Grid control method for mine ecological restoration projects based on drone monitoring

Abstract

The present disclosure relates to the field of mine slope restoration technology, and in particular to a mine ecological restoration project grid control method based on drone monitoring. In a scenario where a mine slope and a restoration classification grid establish an interactive connection of a mine slope clustering instruction, a mine slope clustering aerial image of a mine slope drone is received, and in response to the mine slope clustering aerial image, multiple mine slope clusters corresponding to the mine slope clustering aerial image are pre-executed. In a scenario where a mine slope clustering test of a first mine slope cluster among multiple mine slope clusters is received from a mine slope drone, in response to the mine slope clustering test, the mine slope is controlled to execute an operation corresponding to the mine slope clustering test in the first restoration strategy. The present invention effectively implements an adaptive ecological restoration decision-making plan after mining in view of the destruction of vegetation and surface morphology at a mining site.

Description

Technical Field

[0001] The present disclosure relates to the technical field of mine slope restoration, and in particular to a grid management and control method for mine ecological restoration projects based on drone monitoring. Background Art

[0002] Green mine construction refers to the implementation of scientific and orderly mining throughout the entire process of mineral resource development, controlling the disturbance of the mining area and the surrounding ecological environment within a controllable range, and achieving ecological mining environment, scientific mining methods, efficient resource utilization, standardized enterprise management and harmonious mining community. However, in the process of mine construction in my country, many mining companies are engaged in extensive mining, and the problems of poor mining appearance, many geological disasters, and the incoordination between the mining environment and the surrounding environment are more prominent.

[0003] However, during the mining phase, taking full account of the possible ecological and environmental impacts of mining construction and designing ecological restoration plans in a targeted manner will help reduce the ecological and environmental impacts caused by construction. Since mining involves a large amount of earthwork, this will significantly change the original state of the ecological environment in the construction disturbance area, causing damage to vegetation and surface morphology at the mining site, which not only destroys the normal growth environment of native vegetation, but may also cause soil pollution and soil and water balance damage, thereby affecting the speed of ecological recovery and the difficulty of vegetation restoration. However, the existing technology does not have a good decision-making plan for ecological restoration in mining. Summary of the invention

[0004] In order to solve the problem of poor flexibility in clustering adjustment of current mine slopes, the present invention seeks to protect a grid management and control method and system for mine ecological restoration projects based on drone monitoring.

[0005] According to the first aspect of the present invention, the present invention claims a method for grid management and control of a mine ecological restoration project based on drone monitoring, the method comprising:

[0006] In a scenario where the mine slope and the repair classification grid establish an interactive connection of mine slope clustering instructions, receiving a mine slope clustering aerial image from a mine slope drone, wherein the mine slope clustering aerial image is used to control the fusion of the mine slope and the repair classification grid, and the mine slope clustering aerial image is an input for changing the relative sliding frequency between the mine slope and the repair classification grid;

[0007] In response to the mine slope cluster aerial image, pre-execute a plurality of mine slope clusters corresponding to the mine slope cluster aerial image, each of the plurality of mine slope clusters being used to indicate a restoration strategy in the restoration classification grid shared by the mine slopes;

[0008] In a scenario where a mine slope cluster inspection of a first mine slope cluster among the multiple mine slope clusters is received from a mine slope drone, in response to the mine slope cluster inspection, the mine slope is controlled to execute an operation corresponding to the mine slope cluster inspection in a first repair strategy, where the first repair strategy is a repair strategy indicated by the first mine slope cluster;

[0009] Among them, different mine slope clustering aerial images correspond to different multiple mine slope clusters.

[0010] Further, the mine slope clustered aerial image is an input for the mine slope drone to change the relative sliding frequency between the mine slope and the restoration classification grid from a first target relative sliding frequency to a second target relative sliding frequency;

[0011] The step of pre-executing a plurality of mine slope clusterings corresponding to the mine slope clustering aerial image in response to the mine slope clustering aerial image comprises:

[0012] In a scenario where no mine slope clustering adjustment aerial image is received within a preset time period after receiving the mine slope clustering aerial image, pre-executing the plurality of mine slope clusterings in response to the mine slope clustering aerial image, the mine slope clustering adjustment aerial image being an input for changing the relative sliding frequency between the mine slope and the restoration classification grid from the second target relative sliding frequency to the first target relative sliding frequency;

[0013] The method further comprises:

[0014] In the scenario where the mine slope clustering adjusted aerial image is received within the preset time length, in response to the mine slope clustering adjusted aerial image, the operation corresponding to the mine slope clustering aerial image is stopped, and the pre-execution of the content before receiving the mine slope clustering aerial image is maintained.

[0015] Further, the pre-execution of a plurality of mine slope clusters corresponding to the mine slope cluster aerial image includes:

[0016] Obtaining a first relative sliding frequency between the mine slope and the restoration classification grid;

[0017] Based on the first relative sliding frequency, determining first mine slope cluster plant information corresponding to the mine slope cluster aerial image, wherein the first mine slope cluster plant information is used to indicate that the mine slope shares multiple repair strategies in the repair classification grid, and the multiple repair strategies are the repair strategies indicated by the multiple mine slope clusters;

[0018] Pre-execute the plurality of mine slope clusters corresponding to the first mine slope cluster plant information;

[0019] The determining, based on the first relative sliding frequency, first mine slope cluster plant information corresponding to the mine slope cluster aerial image comprises:

[0020] In a scenario where the first relative slip frequency is within the first relative slip frequency range, determining the mine slope clustered plant information indicating the repair strategy indicated by the repair strategy icon currently pre-executed by the operating console sharing the repair classification grid as the first mine slope clustered plant information;

[0021] In a scenario where the first relative slip frequency is within the range of the second relative slip frequency, the mine slope cluster plant information indicating the repair strategy currently running in the foreground in the shared repair classification grid or the repair strategy indicated by the repair strategy icon currently selected by the mine slope drone is determined as the first mine slope cluster plant information;

[0022] In a scenario where the first relative sliding frequency is within a range of a third relative sliding frequency, determining the mine slope clustered plant information for indicating sharing of a preset repair strategy in the repair classification grid as the first mine slope clustered plant information;

[0023] In a scenario where the first relative sliding frequency is within a range of a fourth relative sliding frequency, the mine slope clustered plant information indicating sharing of all restoration strategies in the restoration classification grid is determined as the first mine slope clustered plant information.

[0024] Furthermore, before receiving the mine slope clustered aerial image from the mine slope drone, the method further includes:

[0025] Pre-execution of first indication information, wherein the first indication information is used to indicate a corresponding relationship between a relative sliding frequency of the mine slope and the restoration classification grid and clustered plant information of the mine slope;

[0026] After the pre-execution of the plurality of mine slope clustering, the method further includes:

[0027] In a scenario where the first condition is met, the multiple mine slope clusters are updated to T mine slope clusters, each of the T mine slope clusters is used to indicate a repair strategy in the repair classification grid shared by the mine slope, the T repair strategies indicated by the T mine slope clusters are the repair strategies indicated by the second mine slope cluster plant information, and the second mine slope cluster plant information is used to indicate that the mine slope shares the T repair strategies in the repair classification grid;

[0028] Among them, the first condition is that in the scenario where the distance between the mine slope and the repair classification grid is less than or equal to the first threshold, the mine slope receives a second mine slope clustering request, or the repair classification grid receives a third mine slope clustering request from the mine slope drone to the repair classification grid; the second mine slope clustering request is the input of the mine slope drone to the mine slope, or the second mine slope clustering request is used to control the fusion of the mine slope and the repair classification grid, and T is a positive integer.

[0029] Further, the first condition is that in a scenario where the distance between the mine slope and the restoration classification grid is less than or equal to a first threshold, the mine slope receives a second mine slope clustering request;

[0030] Before updating the plurality of mine slope clusters into T mine slope clusters, the method further includes:

[0031] Acquire the second mine slope clustering plant information corresponding to the second mine slope clustering request;

[0032] Sending a first message to the repair classification grid, the first message carrying the second mine slope cluster plant information, the first message being used to request the repair classification grid to allow the mine slope to share the T repair strategies, and the second mine slope cluster plant information being used by the repair classification grid to obtain the T mine slope clusters;

[0033] receiving a second message sent by the repair classification grid, wherein the second message carries the T mine slope clusters, and the second message is used to indicate that the mine slope is allowed to share the T repair strategies;

[0034] The first condition is that in a scenario where the distance between the mine slope and the repair classification grid is less than or equal to a first threshold, the repair classification grid receives a third mine slope clustering request from the mine slope UAV to the repair classification grid;

[0035] Before updating the plurality of mine slope clusters into T mine slope clusters, the method further includes:

[0036] Receive a third message sent by the repair classification grid, the third message carrying the T mine slope clusters, the third message being used to request the mine slope to share the T repair strategies, the T mine slope clusters being obtained by the repair classification grid according to second mine slope cluster plant information, the second mine slope cluster plant information being the mine slope cluster plant information corresponding to the third mine slope cluster request obtained by the repair classification grid;

[0037] Pre-execution target prompt information, the target prompt information is used to prompt the mine slope UAV whether to confirm sharing the T repair strategies;

[0038] Receiving a second mine slope cluster verification request of the mine slope UAV for the target prompt information;

[0039] The updating of the plurality of mine slope clusters into T mine slope clusters includes:

[0040] In response to the second mine slope cluster verification request, the plurality of mine slope clusters are updated to the T mine slope clusters.

[0041] The present invention claims protection for a mine ecological restoration project grid control method based on drone monitoring, in which, in a scenario where a mine slope and a restoration classification grid establish a mine slope clustering instruction interactive connection, a mine slope clustering aerial image of a mine slope drone is received, and the mine slope clustering aerial image is used to control the fusion of the mine slope and the restoration classification grid, and the mine slope clustering aerial image is an input for changing the relative sliding frequency between the mine slope and the restoration classification grid; in response to the mine slope clustering aerial image, a pre-execution with the mine slope Clustering multiple mine slope clusters corresponding to the aerial image, each of the multiple mine slope clusters is used to indicate a repair strategy in the repair classification grid shared by the mine slope; in the scenario where the mine slope cluster inspection of the first mine slope cluster among the multiple mine slope clusters is received by the mine slope drone, in response to the mine slope cluster inspection, the mine slope is controlled to execute the operation corresponding to the mine slope cluster inspection in the first repair strategy, and the first repair strategy is the repair strategy indicated by the first mine slope cluster. The present invention can effectively solve the problem of poor flexibility of the current mine slope clustering, and provide an efficient solution for the configuration in multiple scenarios according to the verification method when adjusting the mine slope clustering.

[0042] The present disclosure relates to the technical field of mine slope restoration, and in particular to a mine ecological restoration project grid control method based on drone monitoring. In a scenario where a mine slope and a restoration classification grid establish an interactive connection of a mine slope clustering instruction, a mine slope clustering aerial image from a mine slope drone is received, and in response to the mine slope clustering aerial image, multiple mine slope clusters corresponding to the mine slope clustering aerial image are pre-executed. In a scenario where a mine slope clustering test of a first mine slope cluster among multiple mine slope clusters is received from a mine slope drone, in response to the mine slope clustering test, the mine slope is controlled to execute an operation corresponding to the mine slope clustering test in the first restoration strategy. The present invention effectively implements an adaptive ecological restoration decision-making plan after mining in response to the destruction of vegetation and surface morphology at a mining site. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1A workflow diagram of a mine ecological restoration project grid management and control method based on drone monitoring as claimed in an embodiment of the present application;

[0044] Figure 2 A second workflow diagram of a mine ecological restoration project grid management and control method based on drone monitoring as claimed in an embodiment of the present application;

[0045] Figure 3 The third workflow diagram of a grid management and control method for a mine ecological restoration project based on drone monitoring, which is requested for protection in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] The terms "first", "second" and "third" in this application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first", "second" and "third" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. All directional indications (such as up, down, left, right, front, back...) in the embodiments of this application are only used to explain the relative position relationship, sliding situation, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0048] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0049] According to the first aspect of the present invention, referring to the attached Figure 1 The present invention seeks to protect a grid management and control method for a mine ecological restoration project based on drone monitoring, the method comprising:

[0050] In a scenario where the mine slope and the repair classification grid establish an interactive connection of mine slope clustering instructions, receiving a mine slope clustering aerial image from a mine slope drone, wherein the mine slope clustering aerial image is used to control the fusion of the mine slope and the repair classification grid, and the mine slope clustering aerial image is an input for changing the relative sliding frequency between the mine slope and the repair classification grid;

[0051] In response to the mine slope cluster aerial image, pre-execute a plurality of mine slope clusters corresponding to the mine slope cluster aerial image, each of the plurality of mine slope clusters being used to indicate a restoration strategy in the restoration classification grid shared by the mine slopes;

[0052] In a scenario where a mine slope cluster inspection of a first mine slope cluster among the multiple mine slope clusters is received from a mine slope drone, in response to the mine slope cluster inspection, the mine slope is controlled to execute an operation corresponding to the mine slope cluster inspection in a first repair strategy, where the first repair strategy is a repair strategy indicated by the first mine slope cluster;

[0053] Among them, different mine slope clustering aerial images correspond to different multiple mine slope clusters.

[0054] Further, the mine slope clustered aerial image is an input for the mine slope drone to change the relative sliding frequency between the mine slope and the restoration classification grid from a first target relative sliding frequency to a second target relative sliding frequency;

[0055] The step of pre-executing a plurality of mine slope clusterings corresponding to the mine slope clustering aerial image in response to the mine slope clustering aerial image comprises:

[0056] In a scenario where no mine slope clustering adjustment aerial image is received within a preset time period after receiving the mine slope clustering aerial image, pre-executing the plurality of mine slope clusterings in response to the mine slope clustering aerial image, the mine slope clustering adjustment aerial image being an input for changing the relative sliding frequency between the mine slope and the restoration classification grid from the second target relative sliding frequency to the first target relative sliding frequency;

[0057] The method further comprises:

[0058] In the scenario where the mine slope clustering adjusted aerial image is received within the preset time length, in response to the mine slope clustering adjusted aerial image, the operation corresponding to the mine slope clustering aerial image is stopped, and the pre-execution of the content before receiving the mine slope clustering aerial image is maintained.

[0059] Among them, in this embodiment, the clustered aerial images mainly include the slope stability of the mine slope, which mainly has two aspects, including natural and man-made influencing factors, specifically the material composition and properties of the slope, the height, slope, shape, structural structure and cracks of the slope, water dynamics, climate status, and engineering activities.

[0060] Further, see Attachment Figure 2 The pre-execution of a plurality of mine slope clusters corresponding to the mine slope cluster aerial image comprises:

[0061] Obtaining a first relative sliding frequency between the mine slope and the restoration classification grid;

[0062] Based on the first relative sliding frequency, determining first mine slope cluster plant information corresponding to the mine slope cluster aerial image, wherein the first mine slope cluster plant information is used to indicate that the mine slope shares multiple repair strategies in the repair classification grid, and the multiple repair strategies are the repair strategies indicated by the multiple mine slope clusters;

[0063] Pre-execute the plurality of mine slope clusters corresponding to the first mine slope cluster plant information;

[0064] The determining, based on the first relative sliding frequency, first mine slope cluster plant information corresponding to the mine slope cluster aerial image comprises:

[0065] In a scenario where the first relative slip frequency is within the first relative slip frequency range, determining the mine slope clustered plant information indicating the repair strategy indicated by the repair strategy icon currently pre-executed by the operating console sharing the repair classification grid as the first mine slope clustered plant information;

[0066] In a scenario where the first relative slip frequency is within the range of the second relative slip frequency, the mine slope cluster plant information indicating the repair strategy currently running in the foreground in the shared repair classification grid or the repair strategy indicated by the repair strategy icon currently selected by the mine slope drone is determined as the first mine slope cluster plant information;

[0067] In a scenario where the first relative sliding frequency is within a range of a third relative sliding frequency, determining the mine slope clustered plant information for indicating sharing of a preset repair strategy in the repair classification grid as the first mine slope clustered plant information;

[0068] In a scenario where the first relative sliding frequency is within a range of a fourth relative sliding frequency, the mine slope clustered plant information indicating sharing of all restoration strategies in the restoration classification grid is determined as the first mine slope clustered plant information.

[0069] Among them, according to the categories of mine slopes in different clusters, the air exposure requirements and humidity requirements of the mine slopes are determined to determine the transportation frequency of the decision grid.

[0070] In this embodiment, the clustering of slopes at least includes:

[0071] It includes natural slopes and artificial slopes. Natural slopes are naturally formed hillsides and valley slopes, usually gradually formed during the uplift or subsidence of the earth's crust. Artificial slopes are formed by excavation or filling during engineering construction, and their geometric parameters can be controlled artificially.

[0072] Natural slopes are gradually formed during the movement of the earth's crust, including hillsides and valley slopes. Such slopes are above the erosion base level and will continue to be weathered, disintegrated and collapsed, which may lead to large-scale landslides. Artificial slopes are formed by excavation or filling during engineering construction, including excavation slopes and filling slopes, the latter of which are also called dam slopes in the water conservancy industry.

[0073] In addition, according to the structural characteristics of the slope, it can be further classified. For example, the homogeneous soil slope is composed of homogeneous soil, while the layered rock and soil slope includes nearly horizontal layered slopes, down-dipping layered slopes, reverse-dipping layered slopes, massive rock slopes, fragmented rock slopes and loose slopes.

[0074] Furthermore, before receiving the mine slope clustered aerial image from the mine slope drone, the method further includes:

[0075] Pre-execution of first indication information, wherein the first indication information is used to indicate a corresponding relationship between a relative sliding frequency of the mine slope and the restoration classification grid and clustered plant information of the mine slope;

[0076] After the pre-execution of the plurality of mine slope clustering, the method further includes:

[0077] In a scenario where the first condition is met, the multiple mine slope clusters are updated to T mine slope clusters, each of the T mine slope clusters is used to indicate a repair strategy in the repair classification grid shared by the mine slope, the T repair strategies indicated by the T mine slope clusters are the repair strategies indicated by the second mine slope cluster plant information, and the second mine slope cluster plant information is used to indicate that the mine slope shares the T repair strategies in the repair classification grid;

[0078] Among them, the first condition is that in the scenario where the distance between the mine slope and the repair classification grid is less than or equal to the first threshold, the mine slope receives a second mine slope clustering request, or the repair classification grid receives a third mine slope clustering request from the mine slope drone to the repair classification grid; the second mine slope clustering request is the input of the mine slope drone to the mine slope, or the second mine slope clustering request is used to control the fusion of the mine slope and the repair classification grid, and T is a positive integer.

[0079] Further, the first condition is that in a scenario where the distance between the mine slope and the restoration classification grid is less than or equal to a first threshold, the mine slope receives a second mine slope clustering request;

[0080] Refer to the attached Figure 3 Before updating the plurality of mine slope clusters into T mine slope clusters, the method further includes:

[0081] Acquire the second mine slope clustering plant information corresponding to the second mine slope clustering request;

[0082] Sending a first message to the repair classification grid, the first message carrying the second mine slope cluster plant information, the first message being used to request the repair classification grid to allow the mine slope to share the T repair strategies, and the second mine slope cluster plant information being used by the repair classification grid to obtain the T mine slope clusters;

[0083] A second message sent by the repair classification grid is received, where the second message carries the T mine slope clusters, and the second message is used to indicate that the mine slopes are allowed to share the T repair strategies.

[0084] The first condition is that in a scenario where the distance between the mine slope and the repair classification grid is less than or equal to a first threshold, the repair classification grid receives a third mine slope clustering request from the mine slope UAV to the repair classification grid;

[0085] Before updating the plurality of mine slope clusters into T mine slope clusters, the method further includes:

[0086] Receive a third message sent by the repair classification grid, the third message carrying the T mine slope clusters, the third message being used to request the mine slope to share the T repair strategies, the T mine slope clusters being obtained by the repair classification grid according to second mine slope cluster plant information, the second mine slope cluster plant information being the mine slope cluster plant information corresponding to the third mine slope cluster request obtained by the repair classification grid;

[0087] Pre-execution target prompt information, the target prompt information is used to prompt the mine slope UAV whether to confirm sharing the T repair strategies;

[0088] Receiving a second mine slope cluster verification request of the mine slope UAV for the target prompt information;

[0089] The updating of the plurality of mine slope clusters into T mine slope clusters includes:

[0090] In response to the second mine slope cluster verification request, the plurality of mine slope clusters are updated to the T mine slope clusters.

[0091] Among them, in this embodiment, the second mine slope cluster verification request is determined by the working condition selected by the repair classification grid, and the second mine slope cluster verification request includes the average density information of the mine slope cluster blocks to be mounted and the mine slope cluster combination, and the second mine slope cluster verification request is received by the radio frequency receiving and processing device. It should be noted that the identification information of the mine slope cluster blocks mounted on the mine slope is within the receiving range of the radio frequency receiving and processing device, and the identification information of the mine slope cluster blocks placed in other areas is outside the receiving range of the radio frequency receiving and processing device. The tag information of each identification information records the density information of the corresponding mine slope cluster block. The radio frequency receiving and processing device can receive the density information of each mine slope cluster block one by one, and record and store it to form the mine slope cluster combination and average density information. The mine slope cluster combination and average density information specifically include mine slope cluster combination information and average density information. The mine slope cluster combination information refers to the combination of mine slope cluster blocks hung on the mine slope, and the average density information refers to the average density of the mine slope cluster blocks hung on the mine slope.

[0092] The mine slope clustering combination and average density information and the second mine slope clustering verification request are used to perform mine slope clustering condition selection and accounting, mainly to compare the average density of the mounted mine slope clustering block with the average density of the mine slope clustering block that needs to be mounted for the working condition to determine whether the two are consistent, so as to determine the subsequent operations. The identification information is embedded in the mine slope clustering block, and the tag information containing the density information of the corresponding mine slope clustering block is written in the identification information, and the received tag information is formed into the mine slope clustering combination and average density information through the radio frequency receiving and processing device, and the mine slope clustering combination and average density information are compared with the second mine slope clustering verification request, and the mine slope clustering condition selection and accounting is performed to verify the mine slope clustering selection of the repair classification grid, which can effectively prevent safety accidents caused by misoperation or illegal operation of the repair classification grid.

[0093] The mine slope cluster detection system in this embodiment pre-embeds identification information on each mine slope cluster block mounted on the mine slope. The tag information of the identification information records the density information of the corresponding mine slope cluster block. The radio frequency receiving and processing device can receive the tag information of these identification information, and determine the mine slope cluster combination and average density information based on these tag information, compare the mine slope cluster combination and average density information with the second mine slope cluster verification request, and realize the mine slope cluster working condition selection and accounting, so as to verify the repair classification network. Whether the mine slope clustering selection is correct; the system uses the radio frequency receiving and processing device and the identification information to complete data interaction through the wireless non-contact method of wireless communication. Not only is the detection flexible, the detection is not restricted by the setting position of the mine slope clustering block. It is suitable for mine slope clustering detection of different series of mine slope machines. It can also detect the combination state of the mine slope clustering blocks and the average density of all mine slope clustering blocks through the label information of the identification information, and finally realize the detection of the combination state of the mine slope clustering and the average density of the mine slope clustering.

[0094] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0095] In addition, each functional unit in each embodiment of the present 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 above integrated unit can be implemented in the form of hardware or in the form of software functional units. The above is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the specification and drawings of this application, or directly or indirectly used in other related technical fields, is also included in the patent protection scope of the present application.

[0096] The specific implementation methods of the invention are described in detail above, but they are only examples, and the present application is not limited to the specific implementation methods described above. For those skilled in the art, any equivalent modification or substitution of the invention is also within the scope of the present application, and therefore, the equalization, modification, and improvement made without departing from the spirit and principle of the present application should be included in the scope of the present application.

Claims

1. A grid management and control method for mine ecological restoration projects based on drone monitoring, applied to mine slopes, characterized in that: The method comprises: In a scenario where the mine slope and the repair classification grid establish an interactive connection of mine slope clustering instructions, receiving a mine slope clustering aerial image from a mine slope drone, wherein the mine slope clustering aerial image is used to control the fusion of the mine slope and the repair classification grid, and the mine slope clustering aerial image is an input for changing the relative sliding frequency between the mine slope and the repair classification grid; In response to the mine slope cluster aerial image, pre-execute a plurality of mine slope clusters corresponding to the mine slope cluster aerial image, each of the plurality of mine slope clusters being used to indicate a restoration strategy in the restoration classification grid shared by the mine slopes; In a scenario where a mine slope cluster inspection of a first mine slope cluster among the multiple mine slope clusters is received from a mine slope drone, in response to the mine slope cluster inspection, the mine slope is controlled to execute an operation corresponding to the mine slope cluster inspection in a first repair strategy, where the first repair strategy is a repair strategy indicated by the first mine slope cluster; Among them, different mine slope clustering aerial images correspond to different multiple mine slope clusters; The mine slope clustered aerial image is an input for the mine slope drone to change the relative sliding frequency between the mine slope and the repair classification grid from a first target relative sliding frequency to a second target relative sliding frequency; The step of pre-executing a plurality of mine slope clusterings corresponding to the mine slope clustering aerial image in response to the mine slope clustering aerial image comprises: In a scenario where no mine slope clustering adjustment aerial image is received within a preset time period after receiving the mine slope clustering aerial image, pre-executing the plurality of mine slope clusterings in response to the mine slope clustering aerial image, the mine slope clustering adjustment aerial image being an input for changing the relative sliding frequency between the mine slope and the restoration classification grid from the second target relative sliding frequency to the first target relative sliding frequency; The method further comprises: In the scenario where the mine slope clustering adjustment aerial image is received within the preset time period, in response to the mine slope clustering adjustment aerial image, stopping the execution of the operation corresponding to the mine slope clustering aerial image, and maintaining the pre-execution of the content before receiving the mine slope clustering aerial image; The pre-execution of a plurality of mine slope clusters corresponding to the mine slope cluster aerial image comprises: Obtaining a first relative sliding frequency between the mine slope and the restoration classification grid; Based on the first relative sliding frequency, determining first mine slope cluster plant information corresponding to the mine slope cluster aerial image, wherein the first mine slope cluster plant information is used to indicate that the mine slope shares multiple repair strategies in the repair classification grid, and the multiple repair strategies are the repair strategies indicated by the multiple mine slope clusters; Pre-execute the plurality of mine slope clusters corresponding to the first mine slope cluster plant information; The determining, based on the first relative sliding frequency, first mine slope cluster plant information corresponding to the mine slope cluster aerial image comprises: In a scenario where the first relative slip frequency is within the first relative slip frequency range, determining the mine slope clustered plant information indicating the repair strategy indicated by the repair strategy icon currently pre-executed by the operating console sharing the repair classification grid as the first mine slope clustered plant information; In a scenario where the first relative slip frequency is within the range of the second relative slip frequency, the mine slope cluster plant information indicating the repair strategy currently running in the foreground in the shared repair classification grid or the repair strategy indicated by the repair strategy icon currently selected by the mine slope drone is determined as the first mine slope cluster plant information; In a scenario where the first relative sliding frequency is within a range of a third relative sliding frequency, determining the mine slope clustered plant information for indicating sharing of a preset repair strategy in the repair classification grid as the first mine slope clustered plant information; In a scenario where the first relative sliding frequency is within a range of a fourth relative sliding frequency, determining the mine slope clustered plant information for indicating sharing of all restoration strategies in the restoration classification grid as the first mine slope clustered plant information; Before receiving the mine slope clustered aerial image from the mine slope UAV, the method further includes: Pre-execution of first indication information, wherein the first indication information is used to indicate a corresponding relationship between a relative sliding frequency of the mine slope and the restoration classification grid and clustered plant information of the mine slope; After the pre-execution of the plurality of mine slope clustering, the method further includes: In a scenario where the first condition is met, the multiple mine slope clusters are updated to T mine slope clusters, each of the T mine slope clusters is used to indicate a repair strategy in the repair classification grid shared by the mine slope, the T repair strategies indicated by the T mine slope clusters are the repair strategies indicated by the second mine slope cluster plant information, and the second mine slope cluster plant information is used to indicate that the mine slope shares the T repair strategies in the repair classification grid; Among them, the first condition is that in the scenario where the distance between the mine slope and the repair classification grid is less than or equal to the first threshold, the mine slope receives a second mine slope clustering request, or the repair classification grid receives a third mine slope clustering request from the mine slope drone to the repair classification grid; the second mine slope clustering request is the input of the mine slope drone to the mine slope, or the second mine slope clustering request is used to control the fusion of the mine slope and the repair classification grid, and T is a positive integer.

2. The method according to claim 1, characterized in that The first condition is that the mine slope receives a second mine slope clustering request in a scenario where the distance between the mine slope and the restoration classification grid is less than or equal to a first threshold; Before updating the plurality of mine slope clusters into T mine slope clusters, the method further includes: Acquire the second mine slope clustering plant information corresponding to the second mine slope clustering request; Sending a first message to the repair classification grid, the first message carrying the second mine slope cluster plant information, the first message being used to request the repair classification grid to allow the mine slope to share the T repair strategies, and the second mine slope cluster plant information being used by the repair classification grid to obtain the T mine slope clusters; receiving a second message sent by the repair classification grid, wherein the second message carries the T mine slope clusters, and the second message is used to indicate that the mine slope is allowed to share the T repair strategies; The first condition is that in a scenario where the distance between the mine slope and the repair classification grid is less than or equal to a first threshold, the repair classification grid receives a third mine slope clustering request from the mine slope UAV to the repair classification grid; Before updating the plurality of mine slope clusters into T mine slope clusters, the method further includes: Receive a third message sent by the repair classification grid, the third message carrying the T mine slope clusters, the third message being used to request the mine slope to share the T repair strategies, the T mine slope clusters being obtained by the repair classification grid according to second mine slope cluster plant information, the second mine slope cluster plant information being the mine slope cluster plant information corresponding to the third mine slope cluster request obtained by the repair classification grid; Pre-execution target prompt information, the target prompt information is used to prompt the mine slope UAV whether to confirm sharing the T repair strategies; Receiving a second mine slope cluster verification request of the mine slope UAV for the target prompt information; The updating of the plurality of mine slope clusters into T mine slope clusters includes: In response to the second mine slope cluster verification request, the plurality of mine slope clusters are updated to the T mine slope clusters.

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