A geological disaster macroscopic inspection method, device and electronic equipment

Abstract

The application provides a geological disaster macroscopic inspection method and device and electronic equipment. The method is applied to a geological disaster monitoring platform, and comprises the following steps: in response to an inspection operation of a user, obtaining a plurality of dangerous rock coordinates and a plurality of unmanned aerial vehicle (UAV) coordinates in a target area, one dangerous rock coordinate corresponding to one UAV coordinate; the dangerous rock coordinate is a coordinate corresponding to a dangerous rock, and the UAV coordinate is a preset position coordinate photographed by a UAV; formulating a first inspection path according to the plurality of dangerous rock coordinates; one target area corresponds to one inspection path; formulating a UAV inspection path according to the first inspection path; when a UAV reaches a first UAV inspection point, obtaining a first image photographed by the UAV at a preset photographing angle; the first UAV inspection point is any one of the UAV inspection path, and the first image corresponds to an image of a first dangerous rock. Thus, the efficiency of the UAV in inspection is improved.

Description

Technical Field

[0001] This application relates to the technical field of dangerous rock monitoring, specifically to a method, device, and electronic equipment for macroscopic inspection of geological disasters. Background Technology

[0002] Dangerous rock formations refer to rock masses or mountain slopes that are cracking and deforming and may collapse or landslide. Dangerous rockfalls occur every year in my country, making pre-collapse monitoring extremely important.

[0003] In the past, determining the hazard level of unstable rock formations often required manually installing various sensors to detect different rock mass parameters. However, this method posed a certain degree of danger to the personnel installing the sensors. Therefore, current rockfall monitoring primarily utilizes drones to capture images of unstable rock formations from multiple angles, and then uses image recognition technology to determine the likelihood of a rockfall.

[0004] However, when there are multiple dangerous rocks in the same area, taking pictures using the above method takes a lot of time, resulting in low efficiency when using drones for inspection. Summary of the Invention

[0005] To improve the efficiency of drone inspections, this application provides a method, apparatus, and electronic equipment for macroscopic geological disaster inspection.

[0006] The first aspect of this application provides a method for macroscopic inspection of geological hazards, applied to a geological hazard monitoring platform. The method includes: responding to a user's inspection operation, acquiring multiple coordinates of dangerous rocks and multiple coordinates of drones within a target area, where one dangerous rock coordinate corresponds to one drone coordinate; the dangerous rock coordinate is the coordinate corresponding to the dangerous rock, and the drone coordinate is the coordinate of a preset location captured by the drone; formulating a first inspection path based on the multiple dangerous rock coordinates; one inspection path corresponds to one target area; formulating a drone inspection path based on the first inspection path; when the drone reaches a first drone inspection point, acquiring a first image captured by the drone at a preset shooting angle; the first drone inspection point is any drone inspection point in the drone inspection path, and the first image corresponds to an image of a first dangerous rock.

[0007] By adopting the above technical solution, when it is necessary to inspect dangerous rocks, the geological disaster monitoring platform obtains the coordinates of multiple dangerous rocks in the target area, and then formulates a first inspection path based on the coordinates of multiple dangerous rocks, thereby improving the rationality of the inspection path; then, it formulates a drone inspection path based on the first inspection path. At this time, after the drone arrives at the drone inspection point, it can take pictures of the dangerous rock at a preset shooting angle to obtain the image of the dangerous rock. Since the shooting angle and the position where the drone hovers when shooting the dangerous rock have been preset, it is no longer necessary to take pictures of the same dangerous rock from multiple angles, saving shooting time, thereby improving image acquisition efficiency, and thus improving the inspection efficiency of drones.

[0008] Optionally, the target area includes the first sub-area, which is a personnel flow area.

[0009] By adopting the above technical solution, since some of the dangerous rocks in the target area are in areas with high pedestrian traffic, it is necessary to focus on monitoring these dangerous rocks. Therefore, when planning the first patrol route, drones need to take pictures of these dangerous rocks multiple times to ensure the safety of pedestrian traffic.

[0010] Optionally, the method further includes: obtaining the weather conditions of the target area, including heavy rain, rain and snow, and strong winds; when the first dangerous rock is not located in the first sub-area, changing the first patrol path to a second patrol path, wherein the second patrol path does not include the patrol point corresponding to the first dangerous rock.

[0011] By adopting the above technical solution, dangerous rocks are more likely to collapse under severe weather conditions. When the first dangerous rock is not in the area of ​​personnel flow, the first patrol route is changed to the second patrol route. Among the remaining dangerous rocks that have not yet been photographed, the focus is on monitoring the dangerous rocks located in the area of ​​personnel flow, thereby ensuring the safety of personnel flow.

[0012] Optionally, obtaining the coordinates of multiple unstable rocks within the target area specifically includes: obtaining the hazard levels of multiple unstable rocks, wherein the hazard levels are determined by geological disaster detection personnel through on-site detection of rock mass data of the unstable rocks; and obtaining the coordinates of multiple unstable rocks whose hazard levels are greater than or equal to a preset hazard level.

[0013] By adopting the above technical solution, geological disaster detection personnel can determine the hazard level of dangerous rocks when detecting rock mass data. Since some dangerous rocks have a low hazard level, multiple dangerous rock coordinates with a hazard level greater than or equal to the preset dangerous rock level can be obtained from multiple dangerous rock levels. Then, inspection routes can be formulated based on multiple dangerous rock coordinates, thereby reducing unnecessary inspections of low-risk dangerous rocks and focusing on monitoring high-risk dangerous rocks.

[0014] Optionally, the system receives supplementary coordinates, which are newly discovered and uploaded coordinates of dangerous rocks by geological disaster inspectors; records the number of personnel who uploaded the supplementary coordinates; and changes the first inspection path to a third inspection path when the number of personnel is greater than or equal to a preset number.

[0015] By adopting the above technical solution, during the inspection process of geological disaster inspectors, new dangerous rocks may be discovered and their coordinates uploaded. When multiple geological disaster inspectors upload the coordinates of the same dangerous rock, it is determined that the dangerous rock needs to be monitored. The geologist will change the first inspection route to the third inspection route to reduce the possibility of accidents caused by new dangerous rocks.

[0016] Optionally, after acquiring the first image taken by the drone at a preset shooting angle when the drone reaches the first drone inspection point, the method further includes: establishing a two-dimensional rectangular coordinate system in the first image; acquiring a first feature point in the two-dimensional rectangular coordinate system, wherein the first feature point is a preset marker point of the first dangerous rock in the first image; comparing the first feature point with a second feature point to obtain a lateral offset and a longitudinal offset, wherein the second feature point is a preset marker point of the first dangerous rock in a second image, and the second image is an image of the first dangerous rock taken at a first time interval before taking the first image; and displaying an alarm prompt on the display screen of the geological disaster monitoring platform when the lateral offset is greater than a preset lateral offset and / or the longitudinal offset is greater than a preset longitudinal offset.

[0017] By adopting the above technical solution, after the UAV acquires the first image of the first dangerous rock, a two-dimensional rectangular coordinate system is established in the first image and a pre-set preset marker point is obtained. Then, by acquiring the preset marker point in the first dangerous rock image taken by the UAV at a first time interval before taking the first image, the offset distance of the preset marker point in the two images is judged to determine whether there is a risk to the first dangerous rock, thereby realizing the monitoring and early warning of the dangerous rock.

[0018] Optionally, the method includes: acquiring a third feature point in a third image, wherein the third image is a first dangerous rock image captured by the UAV at a second time interval after capturing the second image, the second time interval including multiple first time intervals; comparing the third feature point with the first feature point to obtain a total lateral offset and a total longitudinal offset; and displaying an alarm prompt on the display screen of the geological disaster monitoring platform when the total lateral offset is greater than a preset total lateral offset and / or the total longitudinal offset is greater than a preset total longitudinal offset.

[0019] By adopting the above technical solution, the accuracy of dangerous rock monitoring is improved by taking a second image with the drone and then taking a first dangerous rock image at a second time interval, where the second time interval includes multiple first time intervals; determining the total offset distance of the first dangerous rock by the drone by judging the offset distance between two preset marker points in the first image and the third image; and then judging whether the first dangerous rock poses a risk based on the total offset distance.

[0020] Optionally, the method further includes: acquiring the battery power data of the drone; determining the remaining flight distance of the drone based on the battery power data; and sending a return-to-home command to the drone when the remaining flight distance is equal to a preset flight distance.

[0021] By adopting the above technical solution, when the drone's battery is low, a return-to-home command can be sent to the drone, enabling it to return to its home location in a timely manner.

[0022] In a second aspect of this application, a geological disaster macroscopic inspection device is provided. The device is a geological disaster monitoring platform. The device includes an acquisition module and a processing module. The acquisition module is used to acquire multiple dangerous rock coordinates and multiple drone coordinates within a target area in response to a user's inspection operation. One dangerous rock coordinate corresponds to one drone coordinate. The dangerous rock coordinate is the coordinate corresponding to the dangerous rock, and the drone coordinate is the preset location coordinate captured by the drone.

[0023] The processing module is used to formulate a first inspection path based on multiple dangerous rock coordinates; one inspection path corresponds to one target area; formulate a drone inspection path based on the first inspection path; when the drone reaches the first drone inspection point, acquire a first image taken by the drone at a preset shooting angle; the first drone inspection point is any drone inspection point in the drone inspection path, and the first image corresponds to the image of the first dangerous rock.

[0024] A third aspect of this application provides an electronic device including a processor, a memory, a user interface, and a network interface, wherein the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory to cause the electronic device to perform the method as described in any one of the first aspects.

[0025] In summary, this application includes at least one of the following beneficial technical effects:

[0026] 1. When it is necessary to inspect dangerous rocks, the geological disaster monitoring platform obtains the coordinates of multiple dangerous rocks in the target area, and then formulates a first inspection path based on the coordinates of multiple dangerous rocks, thereby improving the rationality of the inspection path; then, it formulates a drone inspection path based on the first inspection path. At this time, after the drone arrives at the drone inspection point, it can take pictures of the dangerous rock at a preset shooting angle to obtain the image of the dangerous rock. Since the shooting angle and the position of the drone hovering when shooting the dangerous rock are preset, it is no longer necessary to take pictures of the same dangerous rock from multiple angles, saving shooting time, thereby improving image acquisition efficiency and thus improving the inspection efficiency of drones;

[0027] 2. After the UAV acquires the first image of the first dangerous rock, a two-dimensional rectangular coordinate system is established in the first image and pre-set preset marker points are obtained. Then, by acquiring the preset marker points in the first dangerous rock image taken by the UAV at a first time interval before taking the first image, the offset distance of the preset marker points in the two images is judged to determine whether there is a risk to the first dangerous rock, thereby realizing the monitoring and early warning of the dangerous rock. Attached Figure Description

[0028] Figure 1 This is a flowchart illustrating a method for macroscopic inspection of geological disasters according to an embodiment of this application.

[0029] Figure 2 This is a schematic diagram of a drone shooting angle according to an embodiment of this application.

[0030] Figure 3 This is a flowchart illustrating another method for macroscopic geological disaster inspection according to an embodiment of this application.

[0031] Figure 4 This is a schematic diagram of a module of a geological disaster macroscopic inspection device according to an embodiment of this application.

[0032] Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application.

[0033] Explanation of reference numerals in the attached drawings: 1. Acquisition module; 2. Processing module; 500. Electronic device; 501. Processor; 502. Communication bus; 503. User interface; 504. Network interface; 505. Memory. Detailed Implementation

[0034] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0035] In the description of the embodiments of this application, the words "for example" or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design that is described as "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Rather, the use of the words "for example" or "for instance" is intended to present the relevant concepts in a specific manner.

[0036] In the description of the embodiments of this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, B existing alone, or A and B existing simultaneously. Furthermore, unless otherwise stated, the term "multiple" means two or more. For example, multiple systems refer to two or more systems, and multiple screen terminals refer to two or more screen terminals. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and their variations all mean "including but not limited to," unless otherwise specifically emphasized.

[0037] my country has a vast territory with diverse terrains, which also lead to numerous natural disasters, including rockfalls. Rockfalls refer to dangerous rock masses or mountain slopes that are cracking and deforming, and may collapse or landslide. Therefore, monitoring before rockfalls occurs is crucial to reducing the risk of such accidents.

[0038] In the past, determining the hazard level of unstable rock formations often required manually installing various sensors to detect different rock mass parameters, thereby assessing the hazard level. Regular monitoring of the rock formations was then conducted. However, this method was dangerous for the personnel installing the sensors and required on-site inspections, a cumbersome and inefficient process. Therefore, current rockfall monitoring primarily utilizes drones to capture multi-angle images of the unstable rock formations, and then uses image recognition technology to determine the likelihood of a collapse.

[0039] However, when there are multiple dangerous rocks in the same area, taking pictures using the above method takes a lot of time, resulting in low efficiency when using drones for inspection.

[0040] To address this problem, this application provides a macroscopic inspection method for geological hazards, which can be applied to a geological hazard monitoring platform, such as... Figure 1 As shown, the method includes steps S101 to S104.

[0041] S101. In response to the user's inspection operation, obtain the coordinates of multiple dangerous rocks and multiple drone coordinates within the target area. One dangerous rock coordinate corresponds to one drone coordinate. The dangerous rock coordinate is the coordinate corresponding to the dangerous rock, and the drone coordinate is the preset position coordinate captured by the drone.

[0042] Specifically, when a user needs to inspect multiple unstable rocks within a target area, the user performs the inspection operation on the display screen of the geological disaster monitoring platform. Upon responding to the inspection operation, the platform retrieves map data from its database. This map data includes multiple regions. The user selects the target area from these regions on the platform's display screen. Responding to the user's selection, the platform obtains pre-stored coordinates of multiple unstable rocks and multiple drone coordinates within the target area. The unstable rock coordinates can be understood as the coordinates at which geological disaster monitoring personnel conduct on-site inspections. After arriving at the unstable rock, the personnel operate drones to take pictures of the rock from multiple angles, obtaining multiple images. The optimal image for monitoring is selected from these images; the preset position coordinates can be understood as the coordinates of the drone hovering in the air when taking the optimal image, and these coordinates are used as the drone coordinates. After measuring the unstable rock coordinates and drone coordinates, the personnel upload them to the geological disaster monitoring platform so that the platform can directly access these coordinates during subsequent monitoring. One dangerous rock corresponds to one dangerous rock coordinate, and one dangerous rock coordinate corresponds to one UAV coordinate;

[0043] S102. Develop the first patrol route based on the coordinates of multiple dangerous rocks; one patrol route corresponds to one target area.

[0044] Specifically, to enable the drone to survey all the coordinates of dangerous rocks within the target area in the shortest possible time during the inspection, the Dijkstra algorithm is used to formulate the first inspection path. The Dijkstra algorithm can be understood as planning the shortest path for the drone when inspecting multiple dangerous rocks based on the existing coordinates of multiple dangerous rocks.

[0045] For example, multiple dangerous rock coordinates include coordinates of a first dangerous rock, a second dangerous rock, a third dangerous rock, and a fourth dangerous rock. The starting point of the drone is the geological disaster monitoring base. To determine the distance between the geological disaster monitoring base and these dangerous rock coordinates, if the first dangerous rock coordinate is closest to the monitoring base, it becomes the first patrol point on the first patrol path. Then, by determining the distance between the first dangerous rock and the remaining dangerous rock coordinates, the closest dangerous rock coordinate to the first is selected as the second patrol point on the first patrol path, and so on. The final calculated shortest patrol path is, in order, the first dangerous rock coordinate, the third dangerous rock coordinate, the fourth dangerous rock coordinate, and the second dangerous rock coordinate. The geological disaster monitoring platform uses this shortest patrol path as the first patrol path.

[0046] S103. Formulate the drone patrol route based on the first patrol route.

[0047] Specifically, since each dangerous rock coordinate corresponds to a drone coordinate, once the first inspection path is determined, the corresponding drone inspection path is also determined. The drone inspection path includes multiple drone coordinates, allowing the drone to directly reach the drone coordinates for taking pictures, eliminating the need to manually adjust the drone's shooting position after reaching the dangerous rock coordinates, thus saving shooting time.

[0048] S104. When the drone arrives at the first drone inspection point, the drone acquires the first image taken by the drone at a preset shooting angle; the first drone inspection point is any drone inspection point in the drone inspection path, and the first image corresponds to the image of the first dangerous rock.

[0049] Specifically, after the drone arrives at the inspection point, it needs to adjust its shooting angle to ensure that the captured images of the dangerous rock meet monitoring standards. Therefore, when the drone reaches the inspection point, it rotates around a fixed axis to reach a preset shooting angle. At this point, the drone takes pictures of the dangerous rock at the preset shooting angle, and these pictures are used as monitoring images of the dangerous rock.

[0050] For example, such as Figure 2 As shown, point A represents the drone's coordinates, and point B represents the coordinates of the unstable rock. The drone rotates around a fixed axis at point A, causing its onboard camera to capture images of the unstable rock at point B. Area C represents the area photographed by the drone at a preset shooting angle. The drone then takes pictures at this angle to obtain monitoring images of the unstable rock.

[0051] In one possible implementation, because the formation time of the unstable rock is uncertain, it often appears in areas with high pedestrian traffic, including roads and residential areas below the rock. Therefore, pedestrian traffic must be considered when planning the first patrol route. To ensure the safety of pedestrian traffic, the unstable rock located in the pedestrian traffic area needs to be monitored multiple times when the first patrol route is established. For example, when the first unstable rock is located in a pedestrian traffic area, it should be patrolled more than three times.

[0052] In one possible implementation, the weather conditions of the target area are obtained, including heavy rain, rain and snow, and strong winds; when the first dangerous rock is not located in the first sub-region, the first patrol path is changed to the second patrol path, which does not include the patrol point corresponding to the first dangerous rock.

[0053] Specifically, the degree of danger posed by unstable rocks varies under different weather conditions. When the weather conditions in the target area are heavy rain, snow, or strong winds, unstable rocks are extremely prone to collapse, leading to natural disasters such as landslides and mudslides. Therefore, if the first unstable rock is not located in a high-traffic area, it should not be inspected, and the first inspection route should be changed to the second inspection route. This increases the frequency of inspections for unstable rocks located in high-traffic areas, reducing the possibility of rockfall accidents.

[0054] In one possible implementation, obtaining the coordinates of multiple unstable rocks within the target area specifically includes: obtaining the hazard levels of multiple unstable rocks, where the hazard level is determined by geological disaster detection personnel through on-site inspection of rock mass data of the unstable rocks; and obtaining the coordinates of multiple unstable rocks whose hazard levels are greater than or equal to a preset hazard level.

[0055] Specifically, the hazard level of the unstable rock varies over time. These hazard levels include giant, large, medium, and small. Furthermore, due to the uneven distribution of people within the target area, with denser populations in some areas and sparser populations in others, when determining the first patrol route, if the unstable rock is located in a sparsely populated area and its hazard level is lower than the preset hazard level, its coordinates are not obtained; if the unstable rock is located in a sparsely populated area and its hazard level is greater than or equal to the preset hazard level, its coordinates are obtained; if the unstable rock is located in a densely populated area, its coordinates are directly obtained. The preset hazard level can be medium.

[0056] For example, the target area includes Area 1 and Area 2. Area 1 includes the first and second dangerous rocks; Area 2 includes the third and fourth dangerous rocks. Area 1 has a population density of 10 people / square kilometer, thus it is classified as a sparsely populated area. Area 2 has a population density of 150 people / square kilometer, thus it is classified as a densely populated area. If the first dangerous rock is classified as small, the second as large, the third as small, and the second as medium, then the patrol points along the first patrol route will include the second, third, and fourth dangerous rocks.

[0057] In one possible implementation, supplementary coordinates are received, which are the coordinates of dangerous rocks newly discovered and uploaded by geological disaster inspectors; the number of personnel who uploaded supplementary coordinates is recorded; when the number of personnel is greater than or equal to a preset number, the first inspection path is changed to the third inspection path.

[0058] Specifically, with changes in the natural environment, new unstable rock formations have formed in many areas within the target region. To detect these unstable rock formations, geological hazard inspectors need to regularly patrol the target region. When a new unstable rock is discovered, its coordinates are recorded and uploaded to the geological hazard monitoring platform. To ensure the accuracy of the coordinates of newly discovered unstable rocks, the geological hazard monitoring platform records the coordinates of unstable rocks uploaded by different geological hazard inspectors. When the number of people uploading the same unstable rock coordinate is greater than or equal to a preset number, the coordinates of that unstable rock are determined to be accurate, and the first patrol route is changed to the third patrol route. At this time, patrols of the new unstable rock are increased, thereby reducing the possibility of accidents caused by new unstable rocks.

[0059] In one possible implementation, after acquiring images of the unstable rock formation, it is necessary to analyze and assess the images to determine whether the rock formation poses a risk of collapse. Figure 3 As shown, the method includes steps S201 to S204.

[0060] S201. Establish a two-dimensional rectangular coordinate system in the first image.

[0061] S202. Obtain the first feature point in the two-dimensional rectangular coordinate system. The first feature point is the preset marker point of the first dangerous rock in the first image.

[0062] S203. Compare the first feature point with the second feature point to obtain the horizontal offset and the vertical offset. The second feature point is the preset marker point of the first dangerous rock in the second image. The second image is the first dangerous rock image taken at a first time interval before the first image is taken.

[0063] S204. When the lateral offset is greater than the preset lateral offset and / or the longitudinal offset is greater than the preset longitudinal offset, an alarm prompt will be displayed on the screen of the geological disaster monitoring platform.

[0064] Specifically, after acquiring the first image, the geological disaster monitoring platform identifies a pre-marked first feature point in the first image. This first feature point is a pre-marked point for the first dangerous rock, used to determine the distance of change of the first dangerous rock. A two-dimensional rectangular coordinate system is then established in the first image to obtain the coordinates of the first feature point in the two-dimensional rectangular coordinate system. Next, a second image is retrieved. Both the second and first images are images of the first dangerous rock taken by a drone. The time interval between the capture of the second and first images is a first time interval, preferably 30 days, and the second and first images are taken during two adjacent inspections. The coordinates of the second feature point in the second image are obtained in the two-dimensional rectangular coordinate system. This second feature point is a pre-marked point at the same location as the first feature point on the first dangerous rock, but changes in the natural environment may cause these pre-marked points to change. At this point, the coordinates of the first feature point and the second feature point are compared to obtain the lateral and longitudinal offsets of the first feature point relative to the second feature point. The lateral offset is compared with a preset lateral offset, and the longitudinal offset is compared with a preset longitudinal offset. If the lateral offset is greater than the preset lateral offset, and / or the longitudinal offset is greater than the preset longitudinal offset, the display screen of the geological disaster monitoring platform will show an alarm prompt; if the lateral offset is less than or equal to the preset lateral offset and the longitudinal offset is less than or equal to the preset longitudinal offset, no action is taken.

[0065] For example, on August 10th, the second image of the first dangerous rock was acquired for the first time, where the coordinates of the second feature point in the two-dimensional rectangular coordinate system are (100, 109). On September 10th, the first image of the first dangerous rock was acquired for the second time, where the coordinates of the first feature point in the two-dimensional rectangular coordinate system are (140, 169). The preset horizontal offset is 30, and the preset vertical offset is 50. At this time, the horizontal offset of the first feature point relative to the second feature point is 20, and the vertical offset is 60. The display screen of the geological disaster monitoring platform will show an alarm prompt.

[0066] In one possible implementation, a third feature point is obtained from a third image, which is a first dangerous rock image taken by a drone at a second time interval after the second image is taken, and the second time interval includes multiple first time intervals; the third feature point is compared with the first feature point to obtain the total lateral offset and the total longitudinal offset; when the total lateral offset is greater than a preset total lateral offset and / or the total longitudinal offset is greater than a preset total longitudinal offset, an alarm prompt is displayed on the screen of the geological disaster monitoring platform.

[0067] Specifically, simply comparing two adjacent images is not accurate enough for monitoring results. A third image is acquired, where both the third and first images are taken by a drone of the first dangerous rock. The time interval between the third and first images is a second time interval, which includes multiple second time intervals. Furthermore, the third and first images are taken during multiple adjacent inspections. The coordinates of a third feature point in the third image are obtained in a two-dimensional Cartesian coordinate system. This third feature point and the first feature point are preset markers at the same location as the first dangerous rock. The coordinates of the first and third feature points are compared to obtain the total lateral and longitudinal offsets of the first feature point relative to the third feature point. The total lateral offset is compared to a preset total lateral offset, and the total longitudinal offset is compared to a preset total longitudinal offset. If the lateral offset is greater than the preset total lateral offset, and / or the total longitudinal offset is greater than the preset total longitudinal offset, the geological disaster monitoring platform displays an alarm. If the total lateral offset is less than or equal to the preset total lateral offset and the total longitudinal offset is less than or equal to the preset total longitudinal offset, no action is taken.

[0068] For example, on March 10th, the third image of the first dangerous rock was acquired for the first time, with the coordinates of the third feature point in a two-dimensional rectangular coordinate system being (20, 25). On July 10th, the first image of the first dangerous rock was acquired for the fourth time, with the coordinates of the first feature point in a two-dimensional rectangular coordinate system being (182, 197). The preset total horizontal offset is 100, and the preset total vertical offset is 100. At this point, the total horizontal offset of the first feature point relative to the second feature point is 162, and the total vertical offset is 175. The geological disaster monitoring platform's display screen shows an alarm prompt.

[0069] In one possible implementation, the drone's battery level data is acquired; based on the battery level data, the remaining flight distance of the drone is determined; when the remaining flight distance equals a preset flight distance, a return-to-home command is sent to the drone.

[0070] Specifically, during the drone's patrol operation, the geological disaster monitoring platform acquires the drone's battery level data in real time. When the drone's battery power allows for a flight distance equal to the preset flight distance, a return-to-home command is sent to the drone to ensure its safe return. The preset flight distance is the distance between the drone's current location and its starting point.

[0071] For example, if the drone's current battery level is 25%, then the remaining flight distance is 2.5 kilometers. At this point, the distance between the drone's current location and its starting point is 2 kilometers, and the drone can continue to complete the patrol mission. When the drone's current battery level drops to 20%, the remaining flight distance is 2 kilometers. At this point, the drone receives a return-to-home command and begins its return journey.

[0072] This application also provides a macroscopic geological disaster inspection device, which serves as a geological disaster monitoring platform, such as... Figure 4 As shown, the device includes an acquisition module 1 and a processing module 2, wherein,

[0073] Module 1 is used to respond to the user's patrol operation and acquire the coordinates of multiple dangerous rocks and multiple drone coordinates within the target area. One dangerous rock coordinate corresponds to one drone coordinate. The dangerous rock coordinate is the coordinate corresponding to the dangerous rock, and the drone coordinate is the preset position coordinate captured by the drone.

[0074] Processing module 2 is used to formulate a first inspection path based on the coordinates of multiple dangerous rocks; one inspection path corresponds to one target area; formulate a drone inspection path based on the first inspection path; when the drone arrives at the first drone inspection point, acquire the first image taken by the drone at a preset shooting angle; the first drone inspection point is any drone inspection point in the drone inspection path, and the first image corresponds to the image of the first dangerous rock.

[0075] When it is necessary to inspect dangerous rocks, the geological disaster monitoring platform obtains the coordinates of multiple dangerous rocks in the target area, and then formulates a first inspection path based on the coordinates of multiple dangerous rocks, thereby improving the rationality of the inspection path. Then, a drone inspection path is formulated based on the first inspection path. At this time, after the drone arrives at the inspection point, it can take pictures of the dangerous rock at a preset shooting angle to obtain the image of the dangerous rock. Since the shooting angle and the position of the drone hovering when shooting the dangerous rock are preset, it is no longer necessary to take pictures of the same dangerous rock from multiple angles, saving shooting time and improving image acquisition efficiency, thereby improving the inspection efficiency of the drone.

[0076] In one possible implementation, the target area includes a first sub-area, which is a personnel flow area.

[0077] In one possible implementation, the weather conditions of the target area are obtained, including heavy rain, rain and snow, and strong winds; when the first dangerous rock is not located in the first sub-region, the first patrol path is changed to the second patrol path, which does not include the patrol point corresponding to the first dangerous rock.

[0078] In one possible implementation, obtaining the coordinates of multiple unstable rocks within the target area specifically includes: obtaining the hazard levels of multiple unstable rocks, where the hazard level is determined by geological disaster detection personnel through on-site inspection of rock mass data of the unstable rocks; and obtaining the coordinates of multiple unstable rocks whose hazard levels are greater than or equal to a preset hazard level.

[0079] In one possible implementation, supplementary coordinates are received, which are the coordinates of dangerous rocks newly discovered and uploaded by geological disaster inspectors; the number of personnel who uploaded supplementary coordinates is recorded; when the number of personnel is greater than or equal to a preset number, the first inspection path is changed to the third inspection path.

[0080] In one possible implementation, after the drone arrives at the first drone inspection point and acquires the first image taken by the drone at a preset shooting angle, the method further includes: establishing a two-dimensional rectangular coordinate system in the first image; acquiring a first feature point in the two-dimensional rectangular coordinate system, the first feature point being a preset marker point of the first dangerous rock in the first image; comparing the first feature point with a second feature point to obtain a lateral offset and a longitudinal offset, the second feature point being a preset marker point of the first dangerous rock in a second image, the second image being an image of the first dangerous rock taken at a first time interval before the first image was taken; and displaying an alarm prompt on the display screen of the geological disaster monitoring platform when the lateral offset is greater than a preset lateral offset and / or the longitudinal offset is greater than a preset longitudinal offset.

[0081] In one possible implementation, the method includes: acquiring a third feature point in a third image, wherein the third image is a first dangerous rock image taken by a drone at a second time interval after the second image is taken, and the second time interval includes multiple first time intervals; comparing the third feature point with the first feature point to obtain the total lateral offset and the total longitudinal offset; and displaying an alarm prompt on the display screen of the geological disaster monitoring platform when the total lateral offset is greater than a preset total lateral offset and / or the total longitudinal offset is greater than a preset total longitudinal offset.

[0082] In one possible implementation, the drone's battery level is acquired; based on the battery level, the remaining flight distance of the drone is determined; when the remaining flight distance equals a preset flight distance, a return-to-home command is sent to the drone.

[0083] This application also provides an electronic device. For example... Figure 5 As shown, the electronic device 500 may include: at least one processor 501, at least one network interface 504, user interface 503, memory 505, and at least one communication bus 502.

[0084] The communication bus 502 is used to enable communication between these components.

[0085] The user interface 503 may include a display screen and a camera. Optionally, the user interface 503 may also include a standard wired interface and a wireless interface.

[0086] The network interface 504 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0087] The processor 501 may include one or more processing cores. The processor 501 connects to various parts of the server using various interfaces and lines, and performs various server functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in memory 505, and by calling data stored in memory 505. Optionally, the processor 501 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 501 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content to be displayed on the screen; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 501 and may be implemented as a separate chip.

[0088] The memory 505 may include random access memory (RAM) or read-only memory. Optionally, the memory 505 may include a non-transitory computer-readable storage medium. The memory 505 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 505 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 505 may also be at least one storage device located remotely from the aforementioned processor 501. Figure 5 As shown, the memory 505, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an application program for a macroscopic geological disaster inspection method.

[0089] exist Figure 5In the electronic device 500 shown, the user interface 503 is mainly used to provide an input interface for the user and to obtain the user input data; while the processor 501 can be used to call an application program stored in the memory 505 for a macroscopic geological disaster inspection method. When executed by one or more processors 501, the electronic device 500 performs one or more of the methods described in the above embodiments.

[0090] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0091] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0092] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some service interfaces; indirect couplings or communication connections between devices or units may be electrical or other forms.

[0093] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0094] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0095] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0096] The foregoing description is merely an exemplary embodiment of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Those skilled in the art will readily conceive of other embodiments of this disclosure upon considering the specification and the disclosure of practical truth. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure. The specification and embodiments are considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

Claims

1. A method for macroscopic inspection of geological hazards, characterized in that, The method, applied to a geological disaster monitoring platform, includes: In response to the user's patrol operation, the system acquires the coordinates of multiple dangerous rocks and multiple drone coordinates within the target area, with one dangerous rock coordinate corresponding to one drone coordinate; the dangerous rock coordinates are the coordinates corresponding to the dangerous rock, and the drone coordinates are the preset position coordinates captured by the drone. The target area includes a first sub-area, which is a personnel flow area; The first patrol route is determined based on the coordinates of the multiple dangerous rocks; one patrol route corresponds to one target area; Obtain the weather conditions of the target area, including heavy rain, rain and snow, and strong winds; When the first dangerous rock is not located in the first sub-region, the first patrol path is changed to the second patrol path, and the second patrol path does not include the patrol point corresponding to the first dangerous rock. Formulate a drone patrol route based on the first patrol route; When the drone reaches the first drone inspection point, it acquires a first image taken by the drone at a preset shooting angle; the first drone inspection point is any drone inspection point in the drone inspection path, and the first image corresponds to the image of the first dangerous rock. Establish a two-dimensional rectangular coordinate system in the first image; Obtain the first feature point in the two-dimensional rectangular coordinate system, where the first feature point is a preset marker point of the first dangerous rock in the first image; The first feature point is compared with the second feature point to obtain the horizontal offset and the vertical offset. The second feature point is the preset marker point of the first dangerous rock in the second image. The second image is the first dangerous rock image taken at a first time interval before the first image is taken. When the lateral offset is greater than a preset lateral offset, and / or the longitudinal offset is greater than a preset longitudinal offset, an alarm prompt will be displayed on the screen of the geological disaster monitoring platform.

2. The method according to claim 1, characterized in that, The acquisition of multiple unstable rock coordinates within the target area specifically includes: Obtain the hazard level of multiple unstable rocks, wherein the hazard level is determined by geological disaster detection personnel through on-site detection of rock mass data of unstable rocks; Obtain the coordinates of multiple dangerous rocks whose hazard levels are greater than or equal to a preset hazard level.

3. The method according to claim 1, characterized in that, The method includes; Receive supplementary coordinates, which are the coordinates of dangerous rocks newly discovered and uploaded by geological disaster inspectors; Record the number of people who uploaded the supplementary coordinates; When the number of personnel is greater than or equal to the preset number, the first patrol path will be changed to the third patrol path.

4. The method according to claim 1, characterized in that, The method includes: Obtain the third feature point in the third image, wherein the third image is a first image of the dangerous rock taken by the UAV after the second image is taken at a second time interval, and the second time interval includes multiple first time intervals; The third feature point is compared with the first feature point to obtain the total horizontal offset and the total vertical offset; When the total lateral offset is greater than the preset total lateral offset, and / or the total longitudinal offset is greater than the preset total longitudinal offset, an alarm prompt will be displayed on the screen of the geological disaster monitoring platform.

5. The method according to claim 1, characterized in that, The method further includes: Obtain the battery power data of the drone; Based on the battery data, the remaining flight distance of the drone is determined; When the remaining flight distance equals the preset flight distance, a return-to-home command is sent to the drone.

6. A macroscopic geological disaster inspection device, characterized in that, For implementing the macroscopic geological disaster inspection method as described in claim 1, the device is a geological disaster monitoring platform, and the device includes an acquisition module and a processing module, wherein... The acquisition module is used to respond to the user's patrol operation and acquire multiple dangerous rock coordinates and multiple drone coordinates within the target area, with one dangerous rock coordinate corresponding to one drone coordinate; the dangerous rock coordinate is the coordinate corresponding to the dangerous rock, and the drone coordinate is the preset position coordinate captured by the drone; The processing module is used to formulate a first inspection path based on multiple dangerous rock coordinates; one inspection path corresponds to one target area; formulate a drone inspection path based on the first inspection path; when the drone reaches the first drone inspection point, acquire a first image taken by the drone at a preset shooting angle; the first drone inspection point is any drone inspection point in the drone inspection path, and the first image corresponds to the image of the first dangerous rock.

7. An electronic device, characterized in that, The device includes a processor, a memory, a user interface, and a network interface. The memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory to cause the electronic device to perform the method as described in any one of claims 1 to 5.

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