Blasting executor safety early warning method and system, storage medium and equipment

Abstract

The invention discloses a blasting executor safety early warning method and system, a storage medium and equipment, and relates to the technical field of blasting early warning, and the method comprises the steps: carrying out the continuous shooting of a blasting site through a preset unmanned plane array; acquiring an on-site video shot by the unmanned aerial vehicle, and marking a moving entity in splashing movement in the on-site video; determining a part of the motion entity as a to-be-monitored target entity, calculating a motion track of the target entity, and calculating a grounding drop point, a process drop point and a final drop point of the target entity according to the motion track of the target entity; then judging whether the drop point is within the movement range of the blasting executive personnel or not; and if yes, planning the motion trail of the blasting execution personnel, and sending safety early warning information to the blasting execution personnel. The problem that in the prior art, in the blasting execution process, a moving entity or blasting execution personnel cannot be effectively monitored well, so that safety early warning of the blasting execution personnel is difficult to achieve under specific conditions is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of blasting warning, and in particular to a safety warning method, system, storage medium and equipment for blasting executors. Background Art

[0002] Blasting operation refers to the installation of explosives in mountains or buildings, and the control of the explosion by electronic or other detonation methods to produce blasting impact to clear obstacles. It is widely used in road construction, building demolition and other fields, and has very good obstacle removal efficiency.

[0003] When blasting, the blasting method and blasting dosage are usually calculated, and the warning range is determined based on this. Before the blasting timing, the blasting executors and other related personnel need to be evacuated to facilitate the smooth progress of the blasting operation. In previous actual blasting work, there have been special cases where the blasting impact caused rocks to splash outside the warning area, causing injuries to the blasting executors outside the warning area. Since the scope of the warning area is calculated, the fundamental reason is that the blasting impact causes the moving entity to rush out of the warning area under certain circumstances, causing personal injury, which is completely uncontrollable through the previous blasting method and blasting dosage calculation.

[0004] Traditional blasting monitoring and early warning only relies on preset aerial photography devices to capture relevant personnel within the warning range of the blasting site, and then issue early warning information to evacuate relevant personnel. It cannot effectively monitor moving entities or blasting executors during the blasting process, resulting in the problem of difficulty in achieving safety early warning for blasting executors under certain circumstances. Summary of the invention

[0005] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a method, system, storage medium and equipment for safety warning of blasting executors, aiming to solve the problem that the prior art cannot effectively monitor the moving entities or blasting executors during the blasting execution, resulting in difficulty in achieving safety warning for blasting executors under certain circumstances.

[0006] A first aspect of the present invention is to provide a safety warning method for blasting execution personnel, which is used to warn the safety of personnel involved in blasting execution, and the method comprises: During the blasting process, the blasting site is continuously photographed by a preset drone array; the drone array includes multiple drones cruising at different altitudes and multiple drones flying along a preset trajectory; Acquire the on-site video taken by the drone, and mark the moving entities in the on-site video that are splashed due to the blasting impact; Determine some moving entities as target entities to be monitored, calculate the motion trajectory of the target entity, and calculate the grounding point, process point and final point of the target entity according to the motion trajectory of the target entity; Determine whether the grounding point, process point or final point of the target entity is within the activity range of the blasting executor; If yes, planning the movement trajectory of the blasting executor, and sending a safety warning message including the movement trajectory to the instant messaging device held by the blasting executor; Among them, the landing point is the landing point where the target entity first touches the ground, the process landing point is the landing point where the target entity splashes again due to impact after touching the ground, and the final landing point is the landing point where the target entity stops moving.

[0007] According to one aspect of the above technical solution, the steps of determining that some moving entities are target entities to be monitored, calculating the motion trajectory of the target entity, and calculating the landing point, process landing point and final landing point of the target entity according to the motion trajectory of the target entity specifically include: Continuously importing the on-site video captured by the drone into the pre-trained landing point prediction model; Based on the landing point prediction model, a moving entity that breaks through a preset monitoring trigger interface is determined as a target entity to be monitored; Taking the central intersection point of the target entity and the monitoring trigger interface as the initial position, combining the initial position, surface features and motion features of the target entity, the motion trajectory of the target entity is calculated; According to the motion trajectory of the target entity, respectively calculating the landing point, process landing point and final landing point of the target entity; Among them, the monitoring trigger interface is an interface formed by a preset distance around the explosion point. When it is identified that the moving entity moves to intersect with the monitoring trigger interface, the monitoring early warning process of the moving entity is triggered to determine the moving entity as the target entity to be monitored.

[0008] According to one aspect of the above technical solution, taking the central intersection point of the target entity and the monitoring trigger interface as the initial position, combining the initial position, surface features and motion features of the target entity, the step of calculating the motion trajectory of the target entity specifically includes: Taking the central intersection point of the target entity and the monitoring trigger interface as the initial position; Identify the surface features and motion features of the target entity, wherein the surface features are contour features of the target entity, and the motion features include the motion speed, motion acceleration, and motion arc of the target entity; The motion trajectory of the target entity is calculated according to the initial position, contour features, motion speed, motion acceleration and motion arc of the target entity.

[0009] According to one aspect of the above technical solution, the step of calculating the motion trajectory of the target entity according to the initial position, contour features, motion speed, motion acceleration and motion arc of the target entity specifically includes: According to the initial position, contour features, movement speed, movement acceleration and movement arc of the target entity, a plurality of drones within the shooting range are controlled to fly following the movement of the target entity; Based on the relative position information between the multiple following UAVs and the target entity, outputting multiple trajectory lines of the target entity's movement respectively; Fitting and correcting the plurality of trajectory lines are performed to obtain the motion trajectory of the target entity.

[0010] According to one aspect of the above technical solution, the steps of respectively calculating the landing point, the process landing point and the final landing point of the target entity according to the motion trajectory of the target entity specifically include: Calculating the grounding point of the target entity according to the motion trajectory of the target entity, and identifying the ground features of the grounding point; Calculating a rebound trajectory of the target entity's grounding motion at the grounding point according to the ground features of the grounding point and the contour features and motion features of the target entity; According to the rebound trajectory, the process landing point of the target entity is calculated, and the final landing point of the target entity is also calculated.

[0011] According to one aspect of the above technical solution, the step of calculating the rebound trajectory of the target entity's grounding movement at the grounding point according to the ground features of the grounding point and the contour features and motion features of the target entity specifically includes: Calculating the touchdown speed and touchdown angle of the target entity before touching the ground according to the motion characteristics of the target entity; In combination with the ground features of the touchdown point, a rebound trajectory of the target entity's grounding movement at the touchdown point is calculated.

[0012] According to one aspect of the above technical solution, in the step of planning the movement trajectory of the blasting executor and sending a safety warning message including the movement trajectory to an instant messaging device held by the blasting executor, planning the movement trajectory of the blasting executor specifically includes: Constructing a coordinate system according to the activity range of the blasting executors; Calculate multiple landing point coordinate values ​​of the grounding point or process landing point of the target entity in the coordinate system, or calculate the static coordinate value of the final landing point of the target entity in the coordinate system; According to the landing point coordinate value or the static coordinate value of the target entity in the coordinate system, determining a plurality of trajectory coordinate values ​​that do not intersect with the landing point coordinate value or the static coordinate value; The plurality of trajectory coordinate values ​​are connected by the shortest distance to obtain the motion trajectory.

[0013] The second aspect of the present invention is to provide a safety warning system for blasting execution personnel, which is used to warn the safety of blasting execution personnel, and is applied to the safety warning method for blasting execution personnel described in the above technical solution. The system includes: A video shooting module is used to continuously shoot the blasting site through a preset drone array during the blasting process; the drone array includes a plurality of drones cruising at fixed points at different altitudes and a plurality of drones flying along a preset trajectory; An entity annotation module is used to obtain the on-site video taken by the drone and annotate the moving entities in the on-site video that are splashed due to the blasting impact; A landing point calculation module is used to determine that some moving entities are target entities to be monitored, calculate the motion trajectory of the target entity, and calculate the grounding point, process point and final point of the target entity according to the motion trajectory of the target entity; A condition judgment module, used to judge whether the grounding point, process point or final point of the target entity is within the activity range of the blasting executor; A path planning module, which is used for planning the movement trajectory of the blasting executor when the condition judgment module determines whether the grounding point, process point or final point of the target entity is within the activity range of the blasting executor, and sending a safety warning message including the movement trajectory to the instant communication device held by the blasting executor; Among them, the landing point is the landing point where the target entity first touches the ground, the process landing point is the landing point where the target entity splashes again due to impact after touching the ground, and the final landing point is the landing point where the target entity stops moving.

[0014] The third aspect of the present invention is to provide a readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the steps of the method described in the above technical solution.

[0015] The fourth aspect of the present invention is to provide an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in the above technical solution when executing the program.

[0016] Compared with the prior art, the blasting execution personnel safety warning method, system, storage medium and device shown in the present invention have the following beneficial effects: The safety warning method for blasting executors shown in the present invention uses a preset drone array to continuously shoot the blasting site, then obtains the on-site video shot by the drone array in real time, marks the moving entities that may threaten the personal safety of the blasting executors, determines them as target entities, and then uses multiple drones in the drone array to follow the splashing movement of the target entity, thereby calculating the motion trajectory of the target entity, and calculating the landing point coordinates of the target entity based on the motion trajectory of the target entity, so as to determine whether it will pose a threat to the personal safety of the blasting executors. When it is clear that there is a threat, the motion trajectory of the blasting executors is planned in time to guide the blasting executors to stay away from the landing point of the target entity. In this way, the safety warning of the blasting executors during the blasting process can be achieved, which can effectively solve the problem that the existing technology cannot effectively monitor the moving entities or blasting executors during the blasting execution, resulting in difficulty in achieving safety warning for blasting executors under certain circumstances. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 It is a schematic flow chart of a safety warning method for blasting execution personnel shown in one embodiment of the present invention; Figure 2 The schematic diagram of the safety warning method for blasting personnel in one embodiment of the present invention during specific execution Figure 1 ; Figure 3 The schematic diagram of the safety warning method for blasting personnel in one embodiment of the present invention during specific execution Figure 2 ; Figure 4 The present invention is a structural block diagram of a safety warning system for blasting personnel shown in one embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings. Several embodiments of the present invention are shown in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0020] Embodiment 1 The first embodiment of the present invention provides a safety warning method for blasting executors, which is used to warn the safety of personnel involved in the blasting, especially to warn the personal safety of blasting executors located near the warning area. This is because some explosives may splash farther than the expected warning range due to specific circumstances. For example, when the surface of the explosive is relatively regular, it is easy for it to splash farther due to the blasting impact. Therefore, this embodiment proposes a safety warning method for blasting executors, which is used to provide safety warnings to blasting executors during the blasting process.

[0021] See also Figure 1-Figure 3 In this embodiment, the method includes steps S10 to S50: Step S10: During the blasting process, the blasting site is continuously photographed by a preset drone array.

[0022] First of all, it should be noted that the drone array includes multiple drones 10 cruising at fixed altitudes and flying along preset trajectories. The number of drones is determined according to the blasting level. For example, when the blasting level is high, more drones are used to form a drone array to continuously shoot the blasting site, or when the blasting level is low, fewer drones are used to form a drone array. The blasting level is mainly determined according to the blasting target type, blasting charge, etc.

[0023] In this embodiment, before blasting, multiple drones in the drone array are first used to continuously shoot the blasting site to detect whether the blasting personnel or other relevant personnel are within the blasting range at that time point. If the user is, an early warning message is directly generated through the background system, and then the early warning message is output through the instant messaging device held by the blasting personnel, so as to achieve the clearance of all personnel within the early warning range before the blasting is executed.

[0024] Specifically, the drones in the drone array include a number of fixed-point cruising drones and a number of drones flying along preset trajectories. The flight altitude of the fixed-point cruising drones is determined based on the warning range set for the blasting mission. For example, when the warning range is 50 meters, the drones are controlled to cruise at an altitude of 60 meters, while the drones flying along the preset trajectory can, for example, fly in a cross-motion manner, so that high-definition videos of the nodes before and after the blasting at the blasting site can be continuously obtained through the above-mentioned drone array to achieve subsequent safety warnings.

[0025] Step S20, obtaining the on-site video taken by the drone, and marking the moving entities in the on-site video that are splashed due to the blasting impact.

[0026] In this embodiment, after the drone array continuously shoots video of the blasting site, the on-site video shot by the drone will be cached through high-speed transmission, and then the moving entity A caused by the splashing motion caused by the blasting impact will be marked based on the on-site video. For example, the stones generated by the blasting impact will be marked to determine the type of the moving entity, which will facilitate the subsequent tracking of the moving entity, thereby achieving subsequent safety warnings.

[0027] Specifically, the moving entities in the on-site video that cause splashing due to the blasting impact are labeled. Specifically, the types of the moving entities are labeled using a pre-trained classification model, thereby basically determining the types of moving entities that need to be monitored.

[0028] Step S30, determining that some moving entities are target entities to be monitored, calculating the motion trajectory of the target entity, and calculating the grounding point, process point and final point of the target entity according to the motion trajectory of the target entity.

[0029] First of all, it should be noted that although the blasting impact will cause the moving entity to move at high speed, the moving entity's speed will gradually decrease. In particular, after the moving entity falls to the ground and touches the ground, it cannot stop moving instantly and will continue to move due to inertia. During this process, the moving entity's speed will be greatly reduced, making it easy for the high-speed camera carried by the drone to continuously monitor it.

[0030] In this embodiment, it is not necessary to monitor all moving entities caused by blasting impact, because the splash distance of some moving entities is not too far, and their landing point will not exceed the pre-defined warning range, so there is no need to monitor them. Only moving entities with high moving speed and arc need to be monitored. In this embodiment, such moving entities are determined as target entities A to be monitored. ， .

[0031] Among them, in this embodiment, it is first necessary to determine a virtual monitoring trigger interface according to the blasting level. The monitoring trigger interface is a virtual interface formed by taking the blasting point S as the center and a preset distance as the radius. Only when the moving entity intersects with the monitoring trigger interface and it is determined that it has a tendency to break through the monitoring trigger interface, it is determined as the target entity to be monitored, and then multiple drones in the drone array are used to monitor it, so as to achieve subsequent safety warnings.

[0032] Specifically, the target entity may provide safety warnings to blasting personnel. The main means is to predict the landing point of the target entity, which includes the grounding point where the target entity first touches the ground, the process landing point caused by rebound due to grounding impact, which may include multiple landing points, and the final landing point where the target entity stops moving.

[0033] In a preferred embodiment of the present invention, the steps of determining that some moving entities are target entities to be monitored, calculating the motion trajectory of the target entity, and calculating the landing point, process landing point and final landing point of the target entity according to the motion trajectory of the target entity specifically include: Continuously importing the on-site video captured by the drone into the pre-trained landing point prediction model; Based on the landing point prediction model, a moving entity that breaks through a preset monitoring trigger interface is determined as a target entity to be monitored; Taking the central intersection point of the target entity and the monitoring trigger interface as the initial position, combining the initial position, surface features and motion features of the target entity, the motion trajectory of the target entity is calculated; According to the motion trajectory of the target entity, respectively calculating the landing point, process landing point and final landing point of the target entity; Among them, the monitoring trigger interface is an interface formed by a preset distance around the explosion point. When it is identified that the moving entity moves to intersect with the monitoring trigger interface, the monitoring early warning process of the moving entity is triggered to determine the moving entity as the target entity to be monitored.

[0034] In a preferred embodiment of the present invention, the step of calculating the motion trajectory of the target entity by taking the central intersection point of the target entity and the monitoring trigger interface as the initial position and combining the initial position, surface features and motion features of the target entity specifically includes: Taking the central intersection point of the target entity and the monitoring trigger interface as the initial position; Identify the surface features and motion features of the target entity, wherein the surface features are contour features of the target entity, and the motion features include the motion speed, motion acceleration, and motion arc of the target entity; The motion trajectory of the target entity is calculated according to the initial position, contour features, motion speed, motion acceleration and motion arc of the target entity.

[0035] Specifically, when performing landing point calculation, the videos shot by multiple drones will first be imported into the landing point prediction model shown in this embodiment, and the moving entities that may break through the preset monitoring trigger interface will be determined as the moving entities to be monitored, and the central intersection point between the target entity and the monitoring trigger interface will be determined as the initial position of the target entity. That is, it is necessary to calculate the possible motion trajectory of the target entity starting from the initial position, and it is also necessary to combine the surface features and motion features of the target entity for calculation, so as to obtain a more accurate motion trajectory of the target entity.

[0036] It should be noted here that the surface characteristics of the target entity refer to the surface contour characteristics of the target entity, and the motion characteristics of the target entity refer to the motion index characteristics of the target entity breaking through the preset monitoring trigger interface, including the motion speed, motion arc and the target entity's own rotation speed, etc. By combining the above information parameters, a more accurate motion trajectory is calculated, thereby calculating the possible landing point coordinates of the target entity, including the landing point coordinates of the target entity's touchdown, process landing point and final landing point.

[0037] In a preferred embodiment of the present invention, the step of calculating the motion trajectory of the target entity according to the initial position, contour features, motion speed, motion acceleration and motion arc of the target entity specifically includes: According to the initial position, contour features, movement speed, movement acceleration and movement arc of the target entity, a plurality of drones within the shooting range are controlled to fly following the movement of the target entity; Based on the relative position information between the multiple following UAVs and the target entity, outputting multiple trajectory lines of the target entity's movement respectively; Fitting and correcting the plurality of trajectory lines are performed to obtain the motion trajectory of the target entity.

[0038] In the specific calculation process, the initial position, contour features, movement speed, movement acceleration and movement arc of the target entity will be clarified first, and the possible movement path of the target entity will be preliminarily formulated. The multiple drones that are within the shooting range and can shoot the target entity are controlled to follow the movement. In the process of following the movement, the movement path of the drone and the possible movement path of the target entity are required not to intersect. At the same time, the distance between the drone and the target entity is required to be kept within a certain range, such as controlled within a range of 5 meters, so as to ensure the accuracy of following. Then, the spatial coordinates of the drone itself are output to the background system in real time, mainly the coordinates of the graphics receiving center of the camera in the drone, and the spatial coordinates of the target entity under monitoring, mainly the coordinates of the geometric center of the target entity are simulated and output, so as to clarify the relative position of the drone and the target entity, output the relative position information, and thus output the multiple trajectory lines determined by the shooting of multiple drones during the movement of the target entity, and fit and correct the multiple trajectory lines to eliminate their position errors. In this way, the maximum possible movement trajectory of the target entity can be obtained through the following movement of multiple drones.

[0039] Among them, the calculation of the landing point coordinates of the target entity's grounding point is relatively simple. By combining the initial velocity of the target entity at the initial position, the continuous movement speed during the splashing process, the movement acceleration, the movement arc and the surface contour of the target entity, the drag coefficient generated during its movement is determined, and the landing point coordinates of the target entity's grounding point can be calculated. The calculation of the process landing point also requires the calculation of the possible rebound trajectory and rebound speed of the target entity after grounding at the grounding point, so as to calculate the process landing point of the target entity after rebound splashing, and there may be multiple landing points, so it is necessary to continuously calculate the rebound trajectory and rebound speed after grounding. Similarly, the landing point coordinates of the final landing point of the target entity need to calculate the rebound trajectory and rebound speed of the last rebound action, and then calculate the final landing point coordinates of the target entity.

[0040] In a preferred embodiment of the present invention, the steps of respectively calculating the landing point, the process landing point and the final landing point of the target entity according to the motion trajectory of the target entity specifically include: Calculating the grounding point of the target entity according to the motion trajectory of the target entity, and identifying the ground features of the grounding point; Calculating a rebound trajectory of the target entity's grounding motion at the grounding point according to the ground features of the grounding point and the contour features and motion features of the target entity; According to the rebound trajectory, the process landing point of the target entity is calculated, and the final landing point of the target entity is also calculated.

[0041] The step of calculating the rebound trajectory of the target entity's grounding movement at the grounding point according to the ground features of the grounding point and the contour features and motion features of the target entity specifically includes: Calculating the touchdown speed and touchdown angle of the target entity before touching the ground according to the motion characteristics of the target entity; In combination with the ground features of the touchdown point, a rebound trajectory of the target entity's grounding movement at the touchdown point is calculated.

[0042] Specifically, when calculating the landing point coordinates of the target entity, the landing point coordinates of the target entity will be calculated mainly based on the motion trajectory of the target entity, and then the drone located closest to the landing point coordinates will be controlled to zoom in and shoot the ground features of the landing point coordinates to determine whether the ground features are planes, slopes, etc., and then the possible rebound trajectory of the target entity after it touches the ground at the landing point is calculated based on the ground features of the ground point, as well as the contour features and motion features of the target entity, including motion speed, motion acceleration, and its own rotation speed. Based on the same principle, the landing point coordinates of the process landing point and the final landing point of the target entity are calculated.

[0043] For example, when the ground features of the target entity's landing point are opposite to the target entity's movement direction, for example, the landing point is inclined and the inclination direction is facing the target entity, it is considered that the landing point will weaken the target entity's movement speed and change the target entity's movement trajectory. Based on this, the rebound trajectory of the target entity after the ground rebound is calculated to determine the landing point coordinates of the process landing point or the final landing point.

[0044] Step S40, determining whether the grounding point, process point or final point of the target entity is within the activity range of the blasting executor.

[0045] In this embodiment, through the above step S30, the landing point coordinates of the target entity's grounding point, process landing point or final landing point have been quickly calculated. In this step, it is only necessary to determine whether the landing point coordinates are within the activity range of the blasting executors. The activity range mainly refers to the range outside the warning area, so as to clarify whether the target entity splashed due to the blasting impact will pose a threat to the personal safety of the blasting executors.

[0046] If the landing point is determined to be within the activity range of the blasting personnel through the landing point coordinates of the touchdown point, the process landing point or the final landing point, the method shown in this embodiment enters step S60.

[0047] Step S50, planning the movement trajectory of the blasting executor, and sending a safety warning message including the movement trajectory to the instant messaging device held by the blasting executor.

[0048] In this embodiment, when the landing point of the target entity caused by the blasting impact is within the activity range of the blasting executors, the movement trajectory of the blasting executors is planned in time to guide them to stay away from the landing point of the target entity. Specifically, safety warning information including the movement trajectory can be issued through the instant communication device held by the blasting executors. In this way, safety warnings for blasting executors can be achieved by predicting the landing point of the target entity.

[0049] It should be noted here that although the initial velocity of the target entity will be high due to the blasting impact, the target entity will greatly reduce its movement speed after touching the ground. Therefore, within this time difference, the landing point can be quickly predicted and the movement trajectory of the blasting executors can be planned to guide them away from the threat, thereby achieving safety warning for the blasting executors at the blasting site.

[0050] Compared with the prior art, the safety warning method for blasting execution personnel shown in this embodiment has the following beneficial effects: The safety warning method for blasting executors shown in the present embodiment uses a preset drone array to continuously shoot the blasting site, then obtains the on-site video shot by the drone array in real time, marks the moving entities that may threaten the personal safety of the blasting executors, determines them as target entities, and then uses multiple drones in the drone array to follow the splashing movement of the target entity, thereby calculating the motion trajectory of the target entity, and calculating the landing point coordinates of the target entity based on the motion trajectory of the target entity, so as to determine whether it will pose a threat to the personal safety of the blasting executors. When it is clear that there is a threat, the motion trajectory of the blasting executors is planned in time to guide the blasting executors to stay away from the landing point of the target entity. In this way, the safety warning of the blasting executors during the blasting process can be achieved, which can effectively solve the problem that the existing technology cannot effectively monitor the moving entities or blasting executors during the blasting execution, resulting in difficulty in achieving safety warning for blasting executors under certain circumstances.

[0051] Embodiment 2 The second embodiment of the present invention also provides a safety warning method for blasting execution personnel. The safety warning method for blasting execution personnel shown in this embodiment is basically similar to the safety warning method for blasting execution personnel shown in the first embodiment, except that: In this embodiment, in the step of planning the movement trajectory of the blasting executor and sending a safety warning message including the movement trajectory to the instant messaging device held by the blasting executor, planning the movement trajectory of the blasting executor specifically includes: Constructing a coordinate system according to the activity range of the blasting executors; Calculate multiple landing point coordinate values ​​of the grounding point or process landing point of the target entity in the coordinate system, or calculate the static coordinate value of the final landing point of the target entity in the coordinate system; According to the landing point coordinate value or the static coordinate value of the target entity in the coordinate system, determining a plurality of trajectory coordinate values ​​that do not intersect with the landing point coordinate value or the static coordinate value; The plurality of trajectory coordinate values ​​are connected by the shortest distance to obtain the motion trajectory.

[0052] Among them, after the above-mentioned trajectory calculation and landing point prediction, the movement trajectory of the blasting executor will be calculated based on the landing point coordinates of the target entity, so as to guide the blasting executor to avoid based on the movement trajectory, so as to achieve safety warning for the blasting executor.

[0053] Specifically, in this embodiment, a coordinate system is first constructed according to the activity range of the blasting personnel. This is done by using drones in the drone array to photograph the blasting site and identify the location of the blasting personnel to determine the coordinate value of the blasting personnel. Then, based on the static coordinate value or dynamic coordinate value of the target entity in the coordinate system, multiple trajectory coordinate values ​​that do not intersect with the landing point coordinate value or the static coordinate value are determined in the coordinate system. The above-mentioned landing point coordinate value refers to the landing point coordinate of the target entity's grounding point or process landing point, and the static coordinate value refers to the landing point coordinate of the target entity's final landing point after it completely stops moving. Then, multiple predetermined trajectory coordinate values ​​are connected by the shortest distance to obtain the motion trajectory of the blasting personnel, so as to guide the blasting personnel to avoid through the generation of the motion trajectory and information output, so as to achieve a safety warning for the blasting personnel.

[0054] Embodiment 3 See also Figure 4 The third embodiment of the present invention provides a safety warning system for blasting executors, which is used to warn the safety of blasting executors, and is applied to the safety warning method for blasting executors described in the above embodiments. The system includes: a video shooting module, an entity labeling module, a landing point calculation module, a condition judgment module and a path planning module.

[0055] A video shooting module is used to continuously shoot the blasting site through a preset drone array during the blasting process; the drone array includes a plurality of drones cruising at fixed points at different altitudes and a plurality of drones flying along a preset trajectory; An entity annotation module is used to obtain the on-site video taken by the drone and annotate the moving entities in the on-site video that are splashed due to the blasting impact; A landing point calculation module is used to determine that some moving entities are target entities to be monitored, calculate the motion trajectory of the target entity, and calculate the grounding point, process point and final point of the target entity according to the motion trajectory of the target entity; A condition judgment module, used to judge whether the grounding point, process point or final point of the target entity is within the activity range of the blasting executor; A path planning module, which is used for planning the movement trajectory of the blasting executor when the condition judgment module determines whether the grounding point, process point or final point of the target entity is within the activity range of the blasting executor, and sending a safety warning message including the movement trajectory to the instant communication device held by the blasting executor; Among them, the landing point is the landing point where the target entity first touches the ground, the process landing point is the landing point where the target entity splashes again due to impact after touching the ground, and the final landing point is the landing point where the target entity stops moving.

[0056] Compared with the prior art, the blasting execution personnel safety warning system shown in this embodiment has the following beneficial effects: The safety warning system for blasting executors shown in the present embodiment uses a preset drone array to continuously shoot the blasting site, then obtains the on-site video shot by the drone array in real time, marks the moving entities that may threaten the personal safety of the blasting executors, determines them as target entities, and then uses multiple drones in the drone array to follow the splashing movement of the target entity, thereby calculating the motion trajectory of the target entity, and calculating the landing coordinates of the target entity based on the motion trajectory of the target entity, so as to determine whether it will pose a threat to the personal safety of the blasting executors. When it is clear that there is a threat, the motion trajectory of the blasting executors is planned in time to guide the blasting executors to stay away from the landing point of the target entity. In this way, safety warnings for blasting executors during the blasting process can be achieved, which can effectively solve the problem in the prior art that moving entities or blasting executors cannot be effectively monitored during the blasting execution process, resulting in difficulty in achieving safety warnings for blasting executors under certain circumstances.

[0057] Embodiment 4 A fourth embodiment of the present invention provides a readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the steps of the method described in the above embodiment.

[0058] Embodiment 5 A fifth embodiment of the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in the above embodiment when executing the program.

[0059] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0060] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A safety early warning method for blasting execution personnel, used for early warning of the safety of personnel involved in blasting execution, characterized in that: The method comprises: During the blasting process, the blasting site is continuously photographed by a preset drone array; the drone array includes multiple drones cruising at different altitudes and multiple drones flying along a preset trajectory; Acquire the on-site video taken by the drone, and mark the moving entities in the on-site video that are splashed due to the blasting impact; Determine some moving entities as target entities to be monitored, calculate the motion trajectory of the target entity, and calculate the grounding point, process point and final point of the target entity according to the motion trajectory of the target entity; Determine whether the grounding point, process point or final point of the target entity is within the activity range of the blasting executor; If yes, planning the movement trajectory of the blasting executor, and sending a safety warning message including the movement trajectory to the instant messaging device held by the blasting executor; Among them, the landing point is the landing point where the target entity first touches the ground, the process landing point is the landing point where the target entity splashes again due to impact after touching the ground, and the final landing point is the landing point where the target entity stops moving.

2. The safety warning method for blasting execution personnel according to claim 1 is characterized in that: The steps of determining some moving entities as target entities to be monitored, calculating the motion trajectory of the target entity, and calculating the grounding point, process point and final point of the target entity according to the motion trajectory of the target entity specifically include: Continuously importing the on-site video captured by the drone into the pre-trained landing point prediction model; Based on the landing point prediction model, a moving entity that breaks through a preset monitoring trigger interface is determined as a target entity to be monitored; Taking the central intersection point of the target entity and the monitoring trigger interface as the initial position, combining the initial position, surface features and motion features of the target entity, the motion trajectory of the target entity is calculated; According to the motion trajectory of the target entity, respectively calculating the landing point, process landing point and final landing point of the target entity; Among them, the monitoring trigger interface is an interface formed by a preset distance around the explosion point. When it is identified that the moving entity moves to intersect with the monitoring trigger interface, the monitoring early warning process of the moving entity is triggered to determine the moving entity as the target entity to be monitored.

3. The safety warning method for blasting execution personnel according to claim 2 is characterized in that: The step of calculating the motion trajectory of the target entity by taking the central intersection point of the target entity and the monitoring trigger interface as the initial position and combining the initial position, surface features and motion features of the target entity specifically includes: Taking the central intersection point of the target entity and the monitoring trigger interface as the initial position; Identify the surface features and motion features of the target entity, wherein the surface features are contour features of the target entity, and the motion features include the motion speed, motion acceleration, and motion arc of the target entity; The motion trajectory of the target entity is calculated according to the initial position, contour features, motion speed, motion acceleration and motion arc of the target entity.

4. The safety warning method for blasting execution personnel according to claim 3 is characterized in that: The step of calculating the motion trajectory of the target entity according to the initial position, contour features, motion speed, motion acceleration and motion arc of the target entity specifically includes: According to the initial position, contour features, movement speed, movement acceleration and movement arc of the target entity, a plurality of drones within the shooting range are controlled to fly following the movement of the target entity; Based on the relative position information between the multiple following UAVs and the target entity, outputting multiple trajectory lines of the target entity's movement respectively; Fitting and correcting the plurality of trajectory lines are performed to obtain the motion trajectory of the target entity.

5. The safety warning method for blasting execution personnel according to claim 4 is characterized in that: The steps of respectively calculating the landing point, the process landing point and the final landing point of the target entity according to the motion trajectory of the target entity specifically include: Calculating the grounding point of the target entity according to the motion trajectory of the target entity, and identifying the ground features of the grounding point; Calculating a rebound trajectory of the target entity's grounding motion at the grounding point according to the ground features of the grounding point and the contour features and motion features of the target entity; According to the rebound trajectory, the process landing point of the target entity is calculated, and the final landing point of the target entity is also calculated.

6. The safety warning method for blasting execution personnel according to claim 5 is characterized in that: The step of calculating the rebound trajectory of the target entity's grounding movement at the grounding point according to the ground features of the grounding point and the contour features and motion features of the target entity specifically includes: Calculating the touchdown speed and touchdown angle of the target entity before touching the ground according to the motion characteristics of the target entity; In combination with the ground features of the touchdown point, a rebound trajectory of the target entity's grounding movement at the touchdown point is calculated.

7. The safety warning method for blasting execution personnel according to any one of claims 1 to 6, characterized in that: In the step of planning the movement trajectory of the blasting executor and sending a safety warning message including the movement trajectory to an instant messaging device held by the blasting executor, planning the movement trajectory of the blasting executor specifically includes: Constructing a coordinate system according to the activity range of the blasting executors; Calculate multiple landing point coordinate values ​​of the grounding point or process landing point of the target entity in the coordinate system, or calculate the static coordinate value of the final landing point of the target entity in the coordinate system; According to the landing point coordinate value or the static coordinate value of the target entity in the coordinate system, determining a plurality of trajectory coordinate values ​​that do not intersect with the landing point coordinate value or the static coordinate value; The plurality of trajectory coordinate values ​​are connected by the shortest distance to obtain the motion trajectory.

8. A safety warning system for blasting personnel, used to warn the safety of personnel involved in blasting, characterized in that: The safety warning method for blasting execution personnel according to any one of claims 1 to 7, the system comprising: A video shooting module is used to continuously shoot the blasting site through a preset drone array during the blasting process; the drone array includes a plurality of drones cruising at fixed points at different altitudes and a plurality of drones flying along a preset trajectory; An entity annotation module is used to obtain the on-site video taken by the drone and annotate the moving entities in the on-site video that are splashed due to the blasting impact; A landing point calculation module is used to determine that some moving entities are target entities to be monitored, calculate the motion trajectory of the target entity, and calculate the grounding point, process point and final point of the target entity according to the motion trajectory of the target entity; A condition judgment module, used to judge whether the grounding point, process point or final point of the target entity is within the activity range of the blasting executor; A path planning module, which is used for planning the movement trajectory of the blasting executor when the condition judgment module determines whether the grounding point, process point or final point of the target entity is within the activity range of the blasting executor, and sending a safety warning message including the movement trajectory to the instant communication device held by the blasting executor; Among them, the landing point is the landing point where the target entity first touches the ground, the process landing point is the landing point where the target entity splashes again due to impact after touching the ground, and the final landing point is the landing point where the target entity stops moving.

9. A readable storage medium having computer instructions stored thereon, characterized in that: When the instruction is executed by the processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the method according to any one of claims 1 to 7 are implemented.

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