitoring devices to be deployed can be determined according to the area and shape of the target slope area. The drone is controlled to deploy the slope monitoring devices to the target slope area according to the number of deployments.
[0044] Step 104, determining whether a slope slide is imminent in the target slope area based on the supplementary monitoring data.
[0045] Optionally, in some embodiments of the present disclosure, after the UAV drops the slope monitoring equipment, the model of the mine where the target slope area is located can be collected by the UAV, and the changes in the mine can be detected by comparing it with the historical mine model.
[0046] In one implementation, the drone may also include an aerial photogrammetry camera. After the drone drops the slope monitoring equipment, it is not controlled to return, but the drone starts to calculate the tilt aerial photogrammetry route of the mine based on the aerial photogrammetry camera, starts the tilt aerial photogrammetry task, performs tilt aerial photogrammetry on the mine where the slope target area is located, and establishes a three-dimensional mine model of the mine. The three-dimensional mine model is compared with the historical mine model, and the mine is monitored for safety based on the comparison results. The difference between the current three-dimensional mine model and the historical mine model is analyzed to determine the changes in the mine, and then warn of possible disasters. After the drone aerial photogrammetry operation is completed, the drone flies over the mine for inspection and is on standby.
[0047] Figure 3 The following is a flow chart of a drone performing a supplementary data collection task provided by an embodiment of the present disclosure. Figure 3 As shown in the figure, when the drone aerial photogrammetry operation is completed, the staff can verify the operation results and determine whether it is necessary to continue the supplementary data operation. If it is not necessary to continue the supplementary data operation, the dispatchable drone returns and the drone mission ends. If the staff believes that the slope target area or other areas of the mine need to continue to intensify the monitoring program or aerial photogrammetry, or that the monitoring area needs to be expanded, they will return to the drone deployment operation step to continue collecting supplementary monitoring data.
[0048] By implementing the embodiments of the present disclosure, if data anomalies or severe weather occur in the target slope area and no non-slope sliding anomalies occur in the target slope area, slope monitoring equipment can be deployed using drones for encrypted monitoring, and supplementary monitoring data can be collected safely and quickly, providing strong data support for accurate judgment of impending sliding events, thereby providing timely warnings to ensure construction safety.
[0049] Figure 4 The schematic diagram of a slope landslide monitoring device based on drone supplementary data provided by an embodiment of the present disclosure is shown in FIG. The drone includes a camera and carries a slope monitoring device, which may include at least one of the following: a GNSS monitor, a rain gauge, an inclinometer, a crack meter, a seepage meter, and a vibrometer. Figure 4 As shown, the slope landslide monitoring device based on UAV supplementary data includes: a control module 401, a delivery module 402, an acquisition module 403 and a determination module 404.
[0050] The control module 401 is used to control the UAV to fly to the slope target area and patrol the slope target area based on the camera in response to sensor data of the slope target area exceeding the normal sensor threshold and / or severe weather occurring in the slope target area.
[0051] The deployment module 402 is used to control the UAV to deploy slope monitoring equipment to the slope target area in response to the camera-based patrol results to eliminate non-slope sliding abnormalities in the slope target area; non-slope sliding abnormalities include at least one of the following: sensor failure, vehicle movement and construction conditions.
[0052] The acquisition module 403 is used to perform intensive monitoring of the slope target area based on the deployed slope monitoring equipment to obtain supplementary monitoring data of the slope target area.
[0053] The determination module 404 is used to determine whether a slope slide occurs in the target slope area according to the supplementary monitoring data.
[0054] In some embodiments of the present disclosure, the delivery module 402 is specifically used to: determine the area and shape of the slope target area based on the inspection results; determine the delivery route of the slope monitoring equipment according to the area and shape of the slope target area; and control the UAV to deliver the slope monitoring equipment to the slope target area according to the delivery route.
[0055] In some embodiments of the present disclosure, the delivery module 402 can also be used to: determine the area and shape of the slope target area based on the inspection results; determine the delivery quantity of the slope monitoring equipment according to the area and shape of the slope target area; and control the UAV to deliver the slope monitoring equipment to the slope target area according to the delivery quantity.
[0056] In some embodiments of the present disclosure, the drone includes an aerial photogrammetry camera; the device is arranged in a manner such as Figure 4 The basis shown also includes a mine safety monitoring module. The mine safety monitoring module is used to: conduct tilt aerial photogrammetry of the mine where the slope target area is located based on the aerial photogrammetry camera, establish a three-dimensional mine model of the mine; compare the three-dimensional mine model with the historical mine model, and conduct safety monitoring of the mine based on the comparison results.
[0057] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.
[0058] In order to implement the above embodiments, the present disclosure also proposes an electronic device, including: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method provided by the above embodiments.
[0059] In order to implement the above embodiments, the present disclosure further proposes a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the methods provided by the above embodiments.
[0060] In order to implement the above embodiments, the present disclosure also proposes a computer program product, including a computer program, which implements the methods provided by the above embodiments when executed by a processor.
[0061] In the description of the aforementioned embodiments, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.
[0062] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.
[0063] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present disclosure includes additional implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present disclosure belong.
[0064] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.
[0065] It should be understood that the various parts of the present disclosure can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.
[0066] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.
[0067] In addition, each functional unit in each embodiment of the present disclosure may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.
[0068] The storage medium mentioned above may be a read-only memory, a disk or an optical disk, etc. Although the embodiments of the present disclosure have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present disclosure. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present disclosure.
Claims
1. A slope landslide monitoring method based on UAV supplementary data, characterized in that: The drone includes a camera and carries a slope monitoring device; the method includes the following steps: In response to sensor data of a slope target area exceeding a normal sensor threshold and / or severe weather occurring in the slope target area, controlling the drone to fly to the slope target area and patrolling the slope target area based on the camera; In response to excluding the occurrence of a non-slope sliding abnormality in the slope target area based on the patrol result of the camera, controlling the UAV to drop the slope monitoring device to the slope target area; the non-slope sliding abnormality includes at least one of the following: sensor failure, vehicle movement and construction; Performing intensified monitoring of the target slope area based on the deployed slope monitoring equipment to obtain supplementary monitoring data of the target slope area; Determine whether the slope target area is about to slide based on the supplementary monitoring data.
2. The method according to claim 1, characterized in that The controlling the UAV to place the slope monitoring device to the slope target area includes: Determine the area and shape of the slope target area based on the inspection results; Determining a deployment route for the slope monitoring equipment according to the area and shape of the slope target area; The UAV is controlled to deliver the slope monitoring equipment to the slope target area according to the delivery route.
3. The method according to claim 1, characterized in that The controlling the UAV to place the slope monitoring device to the slope target area includes: Determine the area and shape of the slope target area based on the inspection results; Determine the number of slope monitoring devices to be deployed according to the area and shape of the slope target area; The UAV is controlled to deliver the slope monitoring equipment to the slope target area according to the delivery quantity.
4. The method according to claim 1, characterized in that The drone includes an aerial photogrammetry camera; the method further includes: Based on the aerial photography measurement camera, an inclined aerial photography measurement is performed on the mine where the slope target area is located to establish a three-dimensional mine model of the mine; The three-dimensional mine model is compared with a historical mine model, and safety monitoring of the mine is performed based on the comparison result.
5. The method according to claim 1, characterized in that The slope monitoring equipment includes at least one of the following: a GNSS monitor, a rain gauge, an inclinometer, a crack meter, a seepage meter, and a vibrometer.
6. A slope slip monitoring device based on UAV supplementary data, characterized in that: The drone includes a camera and carries a slope monitoring device; the device includes: A control module, configured to control the UAV to fly to the slope target area and patrol the slope target area based on the camera in response to sensor data of the slope target area exceeding a normal sensor threshold and / or severe weather occurring in the slope target area; A delivery module, configured to control the UAV to deliver the slope monitoring device to the slope target area in response to excluding the occurrence of a non-slope sliding abnormality in the slope target area based on the patrol result of the camera; the non-slope sliding abnormality includes at least one of the following: sensor failure, vehicle movement and construction; An acquisition module, used for performing encrypted monitoring of the slope target area based on the deployed slope monitoring equipment to obtain supplementary monitoring data of the slope target area; A determination module is used to determine whether the slope target area is about to slide according to the supplementary monitoring data.
7. The device according to claim 6, characterized in that The delivery module is specifically used for: Determine the area and shape of the slope target area based on the inspection results; Determining a deployment route for the slope monitoring equipment according to the area and shape of the slope target area; The UAV is controlled to deliver the slope monitoring equipment to the slope target area according to the delivery route.
8. The device according to claim 6, characterized in that The drone includes an aerial photography measurement camera; the device also includes a mine safety monitoring module; wherein the mine safety monitoring module is used to: Based on the aerial photography measurement camera, an inclined aerial photography measurement is performed on the mine where the slope target area is located to establish a three-dimensional mine model of the mine; The three-dimensional mine model is compared with a historical mine model, and safety monitoring of the mine is performed based on the comparison result.
9. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 5.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 5 when executed by a processor.