Method and system for synchronous monitoring of atmospheric ecological environment and ground vegetation data in mining areas

Abstract

The present invention discloses a method and system for synchronously monitoring atmospheric ecological environment and ground vegetation data in a mining area, and the method includes: S1, dividing the atmospheric ecological environment monitoring and analysis area into a number of monitoring height range layers from bottom to top; the unmanned aerial vehicle monitoring and collection system uses air quality sensors to collect atmospheric ecological environment data for each monitoring height range layer; S2, the unmanned aerial vehicle monitoring and collection system uses a camera to overlap and shoot the ground, and then calculates the vegetation coverage; S3, setting a time interval T, and obtaining a dust organic matter change data set, a toxic gas concentration change data set, and a vegetation coverage change data set in a time series with the time interval T according to the time interval T sequence. The present invention can monitor the current ground-air dual ecological environment data and the change data over time, realizes the integrated monitoring and development analysis of the ground-air dual ecological environment in the mining area, and provides reliable data support for the ecological environment in the mining area.

Description

Technical Field

[0001] The present invention relates to the field of mining area ecological environment monitoring, and in particular to a method and system for synchronously monitoring atmospheric ecological environment and ground vegetation data in a mining area. Background Art

[0002] Ecological and environmental monitoring is the basis of ecological and environmental early warning, and is also an important basis for formulating national economic development plans and programs. Mining activities in mining areas have a great disturbance to the regional ecological environment (especially the mining of open-pit coal mines will cause damage to the surrounding vegetation, which will seriously affect its ecosystem and the carbon fixation capacity of vegetation, which is not conducive to carbon emission reduction), and have different impacts at different spatial scales, and the duration of these impacts varies. At present, the ecological and environmental monitoring of mines is mainly focused on the vegetation coverage near the mining area (important data for vegetation carbon sink calculation). The calculation is mainly through field measurement and remote sensing image inversion. The field measurement method requires the establishment of many observation stations, the method is costly, the coverage is small, and it is time-consuming and laborious; the remote sensing image inversion method is based on satellite remote sensing images for remote sensing inversion, which mainly focuses on macro-statistics of large-scale areas or areas including mining areas. For small-scale mining areas, small-scale, high-precision and more in-depth vegetation coverage calculations are needed. Therefore, focusing on the small-scale and in-depth detail analysis of mining areas that rely on photographic images can obtain more accurate and smaller-granular vegetation coverage data. Mining activities in mining areas also have a great impact on the ground spatial scale of mining areas, with different impacts at different spatial scales above the ground, and the existing technology does not have atmospheric ecological monitoring of mining areas at different spatial scales. Scientific research based on mining areas has found that mining activities (some coal mining also involves coal-rock gas) will produce dust and underground toxic gases (such as carbon monoxide, formaldehyde, etc.), which will be released into the atmosphere as mining progresses, causing harm to the atmosphere. These harmful substances float in the air and are arranged in spatial scales. How to monitor harmful substances in the air is also an important aspect of mining ecological environment monitoring. Therefore, the existing technology lacks a complete, comprehensive, and fast ecological environment monitoring technology solution that realizes both ground and air ecology, which is not conducive to effective monitoring and management of mining areas. Summary of the invention

[0003] The purpose of the present invention is to solve the technical problems pointed out by the background technology, and to provide a method and system for synchronously monitoring the atmospheric ecological environment and ground vegetation data in a mining area, which can obtain a time series dust organic matter data set, a toxic gas concentration data set and a time series vegetation coverage data set according to the layer height, can monitor the current ground and air dual ecological environment data, and can also obtain the change data over time in the monitoring and analysis area of ​​the mining area, realizing the integrated monitoring and development analysis of the ground and air dual ecological environment in the mining area, and providing reliable data support for the ecological environment of the mining area.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] A method for synchronously monitoring atmospheric ecological environment and ground vegetation data in a mining area, the method comprising:

[0006] S1. With the research mining area as the center, an atmospheric ecological environment monitoring and analysis area is delineated above the ground of the research mining area, and the atmospheric ecological environment monitoring and analysis area is divided into several monitoring height range layers from bottom to top; a UAV collection flight plan corresponding to each monitoring height range layer is formulated, and a UAV monitoring and collection system is built. The UAV monitoring and collection system includes a UAV and a laser radar, air quality sensor and camera built on the UAV. The UAV monitoring and collection system uses the UAV to collect atmospheric ecological environment data for each monitoring height range layer through the air quality sensor according to the UAV collection flight plan. At the same time, the laser radar detects and records the height data of the UAV from the ground through laser. The atmospheric ecological environment data includes dust organic matter data and toxic gas concentration data , Represents the dust organic matter dataset of all sampling points in the kth monitoring height range layer, according to Calculate the average value of dust organic matter in the kth monitoring height range layer , Represents the toxic gas concentration data set of all sampling points in the kth monitoring height range layer, according to Calculate the average value of toxic gas concentration in the kth monitoring height range layer ;

[0007] S2. Formulate a drone shooting plan. The drone monitoring and collection system uses the drone to take overlapping photos of the ground within the atmospheric ecological environment monitoring and analysis area through the camera according to the drone shooting plan, and then calculates the vegetation coverage;

[0008] S3, set the time interval T, and obtain the average value of dust organic matter in accordance with step S1 and step S2 according to the time interval T sequence. , average concentration of toxic gases and vegetation coverage, and obtain the dust organic matter change data set, toxic gas concentration change data set and vegetation coverage change data set in the time series with time interval T.

[0009] In order to better implement the present invention, the present invention also includes the following method:

[0010] S4. Construct a three-dimensional map of the atmospheric ecological environment monitoring area, express the current vegetation coverage at the ground level of the three-dimensional map of the atmospheric ecological environment monitoring area, and calculate the current average dust organic matter value according to the monitoring height range layer above the ground level of the three-dimensional map of the atmospheric ecological environment monitoring area. , average concentration of toxic gases Expression, while the current dust organic matter dataset , Toxic gas concentration dataset The altitude data recorded by the lidar is expressed in the monitoring altitude range layer.

[0011] Preferably, the dust organic matter dataset includes three subcategories: PM2.5 dataset, PM10 dataset and total volatile organic compound dataset, and the subsets corresponding to the subcategories are obtained respectively. , Represents the data set of all sampling points of the kth monitoring height range layer and the ith subset, and then obtains each subset The toxic gas concentration data set includes subclasses of a carbon dioxide concentration data set, an ozone concentration data set, a carbon monoxide concentration data set, and a formaldehyde concentration data set, and the subsets corresponding to the subclasses are obtained respectively. , Represents the data set of all sampling points of the kth monitoring height range layer and the jth subset, and then obtains each subset The average value; according to the time interval T sequence, the subset of the time series with the time interval T is obtained Average, subset The average value is calculated and the corresponding change data sets of each subset are obtained.

[0012] Preferably, a three-dimensional spatial-temporal coordinate system of the atmospheric ecological environment is constructed, with time as the X-axis coordinate, the monitoring height range layer as the Y-axis coordinate, and the average value of dust organic matter as the Y-axis coordinate. Or average concentration of toxic gases Express the data for the Z-axis coordinate.

[0013] Preferably, a three-dimensional spatial-temporal coordinate system of the atmospheric ecological environment is constructed, with time as the X-axis coordinate, the monitoring height range layer as the Y-axis coordinate, and the classified subsets as the Mean or subset of categories The mean value is used as the Z-axis coordinate for data expression.

[0014] Preferably, the atmospheric ecological environment monitoring and analysis area is constructed by one of the following methods:

[0015] A1. Construct a circle on the ground of the research mining area with the center of the research mining area as the center and R as the radius, and extend it upward to form a cylindrical area with a height of h;

[0016] A2. Construct a hemispherical area above the ground of the research mining area with the center of the research mining area as the center and R as the radius.

[0017] Preferably, in step S2, the camera in the UAV monitoring and collection system is a multispectral camera, and the ground within the atmospheric ecological environment monitoring and analysis area is overlapped and projected to obtain an image data set, which is then spliced ​​and corrected to obtain the image of the research mining area. The image of the research mining area is grayed pixel by pixel as follows: the three color channels R, G, and B in the image of the research mining area are analyzed according to the pixels, and the gray value of the pixel is calculated , , , , Indicates the values ​​corresponding to the three color channels; according to the grayscale value of the pixel Perform grayscale processing on pixels;

[0018] The pixels of the mining area image are set to have L gray levels. A threshold K is preset first, and the pixels of the target mining area image are divided into , Two grayscale classes, and then calculate the average grayscale of the image of the research mining area , Average grayscale of class pixels , Average grayscale of class pixels , and then calculate the between-class variance according to the following formula : ;in yes The pixel ratio of yes The pixel ratio of the class;

[0019] Change the preset threshold K and obtain the inter-class variance The preset threshold value K when the value is the maximum is taken as the optimal threshold value T; the pixels with grayscale values ​​not less than T in the image of the studied mining area are classified as vegetation, and the rest are classified as non-vegetation;

[0020] Based on the improved bilinear interpolation algorithm, the images of the studied mining area were resampled according to the set pixel size, and then the vegetation coverage of each pixel was obtained by statistics.

[0021] Preferably, the number of gray levels of the image of the research mining area ranges from 0 to L-1, The number of grayscale pixels is , In the range of 0 to L-1, the total number of pixels in the image of the studied mining area is , then the first The probability of a pixel at level ; The average grayscale calculation expression of the research mining area image is: ; The average grayscale calculation expression of the class pixel is: , The average grayscale calculation expression of the class pixel is: .

[0022] A mining area atmospheric ecological environment and ground vegetation data synchronous monitoring system, including an unmanned aerial vehicle monitoring and collection system, a research mining area unmanned aerial vehicle flight control module and a data analysis and processing module, the unmanned aerial vehicle monitoring and collection system includes an unmanned aerial vehicle and a laser radar, an air quality sensor and a camera built on the unmanned aerial vehicle, the research mining area unmanned aerial vehicle flight control module demarcates an atmospheric ecological environment monitoring and analysis area located above the ground of the research mining area with the research mining area as the center, divides the atmospheric ecological environment monitoring and analysis area into a number of monitoring height range layers from bottom to top, and formulates unmanned aerial vehicle collection flight plans corresponding to each monitoring height range layer and formulates unmanned aerial vehicle shooting plans; the unmanned aerial vehicle monitoring and collection system uses the unmanned aerial vehicle to collect atmospheric ecological environment data for each monitoring height range layer through an air quality sensor according to the unmanned aerial vehicle collection flight plan, and the atmospheric ecological environment data includes dust organic matter data and toxic gas concentration data , It represents the dust organic matter dataset of all sampling points in the kth monitoring height range layer. At the same time, the laser radar detects and records the height data of the drone from the ground through laser. The drone monitoring and collection system uses the drone to take overlapping photos of the ground within the atmospheric ecological environment monitoring and analysis area through the camera according to the drone shooting plan. The data analysis and processing module is based on Calculate the average value of dust organic matter in the kth monitoring height range layer , Represents the toxic gas concentration data set of all sampling points in the kth monitoring height range layer, according to Calculate the average value of toxic gas concentration in the kth monitoring height range layer The data analysis and processing module calculates the vegetation coverage based on the data captured by the camera; the data analysis and processing module sets the time interval T, and obtains the average value of dust organic matter in sequence according to the time interval T sequence , average concentration of toxic gases and vegetation coverage, and obtain the dust organic matter change data set, toxic gas concentration change data set and vegetation coverage change data set in the time series with time interval T.

[0023] Preferably, the mining area atmospheric ecological environment and ground vegetation data synchronization monitoring system of the present invention also includes a data display module, wherein a three-dimensional map of the atmospheric ecological environment monitoring area is constructed inside the data display module, the current vegetation coverage is expressed at the ground level of the three-dimensional map of the atmospheric ecological environment monitoring area, and the current average dust organic matter value is layered according to the monitoring height range layer above the ground level of the three-dimensional map of the atmospheric ecological environment monitoring area. , average concentration of toxic gases Expression, while the current dust organic matter dataset , Toxic gas concentration dataset The altitude data recorded by the laser radar is expressed in the monitoring altitude range layer; the data display module also constructs a three-dimensional spatiotemporal coordinate system of the atmospheric ecological environment, which uses time as the X-axis coordinate, the monitoring altitude range layer as the Y-axis coordinate, and the average value of dust organic matter. Or average concentration of toxic gases Express the data for the Z-axis coordinate.

[0024] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0025] (1) The present invention utilizes the unmanned aerial vehicle monitoring and collection system to realize both stratified atmospheric ecological environment data monitoring and fine and in-depth image data collection and vegetation coverage calculation based on a small-scale range of the research mining area. It can obtain a time series dust organic matter data set, a toxic gas concentration data set, and a time series vegetation coverage data set according to the stratified height. It can monitor the current ground-air dual ecological environment data and obtain the change data over time in the monitoring and analysis area of ​​the research mining area, thus realizing the integrated monitoring and development analysis of the ground-air dual ecological environment of the mining area, and providing reliable data support for the ecological environment of the mining area.

[0026] (2) The drone monitoring and data collection system of the present invention utilizes the drone to collect atmospheric ecological environment data such as PM2.5, PM10, total volatile organic compounds, carbon dioxide concentration, ozone concentration, carbon monoxide concentration, formaldehyde concentration, etc. at each monitoring height range layer through air quality sensors according to the drone collection flight plan, effectively realizing the atmospheric ecological environment monitoring data at different heights in the set monitoring and analysis area, facilitating the accurate knowledge of the atmospheric environment conditions at different spatial scales above the ground in the mining area, and facilitating the formulation of reasonable prevention measures and control measures.

[0027] (3) The present invention obtains image data of the monitoring and analysis area based on the orthographic projection shooting of the unmanned aerial vehicle, performs pixel-by-pixel grayscale processing in sequence, and then sets the grayscale level to divide it into two grayscale classes. The optimal threshold is obtained according to the maximum value of the inter-class variance, and the pixel vegetation or non-vegetation attributes are divided according to the optimal threshold. Then, the vegetation coverage of each pixel is calculated, and the accurate monitoring of the monitoring and analysis area of ​​the research mining area can be carried out, and then the ground vegetation monitoring can be carried out over time to realize the effective monitoring and management of the ground vegetation data.

[0028] (4) The present invention constructs a three-dimensional map of the atmospheric ecological environment monitoring area to express the current vegetation coverage and the changes in vegetation coverage over time, and constructs a three-dimensional spatiotemporal coordinate system for the atmospheric ecological environment. It can deduce the changes in the current and time scales of the average value of dust organic matter, the average value of toxic gas concentration, and multiple specific sub-categories of data, which is convenient for hazard trend analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A method flow chart of the method for synchronously monitoring the atmospheric ecological environment and ground vegetation data in a mining area according to the present invention;

[0030] Figure 2 A schematic diagram of the monitoring setup of a drone in the drone monitoring and collection system in the embodiment;

[0031] Figure 3 A schematic diagram of an atmospheric ecological environment monitoring and analysis area of ​​a hemispherical area is given as an example in the embodiment;

[0032] Figure 4 The three-dimensional display diagram of the change of toxic gas concentration data is given as an example in the embodiment;

[0033] Figure 5 It is a schematic diagram of the principle of obtaining an image data set by overlapping shooting with a multi-spectral camera and performing image processing in the UAV monitoring and collection system in the embodiment;

[0034] Figure 6 The schematic diagram of the principle structure of the mining area atmospheric ecological environment and ground vegetation data synchronous monitoring system of the present invention.

[0035] The names corresponding to the reference numerals in the accompanying drawings are:

[0036] 1-LiDAR, 2-Air quality sensor, 3-Bio-thermal detector. DETAILED DESCRIPTION

[0037] The present invention is further described in detail below in conjunction with embodiments:

[0038] Example

[0039] like Figure 1 to Figure 5As shown, a method for synchronously monitoring atmospheric ecological environment and ground vegetation data in a mining area comprises:

[0040] S1. With the research mining area as the center, an atmospheric ecological environment monitoring and analysis area located above the ground of the research mining area is delineated (the atmospheric ecological environment monitoring and analysis area is delineated according to actual needs, and the boundary line of the surrounding mountains can be considered. For simple illustration, a circular area is delineated with the research mining area as the center as the monitoring and analysis area), and the atmospheric ecological environment monitoring and analysis area is divided into several monitoring height range layers from bottom to top. The more monitoring height range layers are delineated, the higher the detail level is. The present invention is based on the following method when delineating the monitoring height range layer: first, an elevated sampling is performed with the center of the research mining area through an unmanned aerial vehicle monitoring and collection system (the atmospheric ecological environment data is collected through the air quality sensor 2), and a curve graph of the atmospheric ecological environment data with height is obtained. The curve graph of the atmospheric ecological environment data will display the atmospheric ecological environment data with the height distribution, and cluster segmentation analysis is performed based on the atmospheric ecological environment data; clustering mainly looks at the concentrated area of ​​the atmospheric ecological environment data, and the range is hierarchically divided based on the boundaries of each concentrated area; the atmospheric ecological environment data includes dust organic matter data and toxic gas concentration data. If the concentrated area boundaries of the dust organic matter data and the toxic gas concentration data are different, the smallest boundary layer can be used, and the overlapping area of ​​the concentrated area boundary is generally set as the monitoring height range layer.

[0041] In some embodiments, the atmospheric ecological environment monitoring and analysis area is constructed using one of the following methods:

[0042] A1. Construct a circle on the ground of the research mining area with the center of the research mining area as the center and R as the radius, and extend it upward to form a cylindrical area with a height of h.

[0043] A2. Construct a hemispherical area above the ground of the research mining area with the center of the research mining area as the center and R as the radius. For example Figure 3 As shown in the figure, a hemispherical area is constructed with the center of the research mining area as the center as the three-dimensional atmospheric ecological environment monitoring and analysis area.

[0044] Formulate drone collection flight plans corresponding to each monitoring altitude range layer, and build a drone monitoring and collection system. The drone monitoring and collection system includes a drone and a laser radar 1, an air quality sensor 2, and a camera (preferably, the camera is a multi-spectral camera) built on the drone. The drone of this embodiment uses the DJI M350 RTK flight platform, which can transmit online monitoring data to the mining cloud platform. The drone monitoring and collection system uses the drone to collect atmospheric ecological environment data for each monitoring altitude range layer through the air quality sensor 2 according to the drone collection flight plan. At the same time, the laser radar 1 detects and records the drone's height data from the ground through laser. The atmospheric ecological environment data includes dust and organic matter data. (Dust organic matter data is a collection of dust organic matter data from all sampling points formed by sampling dust organic matter data at each sampling point within the monitoring altitude range layer when the drone is flying) and toxic gas concentration data (Toxic gas concentration data is a collection of toxic gas concentration data at all sampling points formed by sampling toxic gas concentration data at each sampling point within the monitoring altitude range layer when the drone is flying). Represents the dust organic matter dataset of all sampling points in the kth monitoring height range layer, according to Calculate the average value of dust organic matter in the kth monitoring height range layer At the kth monitoring height range layer, the dust organic matter data of all sampling points are counted and the average value of dust organic matter (including the average value of dust organic matter including PM2.5 data, PM10 data and total volatile organic compound data) is calculated. The average value of dust organic matter can be used to evaluate the comprehensive average of dust organic matter in a more macroscopic way. Represents the toxic gas concentration data set of all sampling points in the kth monitoring height range layer, according to Calculate the average value of toxic gas concentration in the kth monitoring height range layer At the kth monitoring height range layer, the toxic gas concentration data of all sampling points are counted and the average toxic gas concentration (including the average carbon dioxide concentration, ozone concentration, carbon monoxide concentration, and formaldehyde concentration) is calculated. The average toxic gas concentration can be used to evaluate the comprehensive average toxic gas concentration in a relatively macroscopic way.

[0045] S2. Formulate a drone shooting plan. The drone monitoring and collection system uses the drone to take overlapping photos of the ground within the atmospheric ecological environment monitoring and analysis area through the camera according to the drone shooting plan, and then calculates the vegetation coverage; Figure 3 As shown in the figure, according to the drone shooting plan, the ground area within the atmospheric ecological environment monitoring and analysis area is covered and photographed at a certain altitude. The parameter lens focal length is , the pixel size is , shooting image coverage , , video image frame interval , , Indicates the heading overlap. To achieve the accuracy of 3D real scene modeling, this embodiment uses 80%. In some embodiments, the camera in the drone monitoring and collection system is a multispectral camera, which performs overlapping orthographic projection shooting of the ground within the atmospheric ecological environment monitoring and analysis area to obtain an image data set (in some embodiments, see Figure 5 , the overlapping shooting of multi-spectral cameras can be performed before obtaining the image dataset Figure 5 The preprocessing shown in the figure includes flight debugging and photo quality assessment. The photos that pass the photo quality assessment are stored as image data sets. Then, the images of the studied mining area are stitched and corrected to obtain the images. The images of the studied mining area are grayed out pixel by pixel as follows: the three color channels R, G, and B in the images of the studied mining area are analyzed according to the pixels, and the gray value of the pixels is calculated. , , , , Indicates the values ​​corresponding to the three color channels. According to the gray value of the pixel Perform pixel grayscale processing. Set the pixels of the mining area image to have L grayscale levels, first preset a threshold K, and divide the pixels of the target mining area image into , Two grayscale classes, and then calculate the average grayscale of the image of the research mining area , Average grayscale of class pixels , Average grayscale of class pixels , and then calculate the between-class variance according to the following formula : .in yes The pixel ratio of the class, yes Change the preset threshold K and obtain the inter-class variance The preset threshold K when the maximum value is taken as the optimal threshold T. The pixels with grayscale values ​​not less than T in the image of the studied mining area are classified as vegetation, and the rest are classified as non-vegetation. Based on the improved bilinear interpolation algorithm, the image of the studied mining area is resampled according to the set pixel size, and then the vegetation coverage of each pixel is obtained by statistics.

[0046] In some embodiments, the number of gray levels of the image of the research mining area ranges from 0 to L-1. The number of grayscale pixels is , In the range of 0 to L-1, the total number of pixels in the image of the studied mining area is , then the first The probability of a pixel at level The average grayscale calculation expression of the research mining area image is: . The average grayscale calculation expression of the class pixel is: . The average grayscale calculation expression of the class pixel is: .

[0047] S3, set the time interval T, and obtain the average value of dust organic matter in accordance with step S1 and step S2 according to the time interval T sequence. , average concentration of toxic gases and vegetation coverage, and obtain the dust organic matter change data set with time interval T (which can monitor the change of dust organic matter over time), the toxic gas concentration change data set (which can monitor the change of toxic gas concentration over time) and the vegetation coverage change data set (which can monitor the change of ground vegetation coverage over time).

[0048] S4. Construct a three-dimensional map of the atmospheric ecological environment monitoring area, express the current vegetation coverage at the ground level of the three-dimensional map of the atmospheric ecological environment monitoring area, and calculate the current average dust organic matter value according to the monitoring height range layer above the ground level of the three-dimensional map of the atmospheric ecological environment monitoring area. , average concentration of toxic gases Expression, while the current dust organic matter dataset , Toxic gas concentration dataset According to the altitude data recorded by the laser radar 1, the corresponding expression is expressed in the monitoring altitude range layer. In some preferred embodiments, a three-dimensional spatiotemporal coordinate system of the atmospheric ecological environment is constructed, with time as the X-axis coordinate, the monitoring altitude range layer as the Y-axis coordinate, and the average value of dust organic matter as the Y-axis coordinate. Or average concentration of toxic gases Express the data for the Z-axis coordinate, such as Figure 4 As shown, the average value of toxic gas concentration is expressed as an example, with time as the X-axis coordinate, the monitoring height range layer as the Y-axis coordinate, and the average value of toxic gas concentration as the A corresponding three-dimensional coordinate system is constructed for the Z axis, and then the average value of the toxic gas concentration is expressed over time and height in the three-dimensional coordinate system.

[0049] In some preferred embodiments, the dust organic matter dataset includes three subcategories: PM2.5 dataset, PM10 dataset and total volatile organic compound dataset, and the subsets corresponding to the subcategories are obtained respectively. , Represents the data set of all sampling points of the kth monitoring height range layer and the ith subset, and then obtains each subset The average value of; in this way, the dust organic matter data can be divided into three subcategories, and the ecological environment monitoring can be carried out separately. The toxic gas concentration data set includes the subcategories of carbon dioxide concentration data set, ozone concentration data set, carbon monoxide concentration data set, and formaldehyde concentration data set, and the corresponding subsets of the subcategories are obtained respectively. , Represents the data set of all sampling points of the kth monitoring height range layer and the jth subset, and then obtains each subset The average value of . According to the time interval T sequence, a subset of the time series with time interval T is obtained Average, subset The average value is calculated and the corresponding change data sets of each subset are obtained respectively; in this way, the toxic gas concentration data can be divided into four subcategories, and the ecological environment monitoring is performed separately. In some preferred embodiments, a three-dimensional spatiotemporal coordinate system of the atmospheric ecological environment is constructed, with time as the X-axis coordinate, the monitoring height range layer as the Y-axis coordinate, and the classified subsets as Mean or subset of categories The average value is expressed as the Z-axis coordinate. The drone in this embodiment uses the DJI M350 RTK flight platform (equipped with a Seer high-resolution tilt camera or multi-spectral camera and a DJI Zenmuse L2 airborne laser radar), which can transmit online monitoring data to the mining area cloud platform. The measurement accuracy of the three subcategories of dust and organic matter data is 0.01 , the measurement accuracy of the four subcategories of toxic gas concentration data is 1ppb. The present invention can install a biothermal detector 3 on the drone to detect organisms within a range of 5 m around the drone to prevent bird strikes (the present invention can install an ultrasonic transmitter on the drone. When birds, insects or UFOs approach the drone body, they will be detected by the biothermal detector 3, and then the ultrasonic transmitter will be triggered to use the backup motor to emit high-frequency, high-amplitude sound waves to drive them away without causing substantial harm to the birds or insects; it not only protects flying birds and animals, but also ensures that the drone body is not harmed), improving the safety of the drone flight area. In some embodiments, the limit thresholds of the three subcategories of dust organic matter data can be set, and a monitoring alarm will be issued when the limit thresholds are reached; the limit thresholds of the four subcategories of toxic gas concentration data can be set , when the limit threshold is reached A monitoring alarm is issued.

[0050] like Figure 6As shown, a system for synchronously monitoring atmospheric ecological environment and ground vegetation data in a mining area includes a drone monitoring and collection system, a research mining area drone flight control module, and a data analysis and processing module. The drone monitoring and collection system includes a drone and a laser radar 1, an air quality sensor 2, and a camera installed on the drone. The research mining area drone flight control module demarcates an atmospheric ecological environment monitoring and analysis area located above the ground in the research mining area with the research mining area as the center, and divides the atmospheric ecological environment monitoring and analysis area into several monitoring height range layers from bottom to top. At the same time, a drone collection flight plan corresponding to each monitoring height range layer and a drone shooting plan are formulated. The drone monitoring and collection system uses the drone to collect atmospheric ecological environment data for each monitoring height range layer through the air quality sensor 2 according to the drone collection flight plan. The atmospheric ecological environment data includes dust organic matter data and toxic gas concentration data , It represents the dust organic matter dataset of all sampling points in the kth monitoring height range layer. At the same time, the laser radar 1 detects and records the height data of the drone from the ground through laser. The drone monitoring and collection system uses the drone to take overlapping photos of the ground within the atmospheric ecological environment monitoring and analysis area through the camera according to the drone shooting plan. The data analysis and processing module is based on Calculate the average value of dust organic matter in the kth monitoring height range layer , Represents the toxic gas concentration data set of all sampling points in the kth monitoring height range layer, according to Calculate the average value of toxic gas concentration in the kth monitoring height range layer The data analysis and processing module calculates the vegetation coverage based on the data captured by the camera. The data analysis and processing module sets the time interval T and obtains the average value of dust organic matter in sequence according to the time interval T sequence. , average concentration of toxic gases and vegetation coverage, and obtain the dust organic matter change data set, toxic gas concentration change data set and vegetation coverage change data set in the time series with the time interval T. The drone of the drone monitoring and collection system of the present invention adopts the DJI M350 RTK drone platform and is equipped with the Zenmuse L2 laser radar system. The laser radar system consists of three-dimensional laser scanning, inertial navigation system INS and laser radar 1 (laser distance measurement), and the three work in coordination.

[0051] The mining area atmospheric ecological environment and ground vegetation data synchronization monitoring system of the present invention also includes a data display module, wherein a three-dimensional map of the atmospheric ecological environment monitoring area is constructed inside the data display module, the current vegetation coverage is expressed at the ground level of the three-dimensional map of the atmospheric ecological environment monitoring area, and the current dust organic matter average value is performed according to the monitoring height range layer above the ground level of the three-dimensional map of the atmospheric ecological environment monitoring area. , average concentration of toxic gases Expression, while the current dust organic matter dataset , Toxic gas concentration dataset The altitude data recorded by the laser radar 1 is expressed in the monitoring altitude range layer. The data display module also constructs a three-dimensional spatial-temporal coordinate system of the atmospheric ecological environment. The three-dimensional spatial-temporal coordinate system of the atmospheric ecological environment uses time as the X-axis coordinate, the monitoring altitude range layer as the Y-axis coordinate, and the average value of dust organic matter as the Y-axis coordinate. Or average concentration of toxic gases Express the data for the Z-axis coordinate.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for synchronously monitoring atmospheric ecological environment and ground vegetation data in a mining area, characterized by: The methods include: S1. With the research mining area as the center, an atmospheric ecological environment monitoring and analysis area is demarcated above the ground of the research mining area, and the atmospheric ecological environment monitoring and analysis area is divided into a number of monitoring height range layers from bottom to top; a UAV collection flight plan corresponding to each monitoring height range layer is formulated, and a UAV monitoring and collection system is built. The UAV monitoring and collection system includes a UAV and a laser radar (1), an air quality sensor (2) and a camera built on the UAV. The UAV monitoring and collection system uses the UAV to collect atmospheric ecological environment data for each monitoring height range layer through the air quality sensor (2) according to the UAV collection flight plan. At the same time, the laser radar (1) detects and records the height data of the UAV from the ground through laser. The atmospheric ecological environment data includes dust and organic matter data C k And toxic gas concentration data Q k , C k represents the dust organic matter dataset of all sampling points in the kth monitoring height range layer, according to C k The average value C of dust organic matter in the kth monitoring height range layer is calculated k Ping, Q k represents the toxic gas concentration data set of all sampling points in the kth monitoring height range layer, according to Q k Calculate the average toxic gas concentration Q of the kth monitoring height range layer k平 The dust organic matter dataset includes three subcategories: PM2.5 dataset, PM10 dataset and total volatile organic compound dataset, and the subsets C corresponding to the subcategories are obtained respectively. k，i , C k，i represents the data set of all sampling points of the kth monitoring height range layer and the ith subset, and then obtains each subset C k，i The toxic gas concentration data set includes subclasses of a carbon dioxide concentration data set, an ozone concentration data set, a carbon monoxide concentration data set, and a formaldehyde concentration data set, and the subsets Q corresponding to the subclasses are obtained respectively. k，j , Q k，j represents the data set of all sampling points of the kth monitoring height range layer and the jth subset, and then obtains each subset Q k，j The average value; according to the time interval T sequence, the subset C of the time series with the time interval T is obtained k，i Mean, subset Q k，j The average value is calculated and the corresponding change data sets of each subset are obtained respectively; S2. Formulate a drone shooting plan. The drone monitoring and collection system uses the drone to take overlapping photos of the ground within the atmospheric ecological environment monitoring and analysis area through the camera according to the drone shooting plan, and then calculates the vegetation coverage; S3, set the time interval T, and obtain the average value C of dust organic matter in sequence according to step S1 and step S2 according to the time interval T sequence. k平 , average concentration of toxic gases Q k平 and vegetation coverage, and obtain the dust organic matter change data set, toxic gas concentration change data set and vegetation coverage change data set in the time series with time interval T.

2. A method for synchronously monitoring atmospheric ecological environment and ground vegetation data in a mining area according to claim 1, characterized in that: Also includes the following methods: S4. Construct a three-dimensional map of the atmospheric ecological environment monitoring area, express the current vegetation coverage on the ground plane of the three-dimensional map of the atmospheric ecological environment monitoring area, and calculate the current average dust organic matter C according to the monitoring height range layer above the ground plane of the three-dimensional map of the atmospheric ecological environment monitoring area. k平 , average concentration of toxic gases Q k平 Expression, and at the same time the current dust organic matter dataset C k , Toxic gas concentration dataset Q k The altitude data recorded by the laser radar (1) are correspondingly expressed in the monitoring altitude range layer.

3. A method for synchronously monitoring atmospheric ecological environment and ground vegetation data in a mining area according to claim 2, characterized in that: Construct a three-dimensional spatial-temporal coordinate system of the atmospheric ecological environment, with time as the X-axis coordinate, the monitoring height range layer as the Y-axis coordinate, and the average value of dust organic matter C k平 Or the average concentration of toxic gases Q k平 Express the data for the Z-axis coordinate.

4. A method for synchronously monitoring atmospheric ecological environment and ground vegetation data in a mining area according to claim 1, characterized in that: Construct a three-dimensional spatiotemporal coordinate system of the atmospheric ecological environment, with time as the X-axis coordinate, the monitoring height range layer as the Y-axis coordinate, and the classified subset C k，i Mean or subset of categories Q k，j The mean value is used as the Z-axis coordinate for data expression.

5. A method for synchronously monitoring atmospheric ecological environment and ground vegetation data in a mining area according to claim 1, characterized in that: The atmospheric ecological environment monitoring and analysis area is constructed by one of the following methods: A1. Construct a circle on the ground of the research mining area with the center of the research mining area as the center and R as the radius, and extend it upward to form a cylindrical area with a height of h; A2. Construct a hemispherical area above the ground of the research mining area with the center of the research mining area as the center and R as the radius.

6. A method for synchronously monitoring atmospheric ecological environment and ground vegetation data in a mining area according to claim 1, characterized in that: In step S2, the camera in the UAV monitoring and acquisition system is a multispectral camera, which takes overlapping orthographic projection photos of the ground within the atmospheric ecological environment monitoring and analysis area to obtain an image data set, and then performs splicing and correction processing to obtain the image of the research mining area, and performs the following grayscale processing on the image of the research mining area pixel by pixel: the three color channels R, G, and B in the image of the research mining area are analyzed according to the pixels, and the grayscale value EXG of the pixel is calculated, EXG=2*G1-R1-B1, G1, R1, and B1 represent the values ​​corresponding to the three color channels; the pixel is grayscaled according to the grayscale value EXG of the pixel; The pixels of the research mining area image are set to have L grayscale levels. The threshold K is preset first, and the pixels of the target mining area image are divided into two grayscale classes, C0 and C1, according to the threshold K. Then the average grayscale μ of the research mining area image, the average grayscale μ0 of the C0 class pixels, and the average grayscale μ1 of the C1 class pixels are calculated. Then the inter-class variance δ is calculated according to the following formula: 2 (k): δ 2 (k) = ω0(μ-μ0) 2 +ω1(μ-μ1) 2 ; Where ω0 is the pixel ratio of class C0, and ω1 is the pixel ratio of class C1; Change the preset threshold K and obtain the inter-class variance δ 2 The preset threshold K when (k) is the maximum value is taken as the optimal threshold T; the pixels with grayscale values ​​not less than T in the image of the studied mining area are classified as vegetation, and the rest are classified as non-vegetation; Based on the improved bilinear interpolation algorithm, the images of the research mining area were resampled according to the set pixel size, and then the vegetation coverage of each pixel was obtained by statistics.

7. A method for synchronously monitoring atmospheric ecological environment and ground vegetation data in a mining area according to claim 6, characterized in that: The number of gray levels of the research mining area image ranges from 0 to L-1, and the number of gray level pixels of level i is N i , i is in the range of 0 to L-1, the total number of pixels in the image of the studied mining area is N, then the probability of the i-th level pixel in the image of the studied mining area is The calculation expression of the average grayscale of the research mining area image is: The average grayscale calculation expression of C0 class pixels is: The average grayscale calculation expression of C1 type pixels is:

8. A mining area atmospheric ecological environment and ground vegetation data synchronization monitoring system that implements the mining area atmospheric ecological environment and ground vegetation data synchronization monitoring method according to claim 1, characterized in that: The invention comprises an unmanned aerial vehicle monitoring and collection system, a research mining area unmanned aerial vehicle flight control module and a data analysis and processing module. The unmanned aerial vehicle monitoring and collection system comprises an unmanned aerial vehicle and a laser radar (1), an air quality sensor (2) and a camera installed on the unmanned aerial vehicle. The research mining area unmanned aerial vehicle flight control module demarcates an atmospheric ecological environment monitoring and analysis area located above the ground of the research mining area with the research mining area as the center, divides the atmospheric ecological environment monitoring and analysis area into a plurality of monitoring height range layers from bottom to top, and formulates an unmanned aerial vehicle collection flight plan corresponding to each monitoring height range layer and a unmanned aerial vehicle shooting plan at the same time. The unmanned aerial vehicle monitoring and collection system uses the unmanned aerial vehicle to collect atmospheric ecological environment data for each monitoring height range layer through the air quality sensor (2) according to the unmanned aerial vehicle collection flight plan. The atmospheric ecological environment data includes dust organic matter data C k And toxic gas concentration data Q k , C k represents the dust organic matter data set of all sampling points of the kth monitoring height range layer, and at the same time, the laser radar (1) detects and records the height data of the drone from the ground through laser, and the drone monitoring and collection system uses the drone to take overlapping photos of the ground within the atmospheric ecological environment monitoring and analysis area through the camera according to the drone shooting plan; the data analysis and processing module is based on C k The average value C of dust organic matter in the kth monitoring height range layer is calculated k平 , Q k represents the toxic gas concentration data set of all sampling points in the kth monitoring height range layer, according to Q k Calculate the average toxic gas concentration Q of the kth monitoring height range layer k平 The data analysis and processing module calculates the vegetation coverage based on the data captured by the camera; the data analysis and processing module sets the time interval T, and obtains the average value C of dust organic matter in sequence according to the time interval T sequence k平 , average concentration of toxic gases Q k平 and vegetation coverage, and obtain the dust organic matter change data set, toxic gas concentration change data set and vegetation coverage change data set in the time series with time interval T.

9. A mining area atmospheric ecological environment and ground vegetation data synchronous monitoring system according to claim 8, characterized in that: The data display module also includes a data display module, wherein a three-dimensional map of the atmospheric ecological environment monitoring area is constructed inside the data display module, the current vegetation coverage is expressed on the ground plane of the three-dimensional map of the atmospheric ecological environment monitoring area, and the current average dust organic matter C is calculated by layering according to the monitoring height range layer above the ground plane of the three-dimensional map of the atmospheric ecological environment monitoring area. k平 , average concentration of toxic gases Q k平 Expression, and at the same time the current dust organic matter dataset C k , Toxic gas concentration dataset Q k According to the altitude data recorded by the laser radar (1), the corresponding expression is expressed in the monitoring altitude range layer; the data display module also constructs an atmospheric ecological environment spatiotemporal three-dimensional coordinate system, which takes time as the X-axis coordinate, the monitoring altitude range layer as the Y-axis coordinate, and the dust organic matter average value C k平 Or the average concentration of toxic gases Q k平 Express the data for the Z-axis coordinate.

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